CN109471075A - A kind of radar neutralization automatic testing method - Google Patents
A kind of radar neutralization automatic testing method Download PDFInfo
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- CN109471075A CN109471075A CN201811222000.0A CN201811222000A CN109471075A CN 109471075 A CN109471075 A CN 109471075A CN 201811222000 A CN201811222000 A CN 201811222000A CN 109471075 A CN109471075 A CN 109471075A
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- radar
- ground
- neutralization
- dual
- automatic testing
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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
Abstract
The present invention relates to a kind of radar neutralization automatic testing methods, the following steps are included: using with the dual-mode antenna for being directed toward terrestrial beam, dual-mode antenna is set to form the wave beam for being directed toward ground direction while search coverage directed straight ahead, which can make reflection echo caused by radar detection to ground；Reflection echo is sent to radar receiving unit, and signal processing unit is analyzed again, and extracts the distance, speed, amplitude information of background return；Signal processing unit extracts body information, and judges whether current radar performance changes by detection algorithm calculating.The present invention is by with the antenna for detecting wave beam over the ground, it can detect whether millimetre-wave radar function fails with real-time stabilization, to guarantee radar function safety, have the advantages that radar neutralization detection it is reliable and stable, inexpensive, with certain practicability and promotional value.
Description
Technical field
The present invention relates to body electronics Radar Technology field, specifically a kind of radar neutralization automatic testing method.
Background technique
As auxiliary drives, the development of automatic Pilot, millimetre-wave radar, millimeter wave thunder are mounted on more and more automobiles
Up to as sensor, main function is the barrier detected around vehicle body in some region, and millimetre-wave radar wants installation accuracy
It asks higher, during used, is covered since vibration causes radar setting angle to have occurred in front of big variation or radar
Having covered has the material obviously decayed to electromagnetic wave, can all cause radar performance degenerate or failure, therefore, there is an urgent need to have one can
The method leaned on fails to detect that these reasons are caused, and control system is enable to find that radar is in failure mode in time, thus
The driving safety of support vehicles.
Summary of the invention
In order to avoid with solve above-mentioned technical problem, the invention proposes a kind of radar neutralization automatic testing methods.
The technical problems to be solved by the invention are realized using following technical scheme:
A kind of radar neutralization automatic testing method, comprising the following steps:
Step S101: using with the dual-mode antenna for being directed toward terrestrial beam, make dual-mode antenna in search coverage directed straight ahead
While form the wave beam for being directed toward ground direction, which can make reflection echo caused by radar detection to ground；
Step S201: reflection echo is sent to radar receiving unit, and signal processing unit is analyzed again, and extracts ground
Reflect distance, the speed, amplitude information of signal；
Step S301: signal processing unit extracts body information, and judges current radar performance by detection algorithm calculating
Whether change.
Further, by adjusting Antenna Design parameter or dual-mode antenna minor lobe can be utilized in the step S101, makes to receive
Hair antenna obtains the wave beam for being directed toward ground direction.
Further, the process of detection algorithm includes: in the step S301
1) radar surveying ground relative velocity；
2) radar surveying ground echo amplitude；
3) ground relative velocity is compared with this vehicle speed；
4) ground echo amplitude is compared with threshold value；
5) radar is made whether to fail judgement.
Further, when radar neutralization judges, process 3) or 4) in any group of numerical value comparison beyond the difference allowed
Range, i.e. judgement radar neutralization.
The beneficial effects of the present invention are: the present invention by with over the ground detect wave beam antenna, can be with the inspection of real-time stabilization
Measure whether millimetre-wave radar function fails, with guarantee radar function safety, to radar neutralization detection have it is reliable and stable, low at
This advantages of, has certain practicability and promotional value.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is detection method flow diagram of the invention；
Fig. 2 is the schematic diagram that common millimetre-wave radar receives and dispatches wave beam；
Fig. 3 is the schematic diagram of radar transmit-receive wave beam in the present invention；
Fig. 4 is the flow diagram of detection algorithm in the present invention.
Specific embodiment
In order to be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, below it is right
The present invention is further described.
