CN109581344B - Ultrahigh monitoring method, device and equipment based on millimeter wave radar - Google Patents
Ultrahigh monitoring method, device and equipment based on millimeter wave radar Download PDFInfo
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- CN109581344B CN109581344B CN201811431490.5A CN201811431490A CN109581344B CN 109581344 B CN109581344 B CN 109581344B CN 201811431490 A CN201811431490 A CN 201811431490A CN 109581344 B CN109581344 B CN 109581344B
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- 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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
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Abstract
The invention provides aUltrahigh monitoring method, device and equipment based on millimeter wave radar, the method comprises: a first reflected signal and a second reflected signal received by the radar are received. According to the first intermediate frequency signal and the second intermediate frequency signal obtained by respectively mixing the first reflection signal and the second reflection signal with the local oscillator signal, M frequency spectrum positions and radial distances d between the tops of M target objects corresponding to the M frequency spectrum positions and the radar are obtainedKM phase differences corresponding to the M spectral positions and an angle β between the direction of the radial distance and the direction of the main axis of the radarKβ depending on the vertical distance between the radar and the road surfaceKThe included angle between the direction of the radar main shaft and the vertical direction, the included angle between the direction of the radar main shaft and the intersection point collineation of the monitoring point and the ground, and dKAnd obtaining the heights of the M target objects corresponding to the M frequency spectrum positions to judge whether the ultrahigh target object appears.
Description
Technical Field
The invention relates to the technical field of intelligent traffic, in particular to a method, a device and equipment for ultrahigh monitoring based on a millimeter wave radar
Background
With the development of the times, the modernization construction of cities is changing day by day, and the complexity of urban roads is increasing day by day. In order to relieve the pressure of urban traffic, cities dispute various regulations and policies for restricting the rows, limiting the speed and limiting the height of roads. In order to pursue economic benefits of many engineers or product suppliers, overweight and ultrahigh road transportation is often performed, and timely and accurate capture and efficient treatment of ultrahigh vehicles become important issues of concern for traffic management departments.
The problems existing in the prior art are as follows:
1. the infrared sensors are adopted for detection, the two infrared devices are respectively placed at the same height at two ends of a road, one infrared device is used for transmitting, the other infrared device is used for receiving, and if the infrared light beams are interrupted, the ultrahigh vehicle can be judged to appear. However, if an infrared sensor is used for detection, false alarms frequently occur when birds pass through or different lanes have different height limits.
2. And laser ranging and radar images are adopted for detecting together, the laser ranging is used for judging the ultrahigh object, and the radar images further verify that the object is an ultrahigh vehicle. However, the laser ranging and radar image are used for detection together, the influence of weather is large, the judgment accuracy of the radar image is reduced sharply due to severe weather, and meanwhile, the complexity of an algorithm and a device is high.
Disclosure of Invention
The embodiment of the invention provides a method, a device and equipment for ultrahigh monitoring based on a millimeter wave radar. The invention can reduce the influence of severe weather on detection, eliminate the influence of high-altitude fast flying objects such as birds and the like, and simultaneously can effectively solve the problem of different height limits of different lanes on the same road section. The method can be used for single-lane monitoring and multi-lane monitoring; the lane can be used for a one-way driving lane and a two-way driving lane.
In a first aspect, an embodiment of the present invention provides an ultrahigh monitoring method based on a millimeter wave radar, including:
receiving a first reflected signal and a second reflected signal received by two receiving antennas of the millimeter wave radar; the first reflection signal and the second reflection signal are generated by reflection of a detection signal emitted to a preset area by a transmitting antenna of the millimeter wave radar;
respectively mixing the first reflection signal and the second reflection signal with a local oscillation signal to obtain a first intermediate frequency signal and a second intermediate frequency signal; the local oscillator signal is a signal which is generated by the millimeter wave radar at the same frequency as the transmitted signal at one moment;
acquiring the number M of peak spectral lines of which the peak value exceeds a preset distance amplitude threshold value within a preset time period in the first intermediate frequency signal, and recording the positions of the M peak spectral lines in the first intermediate frequency signal to acquire M frequency spectrum positions;
according to the M frequency spectrum positions, obtaining the radial distances between the tops of the M target objects corresponding to the M frequency spectrum positions and the millimeter wave radar;
obtaining M first phase information corresponding to the M frequency spectrum positions in the first intermediate frequency signal and M second phase information corresponding to the M frequency spectrum positions in the second intermediate frequency signal according to the M frequency spectrum positions;
obtaining M phase differences corresponding to M frequency spectrum positions according to the first phase information and the second phase information;
obtaining a first included angle between the direction of the radial distance and the direction of a main shaft of the millimeter wave radar according to the M phase differences;
and obtaining the heights of M target objects corresponding to the M frequency spectrum positions according to the vertical distance between the millimeter wave radar and the road surface, the first included angle, the second included angle between the direction of the millimeter wave radar main shaft and the vertical direction, the third included angle between the direction of the millimeter wave radar main shaft and the intersection point collineation of the monitoring point and the ground and the radial distance so as to judge whether the ultrahigh target object appears.
