CN102798857B - Method for measuring relative speed, radar sensor and automobile - Google Patents

Method for measuring relative speed, radar sensor and automobile Download PDF

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CN102798857B
CN102798857B CN201210264583.XA CN201210264583A CN102798857B CN 102798857 B CN102798857 B CN 102798857B CN 201210264583 A CN201210264583 A CN 201210264583A CN 102798857 B CN102798857 B CN 102798857B
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relative
distance
radar sensor
unit
relative distance
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CN102798857A (en
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徐海峰
刘翔宇
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Chery Automobile Co Ltd
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SAIC Chery Automobile Co Ltd
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Abstract

The invention provides a method for measuring relative speed, wherein the method comprises the following steps of: periodically measuring a relative distance di; setting an interval threshold ds and obtaining a plurality of interval distances Di in turn, wherein d1 is set into D1; selecting Di, wherein i is an integer more than or equal to 2 in turn; if Di-1=dv, finding out du according to the formula that absolute value of du-dv is more than ds, wherein u is the smallest positive integer satisfying the formula that the absolute value of du-dv is more than ds and being more than v, so that Di=du; and setting an interval belt width delta d and obtaining a plurality of relative speeds Vi, wherein Vi=(Dx-Dy)/((a-b)T); the absolute value of Dx-Dy is more than delta d; y is an integer more than or equal to 1; x is the smallest positive integer satisfying the formula that the absolute value of Dx-Dy is more than delta d and being more than y; Dx=da; and Dy=db. Correspondingly, the invention further provides a radar sensor and an automobile. Compared with the prior art, the method for measuring the relative speed provided by the invention has the advantages of being good in real-time performance and high in measurement precision.

Description

Measure method, radar sensor and the automobile of relative velocity
Technical field
The invention belongs to speed measurement techniques field, be specifically related to a kind of method of measuring relative velocity, adopt the radar sensor of described method and comprise the automobile of described radar sensor.
Background technology
Along with people improve constantly the requirement of the security in car steering detailed process, comfortableness, radar sensor is widely used in automobile.Radar sensor is generally used for the orientation of measurement target (other vehicles or barrier) in automobile, and the relative distance of Ben Che and target and relative velocity, according to the relative velocity of Ben Che and target, can analyze between Ben Che and target, whether have risk of collision or potential risk of collision in conjunction with corresponding relative distance information, so that in the time there is risk of collision in Ben Che and target, can remind in time driver to brake, and in the time that not making a response or inevitable collision situation occurs, driver can notify in time motor vehicle braking system to automatically perform brake, bump or alleviate the degree of collision avoiding.
In addition, because the relative velocity between Ben Che and target all may change at any time, in order to avoid collision to occur, just must carry out Real-Time Monitoring to described relative velocity.
In prior art, generally adopt the relative velocity of this car of Real-Time Monitoring and target with the following method:
1) adopt the relative distance between radar sensor this car of periodic measurement and target, wherein i the relative distance measuring is d i, i is more than or equal to 1 integer;
2) calculate the relative velocity between a deuterzooid car and target every k Relative ranging, wherein i the relative velocity obtaining is V i,
V i = ( d i + k - d i ) k × T - - - ( 2 )
In formula (2), k × T is (i+k) individual relative distance d measuring i+kwith i the relative distance d measuring ibetween the time interval; T is the measuring period of relative distance.
Can find out, in the method for the relative velocity of existing this car of measurement and target, adopt equate and regular time interval measurement relative velocity, adopt successively measured range difference (d of the described time interval i+k+ d i) divided by time interval k × T, visible, in the method, the impact of the precision of the measuring error of described relative distance on relative velocity is very large, particularly in the time that barrier relative distance slowly changes.For reducing the impact on relative velocity precision of the measuring error of relative distance, can increase described time interval k × T, but like this will certainly increase the Measuring Time of relative velocity; In addition, described relative velocity measuring method is not considered the quasi-continuous measurement of relative velocity.The data of the relative velocity that therefore monitored also just cannot accurately embody the real-time change of relative velocity, thereby cause the crashproof effect of radar sensor undesirable.
