CN109358322B - Forward target detection radar and method - Google Patents
Forward target detection radar and method Download PDFInfo
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- CN109358322B CN109358322B CN201811249618.6A CN201811249618A CN109358322B CN 109358322 B CN109358322 B CN 109358322B CN 201811249618 A CN201811249618 A CN 201811249618A CN 109358322 B CN109358322 B CN 109358322B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4052—Means for monitoring or calibrating by simulation of echoes
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Abstract
The invention is suitable for the technical field of vehicle-mounted radars, and provides a forward target detection radar and a method, wherein the method comprises the following steps: the transmitting antenna group is used for scanning targets in a wide beam area and a narrow beam area by using the millimeter wave modulation signal sent by the information processing module; the receiving antenna group is used for receiving a wide beam echo signal of a target in a wide beam region and a narrow beam echo signal of the target in a narrow beam region and sending the signals to the information processing module; and the information processing module is used for carrying out target positioning on the wide-beam echo signals to obtain wide-beam target position information, carrying out target positioning on the narrow-beam echo signals to obtain narrow-beam target position information, and fusing the wide-beam target position information and the narrow-beam target position information through a secondary clustering algorithm to determine target information. The invention has the advantages of large coverage range of the detected target, high target detection precision, and no influence of meteorological conditions on millimeter waves, thereby ensuring the driving safety of vehicles.
Description
Technical Field
The invention belongs to the technical field of vehicle-mounted radars, and particularly relates to a forward target detection radar and a method.
Background
With the explosive development of the automobile industry, various large automobile enterprises are engaged in the research and development of forward target detection radar systems, aiming at reducing traffic accidents, improving road traffic safety, enhancing road traffic capacity and the like.
The vehicle-mounted forward target detection device has the advantages of video identification, laser radar, ultrasonic radar and the like, but the target detection device in the current market has small coverage area and low detection precision, and the performance of the radar is reduced; for example, under the conditions that video identification is seriously influenced by light rays and the sight line is not ideal, the target positioning accuracy is low; the performance of the laser radar is greatly reduced in foggy weather and rainy and snowy weather due to the fact that the laser radar is greatly influenced by light and weather.
Disclosure of Invention
In view of this, embodiments of the present invention provide a forward target detection radar and a method, so as to solve the problems of a small coverage area and low detection accuracy of a target detection device in the prior art.
A first aspect of an embodiment of the present invention provides a forward target detection radar, including: the system comprises a transmitting antenna group, a receiving antenna group and an information processing module;
the transmitting antenna group is used for scanning targets in a wide beam area and a narrow beam area by using the millimeter wave modulation signal sent by the information processing module;
the receiving antenna group is configured to receive a wide beam echo signal of a target in the wide beam region and a narrow beam echo signal of the target in the narrow beam region, and send the signals to the information processing module;
the information processing module is used for carrying out target positioning on the wide-beam echo signal to obtain wide-beam target position information, carrying out target positioning on the narrow-beam echo signal to obtain narrow-beam target position information, and fusing the wide-beam target position information and the narrow-beam target position information through a secondary clustering algorithm to determine target information.
Optionally, the transmitting antenna group includes:
at least one wide beam transmit antenna for scanning a target within the wide beam region; and
at least one narrow beam transmit antenna for scanning a target within the narrow beam region;
wherein a central angle of the wide beam region is greater than a central angle of the narrow beam region, and a radius of the wide beam region is less than a radius of the narrow beam region.
Optionally, the receiving antenna group includes four receiving antennas;
the four receiving antenna arrays are arranged; wherein, between the first receiving antenna and the second receiving antennaA distance of
The distance between the first receiving antenna and the third receiving antenna is 3 lambda, and the distance between the first receiving antenna and the fourth receiving antenna is
The height difference between the second receiving antenna and the first receiving antenna is
The first receiving antenna, the third receiving antenna and the fourth receiving antenna have the same height, and λ is the wavelength of the millimeter wave modulation signal.
Optionally, the information processing module is specifically configured to:
carrying out target positioning on the wide-beam echo signal of each frame period to obtain a plurality of wide-beam target sub-information, and clustering the wide-beam target sub-information to obtain the wide-beam target position information; and
carrying out target positioning on the narrow-beam echo signals in each frame period to obtain a plurality of narrow-beam target sub-information, clustering the plurality of narrow-beam target sub-information to obtain narrow-beam target position information, wherein one echo signal corresponds to one target sub-information;
and fusing the wide beam target position information and the narrow beam target position information through a fusion algorithm to determine target information.