Further, acquiring the number M of peak spectral lines of which the peak value exceeds a preset distance amplitude threshold value within a preset time period in the first intermediate frequency signal, and recording the positions of the M peak spectral lines in the first intermediate frequency signal to acquire M spectrum positions, specifically including:
performing one-dimensional FFT spectrum analysis on the first intermediate frequency signal to obtain a first distance spectrum in the first intermediate frequency signal;
performing one-dimensional FFT spectrum analysis on the second intermediate frequency signal to obtain a second distance spectrum in the second intermediate frequency signal;
and acquiring the number M of peak spectral lines of which the peak values exceed a preset distance amplitude threshold value in the first distance spectrum within a preset time, and recording the positions of the M peak spectral lines in the distance spectrum to acquire M spectrum positions.
Further, obtaining, according to the M spectrum positions, M first phase information corresponding to the M spectrum positions in the first intermediate frequency signal and M second phase information corresponding to the M spectrum positions in the second intermediate frequency signal specifically includes:
performing one-dimensional FFT spectrum analysis on the first intermediate frequency signal to obtain a first phase spectrum in the first intermediate frequency signal;
performing one-dimensional FFT spectrum analysis on the second intermediate frequency signal to obtain a second phase spectrum in the second intermediate frequency signal;
and obtaining M pieces of first phase information corresponding to the M frequency spectrum positions in the first phase frequency spectrum and M pieces of second phase information corresponding to the M frequency spectrum positions in the second phase frequency spectrum according to the M frequency spectrum positions.
Further, a monitoring point is arranged on each lane of the preset area in advance; the monitoring point and the intersection point of the radar main shaft direction a and the ground are collinear b, and the included angle between a and b is theta;
the height of the target object for each monitoring point is then expressed as: h isk＝h0-dksin(θ-βk) cos phi/sin theta; wherein the vertical distance between the millimeter wave radar and the road surface is h0Phi is a second included angle between the main axis direction and the vertical direction of the millimeter wave radar, dKFor the radial distances between the tops of the M target objects corresponding to the M spectral positions and the millimeter wave radar, βKAnd a first included angle between the direction of the radial distance and the main shaft direction of the millimeter wave radar, wherein k is 1, … and M.
Still further, still include:
obtaining horizontal distances from the M target objects corresponding to the M frequency spectrum positions to the millimeter wave radar according to the first included angle, the second included angle and the radial distance;
according to the horizontal distance, obtaining lanes where the M target objects are located;
and when the height of the target object is judged to be larger than the limited height of the lane where the target object is located, determining that the target object is ultrahigh.
Furthermore, according to the first included angle, the second included angle and the radial distance, obtaining horizontal distances from the M target objects corresponding to the M frequency spectrum positions to the millimeter wave radar
The horizontal distance is then expressed as:
wherein phi is a second included angle between the direction of the millimeter wave radar main shaft and the vertical direction, dKFor the radial distances between the tops of the M target objects corresponding to the M spectral positions and the millimeter wave radar, βKAnd a first included angle between the direction of the radial distance and the main shaft direction of the millimeter wave radar, wherein k is 1, … and M.
Further, when the ultrahigh vehicle exists in the preset area, generating an alarm message; and the alarm message is sent to the millimeter wave radar-associated monitoring center and the user terminal through wireless communication.
Further, when the ultrahigh vehicle in the preset area is judged, a control instruction is sent to the camera corresponding to the preset area, so that the camera receives the control instruction and then photographs the ultrahigh vehicle.
