CN105672173B - A kind of zebra stripes Intelligent guardrail with identification function - Google Patents
A kind of zebra stripes Intelligent guardrail with identification function Download PDFInfo
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- CN105672173B CN105672173B CN201610089060.4A CN201610089060A CN105672173B CN 105672173 B CN105672173 B CN 105672173B CN 201610089060 A CN201610089060 A CN 201610089060A CN 105672173 B CN105672173 B CN 105672173B
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Classifications
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
- E01F15/00—Safety arrangements for slowing, redirecting or stopping errant vehicles, e.g. guard posts or bollards; Arrangements for reducing damage to roadside structures due to vehicular impact
- E01F15/006—Lane control by movable lane separating barriers, e.g. shiftable barriers, retractable kerbs ; Apparatus or barriers specially adapted therefor, e.g. wheeled barriers
-
- 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
Abstract
The invention discloses a kind of zebra stripes Intelligent guardrails with identification function, including zebra stripes Intelligent guardrail and the millimetre-wave radar three-dimensional environment sensory perceptual system on zebra stripes Intelligent guardrail；Millimetre-wave radar three-dimensional environment sensory perceptual system includes millimetre-wave radar, rotation mechanism, control unit and data processing unit；Rotation mechanism includes the first rotary shaft, rotating disk and the second rotary shaft.This zebra stripes Intelligent guardrail is simple and practical in structure, can realize that front is scanned without dead angle and cover, and has many advantages, such as that control is accurate, setting accuracy is high, real-time is good.
Description
Technical field
The present invention relates to road guard fields, and in particular to a kind of zebra stripes Intelligent guardrail with identification function.
Background technology
The appearance of zebra stripes provides guarantee for the safety of people, however, what is do not driven in accordance with regulations now is motor-driven
The pedestrian of vehicle and walking is more and more, and serious challenge is proposed to traffic order.
The major function of intelligent environment sensory perceptual system is to obtain surrounding enviroment information by sensor, is carried out to surrounding objects
Recognition and tracking (including dynamic and static-obstacle thing) etc..
It is comprehensive to improve its safety, multifunction etc. that intelligent environment sensory perceptual system is arranged in zebra stripes Intelligent guardrail on it
Performance is current inevitable development trend.But often there is perception dimension deficiency, computational accuracy in present context aware systems
Not high, the problems such as real-time is not strong.
Invention content
In view of the above-mentioned problems, the present invention provides a kind of zebra stripes Intelligent guardrail with identification function.
The purpose of the present invention is realized using following technical scheme：
A kind of zebra stripes Intelligent guardrail with identification function, including zebra stripes Intelligent guardrail and mounted on zebra stripes intelligence
Millimetre-wave radar three-dimensional environment sensory perceptual system on guardrail；Millimetre-wave radar three-dimensional environment sensory perceptual system include millimetre-wave radar,
Rotation mechanism, control unit and data processing unit；Rotation mechanism includes the first rotary shaft, rotating disk and the second rotation
Shaft, the first rotary shaft vertically arrangement and it is affixed with the center of rotating disk, first rotary shaft is driven by the first stepper motor
Dynamic rotation；It is sleeved in bearing block by the second rotation axis horizontal of the second stepper motor driving rotation, the bearing block passes through 2
The support shaft arranged vertically is affixed on the rotating pan；The midpoint of second rotary shaft is provided with interconnecting piece, the interconnecting piece
It is integrally formed perpendicular to the second rotary shaft and with the second rotary shaft, millimetre-wave radar is vertical with interconnecting piece affixed；The millimeter wave
Itself intrinsic plane of scanning motion of radar is perpendicular to plane where rotating disk, and scanning range angle is ± 30 °；The rotating disk is in cloth
There is notch in the side for setting support shaft, the straight line parallel where notch in the straight line where the second rotary shaft, and any support shaft with
The distance of straight line is less than 50mm where notch；First stepper motor and the second stepper motor are controlled by microcontroller,
Microcontroller is for receiving control command, and signal is sent to motor in order to control by control command conversion, while according to the first of device
Beginning position and the goniometer that turns over of two stepper motors calculate the current location of rotation mechanism, and by rotation mechanism
Current position state feeds back to data processing unit；The rotation mechanism it is whole under the drive of the first stepper motor towards
Do the period back and forth movement of 180 ° of level in front of guardrail, at the same millimetre-wave radar under the drive of the second stepper motor towards guardrail
Do vertical 180 ° of period back and forth movement in front；
Data processing unit includes data acquisition unit, delay revise subelemen and coordinate output subelement；Data are adopted
Collection subelement receives the distance value ρ of itself and target that millimetre-wave radar measurement obtains, while receiving the vertical rotation of microcontroller transmission
Itself scan angle theta of corner α and horizontal rotation angle beta and millimetre-wave radar；If millimetre-wave radar is to the reading of a certain target
(ρ, α, β, θ), and define：α=0 ° when radar is horizontal, when radar is horizontal top, α values are just thunder
Be negative up to α values when being horizontal lower section, when the second rotary shaft is vertical with zebra stripes Intelligent guardrails front direction β=
0 °, when radar is located at the right side of β=0 °, β is positive value, and when radar is located at the left side of β=0 °, β is negative value；Work as millimetre-wave radar
Itself scanning direction and millimetre-wave radar where plane it is vertical when θ=0 °, when itself scanning direction is located at the top of θ=0 °
θ is positive value, and when itself scanning direction is located at the lower section of θ=0 °, θ is negative value；
Preferably, delay revise subelemen includes range measurement correcting module, horizontal sweep correcting module and vertical scanning
Correcting module：Range measurement correcting module, the measured value for the value ρ that adjusts the distance, which be directed in detections of radar wave two-way process, to be prolonged
The amendment of Shi Xiaoying, the modifying factor exported are：
When | α1+θ1| ＞ | α2+θ2| and | β1| ＞ | β2| when, above formula takes positive sign, otherwise takes negative sign；
Vertical scanning correcting module, for vertical rotary angle α imitate for being delayed in detections of radar wave two-way process
The amendment answered, the modifying factor of outputWhen | α1| ＞ | α2| when, above formula takes positive sign, otherwise
Take negative sign；
Horizontal sweep correcting module, for rotating horizontally angle beta imitate for being delayed in detections of radar wave two-way process
The amendment answered, the modifying factor of outputWhen | β1| ＞ | β2| when, above formula takes positive sign, otherwise
Take negative sign；
Wherein m is the maximum detectable range of millimetre-wave radar, and ρ≤m；For reaction detection target and millimeter wave thunder
Influence of the distance to delay effect between reaching, target be then delayed closer to radar it is smaller, otherwise delay it is bigger；t1For to the target
The time that detections of radar wave is sent out, t2The time returned for detections of radar wave；|t1-t2| it represents detections of radar wave and travels to and fro between mesh
Time needed between mark and radar；T1For the horizontal rotation period of millimetre-wave radar, T2For the vertical revolution of millimetre-wave radar
Phase；α1For t1When α values, α2For t2When α values；β1For t1When β value, β2For t2When β value；θ1For t1When θ values, θ2For t2When
θ values；T1=2s, T2The sampling interval of=2.4s, millimetre-wave radar are 2 °/s；
Coordinate exports subelement：The object space coordinate exported after being delayed revise subelemen amendment is：
Wherein,
Data processing unit further includes that target RCS fluctuation characteristics measure subelement, for the RCS sequence variations system to target
Number measures：
For being in the complex target of optical region, it is assumed that be made of N number of scattering center, then multi-scattering centers targets
RCS is expressed as the function of azimuth of target：
Wherein, σiIndicate that i-th of scattering center RCS, α+θ indicates target with respect to the azimuth of millimetre-wave radar, RiIndicate the
I scattering center is with respect to radar center distance；λ is the parameter being manually set；
Then RCS sequence variations coefficient is expressed as：Wherein σ (k) indicates kth time detection
The RCS values of target, RCS serial means
This zebra stripes Intelligent guardrail has the beneficial effect that：New millimetre-wave radar three-dimensional environment sensory perceptual system is devised, from
And realize that 180 ° of guardrail front horizontal and being scanned without dead angle for 180 ° of vertical direction cover, and economy and durability simple in structure, resist dry
It is strong to disturb ability；Other components are coordinated to realize Automatic Control function using step-by-step motor, it is easy to control accurate；For new-type
The characteristics of rotating radar system and delay effect devise range measurement correcting module, horizontal sweep correcting module, vertically sweep
Retouch the correcting modules such as correcting module so that the coordinate setting function of radar is more accurate, and real-time is stronger；Give accurate seat
Computational methods are marked, are provided the foundation with control errors to automatically control；For the Novel rotary mechanical device, use new
RCS fluctuation characteristic measuring devices so that the measurement of the RCS coefficient of variation is more accurate, more advantageous to target identification；Rotating disk, rotation
The size of the components such as shaft can flexibly be chosen as the case may be, be the applicability of various different size of zebra stripes Intelligent guardrails
Provide condition；When there is vehicle to occur, guardrail is put down, and for people, trip provides guarantee safely.
