CN104297752A - Object detection method - Google Patents
Object detection method Download PDFInfo
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- CN104297752A CN104297752A CN201410610383.4A CN201410610383A CN104297752A CN 104297752 A CN104297752 A CN 104297752A CN 201410610383 A CN201410610383 A CN 201410610383A CN 104297752 A CN104297752 A CN 104297752A
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- 238000001514 detection method Methods 0.000 title claims abstract description 24
- 238000000034 method Methods 0.000 claims description 21
- 230000005540 biological transmission Effects 0.000 claims description 10
- 238000012545 processing Methods 0.000 claims description 10
- 238000010205 computational analysis Methods 0.000 claims description 6
- 230000003321 amplification Effects 0.000 claims description 3
- 238000001914 filtration Methods 0.000 claims description 3
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 3
- 230000010363 phase shift Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 2
- 238000003032 molecular docking Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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Classifications
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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
-
- 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
- G01S2013/9314—Parking operations
Abstract
The invention discloses an object detection method. The object detection method comprises the steps that (1) radar transmits a transmitted signal with the frequency being f0; (2) the transmitted signal is divided into two branches, one branch of signal is transmitted through a transmitting antenna, the other branch of signal is shunted into two tributary signals entering a channel I and a channel Q in a mixer respectively, and the tributary signal entering the channel Q is firstly subjected to dephasing by 90 degrees; (3) a receiving antenna receives an echo signal reflected by an object; (4) the signals after being subjected to mixing in the step (3) is processed, so that intermediate frequency signals and difference frequency signals in the channel I and the channel Q are obtained; (5) the speed and the relative distance of the target object are analyzed according to the signals in the channel I and the channel Q; (6) the risk of a vehicle is calculated according to the speed and the relative distance of the target object, and a driver is reminded of the risk of the vehicle. According to the object detection method, based on the Doppler effect of the millimeter-wave radar, the speed and the relative distance of the moving object are detected, so that the driver is assisted in safely starting the vehicle, and the situation that dangers and accidents occur under the condition that the sight of the driver is limited is avoided.
Description
Technical field
The present invention relates to vehicle assisted system field, be specifically related to a kind of object detection method, its Doppler effect based on millimetre-wave radar carrys out detecting object.
Background technology
Along with the development of society, the raising of people's living standard, the quantity of car also gets more and more.Stop and become a difficult problem in a lot of city, parking stall is less on the one hand, another side needs staff to regulate and control, not only efficiency is lower, but also wasting manpower and material resources's resource, in addition also can produce a lot of accident in docking process, the friction between vehicle, damage cause economic waste and unnecessary loss.
Existing parking assistance system is that main detection means can only shorter region, detection vehicle rear with ultrasound wave and visual detection, for existing car owner, is badly in need of the object detection method based on vehicle assisted system, avoids the collision scratch accident in docking process.
Summary of the invention
Can only the problem in shorter region, detection vehicle rear in order to overcome in prior art in parking assistance system, the invention provides a kind of object detection method, this method can be left in the process of parking stall at startup vehicle and detects the outer vehicle of pilot's line of vision in time and point out risk to avoid colliding.
Technical scheme of the present invention is: a kind of object detection method, and the method step comprises: it is f that step one, radar send a frequency
0transmit; Step 2, transmitting is divided into two-way, and a road is gone out through transmission antennas transmit, and another road is split into two tributary signals and enters I, Q passage in frequency mixer, enters the tributary signal of Q passage first through the phase shift of 90 °; Step 3, receiving antenna receive the echoed signal through target reflection, and echoed signal after treatment, carries out Frequency mixing processing through frequency mixer and tributary signal; Signal in step 4, treatment step three after Frequency mixing processing obtains the difference frequency signal in I, Q passage; Step 5, according to the speed of I, Q channel signal evaluating objects object and relative distance; Step 6, calculate vehicle risk according to the speed of target object and relative distance and point out human pilot.
In described step 3, the signal transacting of echoed signal process is low noise amplification process.
Signal in treatment step three in described step 4 after Frequency mixing processing is that intermediate frequency filtering amplifies process, obtains difference frequency signal.
In described step 5, the formula of computational analysis target speed information is:
f in formula
drepresent Doppler frequency or difference frequency, f
0represent the transmission frequency of radar, v represents the velocity range of moving object, c
0represent the light velocity, α represents the actual direction of motion, the angle between sensor and target link.
