CN106199589A - The millimetre-wave radar controlled for banister and control method thereof - Google Patents
The millimetre-wave radar controlled for banister and control method thereof Download PDFInfo
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- CN106199589A CN106199589A CN201610466756.4A CN201610466756A CN106199589A CN 106199589 A CN106199589 A CN 106199589A CN 201610466756 A CN201610466756 A CN 201610466756A CN 106199589 A CN106199589 A CN 106199589A
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- radar
- millimetre
- vehicle
- banister
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
- E01F13/00—Arrangements for obstructing or restricting traffic, e.g. gates, barricades ; Preventing passage of vehicles of selected category or dimensions
- E01F13/04—Arrangements for obstructing or restricting traffic, e.g. gates, barricades ; Preventing passage of vehicles of selected category or dimensions movable to allow or prevent passage
-
- 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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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The present invention provides a kind of millimetre-wave radar controlled for banister and control method thereof, first, utilizes millimetre-wave radar to complete the accurate detection into and out of garage vehicle target distance with velocity information；Then, by the information of vehicles detected is combined with related software algorithm, rationally, the triggering moment is set exactly, thus reach accurately to control the purpose rising, falling of electric gate, avoid because of the bar time that the falls incorrect damage to vehicle caused, meanwhile, radar also can complete the tally function to the garage vehicle that comes in and goes out, and then completes parking stall surplus, the isoparametric statistics of occupation rate.Make use of the principle of fmcw radar, by the measurement to storehouse, turnover ground vehicle target distance with speed, the triggering moment can be set rationally, exactly, thus reach accurately to control the purpose rising, falling of electric gate.Realize unmanned, save again cost simultaneously.And millimetre-wave radar high accuracy, volume are little, lightweight, round-the-clock, the feature of all weather operations.
Description
Technical field
The present invention relates to parking toll field, particularly relate to a kind of millimetre-wave radar controlled for banister and controlling party thereof
Method.
Background technology
Along with constantly accelerating and the fast development of auto industry of process of modernization, Urban vehicles poputation begins
Increasing constant eventually, the parking difficulty problem brought due to parking facility deficiency is the most serious in each big city of China.Stop
The sustainable growth of demand and the relative deficiency of traffic stops and start-ups delay, bring series of problems to urban development: storing cycle goes out
Enter the traffic jam caused, find the invalid traffic that parking space brings, park and run at a low speed environmental pollution of causing etc..Stop
Car difficulty has become as social problems, solves parking difficulty problem the most fast and efficiently, needs more intelligence and strength.
Banister, also known as car lug, is used exclusively on road limiting the entrance and exit of the passage management equipment of motor-driven vehicle going, existing
It is widely used in charge station, parking lot, community, enterprises and institutions doorway, is used for managing the discrepancy of vehicle.Electric gate can be single
Solely realize lifting lever by wireless remote control, it is also possible to carry out pipe automatically by managing system of car parking (i.e. IC brushing card management system)
During reason state admission, card taking clearance vehicle；During appearance, vehicle of automatically letting pass after collecting parking fee.These traditional methods are led to
Often need relatively large number of manpower intervention and intervention, and use the intelligent chip skill of such as RF identification, electronic tag etc
Art, causes the increase of manpower and material resources cost.Meanwhile, traditional banister control mode is difficult to control accurately automatic railing
Rise, fall opportunity, when especially railing falls, tend to, because timing the most right, cause pounding vehicle, cause and entangle
Confusingly.
Summary of the invention
The problem existed for above-mentioned prior art, it is an object of the invention to provide a kind of millimeter wave controlled for banister
First radar and control method thereof, utilize millimetre-wave radar to complete into and out of garage vehicle target distance and velocity information (speed
Size and velocity attitude) accurate detection；Then, by the information of vehicles detected is combined with related software algorithm, close
Manage, the triggering moment is set exactly, thus reach accurately to control the purpose rising, falling of electric gate, it is to avoid because falling the bar time not
The damage to vehicle appropriately caused, meanwhile, radar also can complete the tally function to the garage vehicle that comes in and goes out, and then completes
The isoparametric statistics of parking stall surplus, occupation rate.
The present invention provides the present invention to propose a kind of millimetre-wave radar controlled for garage banister, and this radar includes launching list
Unit, antenna element, reception unit, signal processing unit and control unit, it utilizes Continuous Wave with frequency modulation (FMCW, frequency
Modulated continuous wave) principle, from the echo of radar, extract the relative distance of target, relative velocity (comprises
Size and direction), echo amplitude information, by the combination of these information Yu related software algorithm, can flexibly, arrange exactly
Trigger spacing, thus reach accurately to control the purpose that electric gate rises, falls.
