CN106125741A - Pilotless automobile obstacle avoidance system based on radiofrequency signal - Google Patents
Pilotless automobile obstacle avoidance system based on radiofrequency signal Download PDFInfo
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- CN106125741A CN106125741A CN201610770992.5A CN201610770992A CN106125741A CN 106125741 A CN106125741 A CN 106125741A CN 201610770992 A CN201610770992 A CN 201610770992A CN 106125741 A CN106125741 A CN 106125741A
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- 238000012360 testing method Methods 0.000 claims abstract description 15
- 230000004888 barrier function Effects 0.000 claims abstract description 9
- 238000009825 accumulation Methods 0.000 claims description 14
- 238000001514 detection method Methods 0.000 claims description 7
- 238000006243 chemical reaction Methods 0.000 claims description 5
- 101000746134 Homo sapiens DNA endonuclease RBBP8 Proteins 0.000 claims description 2
- 101000969031 Homo sapiens Nuclear protein 1 Proteins 0.000 claims description 2
- 102100021133 Nuclear protein 1 Human genes 0.000 claims description 2
- 238000012544 monitoring process Methods 0.000 claims 2
- 238000005516 engineering process Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 7
- 238000011161 development Methods 0.000 description 4
- 238000012913 prioritisation Methods 0.000 description 4
- 238000011160 research Methods 0.000 description 4
- 230000008447 perception Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 238000003909 pattern recognition Methods 0.000 description 1
- 238000013439 planning Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
Abstract
The invention discloses a kind of pilotless automobile obstacle avoidance system based on radiofrequency signal, this system includes radio-frequency system, analog-digital converter, FFT module, mod circuit, nonncoherent integrator, CFAR testing circuit, automatic obstacle avoiding module, Driving control module.The invention enables pilotless automobile can automatically evade barrier, the mode evaded is the most diversified, and can automatically adjust travel route, completes the traveling task of regulation.Present configuration is simple, easy to use, has bigger practical value.
Description
Technical field
The present invention relates to a kind of automobile obstacle avoidance system, particularly to a kind of pilotless automobile avoidance based on radiofrequency signal
System.
Background technology
In recent years, economic fast development, private car quantity grows with each passing day, and causes road car crowded, brings many
Vehicle accident, the person and property to people cause huge loss.The reason causing vehicle accident has a lot, principal element
Or the reason of driver self, specifically, is that the generation of accident can not be made correct anticipation and cause by driver.
If certain measure can be taked, guiding function is played in the operation to driver, can reduce the incidence rate of vehicle accident.
Along with the fast development of auto industry and improving constantly of people's living standard, automobile instead of conventional traffic
Instrument.Vehicle owing to travelling on road gets more and more, if do not control effectively vehicle obstacle-avoidance, it is possible to cause
Traffic accidents.One of key technology as automobile active safety system, vehicle obstacle-avoidance method gets the attention.
Pilotless automobile is a kind of intelligent automobile, it is also possible to referred to as wheeled mobile robot, relies primarily in car
Intelligent driving instrument based on computer system realizes unmanned.China proceeds by unmanned from the eighties in 20th century
The research of automobile, the National University of Defense technology successfully developed first pilotless automobile truly of China in 1992.
2005, first city pilotless automobile was succeeded in developing in Shanghai Communications University.
Pilotless automobile is by vehicle-mounted sensor-based system perception road environment, and automatic planning travelling line also controls vehicle
Arrive the intelligent automobile of predeterminated target.It is to utilize onboard sensor to carry out perception vehicle-periphery, and is obtained according to perception
Road, vehicle location and obstacle information, control the turning to and speed of vehicle, thus enable the vehicle to reliably and securely exist
Travel on road.Integrate automatically control, architecture, artificial intelligence, numerous technology such as vision calculating, be computer section
, pattern recognition and the product of intelligent control technology high development, be also to weigh a national research strength and industrial level
One important symbol, has broad application prospects in national defence and national economy field.
China, as great powers in the world, also necessarily takes up one seat in high-tech area, the intellectuality of future automobile
Being that development of automobile industry is inevitable, research automobile avoidance has far reaching significance in this case, and this will be to China's intelligence in future
The research of automobile has important function at world's high-tech area position oneself at the forefront.
Summary of the invention
The technical problem to be solved is to provide a kind of pilotless automobile obstacle avoidance system based on radiofrequency signal,
The invention enables pilotless automobile can barrier be evaded automatically, and can automatically adjust travel route, complete
The traveling task of regulation.This invention also solves the problem that device volume is big, acquisition obstacle distance signal errors is big.