Optionally, each target sub-information includes: the radar comprises a target speed, a;
the information processing module is specifically configured to:
and carrying out Fourier transform on the echo signals of each frame period to obtain corresponding transform echo signals, detecting the transform echo signals according to a constant false alarm rate detection method to obtain the target speed and the target distance, and detecting the transform echo signals according to a phase comparison angle measurement method to obtain the target angle information.
Optionally, the target angle information includes a target azimuth angle and a target pitch angle;
the information processing module is specifically configured to: according to
Determining the target azimuth αmaxWhere λ is the wavelength of the millimeter wave modulation signal, dnThe distance between each receiving antenna in the receiving antenna group; and, according to
Determining the target pitch angle βmaxWhere λ is the wavelength of the millimeter wave modulation signal, dmIs the height difference between each receiving antenna in the set of receiving antennas.
A second aspect of the embodiments of the present invention provides a forward target detection method, including:
the transmitting antenna group scans targets in a wide beam area and a narrow beam area by using millimeter wave modulation signals;
acquiring a wide beam echo signal of a target in the wide beam region and a narrow beam echo signal of the target in the narrow beam region through a receiving antenna group;
and carrying out target positioning on the wide beam echo signals to obtain wide beam target position information, carrying out target positioning on the narrow beam echo signals to obtain narrow beam target position information, and fusing the wide beam target position information and the narrow beam target position information through a secondary clustering algorithm to determine target information.
Optionally, the performing target positioning on the wide beam echo signal to obtain wide beam target position information, and performing target positioning on the narrow beam echo signal to obtain narrow beam target position information includes:
performing target positioning on the wide-beam echo signal of each frame period to obtain a plurality of wide-beam target sub-information, clustering the plurality of wide-beam target sub-information to obtain the wide-beam target position information, an
Carrying out target positioning on the narrow-beam echo signals in each frame period to obtain a plurality of narrow-beam target sub-information, clustering the plurality of narrow-beam target sub-information to obtain the narrow-beam target position information, wherein one echo signal corresponds to one target sub-information.
Optionally, each target sub-information includes: the radar comprises a target speed, a;
the performing target location on the wide-beam echo signal of each frame period to obtain a plurality of wide-beam target sub-information, or performing target location on the narrow-beam echo signal of each frame period to obtain a plurality of narrow-beam target sub-information includes:
and carrying out Fourier transform on the echo signals of each frame period to obtain corresponding transform echo signals, detecting the transform echo signals according to a constant false alarm rate detection method to obtain the target speed and the target distance, and detecting the transform echo signals according to a phase comparison angle measurement method to obtain the target angle information.
Optionally, the target angle information includes a target azimuth angle and a target pitch angle;
the detecting the transformed echo signal according to a phase comparison angle measurement method to obtain the target angle information includes:
according to
Determining the target azimuth αmaxWherein, in the step (A),λ is the wavelength of the millimeter wave modulation signal, dnThe distance between each receiving antenna in the receiving antenna group; and, according to
Determining the target pitch angle βmaxWhere λ is the wavelength of the millimeter wave modulation signal, dmIs the height difference between each receiving antenna in the set of receiving antennas.
Compared with the prior art, the embodiment of the invention has the following beneficial effects: the invention is suitable for equipment such as forward emergency braking or forward collision early warning of vehicles, the transmitting antenna group utilizes the millimeter wave modulation signal sent by the information processing module to scan targets in a wide beam area and a narrow beam area, the target detection range is enlarged, meanwhile, the millimeter wave is not influenced by meteorological conditions, and the accuracy of target detection is ensured; the receiving antenna group receives a wide beam echo signal of a target in the wide beam region and a narrow beam echo signal of the target in the narrow beam region and sends the signals to the information processing module, then the information processing module carries out target positioning on the wide beam echo signal to obtain wide beam target position information, carries out target positioning on the narrow beam echo signal to obtain narrow beam target position information, and fuses the wide beam target position information and the narrow beam target position information through a secondary clustering algorithm to determine target information, so that the accuracy of target detection is improved, and road condition information of a vehicle front is accurately provided.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic structural diagram of a forward target detection radar provided in an embodiment of the present invention;
FIG. 2 is a schematic diagram of another forward target detection radar according to an embodiment of the present invention;
fig. 3 is a schematic flow chart of an implementation of a forward target detection method according to an embodiment of the present invention;
fig. 4 is a schematic flow chart of an implementation of another forward target detection method according to an embodiment of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
In order to explain the technical means of the present invention, the following description will be given by way of specific examples.
Example one
The embodiment provides a forward target detection radar which is suitable for equipment such as forward emergency braking or forward collision early warning of a vehicle. Fig. 1 is a schematic structural diagram of the forward target detection radar in this embodiment. For convenience of explanation, only the portions related to the present embodiment are shown.
The forward target detection radar includes: a transmitting antenna group 10, a receiving antenna group 20 and an information processing module 30.