The millimetre-wave radar system that garage banister controls, by transmitter unit, antenna element, reception unit, signal processing list
Unit forms with control unit.
Transmitter unit produces the millimeter wave modulation waveform needed for radar detection, the most typical with FMCW signal, it is contemplated that real
In garage, border application scenarios, vehicle translational speed is relatively slow, even likely occurs situation about stopping under extreme case, so FSK
(frequency shift keying) signal, pulse Doppler (pulse Doppler) signal because at a slow speed with static mesh
Mark detectivity limited, be not suitable as the transmitted waveform of garage banister radar, transmitter unit by FMCW waveform modulated at millimeter
Ripple frequency range, delivers to antenna end simultaneously.
Antenna element comprises transmitting antenna and two ingredients of reception antenna, wherein launches antenna and is responsible for transmitter unit
Produced millimeter wave modulated signal is radiated to free space, and this signal forms echo, echo after detected target reflects
Being captured by reception antenna, deliver to receive unit, owing to the present invention is installed on the forward of road, this just requires to launch and reception antenna
Will have the wave beam of relative narrower, wherein azimuth covers about track, according to antenna height and the meter to coverage
Calculating, azimuth should be about at about 10 °, and the angle of pitch can be larger.
Receive the unit echo-signal to receiving to carry out down coversion, amplify and filter, through ADC(Analog-to-
Digital Converter) conversion be changed into digital signal.
Signal processing unit completes realization and the process of algorithm to the digital signal changed through ADC, and then can obtain
The distance of vehicle target, the information such as speed of vehicle target.
The triggering of automatic railing is divided into vehicle target to roll garage away from, and two kinds of situations are carried out with sailing garage into, below by respectively
Illustrate.
When vehicle target rolls garage away from: control unit is according to spacing X between distance, speed, radar and automatic railing
Triggering distance is rationally set, and, wherein representing the triggered time, physical significance represents the time that automatic railing needs to lift in advance,
This can reasonably regulate according to practical situation and arrange.
When vehicle continues to move forward, after automatic railing, the landing of control unit railing to be controlled, the landing of railing
Decision-making is carried out by following two conditions:
Strategy 1: if erection distance X between radar and electronic handrail is more than a vehicle commander, then carry out decision-making according to distance,
The computing formula of distance is:, wherein, represent the distance of the vehicle target that radar is measured, generally, in order to ensure the peace of the bar that falls
Entirely, at least to meet more than a vehicle commander.
Strategy 2: if erection distance X between radar and electronic handrail is less than a vehicle commander, then registration of vehicle is at thunder
Reach the moment of middle disappearance.So, the moment of the bar that falls is chosen as, wherein,Represent safety, a rational time delay.
But the premise that strategy 1 and strategy 2 are set up is, in current scene in addition to this car, not detect other vehicles
Existence, if in addition to this car, radar is also detected with other vehicle targets, then for security consideration, automatic railing can not
Fall, need the state being still held open,
When vehicle target sails garage into: radar is installed when setting up environment and roll garage away from different, remaining basic step with
Vehicle target rolls away from during garage identical.
Radar is by the measurement to target state, algorithm while forming decision-making, internal processor produce one
Individual control signal be sent to control unit to complete automatic railing rise, fall.
Radar in each transmitting cycle to target with or without once judging: do not find that target is designated as 0, find target note
It is 1, by the judgement of 0 and 1 can be carried out the counting to vehicle target, such as, if there is 01, i.e. can determine whether currently processed
During occur a vehicle target, it is contemplated that radar is in detection process, it is understood that there may be false-alarm, false dismissal, usual single judge
Not necessarily reliable, be greatly improved the accuracy of judgement by repeatedly judgement, such as, in the measurement result of M time altogether, if
Have and judge to think when target occurs in pre-echo no less than n times, be then judged as that target occurs, otherwise, it is judged that occur for driftlessness, this
Sample, while radar can rise and fall controlling automatic railing, it is also possible to complete the function to turnover garage vehicle count, tie further
Close the information of garage total space, garage stall surplus and the isoparametric statistics of occupation rate can be completed.
The invention has the beneficial effects as follows: make use of the principle of fmcw radar, by turnover ground storehouse vehicle target distance with
The measurement of speed, can arrange the triggering moment rationally, exactly, thus reach accurately to control the purpose rising, falling of electric gate.Phase
For traditional electric gate control method, the present invention is possible not only to realize unmanned, has saved again cost simultaneously.And millimeter
Ripple radar high accuracy, volume are little, lightweight, round-the-clock, the feature of all weather operations, and also the extensively application for this invention provides
Technical guarantee.