The present invention solves above-mentioned technical problem by the following technical solutions:
The present invention provides a kind of pilotless automobile obstacle avoidance system based on radiofrequency signal, it is characterised in that including: radio frequency
Receive-transmit system, for outwardly sending radiofrequency signal, the echo-signal that reception radiofrequency signal runs into barrier and scatters, and by institute
State echo-signal and obtain Beat Signal with the mixing of described radiofrequency signal；Analog-digital converter, for carrying out mould by described Beat Signal
Number conversion, it is thus achieved that digital signal；FFT module, for obtaining frequency domain by described digital signal through fast Fourier transform
Figure, carries out spectrogram processing the frequency values obtained corresponding to peak point, obtains initial obstacle thing distance signal according to frequency values；
Mod circuit, for carrying out modulus by described initial obstacle thing distance signal, it is thus achieved that signal amplitude value；Nonncoherent integrator, uses
In each signal amplitude value is carried out non-inherent accumulation, it is thus achieved that non-inherent accumulation data；CFAR testing circuit, is used for using CFAR
Described non-inherent accumulation data are detected by detection method, it is thus achieved that obstacle distance signal；Automatic obstacle avoiding module, for basis
The obstacle distance signal that CFAR testing circuit sends sends the instruction of corresponding avoidance；Driving control module, for according to independently keeping away
The instruction of barrier module controls pilotless automobile and carries out avoidance.
As the further prioritization scheme of the present invention, CFAR testing circuit include adder-subtractor, the first delay unit, second
Delay unit, the 3rd delay unit, the first comparator and the second comparator；The adding input of described adder-subtractor is non-with described
The outfan of correlative accumulation device connects, described adder-subtractor outfan respectively with the adding input of described adder-subtractor, first
Delay unit and the first comparator connect, and the first delay unit, the first comparator, the second comparator are sequentially connected with, the second time delay
The input of unit is connected with the outfan of described nonncoherent integrator, the outfan of the second delay unit respectively with described plus-minus
The subtracting input of musical instruments used in a Buddhist or Taoist mass and the 3rd chronotron connect, and the 3rd chronotron and the second comparing unit connect.
As the further prioritization scheme of the present invention, mod circuit include the first multiplier, the second multiplier, adder,
Square root device, described first multiplier and described second multiplier are connected with described adder respectively, and described adder is with described
Square root device connects.
As the further prioritization scheme of the present invention, radio-frequency system includes the millimetre-wave radar sky with mechanical scanning
Line, with the reception antenna of mechanical scanning and mixer device, described millimetre-wave radar antenna and described reception antenna respectively with institute
State mixer device to connect.
As the further prioritization scheme of the present invention, CFAR testing circuit is by COM1 with automatic obstacle avoiding module even
Connect.
The present invention uses above technical scheme compared with prior art, has following technical effect that
Present invention pilotless automobile based on radiofrequency signal obstacle avoidance system, obtains beat by radio-frequency system and believes
Number.Signal after analog digital conversion is obtained the frequency domain figure of echo signal by analog-digital converter through fast Fourier transform, from frequency domain
Figure extracts initial obstacle thing distance signal, thus avoids the obstacle signal situation at Time-domain aliasing.Mod circuit is to just
Beginning obstacle distance signal carries out modulus, had both improve data processing speed, and had not the most affected data process effects.Non-inherent accumulation
Each signal amplitude value is carried out non-inherent accumulation by device, until completing the accumulation of multiple signal period, thus improves weak signal
Signal to noise ratio.CFAR testing circuit uses CFAR detection method to detect described non-inherent accumulation data, it is thus achieved that barrier
Distance signal.In the echo signal be mixed with noise jamming, detect obstacle distance signal with maximum of probability, improve obstacle
The accuracy rate of thing signal, is analyzed obtaining corresponding Robot dodge strategy by automatic obstacle avoiding module to obstacle distance signal, improves
Tactful accuracy.Analog-digital converter, FFT module, mod circuit, nonncoherent integrator and CFAR testing circuit can simultaneously
With integrated process, overcome system grand designs, there is the advantage that volume is little.
Detailed description of the invention
Embodiments of the present invention are described below in detail, and the embodiment described is exemplary, be only used for explaining this
Invention, and be not construed as limiting the claims.
Those skilled in the art of the present technique it is understood that unless expressly stated, singulative used herein " ",
" one ", " described " and " being somebody's turn to do " may also comprise plural form.It is to be further understood that the description of the present invention uses
Wording " includes " referring to there is described feature, integer, step, operation, element and/or assembly, but it is not excluded that existence or adds
Add other features one or more, integer, step, operation, element, assembly and/or their group.It should be understood that when we claim
Element is " connected " or during " coupled " to another element, and it can be directly connected or coupled to other elements, or can also deposit
In intermediary element.Additionally, " connection " used herein or " coupling " can include wireless connections or couple.Wording used herein
"and/or" includes one or more any cell listing item being associated and all combinations.