The transmitting antenna group 10 scans the target in the wide beam region and the narrow beam region by using the millimeter wave modulation signal sent by the information processing module 30; the receiving antenna group 20 receives the wide beam echo signal of the target in the wide beam region and the narrow beam echo signal of the target in the narrow beam region, and sends them to the information processing module 30.
The information processing module 30 performs target positioning on the wide beam echo signal to obtain wide beam target position information, performs target positioning on the narrow beam echo signal to obtain narrow beam target position information, and fuses the wide beam target position information and the narrow beam target position information through a secondary clustering algorithm to determine target information.
Optionally, in this embodiment, the target is scanned by using a millimeter wave of 77 GHz.
Optionally, the information processing module 30 may be an AWR1642 chip. An AWR1642 chip integrates a DSP (digital signal Processing) and an MCU (micro controller Unit) 76 GHz-81 GHz single-chip automobile radar sensor, adopts advanced pulse Doppler and continuous wave radar technologies, comprises a radio frequency front end and a data Processing module, and is rich in peripheral interfaces.
In the forward target detection radar, the transmitting antenna group 10 scans targets in a wide beam region and a narrow beam region, so that the target detection range is enlarged, and meanwhile, millimeter waves are not influenced by meteorological conditions, so that the target detection accuracy is ensured; the receiving antenna group 20 receives a wide beam echo signal of a target in the wide beam region and a narrow beam echo signal of a target in the narrow beam region, then the information processing module 30 performs target positioning on the wide beam echo signal to obtain wide beam target position information, performs target positioning on the narrow beam echo signal to obtain narrow beam target position information, and fuses the wide beam target position information and the narrow beam target position information through a secondary clustering algorithm to determine target information, so that the accuracy of target detection is improved, and road condition information of a front of a vehicle is accurately provided.
In one embodiment, the set of transmit antennas 10 may comprise: at least one wide beam transmit antenna for scanning a target within the wide beam region; and at least one narrow beam transmit antenna for scanning a target within the narrow beam region.
Wherein a central angle of the wide beam region is greater than a central angle of the narrow beam region, and a radius of the wide beam region is less than a radius of the narrow beam region. Illustratively, the wide beam region may have a central angle of 60 ° and a radius of 80 m; illustratively, the central angle of the narrow beam region may be 14 ° and the radius may be 200 m.
The wide-beam transmitting antenna T1 may include at least one antenna element, for example, as shown in fig. 2, the wide-beam transmitting antenna T1 may include 2 antenna elements, and may scan a target within ± 30 ° right in front of the vehicle body, mainly detect a transversely cut target; the number of antenna array elements of narrow beam transmitting antenna is greater than the number of antenna array elements of wide beam transmitting antenna, and is exemplary, as shown in fig. 2, narrow beam transmitting antenna T2 may include 20 antenna array elements, may scan the target in the scope of ± 7 ° directly ahead of the vehicle body, may detect and track the target that 180m appears, mainly detects the position information of the target car in front of the vehicle.
In one embodiment, referring to fig. 2, the set of receive antennas 20 may include four receive antennas, a first receive antenna R1, a second receive antenna R2, a third receive antenna R3, and a fourth receive antenna R4.
The four receiving antenna arrays are arranged, wherein the distance between the first receiving antenna R1 and the second receiving antenna R2 is
The distance between the first receiving antenna R1 and the third receiving antenna R3 is 3 lambda, and the distance between the first receiving antenna R1 and the fourth receiving antenna R4 is 3 lambda
The second receiving antenna R2 is higher than the first receiving antenna R1
The first receiving antenna R1, the third receiving antenna R3 and the fourth receiving antenna R4 are equal in height, and lambda is the wavelength of the millimeter wave.
It should be understood that the distance or height difference between the receiving antennas is only described as an example, and is not limited thereto.
The first receiving antenna R1 and the fourth receiving antenna R4 can guarantee azimuth angle measurement precision of the radar, the third receiving antenna R3 and the fourth receiving antenna R4 can guarantee azimuth angle measurement range of the radar, and target pitch angles can be obtained through difference of heights among the first receiving antenna R1, the second receiving antenna R2 and the third receiving antenna R3, so that the radar can detect three-dimensional position information of a target, and accuracy of target detection is improved.
In one embodiment, the information processing module 30 may be specifically configured to: performing target positioning on the wide-beam echo signal of each frame period to obtain a plurality of wide-beam target sub-information, clustering the wide-beam target sub-information to obtain the wide-beam target position information, performing target positioning on the narrow-beam echo signal of each frame period to obtain a plurality of narrow-beam target sub-information, clustering the narrow-beam target sub-information to obtain the narrow-beam target position information, wherein one echo signal corresponds to one target sub-information; and fusing the wide beam target position information and the narrow beam target position information through a fusion algorithm to determine target information.