Description of the drawings
Using attached drawing, the invention will be further described, but the embodiment in attached drawing does not constitute any limit to the present invention
System, for those of ordinary skill in the art, without creative efforts, can also obtain according to the following drawings
Other attached drawings.
Fig. 1 is a kind of structure diagram of the zebra stripes Intelligent guardrail with identification function；
Fig. 2 is the structural schematic diagram of rotation mechanism；
Fig. 3 is millimetre-wave radar itself scanning schematic diagram；
Schematic diagram when Fig. 4 is detections of radar target；
Fig. 5 is the structure diagram of data processing unit.
Reference numeral：Millimetre-wave radar -1；Rotating disk -2；First rotary shaft -3；Second rotary shaft -4；Bearing block -5；Branch
Support axis -6；Interconnecting piece -7；First stepper motor -8；Second stepper motor -9；Rotation mechanism -10；Control unit -11；Number
According to processing unit -12；Data acquisition unit 13；Be delayed revise subelemen -14；Coordinate exports subelement -15；Notch -16；Mesh
Mark -17；- 18 in front of guardrail.
Specific implementation mode
The invention will be further described with the following Examples.
Embodiment 1：
A kind of zebra stripes Intelligent guardrail with identification function as shown in Figs 1-4, including zebra stripes Intelligent guardrail and peace
Millimetre-wave radar three-dimensional environment sensory perceptual system on zebra stripes Intelligent guardrail；Millimetre-wave radar three-dimensional environment sensory perceptual system packet
Include millimetre-wave radar 1, rotation mechanism 10, control unit 11 and data processing unit 12；Rotation mechanism packet 10 includes
One rotary shaft 3, rotating disk 2 and the second rotary shaft 4, the first rotary shaft 3 arrangement and affixed with the center of rotating disk 2 vertically are described
First rotary shaft 3 is driven by the first stepper motor 8 to be rotated；The second rotary shaft 4 by the driving rotation of the second stepper motor 9 is horizontal
It is sleeved in bearing block 5, the bearing block 5 is fixed in by 2 support shafts arranged vertically 6 in rotating disk 2；Second rotation
The midpoint of shaft 4 is provided with interconnecting piece 7, the interconnecting piece 7 perpendicular to the second rotary shaft 4 and with 4 one of the second rotary shaft at
Type, millimetre-wave radar 1 are vertical with interconnecting piece 7 affixed；Itself intrinsic plane of scanning motion of the millimetre-wave radar 1 is perpendicular to rotating disk
2 place planes, and scanning range angle is ± 30 °；The rotating disk 2 has notch 16,16 institute of notch in the side of arrangement support shaft 6
Straight line parallel in the straight line where the second rotary shaft 4, and any support shaft 6 is less than at a distance from 16 place straight line of notch
50mm；First stepper motor, 8 and second stepper motor 9 is controlled by microcontroller, and microcontroller is for receiving control life
It enables, and signal is sent to motor in order to control by control command conversion, while according to the initial position of device and two stepper motors
The goniometer turned over calculates the current location of rotation mechanism, and the current position state of rotation mechanism 10 is fed back to
Data processing unit 12；The rotation mechanism 10 is whole to be done under the drive of the first stepper motor 8 towards in front of guardrail 18
The period back and forth movement of 180 ° of level, while millimetre-wave radar 1 is done under the drive of the second stepper motor 9 towards in front of guardrail 20
Vertical 180 ° of period back and forth movement；
As shown in figure 5, data processing unit 12 includes that data acquisition unit 13, delay revise subelemen 14 and coordinate are defeated
Go out subelement 15, data acquisition unit 13 receives the distance value ρ that millimetre-wave radar 1 measures obtained itself and target, connects simultaneously
The vertical rotary angle α and rotate horizontally angle beta and millimetre-wave radar 1 scan angle theta of itself that microcontroller is sent are received, to obtain
The position of complete millimetre-wave radar data and the plane of scanning motion；As shown in figure 5, setting a certain target 17 that millimetre-wave radar 1 measures
Reading be (ρ, α, β, θ), and define：α=0 ° when millimetre-wave radar 1 is horizontal, when millimetre-wave radar 1 is in water
α values are that just, α values are negative when millimetre-wave radar 1 is horizontal lower section when prosposition sets top；When the second rotary shaft 4 and zebra
β=0 ° when direction is vertical immediately ahead of line Intelligent guardrail, when millimetre-wave radar 1 is located at the right side of β=0 °, β is positive value, works as millimeter
β is negative value when wave radar 1 is located at the left side of β=0 °；Where itself scanning direction of millimetre-wave radar 1 and millimetre-wave radar 1
θ=0 ° when plane is vertical, when itself scanning direction is located at the top of θ=0 ° θ be positive value, when itself scanning direction be located at θ=
θ is negative value when 0 ° of lower section.The rotation angle β of the first rotary shaft 3 is that millimetre-wave radar 1 is in the horizontal direction as shown in Figure 3
Rotation angle.
Preferably, delay effect refers to, since the present apparatus is using the technical solution of three dimensionality dual rotary, in thunder
Up to detection wave during be issued to return, the position of radar has occurred that certain offset, although this period is very short,
But when rotary speed is higher, the error of this part is still very important, this is that the present apparatus is filled with the detection of other fixed radars
Set different place, it is therefore necessary to introduce dedicated delay correction factor.Delay revise subelemen 14 is repaiied including range measurement
Positive module, horizontal sweep correcting module and vertical scanning correcting module：Range measurement correcting module, the survey for the value ρ that adjusts the distance
Magnitude carries out the amendment for delay effect in detections of radar wave two-way process, and the modifying factor of output is：
When | α1+θ1| ＞ | α2+θ2| and | β1| ＞ | β2| when, illustrate that the rotation of device is towards the direction movement of target point
, the actual value measured at this time is less than normal, therefore above formula uses positive sign, at this time λρ＞ 1, on the contrary use negative sign, at this time λρ＜ 1；Meanwhile
Due to t1-t2It is the value of a very little, therefore the specific correction value of this correcting module depends entirely on the swing circle T of motor, rotation
Turn faster T it is smaller, then correction factor with 1 absolute value of the difference it is bigger, it is on the contrary then smaller.
