CN103487810A - Method for detecting terrain obstacles with unmanned vehicle-borne radar based on echo characteristics - Google Patents
Method for detecting terrain obstacles with unmanned vehicle-borne radar based on echo characteristics Download PDFInfo
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- CN103487810A CN103487810A CN201310406535.4A CN201310406535A CN103487810A CN 103487810 A CN103487810 A CN 103487810A CN 201310406535 A CN201310406535 A CN 201310406535A CN 103487810 A CN103487810 A CN 103487810A
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- barrier
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- echo
- unmanned vehicle
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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
- G01S13/933—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
- G01S13/935—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft for terrain-avoidance
-
- 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
- G01S13/04—Systems determining presence of a target
-
- 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
- G01S13/882—Radar or analogous systems specially adapted for specific applications for altimeters
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/411—Identification of targets based on measurements of radar reflectivity
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/411—Identification of targets based on measurements of radar reflectivity
- G01S7/412—Identification of targets based on measurements of radar reflectivity based on a comparison between measured values and known or stored values
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention provides a method for detecting terrain obstacles with an unmanned vehicle-borne radar based on echo characteristics. Through the echo Doppler frequency shift characteristics and the high-resolution range profile characteristics of the terrain obstacles, detection and recognition on slopes and ditches are achieved. The method is suitable for being applied to the small unmanned vehicle-borne millimeter-wave radar. Compared with the prior art, the unmanned vehicle-borne anti-collision radar designed through the method has the advantages that radar miniaturization is achieved conveniently, detection on the directions and pitching information of the obstacles can be achieved through a one-dimensional linear array, and a complex servo system is eliminated. The millimeter-wave radar is used for detecting the terrain obstacles, the influence of smoke, dust, rain, fog and other bad weather can be overcome, and the all-day working capacity of the radar is enhanced.
Description
Technical field
The invention belongs to Radar Targets'Detection and field of target recognition, be specifically related to a kind of detection method of the unmanned trailer-mounted radar terrain obstacle based on echo character.
Background technology
Because Unmanned Ground Vehicle (ALV) is having huge potential application aspect military and civilian, this field is the focus of a research in recent years always.It is the precondition that unmanned vehicle is realized its various functions that reliable and stable terrain obstacle (mainly referring to protruding abrupt slope and the trench of depression) detects.The advantages such as the method adopted at present mainly is based on stereoscopic vision, laser radar or both information fusion, and being widely used of laser radar and infrared equipment is that to have a resolving power high due to it, and range finding, angle measurement accuracy are high, and equipment is small and light.But they have a huge defect can not work in sexual intercourse smog exactly, and millimetre-wave radar can meet the requirement of all weather operations well, and weak point is that its resolving power does not reach the level of laser radar.
At present to the method research that utilizes separately millimetre-wave radar to carry out the terrain obstacle detection seldom, this is mainly owing to two aspects: the one, and the echoing characteristics complexity of terrain obstacle, can reach the very difficult extraction of resolving power with millimetre-wave radar and stablize effective feature; The 2nd, be subject to the restriction of Radar Miniaturization requirement and the impact of surface irregularity, the vehicle-mounted millimeter wave radar adopts linear array antenna usually, selects orientation narrow beam, pitching broad beam, thereby does not have the high function of survey.Because millimetre-wave radar itself also has, wave beam is narrow, resolution is high, can consider by the ultra-resolution method of azimuth-range, its resolution further to be improved.On this basis, study the echoing characteristics at protruding barrier and depression obstacles borders place, thereby choose corresponding feature, the border of barrier is detected, finally the spatial informations such as the orientation of definite barrier, pitching.
Summary of the invention
The technical matters solved
For fear of the deficiencies in the prior art part, the present invention proposes a kind of detection method of the unmanned trailer-mounted radar terrain obstacle based on echo character, solves unmanned vehicle-mounted millimetre-wave radar terrain obstacle test problems.
Technical scheme
A kind of detection method of the unmanned trailer-mounted radar terrain obstacle based on echo character is characterized in that step is as follows:
Step 1: radar return is carried out to Fourier transform, obtain the echo Doppler shift feature of terrain obstacle;
Step 2, carry out barrier analysis of Echo Feature structure height figure: 00 basis
try to achieve the angle of pitch of barrier, wherein: f
ddoppler shift, v
1be the speed of radar with respect to the along continuous straight runs of barrier, λ is the wavelength of carrier wave,
be the position angle of barrier, θ is the angle of pitch of barrier;
When existence highly is greater than the protruding barrier of radar setting height(from bottom), the height h=H+R θ of barrier;
Otherwise, the height h=H-R θ of barrier;
Wherein: H is the height that radar is installed, and h is the height of barrier, and R is the radial distance of barrier to radar;
Make the height picture of barrier according to each pitching angle theta and each height h;
Step 3, according to height map, barrier is carried out to Preliminary detection and classification:
As O<h<h
minthe time, this range unit does not have barrier;
Work as h
minduring<h<H, there is the barrier that highly is less than radar altitude in this range unit;
When h<O, there is trench in this range unit, now by replace with-h of the degree of depth of trench;
Wherein: h
minthe barrier minimum constructive height that can detect for radar.
