CN105548979B - Automobile lane change accessory system Threshold detection method - Google Patents
Automobile lane change accessory system Threshold detection method Download PDFInfo
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- CN105548979B CN105548979B CN201511009045.6A CN201511009045A CN105548979B CN 105548979 B CN105548979 B CN 105548979B CN 201511009045 A CN201511009045 A CN 201511009045A CN 105548979 B CN105548979 B CN 105548979B
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- lane change
- accessory system
- change accessory
- threshold
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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
- 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
- G01S7/40—Means for monitoring or calibrating
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Automobile lane change accessory system Threshold detection method, the automobile lane change accessory system carry out Fourier transform to the I/Q signal of a passage, then carry out Threshold detection to the plural modulus value after Fourier transform, are realized particular by following steps：Take stable noise estimation value on each point of each cycle；Noise estimation value on each point of obtained current period is added into the constant threshold factor, then obtains automatic detection threshold value；The like, the threshold value of current period is calculated, and recursive estimation is carried out successively, the threshold value of each recurrence calculation current period.The Threshold detection method can realize lane change accessory system Threshold detection function, realize simple, and occupying system resources are few, and arithmetic speed is fast, reduce false alarm rate, the advantages that strong environmental adaptability.
Description
Technical field
The invention belongs to Threshold detection field, specifically a kind of automobile lane change accessory system Threshold detection method.
Background technology
Automobile lane change accessory system is mainly used on highway, and the blind area of driving vehicle both sides is detected, is
System can carry out the early warning of risk object according to CFAR Threshold detection algorithm, remind driver to pay attention to, and when inform driver
It is the preferably opportunity of lane change, considerably reduces the accident occurred by doubling.
False-alarm refers to that vehicle does not originally have target in the process of moving, but due to reasons such as noise and clutters, more than thresholding
Value is mistaken as the phenomenon of target, and the probability that noise and noise level exceed detection threshold is referred to as false alarm rate.Lane change backup radar
Working environment is complicated, and mainly there are two aspects the reason for producing false-alarm：(1) the false risk object as caused by clutter.These are false
Target is probably massif, track both sides guardrail, trees etc., if these decoys in the scanning range of radar beam, they
Also can reflection electromagnetic wave enter in radar receiving channel, and then identified by signal processor, due to clutter spectrum and real goal
Frequency spectrum is similar, and signal processor can not be filtered out, so it is also easy to produce false-alarm；(2) the electromagnetic wave cross jamming between more radars, vapour
After the car Anticollision Radar marketization, the Electromagnetic Interference on track will be very serious.One radar emission energy, other are at it
Radar receiver in radiation scope will receive the transmission signal, and this signal is similar with target echo signal, it is easy to
Potential danger echo signal is erroneously interpreted as, so as to cause false-alarm.In the solution method for reducing system false alarm rate, it is recognized that have two
Individual direction：First, radar must possess angle-measuring capability, it is known that azimuth determines target lane information；It is easy to second, designing
Produce, the transmission signal of strong antijamming capability, then be equipped with efficiently real-time signal transacting and algorithm of target detection.Constant false alarm rate is certainly
Dynamic Threshold detection main purpose is the influence for reducing system noise to signal detection, its effect relation to signal detection performance, because
It is highly important for system that this, which sets rational detection threshold,.
The content of the invention
The invention provides a kind of automobile lane change accessory system Threshold detection method, this method not only realizes simple, occupancy
System resource is few, and arithmetic speed is fast, reduces false alarm rate, strong environmental adaptability.
To achieve the above object, the technical scheme is that, automobile lane change accessory system Threshold detection method, the automobile
Lane change accessory system carries out Fourier transform to the I/Q signal of a passage, and then the plural modulus value after Fourier transform is entered
Row Threshold detection, realized particular by following steps：
S1：Calculate stable noise estimation value on each point of each cycle：
Yn_zs=a × Yn-1_mx+b×Xn_fft
Wherein, Yn_zsFor the noise estimation value on each point of current period, Yn-1_mxObtained on a upper cycle each point
Threshold value, Xn_fftAnswering after Fourier transform is carried out to the I/Q signal of a passage of automobile lane change accessory system for current period
Several modulus value, a and b are weight coefficient；
S2：By the noise estimation value Y on each point of obtained current periodn_mxPlus constant threshold factor c, then obtain certainly
Dynamic detection threshold value, i.e.,
Yn_mx=Yn_zs+c；
S3：The like, recursive estimation is carried out, calculates the threshold value of current period.
Further, points of each cycle each points equal to Fourier transform in step S1.
Further, the weight coefficient in step S1：A+b=1.
Further, the weight coefficient in step S1, a ＞ 0；B ＞ 0, and a ＞ ＞ b.
Further, constant threshold factor c calculation formula is in step S2：
Wherein PfFor system constant false alarm rate.
Further, above-mentioned automobile lane change accessory system is applied to 24GHz, 35GHz, 60GHz, 77GHz, 94GHz frequency
Rate section.
The present invention can obtain following technique effect due to using above technical scheme：The Threshold detection method can be with
Lane change accessory system Threshold detection function is realized, realizes that simply occupying system resources are few, and arithmetic speed is fast, reduces false alarm rate, ring
The advantages that border is adaptable；Design parameter is few, and design method is simple.Substantial amounts of hardware resource can be saved, it is more complicated than other
Algorithm have more preferable real-time and Detection results.
Brief description of the drawings
The shared width of accompanying drawing 1 of the present invention：
Fig. 1 is the FB(flow block) of the present invention.
Embodiment
Below by embodiment, and with reference to accompanying drawing, technical scheme is described in further detail.