As shown in Figures 1 to 4, a kind of radar neutralization automatic testing method, comprising the following steps:
Step S101: using with the dual-mode antenna for being directed toward terrestrial beam, by adjusting Antenna Design parameter or transmitting-receiving is utilized
Antenna side lobe makes dual-mode antenna form the wave beam for being directed toward 1 direction of ground while search coverage directed straight ahead, which can
So that reflection echo caused by radar detection to ground 1；
As shown in Fig. 2, common millimetre-wave radar dual-mode antenna is mounted on vehicle body certain altitude h, radar is by forwards
Emit electromagnetic wave, receives distance, speed, angle and the amplitude information of transmitting sounding barrier.
As shown in figure 3, in the present invention, by making radar transmit-receive antenna generate the wave beam to ground 1, spy that can be stable
The reflection echo for measuring ground 1, by design, so that wave beam and horizontal direction angle are θ, radar is h with respect to 1 height of ground.
Radar is when working normally, and due to the presence of wave beam over the ground, ground 1 is used as a target, can be by radar
It detects, the distance of ground target is h/sin (θ), and the speed of ground target is v*cos (θ), and v is speed, and speed can be from vehicle
The CAN bus of body obtains, and the amplitude of ground target is related with earth material, by testing an available assembly average.
Step S201: reflection echo is sent to radar receiving unit, is processed into intermediate-freuqncy signal, signal through radar receiving unit
Processing unit is analyzed again, and extracts the distance, speed, amplitude information of background return；
Due to millimetre-wave radar installation on vehicle body, when normal work, radar main beam be it is parallel with ground 1,
Wave beam and ground angle are θ over the ground, and radar constantly monitors the amplitude, speed, distance of ground signal.
Step S301: signal processing unit extracts body information, and judges current radar performance by detection algorithm calculating
Whether change.
Generally, the characteristic feature of radar neutralization includes:
1, radar installation pitch angle deviates upward, i.e., main beam is biased to sky direction, is directed toward the wave beam and level on ground 1
Angular separation becomes smaller, corresponding, and the distance of ground target can become larger, and ground target speed becomes larger, and ground target average amplitude becomes
It is small.
2, radar installation pitch angle deviates downward, i.e., main beam is biased to 1 direction of ground, is directed toward the wave beam and level on ground 1
Angular separation becomes larger, corresponding, and the distance of ground target can become smaller, and ground target speed becomes smaller, and ground target average amplitude becomes
Greatly.
3, radar surface is blocked, and since radar surface is blocked, receiving and transmitting signal is significantly decayed, the width of ground target
Degree, which can significantly reduce, even can't detect ground target.
Therefore, after having understood the feature of radar neutralization, by after the processing to background return again with body information
Whether comparison is consistent by the data of both setting detection algorithm detections.
Wherein, shown in Figure 4, the process of detection algorithm of the present invention includes:
6) radar surveying ground relative velocity；
7) radar surveying ground echo amplitude；
8) ground relative velocity is compared with this vehicle speed；
9) ground echo amplitude is compared with threshold value；
10) radar is made whether to fail judgement.
When radar neutralization judges, process 3) or 4) in any group of numerical value comparison beyond the difference range allowed, i.e.,
Determine radar neutralization.Wherein, body information is obtained from the CAN bus of vehicle, and background return is obtained from radar, ground
Reflect signal include two information, one be ground relative vehicle movement velocity, one be background return intensity, just
The speed of Chang Shi, ground relative vehicle are equal to speed, and the intensity of background return fluctuates above and below a steady state value, work as ground
The speed of relative vehicle has big difference with this vehicle speed or background return amplitude becomes larger or becomes smaller more than thresholding, then judges
Radar neutralization.
Meanwhile in order to improve the stability of ground location, adjustable radar parameter improves the distance and speed point of radar
Resolution detects ground 1 using the parameter of adjustment in radar in the gap of normal work.
When vehicle attitude is widely varied, may result in ground target feature has large change, this can make this method
At certain interference, to exclude this interference, it includes vehicle body yaw rate that radar can further be obtained from vehicle body, and steering wheel turns
The signals such as angle, throttle, brake are only detected when vehicle body operation posture is relatively steady, when operating status is widely varied, then
It does not detect, this interference can be excluded in this way.
The basic principles, main features and advantages of the present invention have been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and what is described in the above embodiment and the description is only the present invention
Principle, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these variation and
Improvement is both fallen in claimed invention.The claimed scope of the invention is by appended claims and its equivalent circle
It is fixed.
