CN104751675A - Parking space detection method based on limited information rate theory pulse signals - Google Patents

Parking space detection method based on limited information rate theory pulse signals Download PDF

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CN104751675A
CN104751675A CN201510152383.9A CN201510152383A CN104751675A CN 104751675 A CN104751675 A CN 104751675A CN 201510152383 A CN201510152383 A CN 201510152383A CN 104751675 A CN104751675 A CN 104751675A
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frequency
pulse signal
sequence number
signal
pulse
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CN104751675B (en
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王敏
田彤
陈景东
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SUZHOU WENJIE SENSING TECHNOLOGY Co Ltd
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SUZHOU WENJIE SENSING TECHNOLOGY Co Ltd
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

The invention belongs to the technical field of radar signal processing and particularly relates to a parking space detection method based on limited information rate theory pulse signals. The method includes installing a radar used for acquiring the front target echo signals; allowing the radar to receiving pulse signals reflected by scattering points, and acquiring multiple frequency points through the frequency axis of frequency spectrum of the pulse signals; selecting serial numbers of 2M+1 frequency points as frequency domain number sets from the acquired scattered frequency point sets; performing frequency mixing on the single frequency signals of the frequency points corresponding to the serial numbers of the frequency domain number sets and the pulse signals, acquiring 2M+1 mixed frequency signals, and acquiring corresponded Fourier series coefficients; reconstructing pulse signals according to the Fourier series coefficients; performing pulse compression processing on the reconstructed pulse signals, and acquiring pulse compressing results; detecting whether a target exists in front of a vehicle or not according to the pulse compressing results; if not, determining that an available parking space exists; if so, determining that no available parking space exists in front.

Description

Based on the method for detecting parking stalls of the theoretical pulse signal sampling of the limited new fixed rate of interest
Technical field
The invention belongs to Radar Signal Processing Technology field, particularly based on the method for detecting parking stalls of the theoretical pulse signal sampling of the limited new fixed rate of interest.
Background technology
Along with the raising of people's living standard, city vehicle quantity is constantly increased sharply, and this just brings the management of many parking positions, finds the problem of parking stall, room difficulty.
In order to effective managing parking field, allow parking person find vacant parking stall quickly and accurately, Real-time Obtaining parking stall is occupied information and is managed most important for parking lot.To this, different inventors from different perspectives, proposes different solutions.As obtained by direct scene image, or obtained by the detection of other physical quantitys to non-immediate scene.Obtained in the method for the whether vacant information in parking stall by direct scene image, specifically, it gathers the scene image in parking lot, and utilizes image processing techniques identification free parking spaces.Then, according to the position in room, which region suggestion driver should go to.A kind of mode exporting suggestion demonstrates in the terminal of porch, or print in voucher, bill or other paper.Also can inlet porting terminal, thus provide preferred destination for the vehicle entering parking lot.This consultant's device can select most convenient in destination from the room identified.Its weak point is, because needs transmit under band-limited condition full images, the transmission of each two field picture all can take a long time, in addition usual image processing techniques and pattern-recognition is used to judge vehicle characteristics, cause calculation of complex, consuming time many, the accuracy judged is low, whole process can spend the long period, system is therefore sluggish to the reaction of parking lot changed condition, the reliability and stability of simultaneity factor reduces, such system can not adapt to scene changes very fast time the requirement of detection real-time
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, propose the method for detecting parking stalls based on the theoretical pulse signal sampling of the limited new fixed rate of interest, at the basic up-sampling large bandwidth signal of lower sampling rate, and expanded it can sample frequency scope.
For realizing above-mentioned technical purpose, the present invention adopts following technical scheme to be achieved.