Vertical scanning correcting module, for vertical rotary angle α imitate for being delayed in detections of radar wave two-way process
The amendment answered, the modifying factor of outputWhen | α1| ＞ | α2| when, above formula takes positive sign, otherwise
Take negative sign；
Horizontal sweep correcting module, for rotating horizontally angle beta imitate for being delayed in detections of radar wave two-way process
The amendment answered, the modifying factor of outputWhen | β1| ＞ | β2| when, above formula takes positive sign, otherwise
Take negative sign；
Wherein m is the maximum detectable range of millimetre-wave radar 1, and ρ≤m；For reaction detection target 17 and millimeter
Influence of the distance to delay effect between wave radar 1, target 17 be then delayed closer to millimetre-wave radar 1 it is smaller, otherwise delay get over
Greatly；t1For the time sent out to the 17 detections of radar wave of target, t2For detections of radar wave return time, then | t1-t2| it represents
Detections of radar wave travels to and fro between the time required between target 17 and millimetre-wave radar 1；t1For the horizontal rotation week of millimetre-wave radar 1
Phase, t2For the vertical swing circle of millimetre-wave radar 1；α1For t1When α values, α2For t2When α values；β1For t1When β value, β2For
t2When β value；θ1For t1When θ values, θ2For t2When θ values；T1=2s, T2=2.4s, sampling interval of millimetre-wave radar is 2 °/
s。
Coordinate exports subelement 15：The object space coordinate exported after being delayed revise subelemen amendment is：
Wherein,
Data processing unit further includes that target RCS fluctuation characteristics measure subelement, for the RCS sequence variations system to target
Number measures, and radar cross section (RCS) value characterizes the ability of reception antenna direction target echo, by measuring target
RCS fluctuation characteristics, which can compare, determines different target types.
For being in the complex target of optical region, it is assumed that it is made of N number of scattering center, it can according to radar scattering theory
Know, radar return can regard the echo Vector modulation of multi-scattering centers as, the sight due to each scattering center with respect to radar
Angle is different so that in Vector modulation, respective relative phase changes the fluctuations for leading to echo signal amplitude, RCS at random
Value, which follows, also there are fluctuations.Therefore radar target RCS changes very sensitive, target RCS time sequences to the attitude angle of target
Row are substantially variable quantities of the RCS with azimuth of target, are a relief volumes, then the RCS of multi-scattering centers target is expressed as mesh
Mark azimuthal function：
Wherein, σiIndicate that i-th of scattering center RCS, α+θ indicates target with respect to the azimuth of millimetre-wave radar, RiIndicate the
I scattering center is with respect to radar center distance；λ is the parameter being manually set；
Then RCS sequence variations coefficient is expressed as：Wherein σ (k) indicates kth time detection
The RCS values of target, RCS serial meansSequence variations coefficient and azimuth are inputted as characteristic parameter
Target identification system is the identification completed to target.
In this embodiment, it is that zebra stripes Intelligent guardrail devises new millimetre-wave radar three-dimensional environment sensory perceptual system, from
And realize that 180 ° of guardrail front horizontal and being scanned without dead angle for 180 ° of vertical direction cover, and economy and durability simple in structure, resist dry
It is strong to disturb ability；Other components are coordinated to realize Automatic Control function using step-by-step motor, it is easy to control accurate；For new-type
The characteristics of rotating radar system and delay effect devise range measurement correcting module, horizontal sweep correcting module, vertically sweep
Retouch the correcting modules such as correcting module so that the coordinate setting function of radar is more accurate, and T is arranged1=2s, T2=2.4s, millimeter wave thunder
The sampling interval reached is 2 °/s, is realizing that measurement error is less than 1% while detection without dead angle, is measuring delay rate and be less than
0.5%, and real-time is stronger；Accurate Coordinate calculation method is given, is provided the foundation with control errors to automatically control；Needle
To the Novel rotary mechanical device, new RCS fluctuation characteristic measuring devices are used so that the measurement of the RCS coefficient of variation is more
Precisely, more advantageous to target identification；The size of the components such as rotating disk, rotary shaft can flexibly be chosen as the case may be, be various
The applicability of different size of zebra stripes Intelligent guardrail provides condition；When there is vehicle to occur, guardrail is put down, and is people's safety
Trip provides guarantee.
Embodiment 2：
A kind of zebra stripes Intelligent guardrail with identification function as shown in Figs 1-4, including zebra stripes Intelligent guardrail and peace
Millimetre-wave radar three-dimensional environment sensory perceptual system on zebra stripes Intelligent guardrail；Millimetre-wave radar three-dimensional environment sensory perceptual system packet
Include millimetre-wave radar 1, rotation mechanism 10, control unit 11 and data processing unit 12；Rotation mechanism packet 10 includes
One rotary shaft 3, rotating disk 2 and the second rotary shaft 4, the first rotary shaft 3 arrangement and affixed with the center of rotating disk 2 vertically are described
First rotary shaft 3 is driven by the first stepper motor 8 to be rotated；The second rotary shaft 4 by the driving rotation of the second stepper motor 9 is horizontal
It is sleeved in bearing block 5, the bearing block 5 is fixed in by 2 support shafts arranged vertically 6 in rotating disk 2；Second rotation
The midpoint of shaft 4 is provided with interconnecting piece 7, the interconnecting piece 7 perpendicular to the second rotary shaft 4 and with 4 one of the second rotary shaft at
Type, millimetre-wave radar 1 are vertical with interconnecting piece 7 affixed；Itself intrinsic plane of scanning motion of the millimetre-wave radar 1 is perpendicular to rotating disk
2 place planes, and scanning range angle is ± 30 °；The rotating disk 2 has notch 16,16 institute of notch in the side of arrangement support shaft 6
Straight line parallel in the straight line where the second rotary shaft 4, and any support shaft 6 is less than at a distance from 16 place straight line of notch
50mm；First stepper motor, 8 and second stepper motor 9 is controlled by microcontroller, and microcontroller is for receiving control life
It enables, and signal is sent to motor in order to control by control command conversion, while according to the initial position of device and two stepper motors
The goniometer turned over calculates the current location of rotation mechanism, and the current position state of rotation mechanism 10 is fed back to
Data processing unit 12；The rotation mechanism 10 is whole to be done under the drive of the first stepper motor 8 towards in front of guardrail 18
The period back and forth movement of 180 ° of level, while millimetre-wave radar 1 is done under the drive of the second stepper motor 9 towards in front of guardrail 20
Vertical 180 ° of period back and forth movement；
As shown in figure 5, data processing unit 12 includes that data acquisition unit 13, delay revise subelemen 14 and coordinate are defeated
Go out subelement 15, data acquisition unit 13 receives the distance value ρ that millimetre-wave radar 1 measures obtained itself and target, connects simultaneously
The vertical rotary angle α and rotate horizontally angle beta and millimetre-wave radar 1 scan angle theta of itself that microcontroller is sent are received, to obtain
The position of complete millimetre-wave radar data and the plane of scanning motion；As shown in figure 5, setting a certain target 17 that millimetre-wave radar 1 measures
Reading be (ρ, α, β, θ), and define：α=0 ° when millimetre-wave radar 1 is horizontal, when millimetre-wave radar 1 is in water
α values are that just, α values are negative when millimetre-wave radar 1 is horizontal lower section when prosposition sets top；When the second rotary shaft 4 and zebra
β=0 ° when direction is vertical immediately ahead of line Intelligent guardrail, when millimetre-wave radar 1 is located at the right side of β=0 °, β is positive value, works as millimeter
β is negative value when wave radar 1 is located at the left side of β=0 °；Where itself scanning direction of millimetre-wave radar 1 and millimetre-wave radar 1
θ=0 ° when plane is vertical, when itself scanning direction is located at the top of θ=0 ° θ be positive value, when itself scanning direction be located at θ=
θ is negative value when 0 ° of lower section.The rotation angle β of the first rotary shaft 3 is that millimetre-wave radar 1 is in the horizontal direction as shown in Figure 3
Rotation angle.