Summary of the invention
Technical matters to be solved by this invention is for existing above-mentioned defect in prior art, provide the measurement relative velocity that a kind of real-time is good, measuring accuracy is high method, adopt the radar sensor of described method and comprise the automobile of described radar sensor.
The technical scheme that solution the technology of the present invention problem adopts is:
The method of described measurement relative velocity, comprises the steps:
1) periodic measurement relative distance, wherein i the relative distance measuring is d i;
2) setting interval threshold is that ds also obtains multiple spacing distances successively, and wherein i the spacing distance obtaining is D i, described D iin accordance with the following steps from d iin choose:
21) by d 1be set as D 1;
22) select D i, wherein i gets the integer that is more than or equal to 2 successively:
If D i-1=d v, according to | d u-d v| > ds finds d u, wherein u is satisfied | d u-d v| > ds and be greater than the smallest positive integral of v, makes D i=d u;
3) set interval-zone width and be Δ d and obtain multiple relative velocities according to formula (1), wherein i the relative velocity obtaining is V i,
V i = D x - D y ( a - b ) T - - - ( 1 )
In formula (1), | D x-D y| > Δ d, y is more than or equal to 1 integer, and x is satisfied | D x-D y| > Δ d and be greater than the smallest positive integral of y; D x=d a; D y=d b; T is the measuring period of relative distance.
Preferably, in described step 1), adopt radar sensor periodic measurement relative distance,
In step 1), also comprise the steps: that relative distance in first range ability in radar sensor measuring is as d 1.
Preferably, described step 22) in also comprise the steps: searching d uprocess in, if the relative distance measuring exceeds the range ability of radar sensor, return to step 1).
Preferably, described step 22) in also comprise the steps:
Setting is searched and on number of times, is limited to h; Searching d uprocess in, if find d h+vand | d h+v-d v|≤ds, setting current relative velocity is zero, and returns to step 1).
The present invention provides a kind of radar sensor simultaneously, and described radar sensor comprises:
Relative ranging unit, for periodic measurement relative distance, wherein i the relative distance measuring is d i, and by the relative distance d measuring ireal-time Transmission to spacing distance is chosen unit;
Spacing distance is chosen unit, is preset with interval threshold ds in it, for the relative distance d arriving according to periodic measurement iand interior default interval threshold ds draws multiple spacing distances in real time, wherein i the spacing distance obtaining is D i, and by the described spacing distance D obtaining ireal-time Transmission is to relative velocity computing unit;
Described spacing distance is chosen unit and is carried out following steps with from multiple relative distance d iin select spacing distance D i:
By d 1be set as D 1; Select D i, wherein i gets the integer that is more than or equal to 2 successively: if D i-1=d v, according to | d u-d v| > ds finds d u, wherein u is satisfied | d u-d v| > ds and be greater than the smallest positive integral of v, makes D i=d u;
Relative velocity computing unit, is preset with interval-zone width Delta d in it, the spacing distance D drawing for choose unit according to spacing distance iand interior default interval-zone width Delta d calculates relative velocity V in real time i;
Described relative velocity computing unit is carried out following calculation procedure to draw relative velocity:
V i = D x - D y ( a - b ) T - - - ( 1 )
In formula (1), i the relative velocity obtaining is V i; | D x-D y| > Δ d, y is more than or equal to 1 integer, and x is satisfied | D x-D y| > Δ d and be greater than the smallest positive integral of y; D x=d a; D y=d b; T is the measuring period of relative distance.
Preferably, described Relative ranging unit is also for being set as d by the relative distance in first range ability in Relative ranging unit measuring 1.
Preferably, described radar sensor also comprises judging unit, and described judging unit is for receiving the relative distance d that Relative ranging unit measures i, and judge described relative distance d iwhether in the range ability in Relative ranging unit, in this way, by the relative distance d in this range ability in Relative ranging unit ireal-time Transmission to spacing distance is chosen unit; As no, instruction Relative ranging unit restarts to measure relative distance.
Preferably, described spacing distance is chosen in unit and is also preset with and searches number of times upper limit h; Described spacing distance is chosen unit also for searching d uprocess in, if find d h+vand | d h+v-d v|≤ds sends zero setting signal to relative velocity computing unit; Described relative velocity computing unit also for according to described zero setting signal by current relative velocity be set as zero and instruction Relative ranging unit restart to measure relative distance.
