CN109872566A - A kind of information of vehicles reminding method, device, equipment and storage medium - Google Patents
A kind of information of vehicles reminding method, device, equipment and storage medium Download PDFInfo
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- CN109872566A CN109872566A CN201910095062.8A CN201910095062A CN109872566A CN 109872566 A CN109872566 A CN 109872566A CN 201910095062 A CN201910095062 A CN 201910095062A CN 109872566 A CN109872566 A CN 109872566A
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Abstract
The present invention provides a kind of reminding method of information of vehicles, device, equipment and storage medium, method includes: the reflection signal by CW with frequency modulation millimetre-wave radar acquisition testing region；According to reflection signal, the location information and velocity information of the target vehicle in detection zone are obtained；The progress for creating target vehicle shows object；Show that object generates the progress bar image data of target vehicle according to the location information of target vehicle, velocity information and progress；Progress bar image data is sent to and is set to the display screen of predeterminated position and shows, so that other car owners can obtain the driving condition of target vehicle according to the progress bar of display on a display screen.The present invention intuitively can carry out prompt information to the information of vehicles of target vehicle in real time and show.
Description
Technical field
The present invention relates to wisdom traffic technical field more particularly to a kind of information of vehicles reminding method, device, equipment and deposit
Storage media.
Background technique
With the development of the times, the modernization construction in city is maked rapid progress, and the vehicle travelled on urban road is continuously increased.
In order to alleviate urban traffic pressure, the complexity of urban road is increasingly improved, and the afforestation project on urban road is certain
Blind area is caused to road conditions such as crossroad, T-shaped road junction, meeting lanes in degree, results in multiple traffic thing therefrom
Therefore.How on the basis of the road environment of beautifying city, the vehicle of traveling is made to understand the traffic information of blind area in time, thus
Traffic accident caused by avoiding because of situations such as meeting, turning, becomes urban transportation urgent problem to be solved.
Problem of the existing technology:
1, location information of the vehicle on highway is detected by GPS, user terminal is fed back in a manner of image, it is not right
Other users prompt effective information.But the update of information has certain delay, and does not provide the traveling of other vehicles
The traffic information of the blind area in information, especially other lanes.
2, using the information in detections of radar itself lane, generally use fixed point and test the speed, and by text and number in a manner of into
Row information is shown.But road conditions detection is carried out to lane where itself, the detection information and display information of radar are in same vehicle
Road does not provide the information of other lane blind areas, meanwhile, text and digital information are not easy to the observation of remote vehicle.
3, the display mode of progress bar is applied to the traveling traffic information based on time record vehicle.But into
Degree item is a kind of characterization of time span, and itself does not contain information of vehicles directly, therefore is not carried out to traffic information real
When show.
Summary of the invention
The embodiment of the present invention provides a kind of information of vehicles reminding method, device and equipment.The present invention can be intuitive in real time
Prompt information is carried out to the information of vehicles of target vehicle to show.
In a first aspect, the embodiment of the present invention provides a kind of reminding method of information of vehicles, comprising:
Pass through the reflection signal in CW with frequency modulation millimetre-wave radar acquisition testing region；
According to the reflection signal, the location information and velocity information of the target vehicle in detection zone are obtained；
The progress for creating the target vehicle shows object；
Show that object generates the target carriage according to the location information of the target vehicle, velocity information and the progress
Progress bar image data；
The progress bar image data is sent to and is set to the display screen of predeterminated position and shows, so that other vehicles
Master can obtain the driving condition of the target vehicle according to the progress bar of display on the display screen.
Preferably, described to show that object is raw according to the location information of the target vehicle, velocity information and the progress
At the progress bar image data of the target vehicle specifically:
Determine that progress shows the display interval of object according to the location information of the target vehicle；
Determine that progress shows the display color of object according to the velocity information of the target vehicle；
It assigns the display interval and the display color to the progress and shows object, to generate the target vehicle
Progress bar image data.
Preferably, determine that progress shows the display interval of object according to the location information of the target vehicle, specifically:
According to the detecting distance of the CW with frequency modulation millimetre-wave radar of predeterminated position, determine that progress shows the display model of object
It encloses；
The progress is shown that the indication range of object is divided into corresponding N number of display interval；
According to the location information of the target vehicle, determine that the progress shows the display interval for being included of object.