Preferably, delay effect refers to, since the present apparatus is using the technical solution of three dimensionality dual rotary, in thunder
Up to detection wave during be issued to return, the position of radar has occurred that certain offset, although this period is very short,
But when rotary speed is higher, the error of this part is still very important, this is that the present apparatus is filled with the detection of other fixed radars
Set different place, it is therefore necessary to introduce dedicated delay correction factor.Delay revise subelemen 14 is repaiied including range measurement
Positive module, horizontal sweep correcting module and vertical scanning correcting module：Range measurement correcting module, the survey for the value ρ that adjusts the distance
Magnitude carries out the amendment for delay effect in detections of radar wave two-way process, and the modifying factor of output is：
When | α1+θ1| ＞ | α2+θ2| and | β1| ＞ | β2| when, illustrate that the rotation of device is towards the direction movement of target point
, the actual value measured at this time is less than normal, therefore above formula uses positive sign, at this time λρ＞ 1, on the contrary use negative sign, at this time λρ＜ 1；Meanwhile
Due to t1-t2It is the value of a very little, therefore the specific correction value of this correcting module depends entirely on the swing circle T of motor, rotation
Turn faster T it is smaller, then correction factor with 1 absolute value of the difference it is bigger, it is on the contrary then smaller.
Vertical scanning correcting module, for vertical rotary angle α imitate for being delayed in detections of radar wave two-way process
The amendment answered, the modifying factor of outputWhen | α1| ＞ | α2| when, above formula takes positive sign, otherwise
Take negative sign；
Horizontal sweep correcting module, for rotating horizontally angle beta imitate for being delayed in detections of radar wave two-way process
The amendment answered, the modifying factor of outputWhen | β1| ＞ | β2| when, above formula takes positive sign, otherwise
Take negative sign；
Wherein m is the maximum detectable range of millimetre-wave radar 1, and ρ≤m；For reaction detection target 17 and millimeter wave
Influence of the distance to delay effect between radar 1, target 17 be then delayed closer to millimetre-wave radar 1 it is smaller, otherwise delay it is bigger；
t1For the time sent out to the 17 detections of radar wave of target, t2For detections of radar wave return time, then | t1-t2| represent thunder
The time required between target 17 and millimetre-wave radar 1 is travelled to and fro between up to detection wave；t1For the horizontal rotation week of millimetre-wave radar 1
Phase, t2For the vertical swing circle of millimetre-wave radar 1；α1For t1When α values, α2For t2When α values；β1For t1When β value, β2For
t2When β value；θ1For t1When θ values, θ2For t2When θ values；T1=2s, T2=2.4s, sampling interval of millimetre-wave radar is 2 °/
s。
Coordinate exports subelement 15：The object space coordinate exported after being delayed revise subelemen amendment is：
Wherein,
Data processing unit further includes that target RCS fluctuation characteristics measure subelement, for the RCS sequence variations system to target
Number measures, and radar cross section (RCS) value characterizes the ability of reception antenna direction target echo, by measuring target
RCS fluctuation characteristics, which can compare, determines different target types.
For being in the complex target of optical region, it is assumed that it is made of N number of scattering center, it can according to radar scattering theory
Know, radar return can regard the echo Vector modulation of multi-scattering centers as, the sight due to each scattering center with respect to radar
Angle is different so that in Vector modulation, respective relative phase changes the fluctuations for leading to echo signal amplitude, RCS at random
Value, which follows, also there are fluctuations.Therefore radar target RCS changes very sensitive, target RCS time sequences to the attitude angle of target
Row are substantially variable quantities of the RCS with azimuth of target, are a relief volumes, then the RCS of multi-scattering centers target is expressed as mesh
Mark azimuthal function：
Wherein, σiIndicate that i-th of scattering center RCS, α+θ indicates target with respect to the azimuth of millimetre-wave radar, RiIndicate the
I scattering center is with respect to radar center distance；λ is the parameter being manually set；
Then RCS sequence variations coefficient is expressed as：Wherein σ (k) indicates kth time detection
The RCS values of target, RCS serial meansSequence variations coefficient and azimuth are inputted as characteristic parameter
Target identification system is the identification completed to target.
In this embodiment, it is that zebra stripes Intelligent guardrail devises new millimetre-wave radar three-dimensional environment sensory perceptual system, from
And realize that 180 ° of guardrail front horizontal and being scanned without dead angle for 180 ° of vertical direction cover, and economy and durability simple in structure, resist dry
It is strong to disturb ability；Other components are coordinated to realize Automatic Control function using step-by-step motor, it is easy to control accurate；For new-type
The characteristics of rotating radar system and delay effect devise range measurement correcting module, horizontal sweep correcting module, vertically sweep
Retouch the correcting modules such as correcting module so that the coordinate setting function of radar is more accurate, and T is arranged1=2.2s, T2=2.6s, millimeter wave
The sampling interval of radar is 1.5 °/s, is realizing that measurement error is less than 0.8% while detection without dead angle, it is small to measure delay rate
In 0.4%, and real-time is stronger；Accurate Coordinate calculation method is given, is provided the foundation with control errors to automatically control；
For the Novel rotary mechanical device, new RCS fluctuation characteristic measuring devices are used so that the measurement of the RCS coefficient of variation is more
Add precisely, it is more advantageous to target identification；The size of the components such as rotating disk, rotary shaft can flexibly be chosen as the case may be, be each
The applicability of the different size of zebra stripes Intelligent guardrail of kind provides condition；When there is vehicle to occur, guardrail is put down, and is pacified for people
Full trip provides guarantee.
Embodiment 3：
A kind of zebra stripes Intelligent guardrail with identification function as shown in Figs 1-4, including zebra stripes Intelligent guardrail and peace
Millimetre-wave radar three-dimensional environment sensory perceptual system on zebra stripes Intelligent guardrail；Millimetre-wave radar three-dimensional environment sensory perceptual system packet
Include millimetre-wave radar 1, rotation mechanism 10, control unit 11 and data processing unit 12；Rotation mechanism packet 10 includes
One rotary shaft 3, rotating disk 2 and the second rotary shaft 4, the first rotary shaft 3 arrangement and affixed with the center of rotating disk 2 vertically are described
First rotary shaft 3 is driven by the first stepper motor 8 to be rotated；The second rotary shaft 4 by the driving rotation of the second stepper motor 9 is horizontal
It is sleeved in bearing block 5, the bearing block 5 is fixed in by 2 support shafts arranged vertically 6 in rotating disk 2；Second rotation
The midpoint of shaft 4 is provided with interconnecting piece 7, the interconnecting piece 7 perpendicular to the second rotary shaft 4 and with 4 one of the second rotary shaft at
Type, millimetre-wave radar 1 are vertical with interconnecting piece 7 affixed；Itself intrinsic plane of scanning motion of the millimetre-wave radar 1 is perpendicular to rotating disk
2 place planes, and scanning range angle is ± 30 °；The rotating disk 2 has notch 16,16 institute of notch in the side of arrangement support shaft 6
Straight line parallel in the straight line where the second rotary shaft 4, and any support shaft 6 is less than at a distance from 16 place straight line of notch
50mm；First stepper motor, 8 and second stepper motor 9 is controlled by microcontroller, and microcontroller is for receiving control life
It enables, and signal is sent to motor in order to control by control command conversion, while according to the initial position of device and two stepper motors
The goniometer turned over calculates the current location of rotation mechanism, and the current position state of rotation mechanism 10 is fed back to
Data processing unit 12；The rotation mechanism 10 is whole to be done under the drive of the first stepper motor 8 towards in front of guardrail 18
The period back and forth movement of 180 ° of level, while millimetre-wave radar 1 is done under the drive of the second stepper motor 9 towards in front of guardrail 20
Vertical 180 ° of period back and forth movement；
As shown in figure 5, data processing unit 12 includes that data acquisition unit 13, delay revise subelemen 14 and coordinate are defeated
Go out subelement 15, data acquisition unit 13 receives the distance value ρ that millimetre-wave radar 1 measures obtained itself and target, connects simultaneously
The vertical rotary angle α and rotate horizontally angle beta and millimetre-wave radar 1 scan angle theta of itself that microcontroller is sent are received, to obtain
The position of complete millimetre-wave radar data and the plane of scanning motion；As shown in figure 5, setting a certain target 17 that millimetre-wave radar 1 measures
Reading be (ρ, α, β, θ), and define：α=0 ° when millimetre-wave radar 1 is horizontal, when millimetre-wave radar 1 is in water
α values are that just, α values are negative when millimetre-wave radar 1 is horizontal lower section when prosposition sets top；When the second rotary shaft 4 and zebra
β=0 ° when direction is vertical immediately ahead of line Intelligent guardrail, when millimetre-wave radar 1 is located at the right side of β=0 °, β is positive value, works as millimeter
β is negative value when wave radar 1 is located at the left side of β=0 °；Where itself scanning direction of millimetre-wave radar 1 and millimetre-wave radar 1
θ=0 ° when plane is vertical, when itself scanning direction is located at the top of θ=0 ° θ be positive value, when itself scanning direction be located at θ=
θ is negative value when 0 ° of lower section.The rotation angle β of the first rotary shaft 3 is that millimetre-wave radar 1 is in the horizontal direction as shown in Figure 3
Rotation angle.