The present invention also provides a kind of automobile simultaneously, comprises radar sensor, and described radar sensor adopts above-mentioned radar sensor.
Beneficial effect:
(1) method of measurement relative velocity of the present invention and device the position of interval-zone can be arranged to can quasi-continuous movement mode (its step-length moving is | D i-D i-1|), thereby can automatically start to carry out the measurement of the relative velocity based on interval-zone width according to the relative distance value that any time measures, can automatically track target relative distance to determine in real time relative velocity, realized quasi-continuous measurement and the real-time update of relative velocity.
(2) method of measurement relative velocity of the present invention and device are at spacing distance D iselection on (i is more than or equal to 2 integer), owing to having set in advance interval threshold ds, therefore no matter d ihow to change (become large or diminish), only have satisfied | d i-D i-1| the d of >ds condition ijust can be by assignment to D i, therefore can tackle the undergo mutation situation of (as relative distance is become and reduced from increase, or from reducing to become increase) of relative distance.
(3) method of measurement relative velocity of the present invention and device are at selected spacing distance D itime (i is more than or equal to 2 integer), search d utime, if measure a series of variations d slowly iand the d slowly changing iquantity be accumulated to setting search the number of times upper limit h time, do not find yet qualified d u(described condition is d uwith d vthe absolute value of difference be greater than described interval threshold), automatically jump out current circulation and relative velocity be set as to 0, then restart periodic measurement relative distance d itherefore, can tackle the long-time situation about slowly changing of relative distance.
Accompanying drawing explanation
Fig. 1 is the principle schematic of measuring the method for relative velocity in the embodiment of the present invention 1;
Fig. 2 is the process flow diagram of measuring the method for relative velocity in the embodiment of the present invention 1;
Fig. 3 is the structural representation of radar sensor in the embodiment of the present invention 1;
Fig. 4 is the detailed process schematic diagram of measuring the method for relative velocity in the embodiment of the present invention 1.
Embodiment
For making those skilled in the art better understand technical scheme of the present invention, below in conjunction with the drawings and specific embodiments to the present invention measure relative velocity method, adopt the radar sensor of described method and comprise that the automobile of described radar sensor is described in further detail.
The method of described measurement relative velocity comprises the steps:
1) periodic measurement relative distance, wherein i the relative distance measuring is d i;
2) setting interval threshold is that ds also obtains multiple spacing distances successively, and wherein i the spacing distance obtaining is D i, described D iin accordance with the following steps from d iin choose:
21) by d 1be set as D 1;
22) select D i, wherein i gets the integer that is more than or equal to 2 successively:
If D i-1=d v, according to | d u-d v| > ds finds d u, wherein u is satisfied | d u-d v| > ds and be greater than the smallest positive integral of v, makes D i=d u;
3) set interval-zone width and be Δ d and obtain multiple relative velocities according to formula (1), wherein i the relative velocity obtaining is V i,
V i = D x - D y ( a - b ) T - - - ( 1 )
In formula (1), | D x-D y| > Δ d, y is more than or equal to 1 integer, and x is satisfied | D x-D y| > Δ d and be greater than the smallest positive integral of y; D x=d a; D y=d b; T is the measuring period of relative distance.
Described radar sensor comprises Relative ranging unit, and for periodic measurement relative distance, wherein i the relative distance measuring is d i, and by the relative distance d measuring ireal-time Transmission to spacing distance is chosen unit;
Spacing distance is chosen unit, is preset with interval threshold ds in it, for the relative distance d arriving according to periodic measurement iand interior default interval threshold ds draws multiple spacing distances in real time, wherein i the spacing distance obtaining is D i, and by the described spacing distance D obtaining ireal-time Transmission is to relative velocity computing unit;
Described spacing distance is chosen unit and is carried out following steps with from multiple relative distance d iin select spacing distance D i:
By d 1be set as D 1; Select D i, wherein i gets the integer that is more than or equal to 2 successively: if D i-1=d v, according to | d u-d v| > ds finds d u, wherein u is satisfied | d u-d v| > ds and be greater than the smallest positive integral of v, makes D i=d u;
Relative velocity computing unit, is preset with interval-zone width Delta d in it, the spacing distance D drawing for choose unit according to spacing distance iand interior default interval-zone width Delta d calculates relative velocity V in real time i;
Described relative velocity computing unit is carried out following calculation procedure to draw relative velocity:
V i = D x - D y ( a - b ) T - - - ( 1 )
In formula (1), i the relative velocity obtaining is V i; | D x-D y| > Δ d, y is more than or equal to 1 integer, and x is satisfied | D x-D y| > Δ d and be greater than the smallest positive integral of y; D x=d a; D y=d b; T is the measuring period of relative distance.