In a second aspect, an embodiment of the present invention provides an ultrahigh monitoring apparatus based on a millimeter wave radar, including:
the receiving module is used for receiving a first reflected signal and a second reflected signal received by two receiving antennas of the millimeter wave radar; the first reflection signal and the second reflection signal are generated by reflection of a detection signal emitted to a preset area by a transmitting antenna of the millimeter wave radar;
the frequency mixing module is used for respectively mixing the first reflection signal and the second reflection signal with a local oscillator signal to obtain a first intermediate frequency signal and a second intermediate frequency signal; the local oscillator signal is a signal which is generated by the frequency modulation continuous wave millimeter wave radar at a moment and has the same frequency as the transmitted signal;
the first acquisition module is used for acquiring the number M of peak spectral lines of which the peak value exceeds a preset distance amplitude threshold value within preset time in the first intermediate frequency signal, and recording the positions of the M peak spectral lines in the first intermediate frequency signal to acquire M frequency spectrum positions;
a radial distance obtaining module, configured to obtain, according to the M spectrum positions, radial distances between tops of the M target objects corresponding to the M spectrum positions and the millimeter wave radar;
a phase information obtaining module, configured to obtain, according to the M frequency spectrum positions, M first phase information corresponding to the M frequency spectrum positions in a first intermediate frequency signal and M second phase information corresponding to the M frequency spectrum positions in a second intermediate frequency signal;
the phase difference obtaining module is used for obtaining M phase differences corresponding to M frequency spectrum positions according to the first phase information and the second phase information;
the first included angle acquisition module is used for acquiring a first included angle between the direction of the radial distance and the direction of a main shaft of the millimeter wave radar according to the M phase differences;
and the judging module is used for obtaining the heights of M target objects corresponding to the M frequency spectrum positions according to the vertical distance between the millimeter wave radar and the road surface, the first included angle, the second included angle between the millimeter wave radar main shaft direction and the vertical direction, the third included angle between the millimeter wave radar main shaft direction and the intersection point collineation of the monitoring point and the ground and the radial distance so as to judge whether the ultrahigh target object appears.
In a third aspect, an embodiment of the present invention provides an ultrahigh monitoring apparatus, which includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, and when the processor executes the computer program, the ultrahigh monitoring method based on the millimeter wave radar according to the first aspect is implemented.
The embodiment of the invention has the following beneficial effects:
the invention can obtain the height of the target object in the preset area by adopting the one-transmitting and two-receiving frequency modulation continuous wave millimeter wave radar, can monitor whether the target object with the violation height exists in the preset area in real time according to different height limit conditions of different lanes and the height erected by the millimeter wave radar, can effectively realize accurate judgment on the violation height vehicles, and can respond and process in time. The method can solve the problem of different height limits of different lanes on the same road section, and is high in response speed, accurate and efficient. And is not influenced by high-altitude fast flying objects such as severe weather, flying birds and the like. Meanwhile, the method can be used for single-lane monitoring and multi-lane monitoring. The lane can be used for a one-way driving lane and a two-way driving lane.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the embodiments 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 that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic flow chart of an ultrahigh monitoring method based on a millimeter-wave radar according to a first embodiment of the present invention.
Fig. 2 is a schematic structural diagram of an ultrahigh monitoring method based on a millimeter wave radar according to an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of an ultrahigh monitoring device based on a millimeter wave radar according to a third embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The first embodiment of the present invention:
referring to fig. 1 and 2, a first embodiment of the present invention provides an ultrahigh monitoring method based on a millimeter wave radar, including:
s10, receiving the first reflected signal and the second reflected signal received by the two receiving antennas of the millimeter wave radar; the first reflected signal and the second reflected signal are generated by reflection of a detection signal emitted to a predetermined area by a transmitting antenna of the millimeter wave radar.
S20, mixing the first reflection signal and the second reflection signal with a local oscillation signal respectively to obtain a first intermediate frequency signal and a second intermediate frequency signal; the local oscillator signal is a signal which is generated by the millimeter wave radar at the same frequency as the transmitted signal at one moment.