Preferably, delay effect refers to, since the present apparatus is using the technical solution of three dimensionality dual rotary, in thunder
Up to detection wave during be issued to return, the position of radar has occurred that certain offset, although this period is very short,
But when rotary speed is higher, the error of this part is still very important, this is that the present apparatus is filled with the detection of other fixed radars
Set different place, it is therefore necessary to introduce dedicated delay correction factor.Delay revise subelemen 14 is repaiied including range measurement
Positive module, horizontal sweep correcting module and vertical scanning correcting module：Range measurement correcting module, the survey for the value ρ that adjusts the distance
Magnitude carries out the amendment for delay effect in detections of radar wave two-way process, and the modifying factor of output is：
When | α1+θ1| ＞ | α2+θ2| and | β1| ＞ | β2| when, illustrate that the rotation of device is towards the direction movement of target point
, the actual value measured at this time is less than normal, therefore above formula uses positive sign, at this time λρ＞ 1, on the contrary use negative sign, at this time λρ＜ 1；Meanwhile
Due to t1-t2It is the value of a very little, therefore the specific correction value of this correcting module depends entirely on the swing circle T of motor, rotation
Turn faster T it is smaller, then correction factor with 1 absolute value of the difference it is bigger, it is on the contrary then smaller.
Vertical scanning correcting module, for vertical rotary angle α imitate for being delayed in detections of radar wave two-way process
The amendment answered, the modifying factor of outputWhen | α1| ＞ | α2| when, above formula takes positive sign, otherwise
Take negative sign；
Horizontal sweep correcting module, for rotating horizontally angle beta imitate for being delayed in detections of radar wave two-way process
The amendment answered, the modifying factor of outputWhen | β1| ＞ | β2| when, above formula takes positive sign, otherwise
Take negative sign；
Wherein m is the maximum detectable range of millimetre-wave radar 1, and ρ≤m；For reaction detection target 17 and millimeter wave
Influence of the distance to delay effect between radar 1, target 17 be then delayed closer to millimetre-wave radar 1 it is smaller, otherwise delay it is bigger；
t1For the time sent out to the 17 detections of radar wave of target, t2For detections of radar wave return time, then | t1-t2| represent thunder
The time required between target 17 and millimetre-wave radar 1 is travelled to and fro between up to detection wave；t1For the horizontal rotation week of millimetre-wave radar 1
Phase, t2For the vertical swing circle of millimetre-wave radar 1；α1For t1When α values, α2For t2When α values；β1For t1When β value, β2For
t2When β value；θ1For t1When θ values, θ2For t2When θ values；T1=2s, T2=2.4s, sampling interval of millimetre-wave radar is 2 °/
s。
Coordinate exports subelement 15：The object space coordinate exported after being delayed revise subelemen amendment is：
Wherein,
Data processing unit further includes that target RCS fluctuation characteristics measure subelement, for the RCS sequence variations system to target
Number measures, and radar cross section (RCS) value characterizes the ability of reception antenna direction target echo, by measuring target
RCS fluctuation characteristics, which can compare, determines different target types.
For being in the complex target of optical region, it is assumed that it is made of N number of scattering center, it can according to radar scattering theory
Know, radar return can regard the echo Vector modulation of multi-scattering centers as, the sight due to each scattering center with respect to radar
Angle is different so that in Vector modulation, respective relative phase changes the fluctuations for leading to echo signal amplitude, RCS at random
Value, which follows, also there are fluctuations.Therefore radar target RCS changes very sensitive, target RCS time sequences to the attitude angle of target
Row are substantially variable quantities of the RCS with azimuth of target, are a relief volumes, then the RCS of multi-scattering centers target is expressed as mesh
Mark azimuthal function：
Wherein, σiIndicate that i-th of scattering center RCS, α+θ indicates target with respect to the azimuth of millimetre-wave radar, RiIndicate the
I scattering center is with respect to radar center distance；λ is the parameter being manually set；
Then RCS sequence variations coefficient is expressed as：Wherein σ (k) indicates kth time detection
The RCS values of target, RCS serial meansSequence variations coefficient and azimuth are inputted as characteristic parameter
Target identification system is the identification completed to target.
In this embodiment, it is that zebra stripes Intelligent guardrail devises new millimetre-wave radar three-dimensional environment sensory perceptual system, from
And realize that 180 ° of guardrail front horizontal and being scanned without dead angle for 180 ° of vertical direction cover, and economy and durability simple in structure, resist dry
It is strong to disturb ability；Other components are coordinated to realize Automatic Control function using step-by-step motor, it is easy to control accurate；For new-type
The characteristics of rotating radar system and delay effect devise range measurement correcting module, horizontal sweep correcting module, vertically sweep
Retouch the correcting modules such as correcting module so that the coordinate setting function of radar is more accurate, and T is arranged1=2.4s, T2=2.7s, millimeter wave
The sampling interval of radar is 1.8 °/s, is realizing that measurement error is less than 0.7% while detection without dead angle, it is small to measure delay rate
In 0.4%, and real-time is stronger；Accurate Coordinate calculation method is given, is provided the foundation with control errors to automatically control；
For the Novel rotary mechanical device, new RCS fluctuation characteristic measuring devices are used so that the measurement of the RCS coefficient of variation is more
Add precisely, it is more advantageous to target identification；The size of the components such as rotating disk, rotary shaft can flexibly be chosen as the case may be, be each
The applicability of the different size of zebra stripes Intelligent guardrail of kind provides condition；When there is vehicle to occur, guardrail is put down, and is pacified for people
Full trip provides guarantee.