Described automobile comprises above-mentioned radar sensor.
Embodiment 1:
As shown in Figure 1, 2, the method for measuring relative velocity described in the present embodiment comprises the steps:
S101. periodic measurement relative distance, wherein i the relative distance measuring is d i.
In the present embodiment, adopt radar sensor periodic measurement relative distance d i.
Preferably the relative distance in first range ability in radar sensor measuring is as d 1, find effective initial measurement point d 1.
S102. setting interval threshold is that ds also obtains multiple spacing distances successively, and wherein i the spacing distance obtaining is D i.
Described D iin accordance with the following steps from d iin choose:
S102-1. by d 1be set as D 1.
S102-2. select D i, wherein i gets the integer that is more than or equal to 2 successively:
If D i-1=d v, according to | d u-d v| > ds finds d u, wherein u is satisfied | d u-d v| > ds and be greater than the smallest positive integral of v, makes D i=d u.
Preferably, in the present embodiment, searching d uprocess in, if find d h+vand | d h+v-d v|≤ds, to set current relative velocity be zero and return to step s101, restarts periodic measurement relative distance d i.Wherein, h be set search the number of times upper limit.
Preferably, in the present embodiment, searching d uprocess in, if the relative distance measuring exceeds the range ability of radar sensor, return to step s101, restart periodic measurement relative distance d i.
S103. to set interval-zone width be Δ d and obtain multiple relative velocities according to formula (1), and wherein i the relative velocity obtaining is V i,
V i = D x - D y ( a - b ) T - - - ( 1 )
In formula (1), | D x-D y| > Δ d, y is more than or equal to 1 integer, and x is satisfied | D x-D y| > Δ d and be greater than the smallest positive integral of y; D x=d a; D y=d b; T is the measuring period of relative distance.Here described effective initial measurement point d, 1also be the upper limit (relative distance d of interval-zone initial position iwhile reducing) or lower limit (relative distance d iwhen increase).
In the present embodiment, described interval threshold ds, interval-zone width Delta d and to search the concrete numerical value of number of times upper limit h relevant with the design parameter of radar sensor respectively.For example, the minimum value of described interval threshold ds depends on the precision of radar sensor Relative ranging, if interval threshold ds is greater than radar sensor Relative ranging error range, the value of interval threshold ds is less, and the precision that system relative velocity is measured is just higher; And interval-zone width Delta d chooses the excessive and too small precision that system relative velocity is measured that can have a strong impact on, under the prerequisite of specific speed measuring accuracy, the value of interval-zone width Delta d depends on the precision of system Relative ranging, Relative ranging precision is higher, and the value of interval-zone width Delta d is just less.Therefore those skilled in the art can choose the radar sensor of respective model according to the actual requirements, and choose interval threshold ds, interval-zone width Delta d and search the concrete numerical value of number of times upper limit h according to the model of selected radar sensor, because those skilled in the art can select interval threshold ds, interval-zone width Delta d and the concrete value of searching number of times upper limit h by reading the present invention, therefore repeat no more here.