Preferably, determine that progress shows the display color of object according to the velocity information of the target vehicle, specifically:
Read preset color-speed interval mapping table；
From the color-speed interval mapping table, color corresponding with the velocity information is obtained, to obtain progress
Show the display color of object.
Preferably, the target vehicle is that distance is nearest on detection direction with the CW with frequency modulation millimetre-wave radar
Vehicle.
Preferably, according to the reflection signal, the location information and velocity information of the target vehicle in detection zone are obtained,
Specifically:
The reflection signal is mixed with local oscillation signal to obtain intermediate-freuqncy signal；Wherein, local oscillation signal is the tune
Signal of the frequency continuous wave millimetre-wave radar from the moment generated and transmitting signal same frequency；
One-dimensional FFT spectrum analysis is carried out to the intermediate-freuqncy signal, to obtain apart from frequency spectrum；
According to preset range-amplitude display threshold value, determine that the peak value in frequency spectrum is more than the range-amplitude display threshold value
Peak value spectral line set；
The smallest peak value spectral line of position of spectral line in the peak value spectral line set is obtained, and it is the smallest to record the position of spectral line
Peak value spectral line apart from position of spectral line；
Two-dimensional FFT spectrum analysis is carried out to the smallest peak value spectral line of the position of spectral line, to obtain speed spectrum；
According to preset speed amplitude threshold, to obtain in the speed spectrum more than the speed amplitude threshold
Velocity peak values spectral line, and record the velocity spectral line position of the velocity peak values spectral line；
According to described apart from position of spectral line and velocity spectral line position, the location information and speed letter of target vehicle are obtained
Breath.
Preferably, according to described apart from spectrum position and speed spectrum position, obtain target vehicle location information and
Velocity information, specifically:
According to described apart from spectrum position, the modulating bandwidth and propagation velocity of electromagnetic wave of transmitting signal, target carriage is obtained
The radial distance of opposite CW with frequency modulation millimetre-wave radar；
According to speed spectrum position, emits the carrier wavelength of signal, preset speed sampling frequency and in advance set
Fixed FFT points obtain radial velocity of the target vehicle with respect to CW with frequency modulation millimetre-wave radar；
According to the radial distance, radial velocity, the height of CW with frequency modulation millimetre-wave radar to ground, target carriage is obtained
Location information and velocity information.
Second aspect, the present invention provides a kind of suggestion devices of information of vehicles, comprising:
Acquisition unit, for passing through the reflection signal in CW with frequency modulation millimetre-wave radar acquisition testing region；
Acquiring unit, for obtaining the location information and speed of the target vehicle in detection zone according to the reflection signal
Spend information；
Creating unit, the progress for creating the target vehicle show object；
Generation unit, for showing object according to the location information of the target vehicle, velocity information and the progress
Generate the progress bar image data of the target vehicle；
Display unit is set to the display screen of predeterminated position and shows for the progress bar image data to be sent to
Show, so that other car owners can obtain the traveling shape of the target vehicle according to the progress bar of display on the display screen
Condition.
Preferably, generation unit, specifically:
Display interval determining module, for determining that progress shows the display of object according to the location information of the target vehicle
Section；
Display color determining module, for determining that progress shows the display of object according to the velocity information of the target vehicle
Color；
Image data generation module is shown pair for assigning the display interval and the display color to the progress
As to generate the progress bar image data of the target vehicle.
Preferably, display interval determining module, specifically:
According to the detecting distance of the CW with frequency modulation millimetre-wave radar of predeterminated position, determine that progress shows the display model of object
It encloses；The progress is shown that the indication range of object is divided into corresponding N number of display interval；According to the position of the target vehicle
Information determines that the progress shows the display interval for being included of object.
Preferably, display color determining module, specifically:
Read preset color-speed interval mapping table；From the color-speed interval mapping table, obtain with it is described
The corresponding color of velocity information, to obtain the display color that progress shows object.
Preferably, the target vehicle is that distance is nearest on detection direction with the CW with frequency modulation millimetre-wave radar
Vehicle.
