CN111105509A - ETC vehicle detection method and system based on millimeter wave radar and storage medium - Google Patents
ETC vehicle detection method and system based on millimeter wave radar and storage medium Download PDFInfo
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- CN111105509A CN111105509A CN201911365592.6A CN201911365592A CN111105509A CN 111105509 A CN111105509 A CN 111105509A CN 201911365592 A CN201911365592 A CN 201911365592A CN 111105509 A CN111105509 A CN 111105509A
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07B—TICKET-ISSUING APPARATUS; FARE-REGISTERING APPARATUS; FRANKING APPARATUS
- G07B15/00—Arrangements or apparatus for collecting fares, tolls or entrance fees at one or more control points
- G07B15/02—Arrangements or apparatus for collecting fares, tolls or entrance fees at one or more control points taking into account a variable factor such as distance or time, e.g. for passenger transport, parking systems or car rental systems
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- 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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
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- 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
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
Abstract
The invention discloses an ETC vehicle detection method, a system and a storage medium based on a millimeter wave radar, belonging to the technical field of ETC and aiming at solving the technical problems that the existing radar can not give consideration to the vehicle with extremely slow speed and congestion and the vehicle detection of normal traffic and the ETC has low following interference, adjacent lane interference and low traffic efficiency, and the technical scheme is as follows: pre-storing a plurality of Doppler dimension frequency domain data corresponding to low speed when a detection area has no target; detecting the speed of a target in the detection area in real time through a millimeter wave radar, and when the speed of the target is higher than a first preset speed, performing time domain adjacent pulse cancellation to filter out a static target; and when the target speed is lower than a second preset speed, the stored Doppler dimension frequency domain data and the Doppler dimension frequency domain data corresponding to the current target are cancelled. The method, the system and the storage medium have the advantages of high detection precision, capability of ensuring rapid passing of the ETC lane and the like.
Description
Technical Field
The invention mainly relates to the technical field of ETC, in particular to an ETC vehicle detection method and system based on a millimeter wave radar and a storage medium.
Background
With the increase in automobile holding capacity and the rise in human operating costs, the manual toll collection mode of the highway toll station is no longer used. An Electronic Toll Collection (ETC) system has outstanding advantages in the aspects of simplifying transaction flow, improving traffic efficiency and the like, and is bound to become an important component of future intelligent traffic. ETC mainly comprises two parts: (1) a lane Road Side Unit (RSU) that implements functions such as vehicle identification by mainly transmitting and receiving microwave signals and performing data processing; (2) the vehicle-mounted electronic tag (OBU) is an electronic device additionally arranged on a vehicle and is mainly responsible for wireless communication with the RSU.
The current application of ETC mainly comprises two aspects:
(1) an independent ETC lane is arranged at a highway toll station to allow a vehicle provided with OBU equipment to pass through quickly;
(2) the ETC is installed on the highway to replace a provincial toll station, and automatic fee deduction in the passing process is realized.
A conventional ETC solution is shown in fig. 1: and a ground induction coil induction and RSU and OBU wireless communication induction combined judgment mode is adopted. The main principle is as follows: the ground induction coil firstly induces the arrival of a vehicle, the RSU transmits a microwave signal to induce the OBU, information such as the vehicle model, the license plate number and the bank card contained in the OBU is obtained, and the control system identifies and deducts the fee and the like.
In the traditional ETC scheme, RSU and OBU carry out wireless communication and interact, can only obtain information such as model, license plate, bank card of vehicle, have following problem:
(1) when a plurality of vehicles appear on the ETC lane, the OBU is not installed on the front vehicle, the OBU is installed on the rear vehicle, the RSU cannot accurately identify the corresponding vehicle, the front vehicle can exit the transaction area without transaction, and the rear vehicle cannot pass due to repeated transaction;
(2) in a station with large traffic flow, a plurality of ETC lanes are arranged in parallel, and as the RSU can only identify the OBU and cannot sense the accurate position of the OBU, the RSU of the lane can sense the OBU of a vehicle in an adjacent ETC lane, so that the situations of fee deduction errors and the like can be caused;
(3) the OBU production quality is uneven, which can cause the RSU to have a reduced sensing probability of the OBU. Although the overall sensing probability is still relatively high, the number of times of sensing failure is relatively increased in the case of a large traffic flow. If the induction fails, manual intervention is needed or the vehicle is driven out of the induction area and then driven into the induction area again for induction, so that the traffic efficiency is seriously influenced, and the influence is larger under the condition of congestion.