Method for detecting parking stalls based on the theoretical pulse signal sampling of the limited new fixed rate of interest comprises the following steps:
Step 1, vehicle being installed the radar for gathering objects ahead echoed signal, utilizing radar emission signal; Utilize radar to receive the pulse signal of scattering point reflection, get a frequency by the frequency axis of the frequency spectrum of pulse signal every 1/ τ, draw multiple equally distributed discrete frequency; By in the set of the sequence number of discrete frequency that draws, choose the sequence number of 2M+1 frequency, using the set of the sequence number of 2M+1 frequency chosen as frequency domain manifold I;
Step 2, obtains the simple signal of the frequency that each sequence number is corresponding in frequency domain manifold I, each simple signal drawn is carried out Frequency mixing processing with pulse signal respectively, draws 2M+1 mixed signal; Recurrence interval τ carries out integral operation to each mixed signal, draws corresponding Fourier series coefficient;
Step 3, according to the 2M+1 drawn a Fourier series coefficient of step 2, utilizes the delay parameter of subspace method pulse signals and range parameter to estimate; According to the estimated value of the delay parameter of pulse signal and the estimated value of range parameter, reconstruct pulse signal;
Step 4, carries out process of pulse-compression to the pulse signal after rebuilding, obtains pulse compression result S mF; According to pulse compression result S mF, detecting vehicle front has driftlessness, when vehicle front driftlessness, illustrates to there is empty parking space, otherwise, illustrate that vehicle front does not have empty parking space.
Beneficial effect of the present invention is: first, utilize the limited new fixed rate of interest theoretical by amplitude and time delay indicating impulse signal, only need with the polydispersity index higher than the new fixed rate of interest of signal, by estimating that a small amount of parameter just can determine signal, no longer be subject to the restriction of antenna parameter, thus expand can the scope of sample frequency, reduce sampling rate simultaneously.The second, adopt multi-channel sampling structure, considerably reduce sampling rate further by increasing certain system cost, meanwhile, system complexity is lower, is easier to realize.3rd, improve pulse signal signal to noise ratio (S/N ratio) and only need increase sampling rate in controlled orientation, processing procedure is efficient, avoids the cost that increase system realizes simultaneously.
Accompanying drawing explanation
Fig. 1 is the first pass figure of the method for detecting parking stalls based on the theoretical pulse signal sampling of the limited new fixed rate of interest of the present invention;
Fig. 2 is the second process flow diagram of the method for detecting parking stalls based on the theoretical pulse signal sampling of the limited new fixed rate of interest of the present invention;
Fig. 3 is the acquisition process schematic diagram of the frequency domain manifold of the embodiment of the present invention;
Fig. 4 is the acquisition principle schematic of the Fourier series coefficient of the embodiment of the present invention;
Fig. 5 is the process schematic reconstructing pulse signal.
Embodiment
Below in conjunction with accompanying drawing, the invention will be further described:
With reference to Fig. 1, being the first pass figure of the method for detecting parking stalls based on the theoretical pulse signal sampling of the limited new fixed rate of interest of the present invention, with reference to Fig. 2, is the second process flow diagram of the method for detecting parking stalls based on the theoretical pulse signal sampling of the limited new fixed rate of interest of the present invention; Should comprise the following steps based on the method for detecting parking stalls of the theoretical pulse signal sampling of the limited new fixed rate of interest:
Step 1, vehicle being installed the radar for gathering objects ahead echoed signal, utilizing radar emission signal; Utilize radar to receive the pulse signal of scattering point reflection, get a frequency by the frequency axis of the frequency spectrum of pulse signal every 1/ τ, draw multiple equally distributed discrete frequency; By in the set of the sequence number of discrete frequency that draws, choose the sequence number of 2M+1 frequency, using the set of the sequence number of 2M+1 frequency chosen as frequency domain manifold I.
Its concrete steps are:
With reference to Fig. 3, it is the acquisition process schematic diagram of the frequency domain manifold of the embodiment of the present invention.Obtain pulse signal, get a frequency by the frequency axis of the frequency spectrum of pulse signal every 1/ τ, draw multiple equally distributed discrete frequency, the recurrence interval (needing the time window of restoring signal) of τ indicating impulse signal.
The sequence number of frequency corresponding for energy mxm. in the frequency spectrum of pulse signal is set to 0, on the frequency axis of the frequency spectrum of pulse signal, choose the right side M frequency that sequence number is frequency, sequence number to be the left side M frequency of the frequency of 0 and sequence number the be frequency of 0 of 0, M be setting be greater than 1 natural number; Using the set of the sequence number of 2M+1 frequency chosen as frequency domain manifold I, I={-M ..., 0 ..., M}, wherein ,-M ...,-1 represents that sequence number is the sequence number of a left side M frequency of the frequency of 0,1 respectively ..., M represents that sequence number is the sequence number of a right side M frequency of the frequency of 0 respectively.