Preferably, acquiring unit, specifically:
Frequency mixing module, for being mixed the reflection signal with local oscillation signal to obtain intermediate-freuqncy signal；Wherein, local oscillator
Signal is signal of the CW with frequency modulation millimetre-wave radar from the moment generated and transmitting signal same frequency；
Spectrum analysis module, for carrying out one-dimensional FFT spectrum analysis to the intermediate-freuqncy signal, to obtain apart from frequency spectrum；
Peak value spectral line set determining module, for determining described apart from frequency spectrum according to preset range-amplitude display threshold value
Middle peak value is more than the peak value spectral line set of the range-amplitude display threshold value；
Module is obtained apart from position of spectral line, for obtaining the smallest peak value spectrum of position of spectral line in the peak value spectral line set
Line, and record the smallest peak value spectral line of the position of spectral line apart from position of spectral line；
Speed spectrum obtains module, for carrying out Two-dimensional FFT spectrum analysis to the smallest peak value spectral line of the position of spectral line,
To obtain speed spectrum；
Velocity peak values spectral line obtains module, is used for according to preset speed amplitude threshold, to obtain the speed frequency
In spectrum it is more than the velocity peak values spectral line of the speed amplitude threshold, and records the velocity spectral line position of the velocity peak values spectral line；
Location information and velocity information obtain module, for according to described apart from position of spectral line and velocity spectral line position,
Obtain the location information and velocity information of target vehicle.
Preferably, location information and velocity information obtain module, specifically:
According to described apart from spectrum position, the modulating bandwidth and propagation velocity of electromagnetic wave of transmitting signal, target carriage is obtained
The radial distance of opposite CW with frequency modulation millimetre-wave radar；According to speed spectrum position, emit signal carrier wavelength, in advance
The speed sampling frequency of setting and preset FFT points obtain target vehicle with respect to CW with frequency modulation millimetre-wave radar
Radial velocity；According to the radial distance, radial velocity, the height of CW with frequency modulation millimetre-wave radar to ground, target is obtained
The location information and velocity information of vehicle.
The third aspect, the embodiment of the invention provides a kind of information of vehicles prompt equipment, including processor, memory and
The computer program executed by the processor is stored in the memory and is configured, the processor executes the calculating
Information of vehicles reminding method as described in relation to the first aspect is realized when machine program.
Fourth aspect, the embodiment of the invention provides a kind of computer readable storage medium, the computer-readable storage
Medium includes the computer program of storage, wherein controls the computer-readable storage medium in computer program operation
Equipment executes information of vehicles reminding method as described in relation to the first aspect where matter.
The implementation of the embodiments of the present invention has the following beneficial effects:
By the reflection signal of the target vehicle in CW with frequency modulation millimetre-wave radar acquisition testing region, to obtain target carriage
Location information and velocity information, and by the display screen of predeterminated position in the way of progress bar image data by target carriage
Location information and velocity information carry out information and show so that other car owners can be according to display on the display screen
Progress bar obtains the driving condition of the target vehicle, and the installation maintenance is simple, it is easy to accomplish, and can be in real time intuitively to mesh
The information of vehicles of mark vehicle carries out prompt information and shows.
Detailed description of the invention
In order to illustrate more clearly of technical solution of the present invention, attached drawing needed in embodiment will be made below
Simply introduce, it should be apparent that, the accompanying drawings in the following description is only some embodiments of the present invention, general for this field
For logical technical staff, without creative efforts, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is that first embodiment of the invention provides information of vehicles reminding method flow diagram.
Fig. 2 is the first structure diagram of practical application scene provided in an embodiment of the present invention.
Fig. 3 is the second structural schematic diagram of practical application scene provided in an embodiment of the present invention.
Fig. 4 is the third structural schematic diagram of practical application scene provided in an embodiment of the present invention.
Fig. 5 is the 4th structural schematic diagram of practical application scene provided in an embodiment of the present invention.
Fig. 6 is the structural schematic diagram for the offer vehicle information providing device that second embodiment of the invention provides.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
First embodiment of the invention:
Referring to Fig. 1 to Fig. 5, first embodiment of the invention provides a kind of reminding method of information of vehicles, comprising:
S10 passes through the reflection signal in CW with frequency modulation millimetre-wave radar acquisition testing region.
S20 obtains the location information and velocity information of the target vehicle in detection zone according to reflection signal.
In the present embodiment, the CW with frequency modulation millimetre-wave radar received using a hair one, i.e. a transmitting antenna and one
Receiving antenna.Transmitting antenna emits a transmission signal, and receiving antenna receives reflection signal.The CW with frequency modulation millimeter wave thunder
Up to being mounted on right above lane, so that the detection direction face of CW with frequency modulation millimetre-wave radar monitors lane, the frequency modulation connects
Continuous wave millimetre-wave radar is h apart from ground level, so that CW with frequency modulation millimetre-wave radar face detects lane.Certainly, it needs
Illustrate, this CW with frequency modulation millimetre-wave radar can of course at will be mounted on any lane, as long as ensuring to be mounted on view
Wild blind area, the present invention is here, be not particularly limited.