(4) In practical application, due to the limitation of an installation mode and an application scene, the radar needs to detect not only fast moving vehicles, but also extremely slow (the vehicle speed is less than or equal to 5km/h) and congestion condition vehicles. For radar detection, the ground, a security fence and the like can be detected as targets, which causes great interference to normal detection of the radar.
In summary, compared with the conventional manual toll collection mode, the ETC is greatly improved in terms of working efficiency, operation cost and the like, but in practical application, the ETC still has the problems of adjacent lane interference, following interference, detection rate and the like. The scheme of combining the ground induction coil and the ETC is adopted, so that the problems of adjacent channel interference, detection rate and the like can be solved, but the detection performance of the system for detecting the congestion situation is sharply reduced. Although the scheme combining the radar and the ETC can effectively avoid a plurality of problems caused by the fact that the ETC scheme is only adopted, because a static target and a moving target need to be detected simultaneously, the influence of an installation mode on a detection result is great, and the radar can not simultaneously give consideration to the detection performance of vehicles with extremely low speed (the vehicle speed is less than or equal to 5km/h) and under the condition of congestion and vehicles which normally pass.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the technical problems in the prior art, the invention provides an ETC vehicle detection method, system and storage medium based on a millimeter wave radar, which can accurately detect.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
an ETC vehicle detection method based on a millimeter wave radar comprises the following steps:
1) pre-storing a plurality of Doppler dimension frequency domain data corresponding to low speed when a detection area has no target;
2) detecting the speed of a target in the detection area in real time through a millimeter wave radar, and when the speed of the target is higher than a first preset speed, performing time domain adjacent pulse cancellation to filter out a static target;
and when the target speed is lower than a second preset speed, canceling the Doppler dimension frequency domain data stored in the step 1) and the Doppler dimension frequency domain data corresponding to the current target.
As a further improvement of the above technical solution:
in the step 2), when the target speed is lower than a second preset speed, the Doppler dimension frequency domain data stored in the step 1) and the Doppler dimension frequency domain data corresponding to the current target are cancelled, and other Doppler dimensions keep the cancellation of adjacent pulses in the time domain.
The second preset speed is smaller than the first preset speed, and the second preset speed is 3-8 km/h.
And detecting the angle information of the target in real time through the millimeter wave radar so as to position the direction of the lane where the vehicle leaves.
The number of vehicles in a transaction area is identified through the millimeter wave radar so as to be compared with the number of the detected vehicle-mounted electronic tags, and therefore induction errors of a lane road side unit are prevented.
The process of identifying the number and the speed of vehicles in a transaction area through the millimeter wave radar comprises the following steps:
a) transmitting a continuous frequency modulation signal through a millimeter wave radar, wherein the frequency changes along with the change of modulation voltage;
b) acquiring echo pulses, and performing M-point fast Fourier transform on a single echo pulse, wherein each point represents a distance dimension; performing N-point fast Fourier transform on a plurality of pulses in the same distance dimension, wherein each point represents a speed dimension;
c) and recombining and classifying the different detection point information to obtain a plurality of different targets.
In step a), the continuous frequency-modulated signal is saw-toothed.
The invention further discloses an ETC vehicle detection system based on the millimeter wave radar, which comprises
The device comprises a first module, a second module and a third module, wherein the first module is used for pre-storing a plurality of Doppler dimension frequency domain data corresponding to low speed when a detection area has no target;
the second module is used for detecting the speed of the target in the detection area in real time through the millimeter wave radar, and when the speed of the target is higher than a first preset speed, time domain adjacent pulse cancellation is carried out to filter out a static target;
and when the target speed is lower than a second preset speed, canceling the Doppler dimension frequency domain data stored in the first module and the Doppler dimension frequency domain data corresponding to the current target.
The invention also discloses a computer-readable storage medium on which a computer program is stored, which, when executed by a processor, performs the steps of the millimeter wave radar-based ETC vehicle detection method as described above.