Accompanying drawing explanation
Fig. 1 is the backward Anticollision Radar composition frame chart of the present invention；
Fig. 2 is the millimetre-wave radar scheme of installation of the garage port banister control of the present invention；
Fig. 3 is the millimetre-wave radar scheme of installation of the garage exit banister control of the present invention；
Fig. 4 is fmcw radar waveform of the present invention；
Fig. 5 is the software flow pattern that the radar control automatic railing of the present invention rises and falls.
Detailed description of the invention
In order to deepen the understanding of the present invention, below in conjunction with embodiment, the invention will be further described, this embodiment
It is only used for explaining the present invention, is not intended that limiting the scope of the present invention.
The present embodiment provides a kind of garage banister millimetre-wave radar to include transmitter unit, antenna element, reception unit, signal
Processing unit and control unit.It is sequentially connected between unit, as shown in Figure 1.
Garage banister millimetre-wave radar scheme of installation is as shown in Figure 2 and Figure 3: radar is erected at distance automatic railing distance
For the position of X, X suggestion is 0.5m ~ 3m, and antenna height is configured according to practical situation.
Radar emission waveform is FMCW, as shown in Figure 3.One transmitting cycle comprises a upper swept-frequency signal and sweeps under one
Frequently signal.The persistent period of the two signal is all T, carries a width of B.
The FMCW signal that transmitter unit produces is radiated in space via antenna element, forms echo by target reflection and believes
Number.Echo-signal is mixed with the local oscillation signal produced by transmitter unit, obtains the intermediate frequency Beat Signal being mixed, and on sweep
The Beat Signal of frequency is designated as f+, the Beat Signal of lower frequency sweep is designated as f-.Intermediate frequency f+With f-Size can be sampled by ADC after, profit
Calculate with fast Fourier transform (FFT, fast Fourier transform).So, following formula target can be calculated
Distance R and speed v information.
Wherein, represent the light velocity, represent and launch electromagnetic wavelength.
Garage banister millimetre-wave radar is installed and is set up schematic diagram as shown in Figure 2: radar is erected at distance automatic railing distance
For the position of X, and antenna height is configured according to practical situation.
The triggering of automatic railing is divided into vehicle target to roll garage away from, and two kinds of situations are carried out with sailing garage into, below by respectively
Illustrate.
When vehicle target rolls garage away from: control unit is according to spacing X between distance, speed, radar and automatic railing
Triggering distance is rationally set, and, wherein representing the triggered time, physical significance represents the time that automatic railing needs to lift in advance,
This can reasonably regulate according to practical situation and arrange.
When vehicle continues to move forward, after automatic railing, the landing of control unit railing to be controlled.The landing of railing
Decision-making is carried out by following two conditions:
Strategy 1: such as Fig. 2, if erection distance X between radar and electronic handrail is more than a vehicle commander, then enter according to distance
Row decision-making.The computing formula of distance is:, wherein, represent the distance of the vehicle target that radar is measured.Generally, in order to ensure
Fall the safety of bar, at least to meet more than a vehicle commander.
Strategy 2: such as Fig. 2, if erection distance X between radar and electronic handrail is less than a vehicle commander, then record car
When disappearing in radar.So, the moment of the bar that falls is chosen as, and wherein, represents safety, a rational time delay.
But the premise that strategy 1 and strategy 2 are set up is, in current scene in addition to this car, not detect other vehicles
Existence.If in addition to this car, radar is also detected with other vehicle targets, then for security consideration, automatic railing can not
Fall, need the state being still held open.
When vehicle target sails garage into: it is different, as shown in Figure 3 with when rolling garage away from that erection environment installed by radar.
Basic step is rolled away from during garage identical with vehicle target.
Radar is by the measurement to target state, algorithm, while forming decision-making, produce a control signal and connect
Enter to control unit to complete automatic railing rise, fall.Concrete software flow pattern is as shown in Figure 5.
Radar in each transmitting cycle to target with or without once judging: do not find that target is designated as 0, find target note
It is 1, by the judgement of 0 and 1 can be carried out the counting to vehicle target.Such as, if there is 01, i.e. can determine whether currently processed
During occur a vehicle target.In view of radar in detection process, it is understood that there may be false-alarm, false dismissal, usual single judges
Not necessarily reliable, the accuracy of judgement it is greatly improved by repeatedly judgement.Such as, in the measurement result of M time altogether, if
Have and judge to think when target occurs in pre-echo no less than n times, be then judged as that target occurs.Otherwise, it is judged that occur for driftlessness.This
Sample, while radar can rise and fall controlling automatic railing, it is also possible to complete the function to turnover garage vehicle count, tie further
Close the information of garage total space, garage stall surplus and the isoparametric statistics of occupation rate can be completed.