In the present embodiment, the CW with frequency modulation millimetre-wave radar by transmitting antenna launch outward CW with frequency modulation this
In be referred to as transmitting signal, the electromagnetic wave for being transmitted to tested target can generate reflection signal, and the reflection signal is continuous by frequency modulation
The receiving antenna of wave millimetre-wave radar, which receives, is known as receiving signal (or echo-signal, reflection signal), connects hence into frequency modulation
The connected follow-up signal processing circuit of continuous wave millimetre-wave radar.The CW with frequency modulation millimetre-wave radar is outside by transmitting antenna
Emit chirped transmitting signal, the reflection signal can be generated by the target vehicle.
In the present embodiment, the target vehicle is and CW with frequency modulation millimetre-wave radar distance on detection direction
Nearest vehicle.Detection zone is obtained apart from CW with frequency modulation millimeter wave by the spectrum analysis of CW with frequency modulation millimetre-wave radar
The position and speed information of the nearest target vehicle of radar, specifically:
The reflection signal is mixed with local oscillation signal to obtain intermediate-freuqncy signal；Wherein, local oscillation signal is the tune
Signal of the frequency continuous wave millimetre-wave radar from the moment generated and transmitting signal same frequency；One is carried out to the intermediate-freuqncy signal
FFT spectrum analysis is tieed up, to obtain apart from frequency spectrum；According to preset range-amplitude display threshold value, the peak in frequency spectrum is determined
Value is more than the peak value spectral line set of the range-amplitude display threshold value；Obtain the smallest peak value of position of spectral line in the peak value spectral line set
Spectral line, and record the smallest peak value spectral line of the position of spectral line apart from position of spectral line；To the smallest peak value of the position of spectral line
Spectral line carries out Two-dimensional FFT spectrum analysis, to obtain speed spectrum；According to preset speed amplitude threshold, described in obtaining
In speed spectrum it is more than the velocity peak values spectral line of the speed amplitude threshold, and records the velocity spectral line of the velocity peak values spectral line
Position；According to described apart from spectrum position, the modulating bandwidth and propagation velocity of electromagnetic wave of transmitting signal, target vehicle phase is obtained
To the radial distance of CW with frequency modulation millimetre-wave radar；According to speed spectrum position, emit signal carrier wavelength, preset
Speed sampling frequency and preset FFT points obtain target vehicle with respect to CW with frequency modulation millimetre-wave radar radial direction
Speed；According to the radial distance, radial velocity, the height of CW with frequency modulation millimetre-wave radar to ground, target vehicle is obtained
Location information and velocity information.
Wherein, in the present embodiment, mixing work is completed by the frequency mixer of circuit, the multiplier of really one signal,
Multiplication operation is carried out to the two paths of signals of two input terminals of frequency mixer, this two paths of signals is CW with frequency modulation millimeter wave thunder respectively
Up to the reflection signal and local oscillation signal received.Wherein, local oscillation signal refers to CW with frequency modulation millimetre-wave radar circuit oneself
The signal at the moment and transmitting signal same frequency that generate, is generated by local oscillator.
S30, the progress for creating target vehicle show object.
S40 shows that object generates the progress of target vehicle according to the location information of target vehicle, velocity information and progress
Image data.
In the present embodiment, the progress is identified with the location information of the target vehicle, velocity information and shows object, i.e.,
The corresponding progress of each target vehicle shows object, and the progress bar of drafting target vehicle in object, tool are then shown in progress
Body: in the present embodiment, the location information and velocity information to target vehicle are characterized using progress bar mode and different colours
It carries out information to show, i.e., determines the length of the progress bar of display according to the position of target vehicle, it is true according to the speed of target vehicle
Surely the color of the progress bar shown；Wherein,
Determine that progress shows the display interval of object according to the location information of the target vehicle；According to the target vehicle
Velocity information determine progress show object display color；By the display interval and the display color assign it is described into
Degree display object, to generate the progress bar image data of the target vehicle.