Optionally, the fusing the wide beam target position information and the narrow beam target position information by using a quadratic clustering algorithm to determine target information specifically includes:
and fusing the position information of the wide-beam target and the position information of the narrow-beam target by a secondary clustering algorithm to obtain fused information, filtering the fused information, and tracking the target according to the filtered fused information to obtain the target information.
The algorithm for filtering the fusion information may be linear filtering or kalman filtering, that is, the optimal result of the target position can be obtained by optimally predicting the obtained target parameter (target position information) according to the fusion information.
Optionally, the information processing module 30 may be further configured to:
and reporting the target information to a terminal so that the terminal judges whether to give an alarm to the self vehicle according to the target information, and gives a driver an accurate target position to improve driving safety. The terminal can be a remote monitoring terminal, and can also be equipment for forward emergency braking or forward collision early warning of a vehicle.
In one embodiment, each target sub-message comprises: the radar.
For example, the information processing module 30 performs fourier transform on the wide-beam echo signals in a plurality of frame periods to obtain corresponding wide-beam transform echo signals, detects each of the wide-beam transform echo signals according to a constant false alarm rate detection method to obtain a target speed corresponding to the wide beam and a target distance corresponding to the wide beam, and detects each of the wide-beam transform echo signals according to a phase angle measurement method to obtain target angle information corresponding to the wide beam, i.e., multiple pieces of wide-beam target sub-information.
Meanwhile, Fourier transform is carried out on the narrow-beam echo signals in a plurality of frame periods to obtain corresponding narrow-beam transform echo signals, each narrow-beam transform echo signal is detected according to a constant false alarm rate detection method to obtain the target speed of the corresponding narrow beam and the target distance of the corresponding narrow beam, each narrow-beam transform echo signal is detected according to a phase comparison angle measurement method to obtain the target angle information of the corresponding narrow beam, and then the sub-information of a plurality of narrow-beam targets is obtained.
Specifically, referring to fig. 2, in each frame period, the narrow beam antenna T2 transmits a millimeter wave modulation signal to scan a target in a narrow beam region, and then transmits a millimeter wave modulation signal through the wide beam antenna T1 to scan a target in a wide beam region, and after the echo signals of the targets are received by the receiving antenna group 20, the information processing module 30 processes the echo signals of the wide and narrow beams, respectively.
Firstly, windowing is performed on time domain signals of all narrow-beam echo signals received by the receiving antenna group 20, then Range-FFT (Range-fast fourier transform) processing is performed to obtain first narrow-beam processing signals, then Doppler-FFT (Doppler-fast fourier transform) processing is performed on the first narrow-beam processing signals to obtain narrow-beam transform echo signals, and thus a Range-Doppler graph of the narrow-beam echo signals is obtained.
Then detecting the narrow-beam transformation echo signal by a Constant False Alarm Rate (CFAR) detection method to determine a narrow-beam target point in the first Range-Doppler diagram, and obtaining the target distance of the narrow beam and the target speed of the narrow beam through the coordinate information of the narrow-beam target point in the first Range-Doppler diagram; due to the difference in distance and height between each receiving antenna in the receiving antenna group 20, phase information of the target can be determined, and then target angle information of the narrow beam, such as a target azimuth angle of the narrow beam and a target pitch angle of the narrow beam, is obtained according to a phase angle comparison method, that is, sub-information of the narrow beam target corresponding to a plurality of frame periods is determined; and then clustering all narrow-beam target sub-information to obtain the narrow-beam target position information.
Similarly, windowing is carried out on time domain signals of all the wide-beam echo signals, then Range-FFT processing and Doppler-FFT processing are carried out in sequence to obtain a second Range-Doppler diagram of the wide-beam echo signals, then a wide-beam target point in the second Range-Doppler diagram is determined through a constant false alarm rate detection method, and the target distance of the wide beam and the target speed of the wide beam can be obtained through coordinate information of the wide-beam target point in the second Range-Doppler diagram; obtaining target angle information of the wide beam according to a phase angle measurement method, such as a target azimuth angle of the wide beam and a target pitch angle of the wide beam, namely determining target sub-information of the wide beam in a frame period; and then clustering all the wide beam target sub-information to obtain the position information of the wide beam target.
After the position information of the wide beam target and the position information of the narrow beam target are obtained, the position information of the wide beam target and the position information of the narrow beam target are fused through a secondary clustering fusion algorithm, namely, the targets in a coincident region are merged, and then the fused or clustered information is filtered and track tracked to obtain the target information.