As shown in Figure 1, the relative distance d measuring described in iconstantly reduce, therefore d 1be positioned at the upper vault of interval-zone initial position, with d 1(be D 1) the absolute value of difference be greater than first D of described interval-zone width Delta d ibe positioned at the below of the higher limit of interval-zone initial position; Otherwise, if described in the relative distance d that measures iconstantly increase d 1be positioned at the lower limit place of interval-zone initial position, with d 1(be D 1) the absolute value of difference be greater than first D of described interval-zone width Delta d ibe positioned at the top of the higher limit of interval-zone initial position.Can find out in conjunction with said method and Fig. 1, the position of described interval-zone be arranged to can quasi-continuous movement mode (the width Delta d of described interval-zone is fixing constant, can be set by radar sensor), be specially, in the time that relative distance reduces, the relative distance that is positioned at the interval-zone upper limit can be obtained to current relative velocity with the difference that is positioned at first relative distance under interval-zone lower limit divided by the experienced time; In the time that relative distance increases, the relative distance that is positioned at interval-zone lower limit can be obtained to current relative velocity with the difference that is positioned at first relative distance on the interval-zone upper limit divided by the experienced time.And often calculate a relative velocity V i, the position of interval-zone will automated movement, and its step-length moving is | D i-D i-1|, mobile direction is identical with the direction that relative distance changes, and when relative distance reduces, the direction that the position of interval-zone reduces to relative distance moves; When relative distance increases, the direction that the position of interval-zone increases to relative distance moves.
Said method is being selected D itime, no matter d ichange from small to big still from large to small, only have the d that meets threshold condition ijust be chosen to be D i.The method of visible measurement relative velocity of the present invention can be tackled relative distance d iundergo mutation (as relative distance is become and reduced from increase, or from reducing to become increase) situation, and while having reduced that relative distance is undergone mutation on calculating the impact of relative velocity, if the method is applied on the radar sensor in automobile, can tackle be positioned at this car vehicle below surmount suddenly this car, this car surmount vehicle, this car of being positioned at before it accelerate suddenly slow down, or be positioned at this car vehicle below accelerate suddenly the situation such as deceleration.
Meanwhile, said method is being selected D itime, search d utime, if d ilong-time variation slowly, and the d slowly changing iquantity be accumulated to while searching number of times upper limit h, do not find yet qualified d u(described condition is | d u-d v| > ds), automatically jump out current circulation and relative velocity is set as to 0, then restart periodic measurement relative distance d i.Visible the present invention can tackle relative distance d ichange for a long time situation slowly, and reduce relative distance and changed when slow calculating the impact of relative velocity, if the method is applied on the radar sensor in automobile, can tackles between this car and target for a long time in relative static conditions or the situations such as collision have occurred with target.
The present embodiment provides a kind of radar sensor simultaneously, and it is for measuring relative velocity, and as shown in Figure 4, described radar sensor comprises that Relative ranging unit, judging unit, spacing distance choose unit and relative velocity computing unit.
Wherein, described Relative ranging unit is for the relative distance between this car of periodic measurement and target, and i the relative distance measuring is d i, and by the relative distance d measuring ireal-time Transmission is to judging unit.
Preferred described Relative ranging unit also for the relative distance in first range ability in Relative ranging unit measuring as d 1.
Described judging unit is for receiving the relative distance d that Relative ranging unit measures i, and judge described relative distance d iwhether in the range ability in Relative ranging unit, in this way, by the relative distance d in this range ability in Relative ranging unit ireal-time Transmission to spacing distance is chosen unit; As no, instruction Relative ranging unit restarts to measure relative distance.
Described spacing distance is chosen and in unit, is preset with interval threshold ds, and it is for receiving the relative distance d in the range ability in Relative ranging unit of judging unit transmission i, and according to described relative distance d iand interior default interval threshold ds draws multiple spacing distances in real time, wherein i the spacing distance obtaining is D i, and by the described spacing distance D obtaining ireal-time Transmission is to relative velocity computing unit;
And described spacing distance is chosen unit and is carried out following steps with from multiple relative distance d iin select spacing distance D i:
By d 1be set as D 1; Select D i, wherein i gets the integer that is more than or equal to 2 successively: if D i-1=d v, according to | d u-d v| > ds finds d u, wherein u is satisfied | d u-d v| > ds and be greater than the smallest positive integral of v,, make D i=d u.
Preferred described spacing distance is chosen in unit and is also preset with and searches number of times upper limit h, and described spacing distance is chosen unit also for searching d uprocess in, if find d h+vand | d h+v-d v|≤ds sends zero setting signal to relative velocity computing unit; Described relative velocity computing unit also for according to described zero setting signal by current relative velocity be set as zero and instruction Relative ranging unit restart to measure relative distance.