In the present embodiment, determine that progress shows the display interval of object, tool according to the location information of the target vehicle
Body are as follows: according to the detecting distance of the CW with frequency modulation millimetre-wave radar of predeterminated position, determine that progress shows the indication range of object,
Wherein, when the detecting distance of CW with frequency modulation millimetre-wave radar is divided into N number of section, then progress shows that the maximum magnitude of object is
Corresponding N number of section；The progress is shown that the indication range of object is divided into corresponding N number of display interval, wherein work as target
The position of vehicle determines it in m-th section, then the indication range of progress object is the maximum indication range of M/N；According to described
The location information of target vehicle determines that the progress shows the display interval for being included of object.Such as: when CW with frequency modulation milli
It is exactly corresponding 1st lattice of 100-90 that metre wave radar, which can detecte 100m and so divide 10 equal parts,；90-80 corresponds to the 2nd lattice ... ...,
And so on, 20-10 corresponds to foundation frame, corresponding 10th lattice of 10-0.Such as: the detecting distance of 5 etc. points of corresponding front 100m is exactly
Corresponding 5th lattice of the corresponding 4th lattice 20-0 of the corresponding 3rd lattice 40-20 of the corresponding 2nd lattice 60-40 of the corresponding 1st lattice 80-60 of 100-80.
In the present embodiment, determine that progress shows the display color of object, tool according to the velocity information of the target vehicle
Body are as follows: read preset color-speed interval mapping table, wherein the color-speed interval mapping table is for indicating different
The corresponding color being arranged of speed interval；From the color-speed interval mapping table, obtain corresponding with the velocity information
Color, to obtain the display color that progress shows object.Certainly, it should be noted that preset color-speed interval mapping
The demarcation interval of table is divided in the maximum magnitude that progress shows object.For example, according to the maximum magnitude of degree display object
Preset color-speed interval mapping table speed is divided into three sections, respectively 0~40km/h corresponds to blue and shown
Showing, 40km/h~80km/h corresponds to yellow and is shown, the corresponding red of 80km/h or more is shown, certainly, it should be noted that
Preset color-speed interval mapping table speed can also be divided into 4 sections etc., these are in protection model of the invention
Within enclosing, here, repeating no more.
Progress bar image data is sent to and is set to the display screen of predeterminated position and shows, so that other vehicles by S50
Master can obtain the driving condition of target vehicle according to the progress bar of display on a display screen.
In the present embodiment, the position of the display screen should make the car owner for being in blind area mutually be able to observe that other side's vehicle
Driving condition, for example, the lane a and the lane b are corresponding blind area, if the setting of CW with frequency modulation millimetre-wave radar in the lane a,
The velocity information and location information of the lane a vehicle nearest apart from CW with frequency modulation millimetre-wave radar are detected, then display screen is arranged
In the front in the lane b, vehicle for prompting the lane b to travel above, on the lane a most apart from CW with frequency modulation millimetre-wave radar
The velocity information and location information of close vehicle, so that the car owner in the lane b can be according to the progress bar of display on a display screen
Obtain the driving condition of target vehicle on the lane a at blind area.
The present embodiment carries out position and speed by the target vehicle in CW with frequency modulation millimetre-wave radar acquisition testing region
Degree to obtain the location information and velocity information of target vehicle, and passes through progress bar picture number using the display screen of predeterminated position
According to mode the location information of target vehicle and velocity information are subjected to information show so that other car owners can be according to display
Progress bar on the display screen obtains the driving condition of the target vehicle, and the installation maintenance is simple, it is easy to accomplish, and energy
It is enough that intuitively the information of vehicles progress prompt information of target vehicle is shown in real time.
Referring to fig. 2 to Fig. 5, for convenient for the understanding of the present invention, illustrate this reality below with multiple actual application scenarios
Apply the application of example:
Example 1: Fig. 2 is referred to, CW with frequency modulation millimetre-wave radar and display screen are installed in the greening in meeting lane
One end of isolation strip, wherein install CW with frequency modulation millimetre-wave radar right above detection lane, installed in front of meeting lane
Display screen, CW with frequency modulation millimetre-wave radar and display screen are connected with each other by wired or wireless way.When CW with frequency modulation milli
Metre wave radar extracts in detection range apart from CW with frequency modulation millimetre-wave radar institute in place when detecting lane detection and arriving more vehicles
The location information and velocity information of nearest vehicle are set, display screen passes through colored progress bar according to location information and velocity information
Display mode reminds moving traffic in meeting lane, can to avoid meeting lanes vehicle because of greenbelt
Caused by blind area and in the traffic accidents such as road confluce collides.