In this embodiment, a one-to-two-receive fm continuous wave millimeter wave radar, i.e., one transmit antenna and two receive antennas, is used. The transmitting antenna transmits a transmitting signal, and the two receiving antennas simultaneously receive the reflected signal. The millimeter wave radar is arranged on a street lamp pole on one side of a road, the millimeter wave radar transmits frequency modulation continuous waves outwards through a transmitting antenna, the transmitting signals are called transmitting signals, electromagnetic waves transmitted to a detected target can generate reflecting signals, the reflecting signals are called receiving signals (or echo signals and reflecting signals) through a receiving antenna of the millimeter wave radar, and then the receiving signals enter a subsequent signal processing circuit connected with the millimeter wave radar. The millimeter wave radar transmits a linear frequency modulation transmission signal outwards through a transmission antenna, and the reflection signal is generated when the millimeter wave radar passes through the target object to be detected; wherein the target object comprises a person or a vehicle or the like.
In this embodiment, the frequency mixing operation is performed by a mixer of the circuit, which is actually a signal multiplier, that is, a multiplication operation is performed on two signals at two input ends of the mixer, where the two signals are a reflected signal received by the radar and a local oscillator signal, respectively. The local oscillator signal is a signal which is generated by the millimeter wave radar circuit and has the same frequency with the transmission signal at one moment, and is generated by the local oscillator.
S30, obtaining the number M of peak spectral lines of which the peak value exceeds a preset distance amplitude threshold value in the first intermediate frequency signal within a preset time, and recording the positions of the M peak spectral lines in the first intermediate frequency signal to obtain M frequency spectrum positions.
And S40, obtaining the radial distance between the top of the M target objects corresponding to the M frequency spectrum positions and the millimeter wave radar according to the M frequency spectrum positions.
S50, according to the M spectrum positions, M first phase information corresponding to the M spectrum positions in the first intermediate frequency signal and M second phase information corresponding to the M spectrum positions in the second intermediate frequency signal are obtained.
In this embodiment, because the millimeter wave radar is a radar in which two receiving antennas receive the reflected signal at the same time, the reflected signal arrives at the two receiving antennas at different times, but because the time difference is short, the difference is generated only in the phase spectrum of the two received signals, and the difference is not generated in the distance spectrum of the two received signals.
Specifically, in this embodiment, acquiring the number M of peak spectral lines of which the peak value exceeds a preset distance amplitude threshold value within a predetermined time in the first intermediate frequency signal, and recording positions of the M peak spectral lines in the first intermediate frequency signal to obtain M spectrum positions specifically includes: and performing one-dimensional FFT spectrum analysis on the first intermediate frequency signal to obtain a first distance spectrum in the first intermediate frequency signal. And performing one-dimensional FFT spectrum analysis on the second intermediate frequency signal to obtain a second distance spectrum in the second intermediate frequency signal. And acquiring the number M of peak spectral lines of which the peak values exceed a preset distance amplitude threshold value in the first distance spectrum within a preset time, and recording the positions of the M peak spectral lines in the distance spectrum to acquire M spectrum positions.
In this embodiment, obtaining M first phase information corresponding to M spectrum positions in the first intermediate frequency signal and M second phase information corresponding to M spectrum positions in the second intermediate frequency signal according to M spectrum positions specifically includes: and performing one-dimensional FFT spectrum analysis on the first intermediate frequency signal to obtain a first phase spectrum in the first intermediate frequency signal. And performing one-dimensional FFT spectrum analysis on the second intermediate frequency signal to obtain a second phase spectrum in the second intermediate frequency signal. And obtaining M pieces of first phase information corresponding to the M pieces of frequency spectrum positions in the first phase frequency spectrum and M pieces of second phase information corresponding to the M pieces of frequency spectrum positions in the second phase frequency spectrum according to the M pieces of frequency spectrum positions.
S60, obtaining M phase differences corresponding to the M spectral positions according to the first phase information and the second phase information.
And S70, obtaining a first included angle between the direction of the radial distance and the direction of the main shaft of the millimeter wave radar according to the M phase differences.
S80, obtaining heights of M target objects corresponding to M frequency spectrum positions according to a vertical distance between the millimeter wave radar and the road surface, the first included angle, a second included angle between the direction of the millimeter wave radar main shaft and the vertical direction, a third included angle between the direction of the millimeter wave radar main shaft and the intersection point collineation of the monitoring point and the ground and the radial distance, and judging whether the ultrahigh target object exists.