The invention further discloses a computer device comprising a memory and a processor, the memory having stored thereon a computer program which, when executed by the processor, performs the steps of the millimeter wave radar-based ETC vehicle detection method as described above.
Compared with the prior art, the invention has the advantages that:
(1) the ETC vehicle detection method, the system and the storage medium based on the millimeter wave radar are suitable for ETC vehicle detection under extremely slow speed and congestion conditions, and by combining the radar and the ETC, a signal processing algorithm is optimized aiming at the problems of the radar due to installation conditions and a detection mechanism, and a new detection means is provided: firstly, judging whether a target (vehicle) exists in a detection area, and storing Doppler frequency domain data corresponding to the low speed when the target does not exist in the detection area; when a large moving speed target exists in the detection area, time domain pulse inter-cancellation is adopted for subsequent detection (a static target is not detected), so that the interference of other low-speed or static targets (problems caused by detection errors) on normal target detection is filtered, and the detection probability of a moving vehicle is improved; when an extremely slow or even zero-speed target and a jam condition exist in a detection area, frequency domain background cancellation (and frequency domain data cancellation without target storage) is adopted for Doppler dimensions corresponding to the subsequent low speed detection, time domain pulse cancellation is adopted for Doppler dimensions corresponding to other speeds, the detection performance of vehicles at different speeds is guaranteed, vehicles in the extremely slow or even zero-speed movement and jam condition can be well detected, and the traffic efficiency is guaranteed. The radar can detect fast moving vehicles, can also detect vehicles at extremely low speed and under the condition of congestion, and can adopt different processing means to vehicles with or without vehicles and vehicles with different moving speeds respectively according to echo signals, so that the detection probability of the vehicles is guaranteed to the maximum extent, and the backup guarantee is provided for fast traffic of ETC.
(2) According to the ETC vehicle detection method, system and storage medium based on the millimeter wave radar, the angle information of the target is detected in real time through the millimeter wave radar so as to position the lane direction where the vehicle leaves, and the interference of OBUs in vehicles of adjacent ETC lanes is prevented.
(3) According to the ETC vehicle detection method, the system and the storage medium based on the millimeter wave radar, the number of vehicles in a transaction area is identified through the millimeter wave radar to be compared with the number of detected vehicle-mounted electronic tags, and once the results are inconsistent, manual intervention is timely performed, so that not only can a front vehicle without an OBU pass due to RSU induction error be prevented, but also a rear vehicle with the OBU cannot trade, and the phenomenon of induction failure due to the fact that the quality of the OBU is uneven can be automatically re-induced, and the influence of passing efficiency caused by reversing is reduced.
Drawings
Fig. 1 is a schematic diagram of a ground induction coil and an ETC in combination in the prior art.
FIG. 2 is a flow chart of radar signal processing according to the present invention.
Fig. 3 is a waveform diagram of a radar signal in the present invention.
FIG. 4 is a multi-dimensional transformation diagram of the present invention.
FIG. 5 is a schematic diagram of the combination of a radar with an ETC according to the present invention.
FIG. 6 is a flow chart of a method of the present invention in an embodiment.
Fig. 7 is a schematic diagram of an actual scene without a vehicle in the present invention.
FIG. 8 is a zero Doppler dimension spectrogram without targets in an actual scene of the invention.
FIG. 9 is a schematic diagram of a vehicle with a stationary vehicle in an actual scenario of the present invention.
Fig. 10 is a doppler dimension spectrogram corresponding to a stationary vehicle in an actual scene of the present invention.
Fig. 11 is a frequency spectrum diagram after the frequency domain cancellation in the present invention.
Fig. 12 is a frequency spectrum diagram after the cancellation of the anti-spectrum of the corner placed at the front end of the headstock in the invention.
Fig. 13 is a frequency domain spectrum cancellation diagram of two closely parked stationary vehicles according to the present invention.
Detailed Description
The invention is further described below with reference to the figures and the specific embodiments of the description.