Embodiment 4：
A kind of zebra stripes Intelligent guardrail with identification function as shown in Figs 1-4, including zebra stripes Intelligent guardrail and peace
Millimetre-wave radar three-dimensional environment sensory perceptual system on zebra stripes Intelligent guardrail；Millimetre-wave radar three-dimensional environment sensory perceptual system packet
Include millimetre-wave radar 1, rotation mechanism 10, control unit 11 and data processing unit 12；Rotation mechanism packet 10 includes
One rotary shaft 3, rotating disk 2 and the second rotary shaft 4, the first rotary shaft 3 arrangement and affixed with the center of rotating disk 2 vertically are described
First rotary shaft 3 is driven by the first stepper motor 8 to be rotated；The second rotary shaft 4 by the driving rotation of the second stepper motor 9 is horizontal
It is sleeved in bearing block 5, the bearing block 5 is fixed in by 2 support shafts arranged vertically 6 in rotating disk 2；Second rotation
The midpoint of shaft 4 is provided with interconnecting piece 7, the interconnecting piece 7 perpendicular to the second rotary shaft 4 and with 4 one of the second rotary shaft at
Type, millimetre-wave radar 1 are vertical with interconnecting piece 7 affixed；Itself intrinsic plane of scanning motion of the millimetre-wave radar 1 is perpendicular to rotating disk
2 place planes, and scanning range angle is ± 30 °；The rotating disk 2 has notch 16,16 institute of notch in the side of arrangement support shaft 6
Straight line parallel in the straight line where the second rotary shaft 4, and any support shaft 6 is less than at a distance from 16 place straight line of notch
50mm；First stepper motor, 8 and second stepper motor 9 is controlled by microcontroller, and microcontroller is for receiving control life
It enables, and signal is sent to motor in order to control by control command conversion, while according to the initial position of device and two stepper motors
The goniometer turned over calculates the current location of rotation mechanism, and the current position state of rotation mechanism 10 is fed back to
Data processing unit 12；The rotation mechanism 10 is whole to be done under the drive of the first stepper motor 8 towards in front of guardrail 18
The period back and forth movement of 180 ° of level, while millimetre-wave radar 1 is done under the drive of the second stepper motor 9 towards in front of guardrail 20
Vertical 180 ° of period back and forth movement；
As shown in figure 5, data processing unit 12 includes that data acquisition unit 13, delay revise subelemen 14 and coordinate are defeated
Go out subelement 15, data acquisition unit 13 receives the distance value ρ that millimetre-wave radar 1 measures obtained itself and target, connects simultaneously
The vertical rotary angle α and rotate horizontally angle beta and millimetre-wave radar 1 scan angle theta of itself that microcontroller is sent are received, to obtain
The position of complete millimetre-wave radar data and the plane of scanning motion；As shown in figure 5, setting a certain target 17 that millimetre-wave radar 1 measures
Reading be (ρ, α, β, θ), and define：α=0 ° when millimetre-wave radar 1 is horizontal, when millimetre-wave radar 1 is in water
α values are that just, α values are negative when millimetre-wave radar 1 is horizontal lower section when prosposition sets top；When the second rotary shaft 4 and zebra
β=0 ° when direction is vertical immediately ahead of line Intelligent guardrail, when millimetre-wave radar 1 is located at the right side of β=0 °, β is positive value, works as millimeter
β is negative value when wave radar 1 is located at the left side of β=0 °；Where itself scanning direction of millimetre-wave radar 1 and millimetre-wave radar 1
θ=0 ° when plane is vertical, when itself scanning direction is located at the top of θ=0 ° θ be positive value, when itself scanning direction be located at θ=
θ is negative value when 0 ° of lower section.The rotation angle β of the first rotary shaft 3 is that millimetre-wave radar 1 is in the horizontal direction as shown in Figure 3
Rotation angle.
Preferably, delay effect refers to, since the present apparatus is using the technical solution of three dimensionality dual rotary, in thunder
Up to detection wave during be issued to return, the position of radar has occurred that certain offset, although this period is very short,
But when rotary speed is higher, the error of this part is still very important, this is that the present apparatus is filled with the detection of other fixed radars
Set different place, it is therefore necessary to introduce dedicated delay correction factor.Delay revise subelemen 14 is repaiied including range measurement
Positive module, horizontal sweep correcting module and vertical scanning correcting module：Range measurement correcting module, the survey for the value ρ that adjusts the distance
Magnitude carries out the amendment for delay effect in detections of radar wave two-way process, and the modifying factor of output is：
When | α1+θ1| ＞ | α2+θ2| and | β1| ＞ | β2| when, illustrate that the rotation of device is towards the direction movement of target point
, the actual value measured at this time is less than normal, therefore above formula uses positive sign, at this time λρ＞ 1, on the contrary use negative sign, at this time λρ＜ 1；Meanwhile
Due to t1-t2It is the value of a very little, therefore the specific correction value of this correcting module depends entirely on the swing circle T of motor, rotation
Turn faster T it is smaller, then correction factor with 1 absolute value of the difference it is bigger, it is on the contrary then smaller.
Vertical scanning correcting module, for vertical rotary angle α imitate for being delayed in detections of radar wave two-way process
The amendment answered, the modifying factor of outputWhen | α1| ＞ | α2| when, above formula takes positive sign, otherwise
Take negative sign；
Horizontal sweep correcting module, for rotating horizontally angle beta imitate for being delayed in detections of radar wave two-way process
The amendment answered, the modifying factor of outputWhen | β1| ＞ | β2| when, above formula takes positive sign, otherwise
Take negative sign；
Wherein m is the maximum detectable range of millimetre-wave radar 1, and ρ≤m；For reaction detection target 17 and millimeter wave
Influence of the distance to delay effect between radar 1, target 17 be then delayed closer to millimetre-wave radar 1 it is smaller, otherwise delay it is bigger；
t1For the time sent out to the 17 detections of radar wave of target, t2For detections of radar wave return time, then | t1-t2| represent thunder
The time required between target 17 and millimetre-wave radar 1 is travelled to and fro between up to detection wave；t1For the horizontal rotation week of millimetre-wave radar 1
Phase, t2For the vertical swing circle of millimetre-wave radar 1；α1For t1When α values, α2For t2When α values；β1For t1When β value, β2For
t2When β value；θ1For t1When θ values, θ2For t2When θ values；T1=2s, T2=2.4s, sampling interval of millimetre-wave radar is 2 °/
s。
Coordinate exports subelement 15：The object space coordinate exported after being delayed revise subelemen amendment is：
Wherein,
Data processing unit further includes that target RCS fluctuation characteristics measure subelement, for the RCS sequence variations system to target
Number measures, and radar cross section (RCS) value characterizes the ability of reception antenna direction target echo, by measuring target
RCS fluctuation characteristics, which can compare, determines different target types.
For being in the complex target of optical region, it is assumed that it is made of N number of scattering center, it can according to radar scattering theory
Know, radar return can regard the echo Vector modulation of multi-scattering centers as, the sight due to each scattering center with respect to radar
Angle is different so that in Vector modulation, respective relative phase changes the fluctuations for leading to echo signal amplitude, RCS at random
Value, which follows, also there are fluctuations.Therefore radar target RCS changes very sensitive, target RCS time sequences to the attitude angle of target
Row are substantially variable quantities of the RCS with azimuth of target, are a relief volumes, then the RCS of multi-scattering centers target is expressed as mesh
Mark azimuthal function：
Wherein, σiIndicate that i-th of scattering center RCS, α+θ indicates target with respect to the azimuth of millimetre-wave radar, RiIndicate the
I scattering center is with respect to radar center distance；λ is the parameter being manually set；
Then RCS sequence variations coefficient is expressed as：Wherein σ (k) indicates kth time detection
The RCS values of target, RCS serial meansSequence variations coefficient and azimuth are inputted as characteristic parameter
Target identification system is the identification completed to target.
In this embodiment, it is that zebra stripes Intelligent guardrail devises new millimetre-wave radar three-dimensional environment sensory perceptual system, from
And realize that 180 ° of guardrail front horizontal and being scanned without dead angle for 180 ° of vertical direction cover, and economy and durability simple in structure, resist dry
It is strong to disturb ability；Other components are coordinated to realize Automatic Control function using step-by-step motor, it is easy to control accurate；For new-type
The characteristics of rotating radar system and delay effect devise range measurement correcting module, horizontal sweep correcting module, vertically sweep
Retouch the correcting modules such as correcting module so that the coordinate setting function of radar is more accurate, and T is arranged1=2.5s, T2=2.8s, millimeter wave
The sampling interval of radar is 1.3 °/s.It is realizing that measurement error is less than 0.6% while detection without dead angle, it is small to measure delay rate
In 0.3%, and real-time is stronger；Accurate Coordinate calculation method is given, is provided the foundation with control errors to automatically control；
For the Novel rotary mechanical device, new RCS fluctuation characteristic measuring devices are used so that the measurement of the RCS coefficient of variation is more
Add precisely, it is more advantageous to target identification；The size of the components such as rotating disk, rotary shaft can flexibly be chosen as the case may be, be each
The applicability of the different size of zebra stripes Intelligent guardrail of kind provides condition；When there is vehicle to occur, guardrail is put down, and is pacified for people
Full trip provides guarantee.