In described relative velocity computing unit, be preset with interval-zone width Delta d, the spacing distance D that it draws for choose unit according to spacing distance iand interior default interval-zone width Delta d calculates relative velocity V in real time i;
And described relative velocity computing unit is carried out following calculation procedure to draw relative velocity:
V i = D x - D y ( a - b ) T - - - ( 1 )
In formula (1), i the relative velocity obtaining is V i; | D x-D y| > Δ d, y is more than or equal to 1 integer, and x is satisfied | D x-D y| > Δ d and be greater than the smallest positive integral of y; D x=d a; D i=d b; T is the measuring period of relative distance.
The present embodiment also provides a kind of automobile simultaneously, and described automobile comprises above-mentioned radar sensor.
Provide a kind of detailed process of method of the measurement relative velocity that is applied to radar sensor below, to measure the relative velocity of this car and target.For ease of describing this detailed process, preset the variablees such as i, j, k, n, p, m, A, and recycle time upper limit Q, multiplicity upper limit r, the measurement period T of relative distance, the constant such as range observation range upper limit d0, interval threshold ds, interval-zone width Delta d of radar sensor, above-mentioned constant is all relevant with the design parameter of radar sensor, those skilled in the art can choose the radar sensor of respective model according to the actual requirements, and according to the concrete numerical value of the selected above-mentioned constant of the model of selected radar sensor, repeat no more here.Setting i the relative distance measuring is d (i), and k the spacing distance obtaining is D (k).As shown in Figure 3, described detailed process comprises the steps:
S201. make i=1, then perform step s202.
S202. periodic measurement d (i), then performs step s203;
S203. judge whether d (i) <d0, judge that d (i) is whether in the range observation range ability in radar sensor, in this way, illustrate in the range observation range ability of d (i) in radar sensor, and perform step s205; As no, illustrate that d (i) exceeds the range observation range ability of radar sensor, the range data of surveying invalid, and perform step s204.
S204. make i++, i.e. i=i+1, then returns to step s202.
S205. make j=1, k=1, n=1, then performs step s206.
S206. make d (1)=d (i), measure the relative distance in first range ability in radar sensor and set it as effective initial measurement point d (1), and start to arrange interval-zone from d (1), then perform step s207.
S207. make D (k)=d (1), then perform step s208.
S208. make i=1, A (k)=1, then performs step s209.
S209. make m=0, then perform step s210.
S210. make p=0, then perform step s211.
S211. make i++, i.e. i+1, then performs step s212.
S212. continue periodic measurement d (i), then perform step s213.
S213. make p++, i.e. p=p+1, then performs step s214.
S214. judge whether | d (i)-D (k) | >ds, in this way, illustrate and find the d (i) that is greater than interval threshold ds compared with D (k), now perform step s219; As no, execution step s215.
S215. judge whether p>r, in this way, the long-time variation of the d (i) measuring is described slowly, now perform step s216; As no, return to step s211.
S216. make m++, i.e. m=m+1, then performs step s217.
S217. judge whether m<Q, in this way, return to step s210, as no, illustrate that this car and target carriage are relative static or bumped in for a long time, now perform step s218.
S218. make V (n)=0, perform step afterwards s224.
S219. make k++, i.e. k=k+1, then performs step s220.
S220. make A (k)=i, then perform step s221.
S221. make D (k)=d (i), then perform step s222.
S222. judge whether | D (k)-D (j) | > Δ d, in this way, illustrate that D (k) and the absolute value of the difference of the corresponding D of the interval-zone upper limit (or lower limit) (j) are greater than interval-zone width Delta d, execution step s223; As no, return to step s209.
S223. make relative velocity V (n)=(D (k)-D (j))/((i-A (n)) * T), then perform step s224.
S224. the d (i), the V (n) that abovementioned steps are obtained are sent to radar sensor in real time, then perform step s225.
S225. judge whether V (n) equals 0, in this way, returns to step s202, illustrate that this car is relative with target vehicle static or bumped; As no, perform step s226.
S226. make j++, n++, i.e. j=j+1, n=n+1, the position of interval-zone move down (when relative distance reduces) or on move while increasing (relative distance), then return to step s209.
Above-mentioned detailed process can roughly be divided into following several part:
Part I, searches effective initial measurement point d (1).