As shown in fig. 2 to 5, the present invention adopts a scheme combining a radar and an ETC, wherein the radar can accurately obtain information of a target such as distance, speed, and direction by transmitting and receiving electromagnetic waves and performing a series of signal processing as shown in fig. 2. The millimeter wave radar is a radar with a working frequency band in a millimeter wave band, and has the characteristics of small volume, weather resistance, all weather, all time and the like. Specifically, a Frequency Modulation Continuous Wave (FMCW) is adopted, the radar transmits a continuous frequency modulation signal, the frequency changes along with the change of modulation voltage along with the time, and the change rule can be divided into a triangular shape and a sawtooth shape. The saw-tooth shape is a linear variation of frequency with time within a single frequency modulation period, as shown in fig. 3. Performing M-point Fast Fourier Transform (FFT) on a single echo pulse, wherein each point represents a distance dimension; performing N-point Fast Fourier Transform (FFT) on a plurality of pulses in the same distance dimension, wherein each point represents a Doppler dimension (velocity dimension); and aiming at a plurality of channels, angle information of the target can be obtained through super-resolution angle measurement. The multi-dimensional transformation process is illustrated in fig. 4. And recombining and classifying the different detection point information according to a certain rule to obtain a plurality of different targets. And obtaining accurate information of the nonlinear moving target by adopting Extended Kalman Filtering (EKF). And aiming at the filtered information, classifying different vehicles according to different characteristics, and identifying a small vehicle, a big vehicle and the like. Through combining millimeter wave radar and ETC together, can solve a great deal of problems that traditional ETC scheme brought, the scheme schematic diagram is shown in FIG. 5.
As shown in fig. 6, on the basis of the combination of the radar and the ETC, the method for detecting the ETC vehicle based on the millimeter wave radar is suitable for detecting the ETC vehicle under extremely slow speed and congestion conditions, and specifically includes the following steps:
1) when the detection area has no target, a plurality of Doppler dimension frequency domain data corresponding to low speed, such as speed dimension frequency domain data, are stored in advance;
2) detecting the speed of a target in a detection area in real time through a millimeter wave radar, and when the target speed is higher than a first preset speed, subsequently detecting data subjected to analog-to-digital conversion, and performing time domain adjacent pulse cancellation to filter out a static target;
when the target speed is lower than a second preset speed, the Doppler dimension frequency domain data stored in the step 1) and the Doppler dimension frequency domain data corresponding to the current target are cancelled in the subsequent detection.
In this embodiment, in step 2), when the target speed is lower than the second preset speed, the doppler dimension frequency domain data stored in step 1) and the doppler dimension frequency domain data corresponding to the current target are cancelled, and the other doppler dimensions keep the cancellation of adjacent pulses in the time domain.
The ETC vehicle detection method based on the millimeter wave radar is suitable for ETC vehicle detection under extremely slow speed and congestion conditions, and by combining the radar and the ETC, a signal processing algorithm is optimized aiming at the problems of the radar due to installation conditions and a detection mechanism, and a new detection means is provided: firstly, judging whether a target (vehicle) exists in a detection area, and storing Doppler frequency domain data corresponding to the low speed when the target does not exist in the detection area; when a large moving speed target exists in the detection area, time domain pulse inter-cancellation is adopted for subsequent detection (a static target is not detected), so that the interference of other low-speed or static targets (problems caused by detection errors) on normal target detection is filtered, and the detection probability of a moving vehicle is improved; when an extremely slow or even zero-speed target and a jam condition exist in a detection area, frequency domain background cancellation (and frequency domain data cancellation without target storage) is adopted for Doppler dimensions corresponding to the subsequent low speed detection, time domain pulse cancellation is adopted for Doppler dimensions corresponding to other speeds, the detection performance of vehicles at different speeds is guaranteed, vehicles in the extremely slow or even zero-speed movement and jam condition can be well detected, and the traffic efficiency is guaranteed.
The radar can accurately detect fast moving vehicles, can also accurately detect vehicles at extremely low speed (such as the vehicle speed is less than or equal to 5km/h) and under congestion conditions, and respectively adopts different processing means for vehicles with or without vehicles and vehicles with different moving speeds according to echo signals, so that the detection probability of the vehicles is ensured to the maximum extent, and the backup guarantee is provided for fast passing of ETC.
In this embodiment, the second predetermined speed is less than the first predetermined speed, and the second predetermined speed is 3-8 km/h.
In the embodiment, the angle information of the target is detected in real time through the millimeter wave radar so as to position the lane direction where the vehicle leaves, and the interference of OBUs in vehicles in adjacent ETC lanes is prevented.