It is understood that unless otherwise defined, all terms used herein (include skill to those skilled in the art of the present technique
Art term and scientific terminology) have with the those of ordinary skill in art of the present invention be commonly understood by identical meaning.Also
It should be understood that those terms defined in such as general dictionary should be understood that have with in the context of prior art
The consistent meaning of meaning, and unless defined as here, will not explain by idealization or the most formal implication.
Below technical scheme is described in further detail:
The invention discloses a kind of pilotless automobile obstacle avoidance system based on radiofrequency signal, including: radio-frequency system,
Analog-digital converter, FFT module, mod circuit, nonncoherent integrator, CFAR testing circuit, automatic obstacle avoiding module, driving control
Molding block.
Radio-frequency system, for outwardly sending radiofrequency signal, what reception radiofrequency signal ran into barrier and scattered returns
Ripple signal, and echo-signal is obtained Beat Signal with radiofrequency signal mixing.In one embodiment of the invention, radio-frequency system bag
Include the millimetre-wave radar antenna with mechanical scanning, with the reception antenna of mechanical scanning and mixer device, described millimeter wave thunder
Reach antenna and described reception antenna is connected with described mixer device respectively.Outwardly send radio frequency by millimetre-wave radar antenna to believe
Number, received the echo of scattering after running into barrier after millimetre-wave radar antenna outwardly sends radiofrequency signal by reception antenna and believe
Number, by mixer device, echo-signal is obtained Beat Signal with radiofrequency signal mixing.In order to enable multi-faceted transmission radiofrequency signal
Can be the millimetre-wave radar sky with mechanical scanning with multi-faceted reception echo-signal, millimetre-wave radar antenna and reception antenna
Line and the reception antenna with mechanical scanning.
Analog-digital converter, for carrying out analog digital conversion by Beat Signal, it is thus achieved that digital signal.
FFT module, for described digital signal is obtained frequency domain figure through fast Fourier transform, enters spectrogram
Row processes the frequency values obtained corresponding to peak point, obtains initial obstacle thing distance signal according to frequency values.FFT module master
If digital signal to be obtained the frequency of obstacle signal through fast Fourier transform (Fast FourierTransform, FFT)
Territory figure, can obtain initial obstacle thing distance signal according to frequency domain figure, thus avoid obstacle signal in the situation of Time-domain aliasing.
The precision of obstacle avoidance system ranging information is the key of system, need to select to meet the FFT unit technology platform of requirement.In the present invention,
FFT IP kernel (intellectual property core) can be used to realize.This FFT Nuclear Data flow structure has three kinds,
It is respectively Streaming, Buefferd Burst, Burst data flow architecture.In one specific embodiment of the present invention, based on
Signal processing requirement, the data flow architecture that can select is Radix_4, Burst structure.
Mod circuit, for carrying out modulus by described initial obstacle thing distance signal, it is thus achieved that signal amplitude value.The present invention one
In embodiment, mod circuit includes that the first multiplier, the second multiplier, adder, square root device, the first multiplier and second are taken advantage of
Musical instruments used in a Buddhist or Taoist mass is connected with adder respectively, and adder is connected with square root device.
Nonncoherent integrator, for carrying out non-inherent accumulation by each signal amplitude value, it is thus achieved that non-inherent accumulation data.This reality
Executing the nonncoherent integrator in example is to improve weak signal signal to noise ratio, in order to realize the effective detection to high voltage transmission line.Can
To use a RAM as the temporary storage location reading intermediate data.
CFAR testing circuit, is used for using CFAR detection method to detect described non-inherent accumulation data, it is thus achieved that
Obstacle distance signal.It is to be mixed with the target echo of noise jamming that CFAR testing circuit carries out CFAR detection to echo-signal
In detect echo signal with maximum of probability.In one embodiment of the invention, CFAR testing circuit can select cell-average to select
Big CFAR detection CFAR (Constant False-Alarm Rate) method, 16 reference data unit and 2 about employing
The design of protected location.CFAR testing circuit includes adder-subtractor, the first delay unit, the second delay unit, the 3rd time delay list
Unit, the first comparator and the second comparator；The adding input of described adder-subtractor and the outfan of described nonncoherent integrator
Connecting, described adder-subtractor outfan compares with adding input, the first delay unit and first of described adder-subtractor respectively
Device connects, and the first delay unit, the first comparator, the second comparator are sequentially connected with, and the input of the second delay unit is with described
The outfan of nonncoherent integrator connects, the outfan of the second delay unit respectively with the subtracting input of described adder-subtractor and
3rd chronotron connects, and the 3rd chronotron and the second comparing unit connect.