Beneficial effect
The detection method of a kind of unmanned trailer-mounted radar terrain obstacle based on echo character that the present invention proposes, utilize echo Doppler shift feature and the High Range Resolution feature of terrain obstacle, realized detection and the identification of abrupt slope and trench.Be applicable to the method is applied to the unmanned vehicle-mounted millimetre-wave radar of miniaturization.
Compared with prior art, adopt the unmanned vehicle anti-collision radar of the inventive method design, beneficial effect with following two aspects: be convenient to realize Radar Miniaturization, can be realized the detection of barrier orientation and pitching information by the one-dimensional linear array, save complicated servo-drive system.Utilize millimetre-wave radar to carry out the terrain obstacle detection, can overcome the impact of the weather extremes such as flue dust misty rain, strengthened the ability of radar all weather operations.
The accompanying drawing explanation
The relative motion schematic diagram that Fig. 1 is radar and barrier, for illustrating the extraction of Doppler Feature
The high blur schematic diagram that Fig. 2 is barrier, for illustrating the problem of (1.2) two height values of formula.
The classification schematic diagram that Fig. 3 is three kinds of terrain obstacles.
Embodiment
Now in conjunction with the embodiments, the invention will be further described for accompanying drawing:
(1) the relative motion model of trailer-mounted radar and barrier.Fig. 1 has shown to extract the feasibility of barrier target Doppler Feature.V wherein
1being the speed of radar with respect to the along continuous straight runs of barrier, is to have the speed of vehicular platform to determine,
be the position angle of barrier, θ is that the angle of pitch H of barrier is the height that radar is installed, and h is the height of barrier.Azimuth information can obtain by the Azimuth super-resolution method of linear array, for the barrier of differing heights, and its angle of pitch difference, thus can produce different how general rate frequency displacements, i.e. explanation can obtain the pitching information of barrier from Doppler shift.
(2) structure of terrain obstacle analysis of Echo Feature and height map.The barrier angle of pitch that Fig. 2 explanation utilizes Doppler shift to obtain has two kinds of possible values, can cause high blur.This problem need to solve according to echo character structure height figure.The barrier that unmanned vehicle need to detect mainly is divided into three kinds (as Fig. 3): height is lower than the protruding barrier of radar setting height(from bottom), highly higher than the protruding barrier of radar setting height(from bottom) and the trench of depression.Supposing to require radar is R to the minor increment of detection of obstacles
min, minimum constructive height is h
min(h
min<H), getting apart from the window size is R
minmake the height picture, the scope of the detection distance R of getting is 0.5R
min<R<1.5R
min, the height by formula (1.2) can in the hope of.Because landform be take smooth ground as main, therefore, before making judgement, suppose h=H-R θ, do again correction after adjudicating.Here can there be little fluctuating in said smooth ground under actual conditions, thus height non-vanishing, when meeting O<h<h
minthe time can think smooth ground.Corresponding three kinds of terrain obstructions, their height picture has respectively following characteristics:
1) when the height of barrier is less than the setting height(from bottom) of radar, the altitude range of the barrier recorded is h
min<h<H, and the height value of the adjacent segment distance unit after barrier meets O<h<h
min.
2) when having trench to exist, the height value recorded meets h<O, and the height value of the adjacent segment distance unit after barrier meets O<h<h
min.
3), when the height of barrier is greater than the setting height(from bottom) of radar, according to height, with the relation of pitching beam angle, there will be again following three kinds of situations:
After barrier apart from window without echoed signal, directly will be thereafter apart from the height zero setting in window.
If the higher barrier than it not after this barrier, thereafter apart from window still without echoed signal, can be directly by thereafter apart from the height zero setting in window.
If also there be the barrier higher than it after this barrier, usually at a highest thereafter barrier, meet a or the described condition of b, also have one section zero setting interval.
Claims (1)
1. the detection method of the unmanned trailer-mounted radar terrain obstacle based on echo character is characterized in that step is as follows:
Step 1: radar return is carried out to Fourier transform, obtain the echo Doppler shift feature of terrain obstacle;
Step 2, carry out barrier analysis of Echo Feature structure height figure: 00 basis
try to achieve the angle of pitch of barrier, wherein: f
ddoppler shift, v
1be the speed of radar with respect to the along continuous straight runs of barrier, λ is the wavelength of carrier wave,
be the position angle of barrier, θ is the angle of pitch of barrier;
When existence highly is greater than the protruding barrier of radar setting height(from bottom), the height h=H+R θ of barrier;
Otherwise, the height h=H-R θ of barrier;
Wherein: H is the height that radar is installed, and h is the height of barrier, and R is the radial distance of barrier to radar;
Make the height picture of barrier according to each pitching angle theta and each height h;
Step 3, according to height map, barrier is carried out to Preliminary detection and classification:
As O<h<h
minthe time, this range unit does not have barrier;
Work as h
minduring<h<H, there is the barrier that highly is less than radar altitude in this range unit;
When h<O, there is trench in this range unit, now by replace with-h of the degree of depth of trench;
Wherein: h
minthe barrier minimum constructive height that can detect for radar.