Embodiment 1
Automobile lane change accessory system Threshold detection method based on 24GHz includes being made up of two parts, i.e. noise estimator
Point and constant threshold factor c.The automobile lane change accessory system carries out Fourier transform to the I/Q signal of a passage, then right
Plural modulus value after Fourier transform carries out Threshold detection, is realized particular by following steps：
S1：Take stable noise estimation value on each point of each cycle：
Yn_zs=a × Yn-1_mx+b×Xn_fft
Wherein, Yn_zsFor the noise estimation value on each point of current period, Yn-1_mxObtained on a upper cycle each point
Threshold value, Xn_fftAnswering after Fourier transform is carried out to the I/Q signal of a passage of automobile lane change accessory system for current period
Several modulus value, a and b are weight coefficient, a+b=1 (a ＞ 0；B ＞ 0, and a ＞ ＞ b).
S2：By the noise estimation value Y on each point of obtained current periodn_mxPlus constant threshold factor c, then obtain certainly
Dynamic detection threshold value, i.e.,
Yn_mx=Yn_zs+c；
Constant threshold factor c calculation formula is：
Wherein PfFor system constant false alarm rate.
S3：The like, each point threshold value and the FFT values of each point of current period gone out using a upper computation of Period is carried out
Ranking operation, so as to obtain the noise estimation value of current period each point, then plus constant threshold factor c, calculate current week
The threshold value of phase, and recursive estimation is carried out successively, the threshold value of each recurrence calculation current period.
In step S1 each cycle each points equal to Fourier transform points, when being tested with the value more than thresholding,
Then it is considered with the presence of target, it is on the contrary, then it is assumed that to exist without target.
The automobile lane change accessory system of the present invention can be each frequency such as 24GHz, 35GHz, 60GHz, 77GHz, 94GHz
Section.The algorithm more complicated than other has more preferable real-time and detection to imitate while reducing the false alarm rate of lane change Secondary RADAR System
Fruit.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art in the technical scope of present disclosure, technique according to the invention scheme and its
Inventive concept is subject to equivalent substitution or change, should all be included within the scope of the present invention.
Claims (6)
1. automobile lane change accessory system Threshold detection method, the automobile lane change accessory system carries out Fu to the I/Q signal of a passage
Vertical leaf transformation, Threshold detection then is carried out to the plural modulus value after Fourier transform, it is characterised in that particular by following
What step was realized：
S1：Calculate stable noise estimation value on each point of each cycle：
Yn_zs=a × Yn-1_mx+b×Xn_fft
Wherein, Yn_zsFor the noise estimation value on each point of current period, Yn-1_mxFor the thresholding obtained on each point of the upper cycle
Value, Xn_fftThe I/Q signal of one passage of automobile lane change accessory system is carried out for current period plural after Fourier transform
Modulus value, a and b are weight coefficient；
S2：By the noise estimation value Y on each point of obtained current periodn_mxPlus constant threshold factor c, then examined automatically
Threshold value is surveyed, i.e.,
Yn_mx=Yn_zs+c；
S3：The like, recursive estimation is carried out, calculates the threshold value of current period.
2. automobile lane change accessory system Threshold detection method according to claim 1, it is characterised in that each in step S1
Points of the cycle each points equal to Fourier transform.
3. automobile lane change accessory system Threshold detection method according to claim 1, it is characterised in that adding in step S1
Weight coefficient：A+b=1.
4. automobile lane change accessory system Threshold detection method according to claim 3, it is characterised in that adding in step S1
Weight coefficient, a ＞ 0；B ＞ 0, and a ＞ ＞ b.
5. automobile lane change accessory system Threshold detection method according to claim 3, it is characterised in that constant in step S2
Threshold factor c calculation formula is：
Wherein PfFor system constant false alarm rate.
6. the automobile lane change accessory system Threshold detection method according to right wants any one of 1-5, it is characterised in that above-mentioned vapour
Car lane change accessory system is applied to 24GHz, 35GHz, 60GHz, 77GHz, 94GHz frequency band.
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| CN201511009045.6A CN105548979B (en) | 2015-12-29 | 2015-12-29 | Automobile lane change accessory system Threshold detection method |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0959370A2 (en) * | 1998-05-20 | 1999-11-24 | DaimlerChrysler Aerospace AG | Vehicle radar method |
| CN104736391A (en) * | 2012-07-25 | 2015-06-24 | 标致·雪铁龙汽车公司 | Lane changing support system for vehicles |
| CN105182341A (en) * | 2015-09-29 | 2015-12-23 | 西安知几天线技术有限公司 | Vehicle collision avoidance radar multi-target frequency matching method based on combined waveform of LFM triangular wave and constant frequency wave |
-
2015
- 2015-12-29 CN CN201511009045.6A patent/CN105548979B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0959370A2 (en) * | 1998-05-20 | 1999-11-24 | DaimlerChrysler Aerospace AG | Vehicle radar method |
| CN104736391A (en) * | 2012-07-25 | 2015-06-24 | 标致·雪铁龙汽车公司 | Lane changing support system for vehicles |
| CN105182341A (en) * | 2015-09-29 | 2015-12-23 | 西安知几天线技术有限公司 | Vehicle collision avoidance radar multi-target frequency matching method based on combined waveform of LFM triangular wave and constant frequency wave |
Non-Patent Citations (2)
| Title |
|---|
| LFMCW雷达信号处理算法研究与实现;肖汉;《中国优秀硕士学位论文全文数据库 信息科技辑》;20051115;第15页 * |
| 汽车变道辅助雷达系统设计与实现;安洪亮;《中国优秀硕士学位论文全文数据库 信息科技辑》;20150215;第30-32页 * |
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