While adopting the relative distance d (i) of this car of radar sensor periodic measurement and target, successively by compared with the range ability of the d measuring (i) and radar sensor, until measure in first range ability in radar sensor, while being less than in other words the relative distance of range upper limit d0 of radar sensor, set it as effective initial measurement point.
Part II is selected spacing distance D (k) from d (i).
First spacing distance D (1) is set as to effective initial measurement point d (1);
According to | d (i)-D (k) | the principle of >ds is selected D (k+1) successively, and wherein k is more than or equal to 1 integer; Visible in the time selecting D (k+1), no matter how d (i) changes (become large or diminish), only have the d (i) that meets threshold condition to be just chosen to be D (k+1), therefore can tackle the undergo mutation situation of (as relative distance is become and reduced from increase, or from reducing to become increase) of relative distance.
Part III, accumulative total changes the quantity of slow d (i).
In the time selecting spacing distance D (k+1) (k is more than or equal to 1 integer), if measure a series of variations d (i) slowly, the quantity that adds up the slow d of described variation (i).
Part IV, Ruo Benche and target are relative static or bumped for a long time, jump out current circulation.
If the quantity of the slow d of described variation (i) accumulative total exceedes (r+1) * (Q+1) when individual, jump out current circulation and V (n) is set as to 0, and restart periodic measurement d (i), now judge that this car and target are for a long time in relative static conditions or with target, collision has occurred.
Part V, the zero clearing of m and p.
Just find and meet when individual if the quantity of the slow d of described variation (i) accumulative total does not exceed (r+1) * (Q+1) | d (i)-D (k) | the d (i) of >ds, makes m and p zero clearing.
Part VI, calculates the relative velocity V (n) of this car and target and sends data.
Select spacing distance D (k) afterwards, calculate the relative velocity of this car and target according to V (n)=(D (k)-D (j))/((i-A (n)) * T), the data of the relative velocity V (n) calculating and relative distance d (i) corresponding to the D (k) that measures are sent to radar sensor, can analyze between Ben Che and target, whether have risk of collision or potential risk of collision by it in conjunction with relative velocity V (n) and relative distance d (i); Then the value that adds up j and n circulates and calculates next relative velocity to enter the next one.
Visible, above-mentioned detailed process has taken into full account this car and has occurred that with the relative distance d (i) of target slowly variation, relative distance are undergone mutation (as relative distance is become and reduced from increase, or from reducing to become increase) etc. situation, also taken into full account between this car and target long-term in relative static conditions, there is collision with target, the vehicle that is positioned at after this car surmounts suddenly this car, or this car surmounts the situations such as the vehicle that is positioned at before it.
Embodiment 2:
The difference of the present embodiment and embodiment 1 is:
1) described in the present embodiment, measure the method for relative velocity,
Do not comprise in embodiment 1 step s102-2 and searching d uin process, if exceeding the range ability of radar sensor, the relative distance measuring returns to the step of step s101;
And/or, do not comprise in embodiment 1 step s102-2 and searching d uin process, if find d h+vand | d h+v-d v|≤ds, setting current relative velocity is zero, and return step s101 step (wherein h be set search the number of times upper limit).
2) described in the present embodiment, radar sensor does not comprise the judging unit in embodiment 1, the relative distance d that described Relative ranging unit is directly measured ireal-time Transmission to spacing distance is chosen unit, and described spacing distance is chosen unit and received the described relative distance d that Relative ranging unit transmits i, and according to described relative distance d iand interior default interval threshold ds draws multiple spacing distances in real time.
Additive method, structure and effect in the present embodiment are all identical with embodiment 1, repeat no more here.
Be understandable that, above embodiment is only used to principle of the present invention is described and the illustrative embodiments that adopts, but the present invention is not limited thereto.For those skilled in the art, without departing from the spirit and substance in the present invention, can make various modification and improvement, these modification and improvement are also considered as protection scope of the present invention.