In described step 5, the formula of computational analysis target relative distance is:
c in formula
0represent the light velocity, f
drepresent Doppler frequency or difference frequency, T represents the tooth ripple repetition period, and f represents frequency modulation speed, and f=1/T, △ f represents the variation range of oscillator transmission frequency.
The present invention has following good effect: if by being arranged on the millimetre-wave radar emitting electromagnetic wave of vehicle rear both sides and utilizing Doppler effect to confirm to have with or without moving vehicle and object in relevant investigative range to point out driver in time close to object in the present invention.Adopt speed and the relative distance auxiliary driving institute clean boot vehicle of the Doppler effect detecting mobile object of millimetre-wave radar, avoid and have an accident under pilot's line of vision limited situation.
Accompanying drawing explanation
Fig. 1 is the operating diagram of object detection method in the present invention;
Fig. 2 is the operative scenario figure of object detection method in the present invention;
In figure, 1 is radar, and 2 is emitting antenna, and 3 is target object, 4 receiving antennas, and 5 is tributary signal.
Embodiment
Contrast accompanying drawing below, by the description to embodiment, the specific embodiment of the present invention is as the effect of the mutual alignment between the shape of involved each component, structure, each several part and annexation, each several part and principle of work, manufacturing process and operation using method etc., be described in further detail, have more complete, accurate and deep understanding to help those skilled in the art to inventive concept of the present invention, technical scheme.
A kind of object detection method, as shown in Figure 1, the method step comprises this method operating diagram:
It is f that step one, radar oscillator send a frequency
0transmit.Radar module is arranged on vehicle side rear and determines that installation site is guaranteed according to radar detection angle, the speed of sailing vehicle and relative distance is may detect under operative scenario as shown in Figure 2, select millimetre-wave radar in the present invention, transmitting range is far away and measurement result is accurate.
Transmitting in step 2, step one is divided into two-way, and a road is gone out through transmission antennas transmit, and another road is split into two tributary signals and enters I, Q passage in frequency mixer, enters the tributary signal of Q passage first through the phase shift of 90 °.
Step 3, receiving antenna receive the echoed signal through target reflection, and echoed signal after treatment, carries out Frequency mixing processing through frequency mixer and tributary signal.The signal transacting of echoed signal process is low noise amplification process, and the signal after low noise process is convenient to the signal transacting of rear class, and because the signal from antenna is general all very faint, low noise amplifies process and reduces the loss of signal by transmission line.
Signal in step 4, treatment step three after Frequency mixing processing obtains the difference frequency signal in I, Q passage.Signal in treatment step three after Frequency mixing processing amplifies process through intermediate frequency filtering, carries out filter amplifying processing, carry out frequency-selecting to signal to signal, obtains the frequency signal needed.
Step 5, according to the speed of I, Q channel signal evaluating objects object and relative distance.Combine according to the accuracy of millimetre-wave radar range finding and the accuracy of Doppler effect calculating mobile object frequency, the speed of the mobile object in accurate detection search coverage and distance.
Mobile object speed in radar system operating emission high-frequency electromagnetic wave detection setting regions at vehicle launch and when having reversing operation, the formula of computational analysis target speed information is:
f in formula
drepresent Doppler frequency or difference frequency, f
0represent the transmission frequency of radar, v represents the velocity range of moving object, c
0represent the light velocity, α represents the actual direction of motion, the angle between sensor and target link.The formula of the target of computational analysis simultaneously relative distance is:
c in formula
0represent the light velocity, f
drepresent Doppler frequency or difference frequency, T represents the tooth ripple repetition period, and f represents frequency modulation speed, and f=1/T, △ f represents the variation range of oscillator transmission frequency.
Step 6, calculate vehicle risk according to the speed of target object and relative distance and point out human pilot.Vehicle risk can be estimated according to the relative distance of mobile object in the search coverage detected and relative velocity and directional information and point out driver, avoiding the collision friction accident between vehicle.
Above by reference to the accompanying drawings to invention has been exemplary description; obvious specific implementation of the present invention is not subject to the restrictions described above; as long as have employed the improvement of the various unsubstantialities that method of the present invention is conceived and technical scheme is carried out; or design of the present invention and technical scheme directly applied to other occasion, all within protection scope of the present invention without to improve.