In one embodiment, the target angle information includes a target azimuth and a target pitch. Wherein the target azimuth angle is an angle between the radar and the target in a horizontal direction, and the target pitch angle is an angle between the radar and the target in a vertical direction
Determining the target azimuth αmaxWhere λ is the wavelength of the millimeter wave modulation signal, dnThe distance between each receiving antenna in the receiving antenna group; and, according to
Determining the target pitch angle βmaxWhere λ is the wavelength of the millimeter wave modulation signal, dmIs the height difference between each receiving antenna in the set of receiving antennas.
Specifically, according to the principle of phase-comparison goniometry, the maximum unambiguous goniometry range is (-theta)max，θmax). Referring to fig. 2, the distance d between the third receiving antenna R3 and the fourth receiving antenna R4 in the receiving antenna group 2034Is composed of
According to
The angle measuring range of the third receiving antenna R3 and the fourth receiving antenna R4 is-90 degrees to 90 degrees, and the beam angle theta of the millimeter wave modulation signal can be obtainedmaxIs 7.6 degrees, so that the angle blurring can not occur,
the target azimuth range can be obtained from the phase difference of the echo signals of the third receiving antenna R3 and the fourth receiving antenna R4.
In addition, according to
The angle measurement error is known, where d is the distance between each receiving antenna, λ is the wavelength of the millimeter wave modulated signal,
the phase difference between the echo signals received for each receiving antenna. It can be seen that the angle measurement accuracy is higher as d is larger, and therefore, in the four receiving antennas shown in fig. 2, the interval is
The first receiving antenna R1 and the fourth receiving antenna R4 can ensure the azimuth angle measurement accuracy of the radar.
Therefore, when the target azimuth angle is determined, the target azimuth angle is determined through the echo signals received by the first receiving antenna R1 and the fourth receiving antenna R4, so that the target azimuth angle accuracy can be ensured, and the target azimuth angle range is determined through the echo signals received by the third receiving antenna R3 and the fourth receiving antenna R4, that is, accurate target angle information can be obtained through the phase information of the echo signals received by the first receiving antenna R1, the third receiving antenna R3 and the fourth receiving antenna R4.
Similarly, when the target pitch angle is determined, since there is a height difference between the first receiving antenna R1, the second receiving antenna R2, and the third receiving antenna R3, according to
And obtaining the target pitch angle, and knowing that the angle measurement range of the target pitch angle is-19.5 degrees, the problem of angle ambiguity can not occur, namely the angle detection of the target pitch angle is accurate. By measuring the pitch angle of the target, the height difference between the target and the self-vehicle can be obtained for measurement, and false alarms of bridges, street lamps, height limiting rods and the like can be eliminated by limiting the height differenceAnd information, namely resolving the three-dimensional position information of the target by the target distance, the target azimuth angle and the target pitch angle, and accurately providing the forward target position of the vehicle for the driver.
Optionally, the information processing module 30 may be further configured to: and judging whether the target information meets an early warning condition or not, and reporting to a terminal when the early warning condition is met.
The pre-warning condition may include: at least one of an early warning distance, an early warning angle or an early warning speed. For example, the warning is given when the target distance is less than or equal to the warning distance, the warning is given when the target pitch angle is too large or too small, and the like.
The altitude information of the currently detected target can be judged through the target pitch angle, namely the size of the target can be obtained through the target pitch angle, the three-dimensional position information of the target is determined according to the target distance, the target azimuth angle and the altitude information of the target, the target position is accurately positioned, accurate target information is obtained, meanwhile, the excessively high or excessively low target can be filtered according to the early warning condition and the three-dimensional information of the target in the early warning process, unnecessary alarms with excessive times are avoided, and false alarms are reduced.
In one embodiment, the object detection apparatus further comprises: a storage module 40.
The storage module 40 is connected to the storage end of the information processing module 30, and is configured to store the target location information. Illustratively, the storage module 40 is connected to a storage pin of the AWR1642 chip, and the AWR1642 chip stores the obtained target location information in the storage module 40.
The memory module 40 may be connected to the memory side of the information processing module 30 through a serial interface. The Serial Interface can be a Serial Peripheral Interface (SPI), which is a high-speed, full-duplex, synchronous communication bus, and occupies only four wires on the pins of the chip, thus saving the pins of the chip and space. It should be understood that the specific structure of the serial interface is not limited in this embodiment, and an RS-485 interface may also be used.
Optionally, the storage module 40 may be a Flash memory. The Flash memory can also keep data for a long time under the condition of no current supply, and the radar data is guaranteed not to be lost.
In one embodiment, the object detection apparatus further comprises: a clock module 50.
The clock module 50 is connected to the storage terminal of the information processing module 30, and is used for providing a clock signal for the information processing module 10. The specific structure of the clock module 50 is not limited in this embodiment, and may be a clock circuit, a clock chip, or the like.