Example 3: Fig. 3 is referred to, CW with frequency modulation millimetre-wave radar is mounted on the one of T word intersection greenbelt
CW with frequency modulation millimetre-wave radar is installed right above detection lane in end, and display screen is mounted on T word intersection, and another is green
Display screen is installed in the one end for changing isolation strip in front of to turning roadway, and CW with frequency modulation millimetre-wave radar is with display screen by having
Line or wireless mode are connected with each other.When CW with frequency modulation millimetre-wave radar detects more vehicles in detection lane, inspection is extracted
Survey the position and speed information of the vehicle nearest apart from CW with frequency modulation millimetre-wave radar position in range, display screen according to
Position and speed information reminds moving traffic in meeting lane by the display mode of colored progress bar, can be with
In the traffic accidents such as road confluce collides due to the vehicle blind area caused by greenbelt for avoiding Ackermann steer angle from travelling.
Example 3: Fig. 4 and Fig. 5 is referred to, speed is divided into three 0~40km/h of section, 40km/h~80km/h, 80km/
H or more is shown respectively with blue, yellow, red.Display screen is averagely divided the progress bar of display according to its width
10 equal parts, 10 sections that corresponding detecting distance is evenly dividing from 100m~0 from the distant to the near.Such as Fig. 4, when CW with frequency modulation millimeter
The position of wave detections of radar to nearest apart from CW with frequency modulation millimetre-wave radar vehicle on detection lane is to connect apart from frequency modulation
When continuous wave millimetre-wave radar 85m (belonging to apart from section 80m~90m), travel speed are 60km/h, display screen from left to right aobvious
The 2/10 of the progress bar shown is lit, display color is yellow；Such as Fig. 5, examined when CW with frequency modulation millimetre-wave radar detects
The position of the vehicle nearest apart from CW with frequency modulation millimetre-wave radar is apart from CW with frequency modulation millimetre-wave radar 24m on measuring car road
When (belonging to apart from section 20m~30m), travel speed are 30km/h, the 8/10 of the progress bar of the display of display screen from left to right
It is lit, display color is blue.For example, it is assumed that display interval is divided into 10 lattice, if the position of target vehicle is 45m, that is just
In section 50-40, it is thus that 6 lattice of front are all indicated with corresponding color that corresponding, which is exactly the 6th lattice, behind 4 lattice do not have
There is color to show.
On the basis of first embodiment, in a preferred embodiment of the present invention, the location information of the target vehicle is
Horizontal distance of the target vehicle with respect to CW with frequency modulation millimetre-wave radar position, the horizontal distance expression formula are as follows:Wherein, d 'jFor the radial distance, h be CW with frequency modulation millimetre-wave radar away from
Vertical height from the ground.
On the basis of first embodiment, in a preferred embodiment of the present invention, the velocity information of the target vehicle is
The travel speed of the target vehicle, the travel speed expression formula are as follows:Wherein, V 'jMesh
Mark radial velocity of the object with respect to CW with frequency modulation millimetre-wave radar.
On the basis of first embodiment, in a preferred embodiment of the present invention, the expression formula of the radial distance are as follows:Wherein, qiIt is target vehicle in the position of spectral line in frequency spectrum, B is the modulating bandwidth for emitting signal；
The expression formula of the radial velocity are as follows:Wherein, riIt is spectral line of the target vehicle in speed spectrum
Position, λ are the carrier wavelengths for emitting signal, and N is Two-dimensional FFT points, fsvIt is speed sampling frequency.
Second embodiment of the invention:
Referring to Fig. 6, the embodiment of the invention provides a kind of vehicle information providing devices, comprising:
Acquisition unit 10, for passing through the reflection signal in CW with frequency modulation millimetre-wave radar acquisition testing region；
Acquiring unit 20, for according to the reflection signal, obtain the target vehicle in detection zone location information and
Velocity information；
Creating unit 30, the progress for creating the target vehicle show object；
Generation unit 40, for being shown pair according to the location information of the target vehicle, velocity information and the progress
Progress bar image data as generating the target vehicle；
Display unit 50 is set to the display screen of predeterminated position and shows for the progress bar image data to be sent to
Show, so that other car owners can obtain the traveling shape of the target vehicle according to the progress bar of display on the display screen
Condition.
Preferably, generation unit 40, specifically:
Display interval determining module, for determining that progress shows the display of object according to the location information of the target vehicle
Section；
Display color determining module, for determining that progress shows the display of object according to the velocity information of the target vehicle
Color；
Image data generation module is shown pair for assigning the display interval and the display color to the progress
As to generate the progress bar image data of the target vehicle.