Automatic obstacle avoiding module, the obstacle distance signal for sending according to CFAR testing circuit sends corresponding avoidance and refers to
Order.Such as, the obstacle distance signal of acquisition can be compared contrast with the distance threshold value preset by automatic obstacle avoiding module
Draw barrier orientation, and send corresponding avoidance by built-in Robot dodge strategy and instruct to Driving control module, thus pass through
Driving control module controls pilotless automobile.Automatic obstacle avoiding module can be single one and analyze system, it is also possible to be to set
Put a module in Driving control module.
Driving control module, carries out avoidance for controlling pilotless automobile according to the instruction of automatic obstacle avoiding module.
The above, the only detailed description of the invention in the present invention, but protection scope of the present invention is not limited thereto, and appoints
What is familiar with the people of this technology in the technical scope that disclosed herein, it will be appreciated that the conversion expected or replacement, all should contain
Within the scope of the comprising of the present invention, therefore, protection scope of the present invention should be as the criterion with the protection domain of claims.
Claims (5)
1. pilotless automobile obstacle avoidance system based on radiofrequency signal, it is characterised in that including:
Radio-frequency system, for outwardly sending radiofrequency signal, the echo letter that reception radiofrequency signal runs into barrier and scatters
Number, and described echo-signal is obtained Beat Signal with the mixing of described radiofrequency signal；
Analog-digital converter, for carrying out analog digital conversion by described Beat Signal, it is thus achieved that digital signal；
FFT module, for obtaining frequency domain figure by described digital signal through fast Fourier transform, at spectrogram
Reason obtains the frequency values corresponding to peak point, obtains initial obstacle thing distance signal according to frequency values；
Mod circuit, for carrying out modulus by described initial obstacle thing distance signal, it is thus achieved that signal amplitude value；
Nonncoherent integrator, for carrying out non-inherent accumulation by each signal amplitude value, it is thus achieved that non-inherent accumulation data；
CFAR testing circuit, is used for using CFAR detection method to detect described non-inherent accumulation data, it is thus achieved that obstacle
Thing distance signal；
Automatic obstacle avoiding module, the obstacle distance signal for sending according to CFAR testing circuit sends the instruction of corresponding avoidance；
Driving control module, carries out avoidance for controlling pilotless automobile according to the instruction of automatic obstacle avoiding module.
Pilotless automobile obstacle avoidance system based on radiofrequency signal the most according to claim 1, it is characterised in that CFAR examines
Slowdown monitoring circuit includes adder-subtractor, the first delay unit, the second delay unit, the 3rd delay unit, the first comparator and the second ratio
Relatively device；The adding input of described adder-subtractor is connected with the outfan of described nonncoherent integrator, and described adder-subtractor exports
End is connected with adding input, the first delay unit and first comparator of described adder-subtractor respectively, the first delay unit, the
One comparator, the second comparator are sequentially connected with, and the input of the second delay unit connects with the outfan of described nonncoherent integrator
Connecing, the outfan of the second delay unit is connected with subtracting input and the 3rd chronotron of described adder-subtractor respectively, and the 3rd prolongs
Time device and the second comparing unit connect.
Pilotless automobile obstacle avoidance system based on radiofrequency signal the most according to claim 1 and 2, it is characterised in that ask
Moding circuit includes the first multiplier, the second multiplier, adder, square root device, described first multiplier and described second multiplication
Device is connected with described adder respectively, and described adder is connected with described square root device.
Pilotless automobile obstacle avoidance system based on radiofrequency signal the most according to claim 1 and 2, it is characterised in that penetrate
Frequently receive-transmit system include the millimetre-wave radar antenna with mechanical scanning, with the reception antenna of mechanical scanning and mixer device,
Described millimetre-wave radar antenna and described reception antenna are connected with described mixer device respectively.
Pilotless automobile obstacle avoidance system based on radiofrequency signal the most according to claim 1, it is characterised in that CFAR examines
Slowdown monitoring circuit is connected with automatic obstacle avoiding module by COM1.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610770992.5A CN106125741A (en) | 2016-08-29 | 2016-08-29 | Pilotless automobile obstacle avoidance system based on radiofrequency signal |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610770992.5A CN106125741A (en) | 2016-08-29 | 2016-08-29 | Pilotless automobile obstacle avoidance system based on radiofrequency signal |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018213963A1 (en) * | 2017-05-21 | 2018-11-29 | 李仁涛 | Mobile robot obstacle avoidance apparatus and method |
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|---|---|---|---|---|
| US5781119A (en) * | 1995-03-14 | 1998-07-14 | Toyota Jidosha Kabushiki Kaisha | Vehicle guiding system |
| CN102323577A (en) * | 2011-09-08 | 2012-01-18 | 北京理工雷科电子信息技术有限公司 | High-resolution radar dual-threshold detector based on energy accumulation |
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Application publication date: 20161116 |