In one embodiment, the object detection apparatus further comprises: an encryption module 60.
The encryption module 60 is connected to the control terminal of the information processing module 10, and is configured to encrypt the information processing module 10. The encryption module 60 may be an encryption chip, and is mainly used for encryption transmission of line data and secure storage of a secret key of the information processing module 10, so as to ensure that the secret key and information data stored inside cannot be illegally read and tampered. Such as a chip of type wuhan rey RJGT102, encryption is implemented using logic circuitry. The present embodiment does not limit the specific structure of the encryption module 60.
According to the forward target detection radar, the transmitting antenna group scans targets in a wide beam area and a narrow beam area by using the millimeter wave modulation signal sent by the information processing module, so that the target detection range is enlarged, meanwhile, the millimeter waves are not influenced by meteorological conditions, and the target detection accuracy is ensured; the receiving antenna group receives a wide beam echo signal of a target in the wide beam region and a narrow beam echo signal of the target in the narrow beam region and sends the signals to the information processing module, then the information processing module carries out target positioning on the wide beam echo signal to obtain wide beam target position information, and carries out target positioning on the narrow beam echo signal to obtain narrow beam target position information, wherein the narrow beam target position information comprises a target distance, a target azimuth angle and a target pitch angle, namely the three-dimensional position information of the target is determined, and then the wide beam target position information and the narrow beam target position information are fused by a secondary clustering algorithm to determine the target information, so that false alarm information of bridges, street lamps, height limiting rods and the like can be eliminated, the target detection accuracy is improved, and road condition information from the front is accurately provided.
It will be clear to those skilled in the art that, for convenience and simplicity of description, the foregoing functional units and models are merely illustrated as being divided, and in practical applications, the foregoing functional allocations may be performed by different functional units and modules as needed, that is, the internal structure of the device may be divided into different functional units or modules to perform all or part of the above described functions. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application.
Example two
Corresponding to the forward target detection radar described in the first embodiment, fig. 3 provides a schematic implementation flow chart of an embodiment of the forward target detection method, which is detailed as follows:
in step S301, the transmitting antenna group scans the target in the wide beam region and the narrow beam region by using the millimeter wave modulation signal.
In specific application, compared with infrared and laser, the millimeter wave modulation signal has strong capability of penetrating fog, smoke and dust, has the characteristics of all weather and all day long, and has strong anti-interference capability.
Step S302, obtaining a wide beam echo signal of the target in the wide beam region and a narrow beam echo signal of the target in the narrow beam region through a receiving antenna group.
Step S303, carrying out target positioning on the wide beam echo signal to obtain wide beam target position information, carrying out target positioning on the narrow beam echo signal to obtain narrow beam target position information, and fusing the wide beam target position information and the narrow beam target position information through a secondary clustering algorithm to determine target information.
In one embodiment, the performing target location on the wide-beam echo signal to obtain wide-beam target position information and performing target location on the narrow-beam echo signal to obtain narrow-beam target position information includes:
performing target positioning on the wide-beam echo signal of each frame period to obtain a plurality of wide-beam target sub-information, clustering the plurality of wide-beam target sub-information to obtain the wide-beam target position information, an
Carrying out target positioning on the narrow-beam echo signals in each frame period to obtain a plurality of narrow-beam target sub-information, clustering the plurality of narrow-beam target sub-information to obtain the narrow-beam target position information, wherein one echo signal corresponds to one target sub-information.
The distance and height difference between each receiving antenna in the receiving antenna group are different.
In one embodiment, each target sub-message comprises: the radar.
The performing target location on the wide-beam echo signal of each frame period to obtain a plurality of wide-beam target sub-information, or performing target location on the narrow-beam echo signal of each frame period to obtain a plurality of narrow-beam target sub-information includes:
and carrying out Fourier transform on the echo signals of each frame period to obtain corresponding transform echo signals, detecting the transform echo signals according to a constant false alarm rate detection method to obtain the target speed and the target distance, and detecting the transform echo signals according to a phase comparison angle measurement method to obtain the target angle information.
In one embodiment, the target angle information includes a target azimuth and a target pitch.
The detecting the transformed echo signal according to a phase comparison angle measurement method to obtain the target angle information includes:
according to
Determining the target azimuth αmaxWhere λ is the wavelength of the millimeter wave modulation signal, dnIs that the joint isThe distance between each receiving antenna in the receiving antenna group; and, according to
Determining the target pitch angle βmaxWhere λ is the wavelength of the millimeter wave modulation signal, dmIs the height difference between each receiving antenna in the set of receiving antennas.