In this embodiment, first phase information α corresponding to M spectral positions of the first phase spectrum is obtained according to the M spectral positions1,1,…,αM,1Second phase information α corresponding to M spectral positions in the second phase spectrum1,2,…,αM,2Calculating phase differences Δ α corresponding to the M spectral positions1,…,ΔαMWherein, Δ αk＝αk,2-αk,1，k＝1,…,M。
In the embodiment, a monitoring point is arranged on each lane of the preset area in advance; wherein, the monitoring point and the intersection point collineation b of radar main shaft direction a and ground to the contained angle between a and b is theta, then the height of the target object of every monitoring point is expressed as: h isk＝h0-dksin(θ-βk) cos phi/sin theta; wherein the vertical distance between the millimeter wave radar and the road surface is h0Phi is a second included angle between the main axis direction and the vertical direction of the millimeter wave radar, dKFor the radial distances between the tops of the M target objects corresponding to the M spectral positions and the millimeter wave radar, βKAnd a first included angle between the direction of the radial distance and the main shaft direction of the millimeter wave radar, wherein k is 1, … and M.
The invention can obtain the height of the target object in the preset area by adopting the one-transmitting and two-receiving frequency modulation continuous wave millimeter wave radar, can monitor whether the target object with the violation height exists in the preset area in real time according to different height limit conditions of different lanes and the height erected by the millimeter wave radar, can effectively realize accurate judgment on the violation height vehicles, and can respond and process in time. The method can solve the problem of different height limits of different lanes on the same road section, and is high in response speed, accurate and efficient. And is not influenced by high-altitude fast flying objects such as severe weather, flying birds and the like. Meanwhile, the method can be used for single-lane monitoring and multi-lane monitoring. The lane can be used for a one-way driving lane and a two-way driving lane.
On the basis of the first embodiment of the present invention, in a preferred embodiment of the present invention, horizontal distances from M target objects corresponding to the M frequency spectrum positions to the millimeter wave radar are obtained according to the first included angle, the second included angle, and the radial distance; according to the horizontal distance, obtaining lanes where the M target objects are located; and when the height of the target object is judged to be larger than the limited height of the lane where the target object is located, determining that the target object is ultrahigh.
In this embodiment, the horizontal distances from the M target objects corresponding to the M spectrum positions to the millimeter wave radar are obtained according to the first included angle, the second included angle, and the radial distance, and then the horizontal distances are expressed as:
wherein phi is a second included angle between the direction of the millimeter wave radar main shaft and the vertical direction, dKFor the radial distances between the tops of the M target objects corresponding to the M spectral positions and the millimeter wave radar, βKAnd k is 1, …, and M, which is a first included angle between the direction of the radial distance and the main shaft direction of the millimeter wave radar.
According to the invention, the lanes where the M target objects are located are obtained by the horizontal distance between the M target objects corresponding to the M frequency spectrum positions and the millimeter wave radar, and then the target object is determined to be ultrahigh by judging that the height of the target object is greater than the limited height of the lane where the target object is located. Different height limiting threshold values can be set for different lanes, and the lane where the vehicle is located is determined according to the spectral line position of the distance spectrum, so that the illegal and ultrahigh vehicles under different height limiting standards are judged.
On the basis of the first embodiment of the present invention, in a preferred embodiment of the present invention, when it is determined that there is an ultrahigh vehicle in the predetermined areaWhen the vehicle is running, generating an alarm message; and the alarm message is sent to the millimeter wave radar-associated monitoring center and the user terminal through wireless communication. By connecting the millimeter-wave radar with other communication systems (such as monitoring center, user terminal, etc.) via the interface, when the radar determines the distance dkAnd if the target object at the corresponding monitoring point is too high in violation, the communication system connected with the monitoring point can be controlled to send violation alarms and specific violation information to related personnel, so that the related personnel can process the violation alarms and the specific violation information timely and accurately.
On the basis of the first embodiment of the present invention, in a preferred embodiment of the present invention, when the ultrahigh vehicle in the predetermined area is determined, a control instruction is sent to the camera corresponding to the predetermined area, so that the camera takes a picture of the ultrahigh vehicle after receiving the control instruction. By connecting the millimeter-wave radar with the camera through the interface, the distance radar d is determined when the millimeter-wave radar determineskAnd if the target object at the corresponding monitoring point is too high to violate rules, the camera can be controlled to be started to shoot the target object at the monitoring point, so that the camera can be prevented from continuously shooting all the monitoring points frequently.