In this embodiment, the number of vehicles in the transaction area is identified through the millimeter wave radar and is compared with the number of detected vehicle-mounted electronic tags, once the result is inconsistent, manual intervention is timely carried out, not only can the front vehicle without installing the OBU pass due to the fact that RSU induction errors are prevented, but also the rear vehicle with the OBU cannot transact, the condition that induction fails due to the fact that the quality of the OBU is uneven can be further met, re-induction is automatically carried out again, and the influence of the passing efficiency caused by reversing is reduced.
Specifically, the process of identifying the number, speed and angle of vehicles in the transaction area by the millimeter wave radar is as follows:
a) transmitting a continuous frequency modulation signal through a millimeter wave radar, wherein the frequency changes along with the change of modulation voltage; wherein, the single frequency modulation signal is triangular and is overall sawtooth-shaped; the saw-tooth shape is that within a single frequency modulation period, the frequency changes linearly with time, as shown in fig. 3;
b) acquiring echo pulses, and performing M-point fast Fourier transform on a single echo pulse, wherein each point represents a distance dimension; performing N-point fast Fourier transform on a plurality of pulses in the same distance dimension, wherein each point represents a speed dimension; for a plurality of channels, angle information of a target can be obtained through super-resolution angle measurement, and the process is shown in fig. 4;
c) recombining and classifying different detection point information according to a certain rule to obtain a plurality of different targets; and obtaining accurate information of the nonlinear moving target by adopting Extended Kalman Filtering (EKF). And aiming at the filtered information, classifying different vehicles according to different characteristics, and identifying a small vehicle, a big vehicle and the like.
The method of the invention realizes intelligent traffic really by the realization of the technical means, and reduces the operation cost on the premise of ensuring the traffic efficiency.
The method of the invention is analyzed and verified below with reference to a complete embodiment:
as shown in fig. 7, for no target in the actual scene, the corresponding target-free zero doppler dimension spectrum is shown in fig. 8; in fig. 8, the points 40 and 49 of the distance point are detected stationary grounds, and the doppler dimension data is stored;
as shown in fig. 9, for a stationary vehicle in an actual scene, a corresponding zero doppler dimension spectrum is shown in fig. 10; in fig. 10, the distance points at points 40, 47, and 51 are detected stationary target points, but it is not possible to distinguish whether the distance points are ground echoes or stationary vehicle echoes. The zero doppler dimension frequency domain data of this time and the stored zero doppler dimension frequency domain data without the target are canceled to obtain the spectrogram shown in fig. 11. As can be seen from fig. 11, after the frequency domain cancellation, the ground target point is eliminated, and the stationary vehicle detection point is retained.
In order to verify the accuracy of the method, a spectrogram obtained after frequency domain cancellation is shown in fig. 12, in which a detected target point is determined to be a stationary vehicle, an angular reflector is placed at the front end of the vehicle head (echo signal intensity is increased), and frequency domain cancellation is performed. As can be seen from fig. 12, the two detected target points correspond to two reflection points of the vehicle, and the detection of the stationary target is realized by the above method.
And simulating a congestion situation, stopping two vehicles next to each other, and obtaining a frequency domain cepstrum cancellation chart as shown in fig. 13. According to the analysis, the vehicle can be well detected by the method under the conditions of extremely low speed and congestion of the vehicle, so that more accurate information is provided for ETC.
The invention also discloses an ETC vehicle detection system based on the millimeter wave radar, which comprises
The device comprises a first module, a second module and a third module, wherein the first module is used for pre-storing a plurality of Doppler dimension frequency domain data corresponding to low speed when a detection area has no target;
the second module is used for detecting the speed of the target in the detection area in real time through the millimeter wave radar, and when the speed of the target is higher than a first preset speed, time domain adjacent pulse cancellation is carried out to filter out a static target;
and when the target speed is lower than a second preset speed, canceling the Doppler dimension frequency domain data stored in the first module and the Doppler dimension frequency domain data corresponding to the current target.
The ETC vehicle detection system based on the millimeter wave radar also has the advantages of the method.
The invention further discloses a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, performs the steps of the millimeter wave radar-based ETC vehicle detection method as described above. The invention also discloses computer equipment which comprises a memory and a processor, wherein the memory is stored with a computer program, and the computer program executes the steps of the ETC vehicle detection method based on the millimeter wave radar when being executed by the processor.