Claims (5)
1. an object detection method, is characterized in that, the method step comprises:
It is f that step one, radar send a frequency
0transmit;
Step 2, transmitting is divided into two-way, and a road is gone out through transmission antennas transmit, and another road is split into two tributary signals and enters I, Q passage in frequency mixer, enters the tributary signal of Q passage first through the phase shift of 90 °;
Step 3, receiving antenna receive the echoed signal through target reflection, and echoed signal after treatment, carries out Frequency mixing processing through frequency mixer and tributary signal;
Signal in step 4, treatment step three after Frequency mixing processing obtains the difference frequency signal in I, Q passage;
Step 5, according to the speed of I, Q channel signal evaluating objects object and relative distance;
Step 6, calculate vehicle risk according to the speed of target object and relative distance and point out human pilot.
2. object detection method according to claim 1, is characterized in that, in described step 3, the signal transacting of echoed signal process is low noise amplification process.
3. object detection method according to claim 1, is characterized in that, the signal in the treatment step three in described step 4 after Frequency mixing processing is that intermediate frequency filtering amplifies process, obtains difference frequency signal.
4. object detection method according to claim 1, is characterized in that, in described step 5, the formula of computational analysis target speed information is:
F in formula
drepresent Doppler frequency or difference frequency, f
0represent the transmission frequency of radar, v represents the velocity range of moving object, c
0represent the light velocity, α represents the actual direction of motion, the angle between sensor and target link.
5. object detection method according to claim 1, is characterized in that, in described step 5, the formula of computational analysis target relative distance is:
C in formula
0represent the light velocity, f
drepresent Doppler frequency or difference frequency, T represents the tooth ripple repetition period, and f represents frequency modulation speed, and f=1/T, △ f represents the variation range of oscillator transmission frequency.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201410610383.4A CN104297752A (en) | 2014-10-28 | 2014-11-01 | Object detection method |
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| CN201410589635 | 2014-10-28 | ||
| CN201410589635.X | 2014-10-28 | ||
| CN201410610383.4A CN104297752A (en) | 2014-10-28 | 2014-11-01 | Object detection method |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107444327A (en) * | 2017-07-26 | 2017-12-08 | 中航爱维客汽车有限公司 | One kind reversing early warning system and method |
| CN107640090A (en) * | 2016-07-22 | 2018-01-30 | 中兴通讯股份有限公司 | A kind of traffic safety control method and device |
| CN109188427A (en) * | 2018-08-17 | 2019-01-11 | 山东中安科技股份有限公司 | A kind of road radar vehicle inspection system and car test method |
| CN109313259A (en) * | 2016-06-09 | 2019-02-05 | 株式会社电装 | Radar installations and the object detection method carried out by radar installations |
| CN110361793A (en) * | 2019-06-28 | 2019-10-22 | 北京海益同展信息科技有限公司 | Detection device and detection method |
| CN112946613A (en) * | 2021-02-26 | 2021-06-11 | 南方科技大学 | Angular velocity determination method, system, device, equipment and storage medium |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109313259A (en) * | 2016-06-09 | 2019-02-05 | 株式会社电装 | Radar installations and the object detection method carried out by radar installations |
| CN109313259B (en) * | 2016-06-09 | 2022-11-11 | 株式会社电装 | Radar device and target detection method by radar device |
| CN107640090A (en) * | 2016-07-22 | 2018-01-30 | 中兴通讯股份有限公司 | A kind of traffic safety control method and device |
| CN107444327A (en) * | 2017-07-26 | 2017-12-08 | 中航爱维客汽车有限公司 | One kind reversing early warning system and method |
| CN109188427A (en) * | 2018-08-17 | 2019-01-11 | 山东中安科技股份有限公司 | A kind of road radar vehicle inspection system and car test method |
| CN110361793A (en) * | 2019-06-28 | 2019-10-22 | 北京海益同展信息科技有限公司 | Detection device and detection method |
| CN110361793B (en) * | 2019-06-28 | 2020-11-24 | 北京海益同展信息科技有限公司 | Detection device and detection method |
| CN112946613A (en) * | 2021-02-26 | 2021-06-11 | 南方科技大学 | Angular velocity determination method, system, device, equipment and storage medium |
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