In this embodiment, the Wireless Communication mode may be wirelessly connected to a user terminal and a traffic monitoring center associated with the millimeter wave radar through, for example, internet (including cloud service), bluetooth Communication, Near field Communication (FFC) or Wireless Fidelity (WIFI) Communication, and the user terminal monitors the condition of the target object through a smart phone, a Personal Digital Assistant (PAD), a Personal Digital Assistant (pda), a tablet computer, and a PC.
Second embodiment of the invention:
referring to fig. 3, a second embodiment of the present invention provides an ultrahigh monitoring apparatus based on a millimeter wave radar, including:
a receiving module 10, configured to receive a first reflected signal and a second reflected signal received by two receiving antennas of the millimeter wave radar; wherein the first reflected signal and the second reflected signal are generated by reflection of a detection signal emitted to a predetermined area by a transmitting antenna of the millimeter wave radar.
A frequency mixing module 20, configured to mix the first reflected signal and the second reflected signal with a local oscillator signal respectively to obtain a first intermediate frequency signal and a second intermediate frequency signal; the local oscillator signal is a signal which is generated by the frequency modulation continuous wave millimeter wave radar at the same frequency as the transmitted signal at one moment.
The first obtaining module 30 is configured to obtain, in the first intermediate frequency signal, the number M of peak spectral lines of which peak values exceed a preset distance amplitude threshold within a preset time, and record positions of the M peak spectral lines in the first intermediate frequency signal, so as to obtain M frequency spectrum positions.
And the radial distance obtaining module 40 is configured to obtain, according to the M frequency spectrum positions, radial distances between tops of the M target objects corresponding to the M frequency spectrum positions and the millimeter wave radar.
A phase information obtaining module 50, configured to obtain, according to the M frequency spectrum positions, M first phase information corresponding to the M frequency spectrum positions in the first intermediate frequency signal and M second phase information corresponding to the M frequency spectrum positions in the second intermediate frequency signal.
A phase difference obtaining module 60, configured to obtain M phase differences corresponding to the M frequency spectrum positions according to the first phase information and the second phase information.
And a first included angle obtaining module 70, configured to obtain, according to the M phase differences, a first included angle between the direction of the radial distance and the direction of the main axis of the millimeter wave radar.
And the judging module 80 is used for obtaining the heights of M target objects corresponding to the M frequency spectrum positions according to the vertical distance between the millimeter wave radar and the road surface, the first included angle, the second included angle between the millimeter wave radar main shaft direction and the vertical direction, the third included angle between the millimeter wave radar main shaft direction and the intersection point collineation of the monitoring point and the ground and the radial distance so as to judge whether the ultrahigh target object appears.
Third embodiment of the invention:
a third embodiment of the present invention provides an ultra-high monitoring apparatus, which includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor, when executing the computer program, implements the ultra-high monitoring method based on millimeter wave radar according to any one of the above embodiments.
It should be noted that, each module of the master control device and the slave control device disclosed in this embodiment may be implemented by hardware, and examples of the master control device and the slave control device may be a processor based on X86, a Reduced Instruction Set Computing (RISC) processor, an Application Specific Integrated Circuit (ASIC) processor, a Complex Instruction Set Computing (CISC) processor, a Central Processing Unit (CPU), a display parallel instruction computing (EPIC) processor, a Very Long Instruction Word (VLIW) processor, and/or other processors of a circuit, which are not described herein again.
In this embodiment, the Processor may be a Central Processing Unit (CPU), other general-purpose Processor, a Digital Signal Processor (DSP), an APPlication Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, a discrete hardware component, or the like. The general processor can be a microprocessor or the processor can be any conventional processor and the like, the processor is the control center of the ultrahigh monitoring method based on the millimeter wave radar, and various interfaces and lines are utilized to connect all parts of the ultrahigh monitoring method based on the millimeter wave radar.