Embodiment 5：
A kind of zebra stripes Intelligent guardrail with identification function as shown in Figs 1-4, including zebra stripes Intelligent guardrail and peace
Millimetre-wave radar three-dimensional environment sensory perceptual system on zebra stripes Intelligent guardrail；Millimetre-wave radar three-dimensional environment sensory perceptual system packet
Include millimetre-wave radar 1, rotation mechanism 10, control unit 11 and data processing unit 12；Rotation mechanism packet 10 includes
One rotary shaft 3, rotating disk 2 and the second rotary shaft 4, the first rotary shaft 3 arrangement and affixed with the center of rotating disk 2 vertically are described
First rotary shaft 3 is driven by the first stepper motor 8 to be rotated；The second rotary shaft 4 by the driving rotation of the second stepper motor 9 is horizontal
It is sleeved in bearing block 5, the bearing block 5 is fixed in by 2 support shafts arranged vertically 6 in rotating disk 2；Second rotation
The midpoint of shaft 4 is provided with interconnecting piece 7, the interconnecting piece 7 perpendicular to the second rotary shaft 4 and with 4 one of the second rotary shaft at
Type, millimetre-wave radar 1 are vertical with interconnecting piece 7 affixed；Itself intrinsic plane of scanning motion of the millimetre-wave radar 1 is perpendicular to rotating disk
2 place planes, and scanning range angle is ± 30 °；The rotating disk 2 has notch 16,16 institute of notch in the side of arrangement support shaft 6
Straight line parallel in the straight line where the second rotary shaft 4, and any support shaft 6 is less than at a distance from 16 place straight line of notch
50mm；First stepper motor, 8 and second stepper motor 9 is controlled by microcontroller, and microcontroller is for receiving control life
It enables, and signal is sent to motor in order to control by control command conversion, while according to the initial position of device and two stepper motors
The goniometer turned over calculates the current location of rotation mechanism, and the current position state of rotation mechanism 10 is fed back to
Data processing unit 12；The rotation mechanism 10 is whole to be done under the drive of the first stepper motor 8 towards in front of guardrail 18
The period back and forth movement of 180 ° of level, while millimetre-wave radar 1 is done under the drive of the second stepper motor 9 towards in front of guardrail 20
Vertical 180 ° of period back and forth movement；
As shown in figure 5, data processing unit 12 includes that data acquisition unit 13, delay revise subelemen 14 and coordinate are defeated
Go out subelement 15, data acquisition unit 13 receives the distance value ρ that millimetre-wave radar 1 measures obtained itself and target, connects simultaneously
The vertical rotary angle α and rotate horizontally angle beta and millimetre-wave radar 1 scan angle theta of itself that microcontroller is sent are received, to obtain
The position of complete millimetre-wave radar data and the plane of scanning motion；As shown in figure 5, setting a certain target 17 that millimetre-wave radar 1 measures
Reading be (ρ, α, β, θ), and define：α=0 ° when millimetre-wave radar 1 is horizontal, when millimetre-wave radar 1 is in water
α values are that just, α values are negative when millimetre-wave radar 1 is horizontal lower section when prosposition sets top；When the second rotary shaft 4 and zebra
β=0 ° when direction is vertical immediately ahead of line Intelligent guardrail, when millimetre-wave radar 1 is located at the right side of β=0 °, β is positive value, works as millimeter
β is negative value when wave radar 1 is located at the left side of β=0 °；Where itself scanning direction of millimetre-wave radar 1 and millimetre-wave radar 1
θ=0 ° when plane is vertical, when itself scanning direction is located at the top of θ=0 ° θ be positive value, when itself scanning direction be located at θ=
θ is negative value when 0 ° of lower section.The rotation angle β of the first rotary shaft 3 is that millimetre-wave radar 1 is in the horizontal direction as shown in Figure 3
Rotation angle.
Preferably, delay effect refers to, since the present apparatus is using the technical solution of three dimensionality dual rotary, in thunder
Up to detection wave during be issued to return, the position of radar has occurred that certain offset, although this period is very short,
But when rotary speed is higher, the error of this part is still very important, this is that the present apparatus is filled with the detection of other fixed radars
Set different place, it is therefore necessary to introduce dedicated delay correction factor.Delay revise subelemen 14 is repaiied including range measurement
Positive module, horizontal sweep correcting module and vertical scanning correcting module：Range measurement correcting module, the survey for the value ρ that adjusts the distance
Magnitude carries out the amendment for delay effect in detections of radar wave two-way process, and the modifying factor of output is：
When | α1+θ1| ＞ | α2+θ2| and | β1| ＞ | β2| when, illustrate that the rotation of device is towards the direction movement of target point
, the actual value measured at this time is less than normal, therefore above formula uses positive sign, at this time λρ＞ 1, on the contrary use negative sign, at this time λρ＜ 1；Meanwhile
Due to t1-t2It is the value of a very little, therefore the specific correction value of this correcting module depends entirely on the swing circle T of motor, rotation
Turn faster T it is smaller, then correction factor with 1 absolute value of the difference it is bigger, it is on the contrary then smaller.
Vertical scanning correcting module, for vertical rotary angle α imitate for being delayed in detections of radar wave two-way process
The amendment answered, the modifying factor of outputWhen | α1| ＞ | α2| when, above formula takes positive sign, otherwise
Take negative sign；
Horizontal sweep correcting module, for rotating horizontally angle beta imitate for being delayed in detections of radar wave two-way process
The amendment answered, the modifying factor of outputWhen | β1| ＞ | β2| when, above formula takes positive sign, otherwise
Take negative sign；
Wherein m is the maximum detectable range of millimetre-wave radar 1, and ρ≤m；For reaction detection target 17 and millimeter wave
Influence of the distance to delay effect between radar 1, target 17 be then delayed closer to millimetre-wave radar 1 it is smaller, otherwise delay it is bigger；
t1For the time sent out to the 17 detections of radar wave of target, t2For detections of radar wave return time, then | t1-t2| represent thunder
The time required between target 17 and millimetre-wave radar 1 is travelled to and fro between up to detection wave；t1For the horizontal rotation week of millimetre-wave radar 1
Phase, t2For the vertical swing circle of millimetre-wave radar 1；α1For t1When α values, α2For t2When α values；β1For t1When β value, β2For
t2When β value；θ1For t1When θ values, θ2For t2When θ values；T1=2s, T2=2.4s, sampling interval of millimetre-wave radar is 2 °/
s。
Coordinate exports subelement 15：The object space coordinate exported after being delayed revise subelemen amendment is：
Wherein,
Data processing unit further includes that target RCS fluctuation characteristics measure subelement, for the RCS sequence variations system to target
Number measures, and radar cross section (RCS) value characterizes the ability of reception antenna direction target echo, by measuring target
RCS fluctuation characteristics, which can compare, determines different target types.