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106796292A (en) * | 2014-10-15 | 2017-05-31 | 法雷奥开关和传感器有限责任公司 | For detecting in the method for at least one of the peripheral region of motor vehicles object, driver assistance system and motor vehicles |
| CN109143191A (en) * | 2018-08-06 | 2019-01-04 | 中国航空工业集团公司雷华电子技术研究所 | A method of it improving the full landform of airborne radar and refines detectability |
| CN109444839A (en) * | 2018-11-29 | 2019-03-08 | 北京行易道科技有限公司 | The acquisition methods and device of objective contour |
| CN109633620A (en) * | 2018-12-13 | 2019-04-16 | 广州极飞科技有限公司 | The recognition methods of target object and device, operating equipment |
| CN110186466A (en) * | 2018-02-22 | 2019-08-30 | 上海博泰悦臻网络技术服务有限公司 | Vehicle-mounted navigation methods and systems, car-mounted terminal under a kind of extreme weather |
| CN110815202A (en) * | 2018-08-07 | 2020-02-21 | 杭州海康机器人技术有限公司 | Obstacle detection method and device |
| CN112590688A (en) * | 2020-12-18 | 2021-04-02 | 芜湖易来达雷达科技有限公司 | Design method for heavy truck accurate reversing auxiliary warehousing radar system |
| CN113156948A (en) * | 2021-04-19 | 2021-07-23 | 浙江工业大学 | Ground and obstacle distinguishing and identifying method of two-wheeled self-balancing robot |
| CN113341414A (en) * | 2021-04-22 | 2021-09-03 | 惠州市德赛西威汽车电子股份有限公司 | Chassis scratch prevention system and chassis scratch prevention method based on millimeter wave radar |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106796292A (en) * | 2014-10-15 | 2017-05-31 | 法雷奥开关和传感器有限责任公司 | For detecting in the method for at least one of the peripheral region of motor vehicles object, driver assistance system and motor vehicles |
| CN106796292B (en) * | 2014-10-15 | 2019-06-04 | 法雷奥开关和传感器有限责任公司 | For detecting method, driver assistance system and the motor vehicles of at least one object in the peripheral region of motor vehicles |
| US10571564B2 (en) | 2014-10-15 | 2020-02-25 | Valeo Schalter Und Sensoren Gmbh | Method for detecting at least one object in a surrounding area of a motor vehicle, driver assistance system and motor vehicle |
| CN110186466A (en) * | 2018-02-22 | 2019-08-30 | 上海博泰悦臻网络技术服务有限公司 | Vehicle-mounted navigation methods and systems, car-mounted terminal under a kind of extreme weather |
| CN109143191A (en) * | 2018-08-06 | 2019-01-04 | 中国航空工业集团公司雷华电子技术研究所 | A method of it improving the full landform of airborne radar and refines detectability |
| CN110815202B (en) * | 2018-08-07 | 2021-11-09 | 杭州海康机器人技术有限公司 | Obstacle detection method and device |
| CN110815202A (en) * | 2018-08-07 | 2020-02-21 | 杭州海康机器人技术有限公司 | Obstacle detection method and device |
| CN109444839A (en) * | 2018-11-29 | 2019-03-08 | 北京行易道科技有限公司 | The acquisition methods and device of objective contour |
| CN109444839B (en) * | 2018-11-29 | 2020-10-13 | 北京行易道科技有限公司 | Target contour acquisition method and device |
| CN109633620A (en) * | 2018-12-13 | 2019-04-16 | 广州极飞科技有限公司 | The recognition methods of target object and device, operating equipment |
| CN112590688A (en) * | 2020-12-18 | 2021-04-02 | 芜湖易来达雷达科技有限公司 | Design method for heavy truck accurate reversing auxiliary warehousing radar system |
| CN113156948A (en) * | 2021-04-19 | 2021-07-23 | 浙江工业大学 | Ground and obstacle distinguishing and identifying method of two-wheeled self-balancing robot |
| CN113156948B (en) * | 2021-04-19 | 2022-06-28 | 浙江工业大学 | Ground and obstacle distinguishing and identifying method of two-wheeled self-balancing robot |
| CN113341414A (en) * | 2021-04-22 | 2021-09-03 | 惠州市德赛西威汽车电子股份有限公司 | Chassis scratch prevention system and chassis scratch prevention method based on millimeter wave radar |
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