The memory may be used to store the computer program and/or the module, and the processor may implement various functions of the millimeter wave radar-based ultra-high monitoring method by operating or executing the computer program and/or the module stored in the memory and calling data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (such as a sound playing function, a text conversion function, etc.), and the like; the storage data area may store data (such as audio data, text message data, etc.) created according to the use of the cellular phone, etc. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
Wherein, the module for realizing the service device can be stored in a computer readable storage medium if it is realized in the form of software functional unit and sold or used as a stand-alone product. 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 content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
It should be noted that the above-described device embodiments are merely illustrative, where the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. In addition, in the drawings of the embodiment of the apparatus provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, and may be specifically implemented as one or more communication buses or signal lines. One of ordinary skill in the art can understand and implement it without inventive effort.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. An ultrahigh monitoring method based on a millimeter wave radar is characterized by comprising the following steps:
receiving a first reflected signal and a second reflected signal received by two receiving antennas of the millimeter wave radar; the first reflection signal and the second reflection signal are generated by reflection of a detection signal emitted to a preset area by a transmitting antenna of the millimeter wave radar;
respectively mixing the first reflection signal and the second reflection signal with a local oscillation signal to obtain a first intermediate frequency signal and a second intermediate frequency signal; the local oscillator signal is a signal which is generated by the millimeter wave radar at the same frequency as the transmitted signal at one moment;
acquiring the number M of peak spectral lines of which the peak value exceeds a preset distance amplitude threshold value within a preset time period in the first intermediate frequency signal, and recording the positions of the M peak spectral lines in the first intermediate frequency signal to acquire M frequency spectrum positions;
according to the M frequency spectrum positions, obtaining the radial distances between the tops of the M target objects corresponding to the M frequency spectrum positions and the millimeter wave radar;
obtaining M first phase information corresponding to the M frequency spectrum positions in the first intermediate frequency signal and M second phase information corresponding to the M frequency spectrum positions in the second intermediate frequency signal according to the M frequency spectrum positions;
obtaining M phase differences corresponding to M frequency spectrum positions according to the first phase information and the second phase information;
obtaining a first included angle between the direction of the radial distance and the direction of a main shaft of the millimeter wave radar according to the M phase differences;
and obtaining the heights of M target objects corresponding to the M frequency spectrum positions according to the vertical distance between the millimeter wave radar and the road surface, the first included angle, the second included angle between the direction of the millimeter wave radar main shaft and the vertical direction, the third included angle between the direction of the millimeter wave radar main shaft and the intersection point collineation of the monitoring point and the ground and the radial distance so as to judge whether the ultrahigh target object appears.
2. The ultrahigh monitoring method based on millimeter wave radar according to claim 1, wherein the obtaining of the number M of peak spectral lines of the first intermediate frequency signal, the peak value of which exceeds a preset distance amplitude threshold value within a predetermined time, and recording the positions of the M peak spectral lines in the first intermediate frequency signal to obtain M spectral positions specifically comprises:
performing one-dimensional FFT spectrum analysis on the first intermediate frequency signal to obtain a first distance spectrum in the first intermediate frequency signal;
performing one-dimensional FFT spectrum analysis on the second intermediate frequency signal to obtain a second distance spectrum in the second intermediate frequency signal;
and acquiring the number M of peak spectral lines of which the peak values exceed a preset distance amplitude threshold value in the first distance spectrum within a preset time, and recording the positions of the M peak spectral lines in the distance spectrum to acquire M spectrum positions.
3. The ultrahigh monitoring method based on millimeter wave radar according to claim 1, wherein the obtaining, according to the M spectrum positions, M first phase information corresponding to the M spectrum positions in the first intermediate frequency signal and M second phase information corresponding to the M spectrum positions in the second intermediate frequency signal specifically includes:
performing one-dimensional FFT spectrum analysis on the first intermediate frequency signal to obtain a first phase spectrum in the first intermediate frequency signal;
performing one-dimensional FFT spectrum analysis on the second intermediate frequency signal to obtain a second phase spectrum in the second intermediate frequency signal;
and obtaining M pieces of first phase information corresponding to the M frequency spectrum positions in the first phase frequency spectrum and M pieces of second phase information corresponding to the M frequency spectrum positions in the second phase frequency spectrum according to the M frequency spectrum positions.