For being in the complex target of optical region, it is assumed that it is made of N number of scattering center, it can according to radar scattering theory
Know, radar return can regard the echo Vector modulation of multi-scattering centers as, the sight due to each scattering center with respect to radar
Angle is different so that in Vector modulation, respective relative phase changes the fluctuations for leading to echo signal amplitude, RCS at random
Value, which follows, also there are fluctuations.Therefore radar target RCS changes very sensitive, target RCS time sequences to the attitude angle of target
Row are substantially variable quantities of the RCS with azimuth of target, are a relief volumes, then the RCS of multi-scattering centers target is expressed as mesh
Mark azimuthal function：
Wherein, σiIndicate that i-th of scattering center RCS, α+θ indicates target with respect to the azimuth of millimetre-wave radar, RiIndicate the
I scattering center is with respect to radar center distance；λ is the parameter being manually set；
Then RCS sequence variations coefficient is expressed as：Wherein σ (k) indicates kth time detection
The RCS values of target, RCS serial meansSequence variations coefficient and azimuth are inputted as characteristic parameter
Target identification system is the identification completed to target.
In this embodiment, it is that zebra stripes Intelligent guardrail devises new millimetre-wave radar three-dimensional environment sensory perceptual system, from
And realize that 180 ° of guardrail front horizontal and being scanned without dead angle for 180 ° of vertical direction cover, and economy and durability simple in structure, resist dry
It is strong to disturb ability；Other components are coordinated to realize Automatic Control function using step-by-step motor, it is easy to control accurate；For new-type
The characteristics of rotating radar system and delay effect devise range measurement correcting module, horizontal sweep correcting module, vertically sweep
Retouch the correcting modules such as correcting module so that the coordinate setting function of radar is more accurate, T1=2.6s, T2=2.9s, millimetre-wave radar
Sampling interval be 1.2 °/s, realize detect without dead angle while, measurement error be less than 0.5%, measurement delay rate be less than
0.2%, and real-time is stronger；Accurate Coordinate calculation method is given, is provided the foundation with control errors to automatically control；Needle
To the Novel rotary mechanical device, new RCS fluctuation characteristic measuring devices are used so that the measurement of the RCS coefficient of variation is more
Precisely, more advantageous to target identification；The size of the components such as rotating disk, rotary shaft can flexibly be chosen as the case may be, be various
The applicability of different size of zebra stripes Intelligent guardrail provides condition；When there is vehicle to occur, guardrail is put down, and is people's safety
Trip provides guarantee.
Finally it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than the present invention is protected
The limitation of range is protected, although being explained in detail to the present invention with reference to preferred embodiment, those skilled in the art answer
Work as understanding, technical scheme of the present invention can be modified or replaced equivalently, without departing from the reality of technical solution of the present invention
Matter and range.
Claims (1)
1. a kind of zebra stripes Intelligent guardrail with identification function, characterized in that including zebra stripes Intelligent guardrail and be mounted on spot
Millimetre-wave radar three-dimensional environment sensory perceptual system on horse line Intelligent guardrail；Millimetre-wave radar three-dimensional environment sensory perceptual system includes millimeter
Wave radar, rotation mechanism, control unit and data processing unit；Rotation mechanism includes the first rotary shaft, rotating disk
With the second rotary shaft, the first rotary shaft vertically arrangement and it is affixed with the center of rotating disk, first rotary shaft passes through the first step
Stepper motor driving rotation；It is sleeved in bearing block by the second rotation axis horizontal of the second stepper motor driving rotation, the bearing
The support shaft that seat is arranged vertically by 2 is affixed on the rotating pan；The midpoint of second rotary shaft is provided with interconnecting piece, institute
Interconnecting piece is stated perpendicular to the second rotary shaft and is integrally formed with the second rotary shaft, millimetre-wave radar is vertical with interconnecting piece affixed；Institute
Itself intrinsic plane of scanning motion of millimetre-wave radar is stated perpendicular to plane where rotating disk, and scanning range angle is ± 30 °；The rotation
Turntable has notch in the side of arrangement support shaft, and the straight line parallel where notch is and any in the straight line where the second rotary shaft
Support shaft is less than 50mm at a distance from straight line where notch；First stepper motor and the second stepper motor pass through microcontroller
It controls, microcontroller is for receiving control command, and signal is sent to motor in order to control by control command conversion, while according to dress
Goniometer that the initial position set and two stepper motors turn over calculates the current location of rotation mechanism, and by rotating machinery
The current position state of device feeds back to data processing unit；The whole drive in the first stepper motor of the rotation mechanism
Under towards the period back and forth movement for doing 180 ° of level in front of guardrail, while millimetre-wave radar is following in the drive of the second stepper motor
Vertical 180 ° of period back and forth movement is done in front of to guardrail；
Data processing unit includes data acquisition unit, delay revise subelemen and coordinate output subelement；Data acquisition
Unit receives the distance value ρ of itself and target that millimetre-wave radar measurement obtains, while receiving the vertical rotary angle α of microcontroller transmission
With itself scan angle theta for rotating horizontally angle beta and millimetre-wave radar；If millimetre-wave radar be to the reading of a certain target (ρ, α,
β, θ), and define：α=0 ° when radar is horizontal, when radar is horizontal top, α values are just, at radar
α values are negative when below horizontal position, β=0 ° when the second rotary shaft is vertical with direction immediately ahead of zebra stripes Intelligent guardrail, when
β is positive value when radar is located at the right side of β=0 °, and when radar is located at the left side of β=0 °, β is negative value；When millimetre-wave radar from
θ=0 ° when body scanning direction is vertical with plane where millimetre-wave radar, when itself scanning direction is located at the top of θ=0 °, θ is
Positive value, when itself scanning direction is located at the lower section of θ=0 °, θ is negative value；
The revise subelemen that is delayed includes range measurement correcting module, horizontal sweep correcting module and vertical scanning correcting module：Away from
From correcting module is measured, the measured value for the value ρ that adjusts the distance be directed to delay effect in detections of radar wave two-way process and repaiies
Just, the modifying factor of output is：
When | α1+θ1| ＞ | α2+θ2| and | β1| ＞ | β2| when, above formula takes positive sign, otherwise takes negative sign；
Vertical scanning correcting module, for carrying out vertical rotary angle α for delay effect in detections of radar wave two-way process
It corrects, the modifying factor of outputWhen | α1| ＞ | α2| when, above formula takes positive sign, otherwise takes negative
Number；
Horizontal sweep correcting module, for being carried out for delay effect in detections of radar wave two-way process to rotating horizontally angle beta
It corrects, the modifying factor of outputWhen | β1| ＞ | β2| when, above formula takes positive sign, otherwise takes negative
Number；
Wherein m is the maximum detectable range of millimetre-wave radar, and ρ≤m；For reaction detection target and millimetre-wave radar it
Between influence of the distance to delay effect, target be then delayed closer to radar it is smaller, otherwise delay it is bigger；t1For to the target radar
The time that detection wave is sent out, t2The time returned for detections of radar wave；|t1-t2| represent detections of radar wave travel to and fro between target and
Time needed between radar；T1For the horizontal rotation period of millimetre-wave radar, T2For the vertical swing circle of millimetre-wave radar；
α1For t1When α values, α2For t2When α values；β1For t1When β value, β2For t2When β value；θ1For t1When θ values, θ2For t2When θ
Value；T1=2s, T2The sampling interval of=2.4s, millimetre-wave radar are 2 °/s；
Coordinate exports subelement：The object space coordinate exported after being delayed revise subelemen amendment is：
Wherein,
Data processing unit further includes that target RCS fluctuation characteristics measure subelement, for the RCS sequence variations coefficient of target into
Row measures：
For being in the complex target of optical region, it is assumed that be made of N number of scattering center, then the RCS tables of multi-scattering centers target
It is shown as the function of azimuth of target：
Wherein, σiIndicate that i-th of scattering center RCS, α+θ indicates target with respect to the azimuth of millimetre-wave radar, RiIt indicates i-th
Scattering center is with respect to radar center distance；λ is the parameter being manually set；
Then RCS sequence variations coefficient is expressed as：Wherein σ (k) indicates kth time detection target
RCS values, RCS serial means
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