Optionally, after determining the target information, the forward target detection method further includes: and judging whether the target information meets an early warning condition or not, and reporting to a terminal when the early warning condition is met.
The pre-warning condition may include: at least one of an early warning distance, an early warning angle or an early warning speed. For example, the warning is given when the target distance is less than or equal to the warning distance, the warning is given when the target pitch angle is too large or too small, and the like.
The altitude information of the currently detected target can be judged through the target pitch angle, namely the size of the target can be obtained through the target pitch angle, the three-dimensional position information of the target is determined according to the target distance, the target azimuth angle and the altitude information of the target, the target position is accurately positioned, accurate target information is obtained, meanwhile, the excessively high or excessively low target can be filtered according to the early warning condition and the three-dimensional information of the target in the early warning process, unnecessary alarms with excessive times are avoided, and false alarms are reduced.
In an embodiment, referring to fig. 4, the determining target information by fusing the wide beam target position information and the narrow beam target position information through a quadratic clustering algorithm may specifically include:
and S401, fusing the position information of the wide beam target and the position information of the narrow beam target through a secondary clustering algorithm to obtain fused information.
Step S402, filtering the fusion information, and tracking the target according to the filtered fusion information to obtain the target information.
The algorithm for filtering the fusion information may be linear filtering or kalman filtering, that is, the optimal result of the target position can be obtained by optimally predicting the obtained target parameter (target position information) according to the fusion information.
After determining the target information, the forward target detection method may further include:
and reporting the target information to a terminal so that the terminal judges whether to give an alarm to the self vehicle according to the target information, and gives a driver an accurate target position to improve driving safety. The terminal can be a remote monitoring terminal, and can also be equipment for forward emergency braking or forward collision early warning of a vehicle.
According to the forward target detection method, the millimeter wave modulation signal transmitted by the transmitting antenna group is used for scanning targets in a wide beam area and a narrow beam area, the target detection range is enlarged, meanwhile, the millimeter waves are not influenced by meteorological conditions, and the target detection accuracy is guaranteed; the receiving antenna group receives a wide beam echo signal of a target in the wide beam region and a narrow beam echo signal of the target in the narrow beam region and sends the signals to the information processing module, then the information processing module carries out target positioning on the wide beam echo signal to obtain wide beam target position information, and carries out target positioning on the narrow beam echo signal to obtain narrow beam target position information, wherein the narrow beam target position information comprises a target distance, a target azimuth angle and a target pitch angle, namely the three-dimensional position information of the target is determined, and then the wide beam target position information and the narrow beam target position information are fused by a secondary clustering algorithm to determine the target information, so that false alarm information of bridges, street lamps, height limiting rods and the like can be eliminated, the target detection accuracy is improved, and road condition information from the front is accurately provided.
It should be understood by those skilled in the art that the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided by the present invention, it should be understood that the disclosed radar and method may be implemented in other ways. For example, the above-described radar embodiments are merely illustrative, and for example, the division of the modules or units is only one logical functional division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, i.e. may be located in one place, or may be distributed over a plurality of network elements. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain other components which may be suitably increased or decreased as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media which may not include electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (9)
1. A forward target detection radar, comprising: the system comprises a transmitting antenna group, a receiving antenna group and an information processing module;
the transmitting antenna group is used for scanning targets in a wide beam area and a narrow beam area by using the millimeter wave modulation signal sent by the information processing module;
the receiving antenna group is configured to receive a wide beam echo signal of a target in the wide beam region and a narrow beam echo signal of the target in the narrow beam region, and send the signals to the information processing module; wherein the receive antenna group comprises four receive antennas; the four receiving antenna arrays are arranged; wherein the distance between the first receiving antenna and the second receiving antenna is
The distance between the first receiving antenna and the third receiving antenna is 3 lambda, and the distance between the first receiving antenna and the fourth receiving antenna is
The height difference between the second receiving antenna and the first receiving antenna is
The first receiving antenna, the third receiving antenna and the fourth receiving antenna have the same height, and lambda is the wavelength of the millimeter wave modulation signal;
the information processing module is used for carrying out target positioning on the wide-beam echo signal to obtain wide-beam target position information, carrying out target positioning on the narrow-beam echo signal to obtain narrow-beam target position information, and fusing the wide-beam target position information and the narrow-beam target position information through a secondary clustering algorithm to determine target information.
2. The forward object detection radar of claim 1 wherein the set of transmit antennas comprises:
at least one wide beam transmit antenna for scanning a target within the wide beam region; and
at least one narrow beam transmit antenna for scanning a target within the narrow beam region;
wherein a central angle of the wide beam region is greater than a central angle of the narrow beam region, and a radius of the wide beam region is less than a radius of the narrow beam region.