Preferably, display interval determining module, specifically:
According to the detecting distance of the CW with frequency modulation millimetre-wave radar of predeterminated position, determine that progress shows the display model of object
It encloses；The progress is shown that the indication range of object is divided into corresponding N number of display interval；According to the position of the target vehicle
Information determines that the progress shows the display interval for being included of object.
Preferably, display color determining module, specifically:
Read preset color-speed interval mapping table；From the color-speed interval mapping table, obtain with it is described
The corresponding color of velocity information, to obtain the display color that progress shows object.
Preferably, the target vehicle is that distance is nearest on detection direction with the CW with frequency modulation millimetre-wave radar
Vehicle.
Preferably, acquiring unit 20, specifically:
Frequency mixing module, for being mixed the reflection signal with local oscillation signal to obtain intermediate-freuqncy signal；Wherein, local oscillator
Signal is signal of the CW with frequency modulation millimetre-wave radar from the moment generated and transmitting signal same frequency；
Spectrum analysis module, for carrying out one-dimensional FFT spectrum analysis to the intermediate-freuqncy signal, to obtain apart from frequency spectrum；
Peak value spectral line set determining module, for determining described apart from frequency spectrum according to preset range-amplitude display threshold value
Middle peak value is more than the peak value spectral line set of the range-amplitude display threshold value；
Module is obtained apart from position of spectral line, for obtaining the smallest peak value spectrum of position of spectral line in the peak value spectral line set
Line, and record the smallest peak value spectral line of the position of spectral line apart from position of spectral line；
Speed spectrum obtains module, for carrying out Two-dimensional FFT spectrum analysis to the smallest peak value spectral line of the position of spectral line,
To obtain speed spectrum；
Velocity peak values spectral line obtains module, is used for according to preset speed amplitude threshold, to obtain the speed frequency
In spectrum it is more than the velocity peak values spectral line of the speed amplitude threshold, and records the velocity spectral line position of the velocity peak values spectral line；
Location information and velocity information obtain module, for according to described apart from position of spectral line and velocity spectral line position,
Obtain the location information and velocity information of target vehicle.
Preferably, location information and velocity information obtain module, specifically:
According to described apart from spectrum position, the modulating bandwidth and propagation velocity of electromagnetic wave of transmitting signal, target carriage is obtained
The radial distance of opposite CW with frequency modulation millimetre-wave radar；According to speed spectrum position, emit signal carrier wavelength, in advance
The speed sampling frequency of setting and preset FFT points obtain target vehicle with respect to CW with frequency modulation millimetre-wave radar
Radial velocity；According to the radial distance, radial velocity, the height of CW with frequency modulation millimetre-wave radar to ground, target is obtained
The location information and velocity information of vehicle.
Third embodiment of the invention:
Third embodiment of the invention provides a kind of information of vehicles prompt equipment, including processor, memory and storage
In the memory and it is configured the computer program executed by the processor, the processor executes the computer journey
The information of vehicles reminding method as described in above-described embodiment is realized when sequence.
Fourth embodiment of the invention:
Fourth embodiment of the invention provides a kind of computer readable storage medium, the computer readable storage medium packet
Include the computer program of storage, wherein where controlling the computer readable storage medium in computer program operation
Equipment executes the information of vehicles reminding method as described in above-described embodiment.
In the present embodiment, alleged processor can be central processing unit (Central Processing Unit,
CPU), it can also be other general processors, digital signal processor (Digital Signal Processor, DSP), dedicated
Integrated circuit (APPlication Specific Integrated Circuit, ASIC), ready-made programmable gate array
(Field-Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor are patrolled
Collect device, discrete hardware components etc..General processor can be microprocessor or the processor be also possible to it is any conventional
Processor etc., the processor is the information of vehicles reminding method control centre, whole using various interfaces and connection
A various pieces for realizing information of vehicles reminding method.
The memory can be used for storing the computer program and/or module, and the processor is by operation or executes
Computer program in the memory and/or module are stored, and calls the data being stored in memory, realizes vehicle
The various functions of information cuing method.The memory can mainly include storing program area and storage data area, wherein storage journey
It sequence area can application program needed for storage program area, at least one function (such as sound-playing function, text conversion function
Deng) etc.；Storage data area, which can be stored, uses created data (such as audio data, text message data etc.) according to mobile phone
Deng.It can also include nonvolatile memory in addition, memory may include high-speed random access memory, such as hard disk, interior
Deposit, plug-in type hard disk, intelligent memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card,
Flash card (Flash Card), at least one disk memory, flush memory device or other volatile solid-state parts.