All or part of the flow of the method of the embodiments may be implemented by a computer program, which may be stored in a computer-readable storage medium and executed by a processor, to implement the steps of the embodiments of the methods. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, recording medium, U.S. disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution media, and the like. The memory may be used to store computer programs and/or modules, and the processor may perform various functions by executing or executing the computer programs and/or modules stored in the memory, as well as by invoking data stored in the memory. The memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may be made by those skilled in the art without departing from the principle of the invention.
Claims (10)
1. An ETC vehicle detection method based on a millimeter wave radar is characterized by comprising the following steps:
1) pre-storing a plurality of Doppler dimension frequency domain data corresponding to low speed when a detection area has no target;
2) detecting the speed of a target in the detection area in real time through a millimeter wave radar, and when the speed of the target is higher than a first preset speed, performing time domain adjacent pulse cancellation to filter out a static target;
and when the target speed is lower than a second preset speed, canceling the Doppler dimension frequency domain data stored in the step 1) and the Doppler dimension frequency domain data corresponding to the current target.
2. The ETC vehicle detection method based on the millimeter wave radar according to claim 1, wherein in the step 2), when the target speed is lower than a second preset speed, the Doppler dimension frequency domain data stored in the step 1) and the Doppler dimension frequency domain data corresponding to the current target are cancelled, and the other Doppler dimensions keep the cancellation of adjacent pulses in the time domain.
3. The ETC vehicle detection method based on millimeter wave radar according to claim 1, wherein the second preset speed is less than the first preset speed, and the second preset speed is 3-8 km/h.
4. The ETC vehicle detection method based on millimeter wave radars according to claim 1, 2 or 3, characterized in that the millimeter wave radars are used for detecting the angle information of the target in real time so as to locate the direction of the lane where the vehicle is coming out.
5. The ETC vehicle detection method based on millimeter wave radar according to claim 1, 2 or 3, characterized in that the number of vehicles in a transaction area is identified by the millimeter wave radar to be compared with the number of detected on-board electronic tags to prevent a lane roadside unit from sensing errors.
6. The ETC vehicle detection method based on millimeter wave radar according to claim 5, characterized in that the process of identifying the number of vehicles and the speed of the transaction area by the millimeter wave radar is as follows:
a) transmitting a continuous frequency modulation signal through a millimeter wave radar, wherein the frequency changes along with the change of modulation voltage;
b) acquiring echo pulses, and performing M-point fast Fourier transform on a single echo pulse, wherein each point represents a distance dimension; performing N-point fast Fourier transform on a plurality of pulses in the same distance dimension, wherein each point represents a speed dimension;
c) and recombining and classifying the different detection point information to obtain a plurality of different targets.
7. The millimeter wave radar-based ETC vehicle detection method according to claim 6, wherein in step a), the continuous frequency modulated signal is saw-toothed.
8. An ETC vehicle detection system based on millimeter wave radar, comprising
The device comprises a first module, a second module and a third module, wherein the first module is used for pre-storing a plurality of Doppler dimension frequency domain data corresponding to low speed when a detection area has no target;
the second module is used for detecting the speed of the target in the detection area in real time through the millimeter wave radar, and when the speed of the target is higher than a first preset speed, time domain adjacent pulse cancellation is carried out to filter out a static target;
and when the target speed is lower than a second preset speed, canceling the Doppler dimension frequency domain data stored in the first module and the Doppler dimension frequency domain data corresponding to the current target.
9. A computer-readable storage medium having stored thereon a computer program, the computer program, when executed by a processor, performing the steps of the millimeter wave radar-based ETC vehicle detection method according to any one of claims 1 to 7.
10. A computer device comprising a memory and a processor, the memory having stored thereon a computer program, wherein the computer program, when executed by the processor, performs the steps of the millimeter wave radar-based ETC vehicle detection method of any one of claims 1-7.
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| CN113508312A (en) * | 2020-10-16 | 2021-10-15 | 华为技术有限公司 | Communication method and device |
| WO2022233346A3 (en) * | 2021-12-29 | 2022-12-29 | 加特兰微电子科技(上海)有限公司 | Radar signal processing method, radio signal processing method and application apparatuses |
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