Claims (9)

1. a method of measuring relative velocity, is characterized in that, comprises the steps:
1) periodic measurement relative distance, wherein i the relative distance measuring is d i;
2) setting interval threshold is that ds also obtains multiple spacing distances successively, and wherein i the spacing distance obtaining is D i, described D iin accordance with the following steps from d iin choose:
21) by d 1be set as D 1;
22) select D i, wherein i gets the integer that is more than or equal to 2 successively:
If D i-1=d v, according to | d u-d v| > ds finds d u, wherein u is satisfied | d u-d v| > ds and be greater than the smallest positive integral of v, makes D i=d u;
3) set interval-zone width and be Δ d and obtain multiple relative velocities according to formula (1), wherein i the relative velocity obtaining is V i,
V i = D x - D y ( a - b ) T - - - ( 1 )
In formula (1), | D x-D y| > Δ d, y is more than or equal to 1 integer, and x is satisfied | D x-D y| > Δ d and be greater than the smallest positive integral of y; D x=d a; D y=d b; T is the measuring period of relative distance.
2. method according to claim 1, is characterized in that, in described step 1), adopts radar sensor periodic measurement relative distance,
In step 1), also comprise the steps: that relative distance in first range ability in radar sensor measuring is as d 1.
3. method according to claim 2, is characterized in that, described step 22) in also comprise the steps: searching d uprocess in, if the relative distance measuring exceeds the range ability of radar sensor, return to step 1).
4. method according to claim 1, is characterized in that, described step 22) in also comprise the steps:
Setting is searched and on number of times, is limited to h;
In the process of searching du, if d v+jmeet j get successively integer between 1 to h and | d v+j-d v| the condition of≤ds, setting current relative velocity is zero, and returns to step 1).
5. a radar sensor, is characterized in that, described radar sensor comprises:
Relative ranging unit, for periodic measurement relative distance, wherein i the relative distance measuring is d i, and by the relative distance d measuring ireal-time Transmission to spacing distance is chosen unit;
Spacing distance is chosen unit, is preset with interval threshold ds in it, for the relative distance d arriving according to periodic measurement iand interior default interval threshold ds draws multiple spacing distances in real time, wherein i the spacing distance obtaining is D i, and by the described spacing distance D obtaining ireal-time Transmission is to relative velocity computing unit;
Described spacing distance is chosen unit and is carried out following steps with from multiple relative distance d iin select spacing distance D i:
By d 1be set as D 1; Select D i, wherein i gets the integer that is more than or equal to 2 successively: if D i-1=d v, according to | d u-d v| > ds finds d u, wherein u is satisfied | d u-d v| > ds and be greater than the smallest positive integral of v, makes D i=d u;
Relative velocity computing unit, is preset with interval-zone width Delta d in it, the spacing distance D drawing for choose unit according to spacing distance iand interior default interval-zone width Delta d calculates relative velocity V in real time i;
Described relative velocity computing unit is carried out following calculation procedure to draw relative velocity:
V i = D x - D y ( a - b ) T - - - ( 1 )
In formula (1), i the relative velocity obtaining is V i; | D x-D y| > Δ d, y is more than or equal to 1 integer, and x is satisfied | D x-D y| > Δ d and be greater than the smallest positive integral of y; D x=d a; D y=d b; T is the measuring period of relative distance.
6. radar sensor according to claim 5, is characterized in that, described Relative ranging unit is also for being set as d by the relative distance in first range ability in Relative ranging unit measuring 1.
7. radar sensor according to claim 6, is characterized in that, described radar sensor also comprises judging unit, and described judging unit is for receiving the relative distance d that Relative ranging unit measures i, and judge described relative distance d iwhether in the range ability in Relative ranging unit, in this way, by the relative distance d in this range ability in Relative ranging unit ireal-time Transmission to spacing distance is chosen unit; As no, instruction Relative ranging unit restarts to measure relative distance.
8. radar sensor according to claim 5, is characterized in that, described spacing distance is chosen in unit and is also preset with and searches number of times upper limit h; Described spacing distance is chosen unit also for searching d uprocess in, if d v+jmeet j get successively integer between 1 to h and | d v+j-d v| the condition of≤ds, sends zero setting signal to relative velocity computing unit; Described relative velocity computing unit also for according to described zero setting signal by current relative velocity be set as zero and instruction Relative ranging unit restart to measure relative distance.
9. an automobile, comprises radar sensor, it is characterized in that, described radar sensor adopts arbitrary described radar sensor in claim 5-8.
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