Claims (7)
1. the millimetre-wave radar controlled for banister, it is characterised in that: the millimetre-wave radar that described garage banister controls, by
Transmitter unit, antenna element, reception unit, signal processing unit form with control unit, and transmitter unit produces radar detection institute
The millimeter wave modulation waveform needed, FMCW waveform modulated at millimeter wave frequency band, is delivered to antenna end by transmitter unit simultaneously；Antenna element
Comprise transmitting antenna and two ingredients of reception antenna；Wherein launch antenna to be responsible for adjusting millimeter wave produced by transmitter unit
Signal amplitude processed is incident upon free space, and this signal forms echo after detected target reflects, and echo is captured by reception antenna, send
To receiving unit；Receive the unit echo-signal to receiving to carry out down coversion, amplify and filter, through ADC(Analog-to-
Digital Converter) conversion be changed into digital signal；The digital signal changed through ADC is completed by signal processing unit
The realization of algorithm and process, and then the information of the speed of the distance of vehicle target, vehicle target can be obtained.
2. the millimetre-wave radar control method controlled for banister as claimed in claim 1, it is characterised in that: described control
Method is as follows: when vehicle target rolls garage away from: control unit is according to spacing X between distance, speed, radar and automatic railing
Triggering distance is rationally set, and, wherein representing the triggered time, physical significance represents the time that automatic railing needs to lift in advance；
When vehicle continues to move forward, after automatic railing, the landing of control unit railing to be controlled.
3. the millimetre-wave radar control method controlled for banister as claimed in claim 2, it is characterised in that: described control is single
The control method of the landing of unit's railing to be controlled is as follows: erection distance X between radar and electronic handrail is more than a vehicle commander, then
Decision-making is carried out according to distance；The computing formula of distance is:, wherein, represent the distance of the vehicle target that radar is measured；For
Guarantee to fall the safety of bar, at least to meet more than a vehicle commander.
4. the millimetre-wave radar control method controlled for banister as claimed in claim 2, it is characterised in that: described control is single
The second control method of the landing of unit's railing to be controlled is as follows: erection distance X between radar and electronic handrail is less than one
Individual vehicle commander, then when registration of vehicle disappears in radar；So, the moment of the bar that falls is chosen as, and wherein, represents a safety
Time delay.
5. the millimetre-wave radar control method controlled for banister as claimed in claim 2, it is characterised in that: described radar leads to
Cross the measurement to target state, algorithm while forming decision-making, internal processor produce a control signal and send into
To control unit complete automatic railing rise, fall.
6. the millimetre-wave radar control method controlled for banister as described in claim 2 or 5, it is characterised in that: described thunder
Reach in each transmitting cycle target with or without once judging: do not find that target is designated as 0, find that target is designated as 1, by right
The judgement of 0 and 1 can carry out the counting to vehicle target.
7. the millimetre-wave radar control method controlled for banister as described in claim 2-5 any one, it is characterised in that:
If described in addition to this car, radar is also detected with other vehicle targets, then for security consideration, automatic railing can not fall
Under, need the state being still held open.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610466756.4A CN106199589A (en) | 2016-06-24 | 2016-06-24 | The millimetre-wave radar controlled for banister and control method thereof |
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| CN201610466756.4A CN106199589A (en) | 2016-06-24 | 2016-06-24 | The millimetre-wave radar controlled for banister and control method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108221758A (en) * | 2018-02-05 | 2018-06-29 | 北京信息科技大学 | It is a kind of based on the anti-intelligent barrier gate system for pounding radar |