Claims (4)
1. a kind of radar neutralization automatic testing method, it is characterised in that: the following steps are included:
Step S101: using with the dual-mode antenna for being directed toward terrestrial beam, make dual-mode antenna in the same of search coverage directed straight ahead
When form the wave beam for being directed toward ground direction, which can make reflection echo caused by radar detection to ground；
Step S201: reflection echo is sent to radar receiving unit, and signal processing unit is analyzed again, and extracts ground return
The distance of signal, speed, amplitude information；
Step S301: signal processing unit extracts body information, and whether judges current radar performance by detection algorithm calculating
It changes.
2. a kind of radar neutralization automatic testing method according to claim 1, it is characterised in that: can in the step S101
By adjusting Antenna Design parameter or dual-mode antenna minor lobe is utilized, dual-mode antenna is made to obtain the wave beam for being directed toward ground direction.
3. a kind of radar neutralization automatic testing method according to claim 1, it is characterised in that: examined in the step S301
The process of method of determining and calculating includes:
1) radar surveying ground relative velocity；
2) radar surveying ground echo amplitude；
3) ground relative velocity is compared with this vehicle speed；
4) ground echo amplitude is compared with threshold value；
5) radar is made whether to fail judgement.
4. a kind of radar neutralization automatic testing method according to claim 3, it is characterised in that: when radar neutralization judges,
Process 3) or 4) in any group of numerical value comparison beyond allow difference range, i.e., judgement radar neutralization.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811222000.0A CN109471075B (en) | 2018-10-19 | 2018-10-19 | Automatic radar failure detection method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811222000.0A CN109471075B (en) | 2018-10-19 | 2018-10-19 | Automatic radar failure detection method |
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| CN109471075A true CN109471075A (en) | 2019-03-15 |
| CN109471075B CN109471075B (en) | 2022-11-25 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113640779A (en) * | 2021-10-15 | 2021-11-12 | 北京一径科技有限公司 | Radar failure determination method and device, and storage medium |
| CN113850999A (en) * | 2021-09-03 | 2021-12-28 | 杭州海康威视数字技术股份有限公司 | Parking space detection device and camera device with radar for monitoring parking space |
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| WO2007094064A1 (en) * | 2006-02-16 | 2007-08-23 | Mitsubishi Denki Kabushiki Kaisha | Radar |
| US20090207068A1 (en) * | 2005-08-19 | 2009-08-20 | Takayuki Inaba | Target detecting method and target detecting apparatus |
| CN101915921A (en) * | 2010-08-25 | 2010-12-15 | 上海慧昌智能交通系统有限公司 | Double-beam four-antenna microwave traffic information detection radar and information detection method |
| CN103033808A (en) * | 2012-12-24 | 2013-04-10 | 西安电子工程研究所 | Method and device of railway roadblock detection and alarm based on radar return characteristics |
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2018
- 2018-10-19 CN CN201811222000.0A patent/CN109471075B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090207068A1 (en) * | 2005-08-19 | 2009-08-20 | Takayuki Inaba | Target detecting method and target detecting apparatus |
| WO2007094064A1 (en) * | 2006-02-16 | 2007-08-23 | Mitsubishi Denki Kabushiki Kaisha | Radar |
| CN101915921A (en) * | 2010-08-25 | 2010-12-15 | 上海慧昌智能交通系统有限公司 | Double-beam four-antenna microwave traffic information detection radar and information detection method |
| CN103033808A (en) * | 2012-12-24 | 2013-04-10 | 西安电子工程研究所 | Method and device of railway roadblock detection and alarm based on radar return characteristics |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113850999A (en) * | 2021-09-03 | 2021-12-28 | 杭州海康威视数字技术股份有限公司 | Parking space detection device and camera device with radar for monitoring parking space |
| CN113640779A (en) * | 2021-10-15 | 2021-11-12 | 北京一径科技有限公司 | Radar failure determination method and device, and storage medium |
| CN113640779B (en) * | 2021-10-15 | 2022-05-03 | 北京一径科技有限公司 | Radar failure determination method and device, and storage medium |
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| CN109471075B (en) | 2022-11-25 |
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