4. The ultrahigh monitoring method based on the millimeter wave radar as set forth in claim 1, wherein one monitoring point is set on each lane of the predetermined area in advance; the monitoring point and the intersection point of the radar main shaft direction a and the ground are collinear b, and the included angle between a and b is theta;
the height of the target object for each monitoring point is then expressed as: h isk＝h0-dksin(θ-βk) cos phi/sin theta; wherein the vertical distance between the millimeter wave radar and the road surface is h0Phi is a second included angle between the main axis direction and the vertical direction of the millimeter wave radar, dKFor the radial distances between the tops of the M target objects corresponding to the M spectral positions and the millimeter wave radar, βKAnd a first included angle between the direction of the radial distance and the main shaft direction of the millimeter wave radar, wherein k is 1, … and M.
5. The ultrahigh monitoring method based on the millimeter wave radar as set forth in claim 4, further comprising:
obtaining horizontal distances from the M target objects corresponding to the M frequency spectrum positions to the millimeter wave radar according to the first included angle, the second included angle and the radial distance;
according to the horizontal distance, obtaining lanes where the M target objects are located;
and when the height of the target object is judged to be larger than the limited height of the lane where the target object is located, determining that the target object is ultrahigh.
6. The ultrahigh monitoring method based on millimeter wave radar according to claim 5, wherein the horizontal distances from the millimeter wave radar to the M target objects corresponding to the M frequency spectrum positions are obtained according to the first included angle, the second included angle and the radial distance, and then the horizontal distances are expressed as:
wherein phi is a second included angle between the direction of the millimeter wave radar main shaft and the vertical direction, dKFor the radial distances between the tops of the M target objects corresponding to the M spectral positions and the millimeter wave radar, βKAnd a first included angle between the direction of the radial distance and the main shaft direction of the millimeter wave radar, wherein k is 1, … and M.
7. The ultrahigh monitoring method based on the millimeter wave radar as recited in claim 1, wherein when it is judged that there is an ultrahigh vehicle in the predetermined area, an alarm message is generated; and the alarm message is sent to the millimeter wave radar-associated monitoring center and the user terminal through wireless communication.
8. The ultrahigh monitoring method based on the millimeter wave radar as recited in claim 1, wherein when the ultrahigh vehicle in the predetermined area is judged, a control instruction is sent to a camera corresponding to the predetermined area, so that the camera takes a picture of the ultrahigh vehicle after receiving the control instruction.
9. The ultrahigh monitoring device based on the millimeter wave radar is characterized by comprising:
the receiving module is used for receiving a first reflected signal and a second reflected signal received by two receiving antennas of the millimeter wave radar; the first reflection signal and the second reflection signal are generated by reflection of a detection signal emitted to a preset area by a transmitting antenna of the millimeter wave radar;
the frequency mixing module is used for respectively mixing the first reflection signal and the second reflection signal with a local oscillator signal to obtain a first intermediate frequency signal and a second intermediate frequency signal; the local oscillator signal is a signal which is generated by the frequency modulation continuous wave millimeter wave radar at a moment and has the same frequency as the transmitted signal;
the first acquisition module is used for acquiring the number M of peak spectral lines of which the peak value exceeds a preset distance amplitude threshold value within preset time in the first intermediate frequency signal, and recording the positions of the M peak spectral lines in the first intermediate frequency signal to acquire M frequency spectrum positions;
a radial distance obtaining module, configured to obtain, according to the M spectrum positions, radial distances between tops of the M target objects corresponding to the M spectrum positions and the millimeter wave radar;
a phase information obtaining module, configured to obtain, according to the M frequency spectrum positions, M first phase information corresponding to the M frequency spectrum positions in a first intermediate frequency signal and M second phase information corresponding to the M frequency spectrum positions in a second intermediate frequency signal;
the phase difference obtaining module is used for obtaining M phase differences corresponding to M frequency spectrum positions according to the first phase information and the second phase information;
the first included angle acquisition module is used for acquiring a first included angle between the direction of the radial distance and the direction of a main shaft of the millimeter wave radar according to the M phase differences;
and the judging module is used for obtaining the heights of M target objects corresponding to the M frequency spectrum positions according to the vertical distance between the millimeter wave radar and the road surface, the first included angle, the second included angle between the millimeter wave radar main shaft direction and the vertical direction, the third included angle between the millimeter wave radar main shaft direction and the intersection point collineation of the monitoring point and the ground and the radial distance so as to judge whether the ultrahigh target object appears.
10. An excess monitoring apparatus, comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, the processor implementing the excess monitoring method based on millimeter wave radar according to any one of claims 1 to 8 when executing the computer program.
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