| CN108806280A (en) * | 2018-07-10 | 2018-11-13 | 森思泰克河北科技有限公司 | parking space state detection method and device |
| CN109633571A (en) * | 2018-12-18 | 2019-04-16 | 长沙莫之比智能科技有限公司 | A kind of 77GHz millimeter wave gate cracking protection radar signal processing device |
| CN109917714A (en) * | 2019-03-27 | 2019-06-21 | 森思泰克河北科技有限公司 | Banister control method and device |
| CN109932702A (en) * | 2019-04-03 | 2019-06-25 | 森思泰克河北科技有限公司 | Banister control method and banister radar |
| WO2019127820A1 (en) * | 2017-12-29 | 2019-07-04 | 小儒技术（深圳）有限公司 | Boom barrier control method and device thereof, storage medium and electronic device |
| CN110832341A (en) * | 2018-12-27 | 2020-02-21 | 深圳市大疆创新科技有限公司 | Vehicle speed calculation method, system, device and storage medium |
| CN111383376A (en) * | 2020-03-27 | 2020-07-07 | 浙江大华技术股份有限公司 | Device control method and apparatus, storage medium, and electronic apparatus |
| CN111830508A (en) * | 2020-06-23 | 2020-10-27 | 北京航空航天大学 | Barrier gate anti-smashing system and method adopting millimeter wave radar |
| CN112346044A (en) * | 2020-09-30 | 2021-02-09 | 铱芯科技(深圳)有限公司 | Radar sensing device and method for automatic door and access passage |
| CN112669510A (en) * | 2020-12-16 | 2021-04-16 | 日立楼宇技术（广州）有限公司 | Park brake control method, device, equipment and storage medium |
| CN113888896A (en) * | 2021-09-30 | 2022-01-04 | 深圳市捷顺科技实业股份有限公司 | Brake lever control method, device, equipment and computer-readable storage medium |
| CN117008111A (en) * | 2023-10-07 | 2023-11-07 | 成都瑞达物联科技有限公司 | Barrier radar device and target detection method |
| CN117111049A (en) * | 2023-10-23 | 2023-11-24 | 成都瑞达物联科技有限公司 | ETC channel vehicle presence detection method and system |
| CN117809384A (en) * | 2023-11-24 | 2024-04-02 | 广东安快智能科技有限公司 | Speed control method and device for barrier gate, computer equipment and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2019127820A1 (en) * | 2017-12-29 | 2019-07-04 | 小儒技术（深圳）有限公司 | Boom barrier control method and device thereof, storage medium and electronic device |
| CN108221758A (en) * | 2018-02-05 | 2018-06-29 | 北京信息科技大学 | It is a kind of based on the anti-intelligent barrier gate system for pounding radar |
| CN108806280A (en) * | 2018-07-10 | 2018-11-13 | 森思泰克河北科技有限公司 | parking space state detection method and device |
| CN109633571B (en) * | 2018-12-18 | 2024-04-26 | 长沙莫之比智能科技有限公司 | 77GHz millimeter wave barrier gate smash-proof radar signal processing device |
| CN109633571A (en) * | 2018-12-18 | 2019-04-16 | 长沙莫之比智能科技有限公司 | A kind of 77GHz millimeter wave gate cracking protection radar signal processing device |
| CN110832341A (en) * | 2018-12-27 | 2020-02-21 | 深圳市大疆创新科技有限公司 | Vehicle speed calculation method, system, device and storage medium |
| CN109917714A (en) * | 2019-03-27 | 2019-06-21 | 森思泰克河北科技有限公司 | Banister control method and device |
| CN109932702A (en) * | 2019-04-03 | 2019-06-25 | 森思泰克河北科技有限公司 | Banister control method and banister radar |
| CN111383376A (en) * | 2020-03-27 | 2020-07-07 | 浙江大华技术股份有限公司 | Device control method and apparatus, storage medium, and electronic apparatus |
| CN111830508A (en) * | 2020-06-23 | 2020-10-27 | 北京航空航天大学 | Barrier gate anti-smashing system and method adopting millimeter wave radar |
| CN112346044A (en) * | 2020-09-30 | 2021-02-09 | 铱芯科技(深圳)有限公司 | Radar sensing device and method for automatic door and access passage |
| CN112669510A (en) * | 2020-12-16 | 2021-04-16 | 日立楼宇技术（广州）有限公司 | Park brake control method, device, equipment and storage medium |
| CN113888896A (en) * | 2021-09-30 | 2022-01-04 | 深圳市捷顺科技实业股份有限公司 | Brake lever control method, device, equipment and computer-readable storage medium |
| CN117008111A (en) * | 2023-10-07 | 2023-11-07 | 成都瑞达物联科技有限公司 | Barrier radar device and target detection method |
| CN117111049A (en) * | 2023-10-23 | 2023-11-24 | 成都瑞达物联科技有限公司 | ETC channel vehicle presence detection method and system |
| CN117111049B (en) * | 2023-10-23 | 2024-01-30 | 成都瑞达物联科技有限公司 | ETC channel vehicle presence detection method and system |
| CN117809384A (en) * | 2023-11-24 | 2024-04-02 | 广东安快智能科技有限公司 | Speed control method and device for barrier gate, computer equipment and storage medium |
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Application publication date: 20161207 |
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