That is, the frequency spectrum of pulse signal is undertaken evenly dividing obtaining series of discrete frequency by 1/ τ, the corresponding sequence number of each frequency, frequency domain manifold I is exactly the part in these sequence numbers, usually using the sequence number of the energy peak of pulse signal frequency spectrum as the mid point of frequency domain manifold to obtain maximum signal to noise ratio.For spectral density largest component at zero-frequency, or the equally distributed pulse signal of spectral density, as impulse signal, linear FM signal etc., frequency domain manifold elects I={-M as ..., the form of M}.
Step 2, obtain the simple signal of the frequency that each sequence number is corresponding in frequency domain manifold I, the each simple signal drawn is carried out Frequency mixing processing with pulse signal respectively, draws 2M+1 mixed signal, an above-mentioned 2M+1 mixed signal is expressed as x ' (t) -M..., x ' (t) 0..., x ' (t) m; To mixed signal x ' (t) on recurrence interval τ mcarry out integral operation, draw Fourier series coefficient X [m], m ∈ I.
Specifically, frequency domain manifold I={-M ..., M}, then the manifold length L=2M+1 of frequency domain manifold I, then frequency domain manifold can be meet arbitrarily H (2 π m/ τ) ≠ 0, set of integers, H represents Fourier transform.
Obtain the simple signal of the frequency that each sequence number is corresponding in frequency domain manifold I, in frequency domain manifold I, the simple signal of the frequency that sequence number m is corresponding is m ∈ I; Can find out, obtain L simple signal altogether.
After acquisition L simple signal, each simple signal is carried out Frequency mixing processing (being also single-frequency modulated process) respectively with pulse signal, draws 2M+1 mixed signal.
To mixed signal x ' (t) on recurrence interval τ mthe computing formula of carrying out integral operation is:
X [ m ] = 1 τ ∫ 0 τ x ′ ( t ) m dt ,
Wherein, t represents the time.
Can find out, the number of the Fourier series coefficient that step 2 draws is 2M+1.With reference to Fig. 4, it is the acquisition principle schematic of the Fourier series coefficient of the embodiment of the present invention.
Step 3, according to the 2M+1 drawn a Fourier series coefficient of step 2, utilizes the delay parameter of subspace method pulse signals and range parameter to estimate; According to the estimated value of the delay parameter of pulse signal and the estimated value of range parameter, reconstruct pulse signal.
With reference to Fig. 5, for reconstructing the process schematic of pulse signal.The concrete sub-step of step 3 is:
(3.1) can find out, 2M+1 the Fourier series coefficient that step 2 draws is respectively X [-M] ..., X [0] ..., X [M].2M+1 the Fourier series coefficients to construct Fourier series matrix of coefficients X utilizing step 2 to draw,
Obviously, the matrix of Fourier series matrix of coefficients X to be size be M × (M+2),
(3.2) svd is carried out to Fourier series matrix of coefficients X, obtain its left singular matrix U swith right singular matrix V s; According to matrix U scalculate diagonal matrix Φ, or according to matrix V scalculate diagonal matrix Φ, according to matrix U swhen calculating diagonal matrix Φ, wherein, representing matrix removes the first row, ()representing matrix removes last column, the generalized inverse of representing matrix.According to matrix V swhen calculating diagonal matrix Φ,
Use u krepresent the element that diagonal matrix Φ kth+1 row kth+1 arranges, k gets 0 to K-1, and K represents line number or the columns of diagonal matrix Φ, parameter (i.e. component of signal) number of K indicating impulse signal.
(3.3) according to K delay parameter t of following formulae discovery pulse signal 0..., t k..., t k-1:
u k = e - j ω 0 t k .
Wherein, ω 0represent the angular frequency value of setting.