3. The forward target detection radar of claim 2 wherein the information processing module is specifically configured to:
carrying out target positioning on the wide-beam echo signal of each frame period to obtain a plurality of wide-beam target sub-information, and clustering the wide-beam target sub-information to obtain the wide-beam target position information; and
carrying out target positioning on the narrow-beam echo signals in each frame period to obtain a plurality of narrow-beam target sub-information, clustering the plurality of narrow-beam target sub-information to obtain narrow-beam target position information, wherein one echo signal corresponds to one target sub-information;
and fusing the wide beam target position information and the narrow beam target position information through a fusion algorithm to determine target information.
4. The forward object detection radar of claim 3 wherein each target sub-message comprises: the radar comprises a target speed, a;
the information processing module is specifically configured to:
and carrying out Fourier transform on the echo signals of each frame period to obtain corresponding transform echo signals, detecting the transform echo signals according to a constant false alarm rate detection method to obtain the target speed and the target distance, and detecting the transform echo signals according to a phase comparison angle measurement method to obtain the target angle information.
5. The forward target detection radar of claim 4 wherein the target angle information includes a target azimuth and a target pitch;
the information processing module is specifically configured to: according to
Determining the target azimuth αmaxWhere λ is the wavelength of the millimeter wave modulation signal, dnThe distance between each receiving antenna in the receiving antenna group; and, according to
Determining the target pitch angle βmaxWhere λ is the wavelength of the millimeter wave modulation signal, dmIs the height difference between each receiving antenna in the set of receiving antennas.
6. A forward target detection method, comprising:
the transmitting antenna group scans targets in a wide beam area and a narrow beam area by using millimeter wave modulation signals;
acquiring a wide beam echo signal of a target in the wide beam region and a narrow beam echo signal of the target in the narrow beam region through a receiving antenna group; wherein the receive antenna group comprises four receive antennas; the four receiving antenna arrays are arranged; wherein the distance between the first receiving antenna and the second receiving antenna is
The distance between the first receiving antenna and the third receiving antenna is 3 lambda, and the distance between the first receiving antenna and the fourth receiving antenna is
The height difference between the second receiving antenna and the first receiving antenna is
The first receiving antenna, the third receiving antenna and the fourth receiving antenna have the same height, and lambda is the wavelength of the millimeter wave modulation signal;
and carrying out target positioning on the wide beam echo signals to obtain wide beam target position information, carrying out target positioning on the narrow beam echo signals to obtain narrow beam target position information, and fusing the wide beam target position information and the narrow beam target position information through a secondary clustering algorithm to determine target information.
7. The forward target detection method of claim 6 wherein said target locating said wide beam echo signal to obtain wide beam target position information and target locating said narrow beam echo signal to obtain narrow beam target position information comprises:
carrying out target positioning on the wide-beam echo signal of each frame period to obtain a plurality of wide-beam target sub-information, and clustering the wide-beam target sub-information to obtain the wide-beam target position information; and
carrying out target positioning on the narrow-beam echo signals in each frame period to obtain a plurality of narrow-beam target sub-information, clustering the plurality of narrow-beam target sub-information to obtain the narrow-beam target position information, wherein one echo signal corresponds to one target sub-information.
8. The forward target detection method of claim 7 wherein each target sub-message comprises: the radar comprises a target speed, a;
the performing target location on the wide-beam echo signal of each frame period to obtain a plurality of wide-beam target sub-information, or performing target location on the narrow-beam echo signal of each frame period to obtain a plurality of narrow-beam target sub-information includes:
and carrying out Fourier transform on the echo signals of each frame period to obtain corresponding transform echo signals, detecting the transform echo signals according to a constant false alarm rate detection method to obtain the target speed and the target distance, and detecting the transform echo signals according to a phase comparison angle measurement method to obtain the target angle information.
9. The forward target detection method of claim 8 wherein said target angle information includes a target azimuth and a target pitch;
the detecting the transformed echo signal according to a phase comparison angle measurement method to obtain the target angle information includes:
according to
Determining the target azimuth αmaxWhere λ is the wavelength of the millimeter wave modulation signal, dnThe distance between each receiving antenna in the receiving antenna group; and, according to
Determining the target pitch angle βmaxWhere λ is the wavelength of the millimeter wave modulation signal, dmIs the height difference between each receiving antenna in the set of receiving antennas.
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| CN109975807B (en) * | 2019-03-27 | 2022-03-18 | 东南大学 | Dimension reduction subspace angle measurement method suitable for millimeter wave vehicle-mounted radar |
| WO2020199010A1 (en) * | 2019-03-29 | 2020-10-08 | 深圳市大疆创新科技有限公司 | Millimeter wave radar-based tracking detection method, millimeter wave radar and vehicle |
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