According to K amplitude a of following formulae discovery pulse signal 0..., a k..., a k-1:
Solving a 0..., a k..., a k-1process in, use least square method solve.
Draw pulse signal x (t) after reconstruction,
x ( t ) = Σ k = 0 K - 1 a k h ( t - t k ) , t ∈ [ 0 , τ )
Wherein, k gets 0 to K-1, the functional form of h () indicating impulse signal.
Step 4, carries out process of pulse-compression to the pulse signal after rebuilding, obtains pulse compression result S mF; According to pulse compression result S mF, detecting vehicle front has driftlessness, when vehicle front driftlessness, illustrates to there is empty parking space, otherwise, illustrate that vehicle front does not have empty parking space.
Particularly, in step 4, pulse signal after rebuilding is expressed as matrix S, and the process of the pulse signal after reconstruction being carried out to process of pulse-compression is: every a line of matrix S is carried out convolution with the reversion conjugation of radar emission waveform respectively, obtains pulse compression result S mF.
Drawing pulse compression result S mFafterwards, numerous embodiments can be had to realize parking stall measure, below two kinds of embodiments are described.
The first embodiment: according to pulse compression result S mFcarry out moving target detect, draw object detection results, that is, paired pulses compression result S mFeach row carry out fast Fourier calculating, obtain object detection results S mTD.
The second embodiment: paired pulses compression result S mFcarry out CFAR detection thus judge whether vehicle front exists target.Specifically, pulse compression result S mFevery a line corresponding with a range unit.Paired pulses compression result S mFeach row carry out cumulative obtaining a numerical value, by pulse compression result S mFthe numerical value that often row is corresponding be called vectorial y according to the arrangement of row order; By each element of vectorial y and the threshold value V of setting tcompare, if any one element of vectorial y is greater than the threshold value V of setting t, then illustrate that respective distances unit place exists target, illustrates that respective distances unit place does not have empty parking space; Otherwise, illustrate that respective distances unit place does not exist target, illustrate that there is empty parking space at respective distances unit place.Wherein, the threshold value of setting σ 2for the estimation of noise, P fafor the invariable false alerting of setting, in the present invention, value is P fa=10 -6.
Obviously, those skilled in the art can carry out various change and modification to the present invention and not depart from the spirit and scope of the present invention.Like this, if these amendments of the present invention and modification belong within the scope of the claims in the present invention and equivalent technologies thereof, then the present invention is also intended to comprise these change and modification.

Claims (7)

1., based on the method for detecting parking stalls of the theoretical pulse signal sampling of the limited new fixed rate of interest, it is characterized in that, comprise the following steps:
Step 1, vehicle being installed the radar for gathering objects ahead echoed signal, utilizing radar emission signal; Utilize radar to receive the pulse signal of scattering point reflection, get a frequency by the frequency axis of the frequency spectrum of pulse signal every 1/ τ, draw multiple equally distributed discrete frequency; By in the set of the sequence number of discrete frequency that draws, choose the sequence number of 2M+1 frequency, using the set of the sequence number of 2M+1 frequency chosen as frequency domain manifold I;
Step 2, obtains the simple signal of the frequency that each sequence number is corresponding in frequency domain manifold I, each simple signal drawn is carried out Frequency mixing processing with pulse signal respectively, draws 2M+1 mixed signal; Recurrence interval τ carries out integral operation to each mixed signal, draws corresponding Fourier series coefficient;
Step 3, according to the 2M+1 drawn a Fourier series coefficient of step 2, utilizes the delay parameter of subspace method pulse signals and range parameter to estimate; According to the estimated value of the delay parameter of pulse signal and the estimated value of range parameter, reconstruct pulse signal;
Step 4, carries out process of pulse-compression to the pulse signal after rebuilding, obtains pulse compression result S mF; According to pulse compression result S mF, detecting vehicle front has driftlessness, when vehicle front driftlessness, illustrates to there is empty parking space, otherwise, illustrate that vehicle front does not have empty parking space.
2. as claimed in claim 1 based on the method for detecting parking stalls of the theoretical pulse signal sampling of the limited new fixed rate of interest, it is characterized in that, in step 1, the sequence number of frequency corresponding for energy mxm. in the frequency spectrum of pulse signal is set to 0, on the frequency axis of the frequency spectrum of pulse signal, choose the right side M frequency that sequence number is frequency, sequence number to be the left side M frequency of the frequency of 0 and sequence number the be frequency of 0 of 0; Using the set of the sequence number of 2M+1 frequency chosen as frequency domain manifold I, I={-M ..., 0 ..., M}, wherein ,-M ...,-1 represents that sequence number is the sequence number of a left side M frequency of the frequency of 0,1 respectively ..., M represents that sequence number is the sequence number of a right side M frequency of the frequency of 0 respectively.
3. as claimed in claim 1 based on the method for detecting parking stalls of the theoretical pulse signal sampling of the limited new fixed rate of interest, it is characterized in that, in step 2, obtain the simple signal of the frequency that each sequence number is corresponding in frequency domain manifold I, in frequency domain manifold I, the simple signal of the frequency that sequence number m is corresponding is m ∈ I;
After acquisition 2M+1 simple signal, each simple signal is carried out Frequency mixing processing with pulse signal respectively, draws 2M+1 mixed signal.
4. as claimed in claim 1 based on the method for detecting parking stalls of the theoretical pulse signal sampling of the limited new fixed rate of interest, it is characterized in that, in step 2, recurrence interval τ to the computing formula that each mixed signal carries out integral operation be:
X [ m ] = 1 τ ∫ 0 τ x ′ ( t ) m dt ,
Wherein, t represents the time, x ' (t) mthe simple signal of the frequency that expression sequence number m is corresponding and pulse signal carry out the signal after mixing.
5., as claimed in claim 2 based on the method for detecting parking stalls of the theoretical pulse signal sampling of the limited new fixed rate of interest, it is characterized in that, the concrete sub-step of described step 3 is:
(3.1) 2M+1 the Fourier series coefficient that step 2 draws is expressed as X [-M] ..., X [0] ..., X [M], described 2M+1 Fourier series coefficients to construct Fourier series matrix of coefficients X,
(3.2) svd is carried out to Fourier series matrix of coefficients X, obtain its left singular matrix U swith right singular matrix V s; According to matrix U scalculate diagonal matrix Φ, or according to matrix V scalculate diagonal matrix Φ, according to matrix U swhen calculating diagonal matrix Φ, wherein, representing matrix removes the first row, ()representing matrix removes last column, the generalized inverse of representing matrix; According to matrix V swhen calculating diagonal matrix Φ,
Use u krepresent the element that diagonal matrix Φ kth+1 row kth+1 arranges, k gets 0 to K-1, and K represents line number or the columns of diagonal matrix Φ;
(3.3) according to K delay parameter t of following formulae discovery pulse signal 0..., t k..., t k-1:
u k = e - j ω 0 t k
Wherein, ω 0represent the angular frequency value of setting;
According to K amplitude a of following formulae discovery pulse signal 0..., a k..., a k-1:
Draw pulse signal x (t) after reconstruction,
x ( t ) = Σ k = 0 K - 1 a k h ( t - t k ) , t ∈ [ 0 , τ )
Wherein, k gets 0 to K-1, the functional form of h () indicating impulse signal.
6., as claimed in claim 1 based on the method for detecting parking stalls of the theoretical pulse signal sampling of the limited new fixed rate of interest, it is characterized in that, in step 4, drawing pulse compression result S mFafterwards, according to pulse compression result S mFcarry out moving target detect, draw object detection results; In described object detection results, there is target in respective distances unit place, then illustrate that respective distances unit place does not have empty parking space; Otherwise, illustrate that there is empty parking space at respective distances unit place.
7., as claimed in claim 1 based on the method for detecting parking stalls of the theoretical pulse signal sampling of the limited new fixed rate of interest, it is characterized in that, in step 4, drawing pulse compression result S mFafterwards, paired pulses compression result S mFcarry out CFAR detection, draw CFAR detection result; In described CFAR detection result, there is target in respective distances unit place, then illustrate that respective distances unit place does not have empty parking space; Otherwise, illustrate that there is empty parking space at respective distances unit place.
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