Wherein, if the module for realizing service equipment is realized in the form of SFU software functional unit and as independent production
Product when selling or using, can store in a computer readable storage medium.Based on this understanding, the present invention realizes
All or part of the process in above-described embodiment method can also instruct relevant hardware to complete by computer program,
The computer program can be stored in a computer readable storage medium, which is being executed by processor
When, it can be achieved that the step of above-mentioned each embodiment of the method.Wherein, the computer program includes computer program code, described
Computer program code can be source code form, object identification code form, executable file or certain intermediate forms etc..The meter
Calculation machine readable medium may include: can carry the computer program code any entity or device, recording medium, USB flash disk,
Mobile hard disk, magnetic disk, CD, computer storage, read-only memory (ROM, Read-Only Memory), random access memory
Device (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium etc..It needs to illustrate
It is that the content that the computer-readable medium includes can be fitted according to the requirement made laws in jurisdiction with patent practice
When increase and decrease, such as in certain jurisdictions, according to legislation and patent practice, computer-readable medium does not include electric carrier wave letter
Number and telecommunication signal.
It should be noted that the apparatus embodiments described above are merely exemplary, wherein described be used as separation unit
The unit of explanation may or may not be physically separated, and component shown as a unit can be or can also be with
It is not physical unit, it can it is in one place, or may be distributed over multiple network units.It can be according to actual
It needs that some or all of the modules therein is selected to achieve the purpose of the solution of this embodiment.In addition, device provided by the invention
In embodiment attached drawing, the connection relationship between module indicate between them have communication connection, specifically can be implemented as one or
A plurality of communication bus or signal wire.Those of ordinary skill in the art are without creative efforts, it can understand
And implement.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with scope of protection of the claims
Subject to.
Claims (10)
1. a kind of reminding method of information of vehicles characterized by comprising
Pass through the reflection signal in CW with frequency modulation millimetre-wave radar acquisition testing region；
According to the reflection signal, the location information and velocity information of the target vehicle in detection zone are obtained；
The progress for creating the target vehicle shows object；
Show that object generates the target vehicle according to the location information of the target vehicle, velocity information and the progress
Progress bar image data；
The progress bar image data is sent to and is set to the display screen of predeterminated position and shows, so that other car owner's energy
Enough driving conditions that the target vehicle is obtained according to the progress bar of display on the display screen.
2. the reminding method of information of vehicles according to claim 1, which is characterized in that described according to the target vehicle
Location information, velocity information and the progress show that object generates the progress bar image data of the target vehicle, specifically:
Determine that progress shows the display interval of object according to the location information of the target vehicle；
Determine that progress shows the display color of object according to the velocity information of the target vehicle；
Assign the display interval and the display color to the progress and show object, with generate the target vehicle into
Spend an image data.
3. the reminding method of information of vehicles according to claim 2, which is characterized in that according to the position of the target vehicle
Information determines that progress shows the display interval of object, specifically:
According to the detecting distance of the CW with frequency modulation millimetre-wave radar of predeterminated position, determine that progress shows the indication range of object；
The progress is shown that the indication range of object is divided into corresponding N number of display interval；
According to the location information of the target vehicle, determine that the progress shows the display interval for being included of object.
4. the reminding method of information of vehicles according to claim 2, which is characterized in that according to the speed of the target vehicle
Information determines that progress shows the display color of object, specifically:
Read preset color-speed interval mapping table；
From the color-speed interval mapping table, color corresponding with the velocity information is obtained, is shown to obtain progress
The display color of object.
5. the reminding method of information of vehicles according to claim 1, which is characterized in that the target vehicle be and the tune
The nearest vehicle of frequency continuous wave millimetre-wave radar distance on detection direction.
6. the reminding method of information of vehicles according to claim 1, which is characterized in that according to the reflection signal, obtain
The location information and velocity information of target vehicle in detection zone, specifically:
The reflection signal is mixed with local oscillation signal to obtain intermediate-freuqncy signal；Wherein, local oscillation signal is frequency modulation company
Signal of the continuous wave millimetre-wave radar from the moment generated and transmitting signal same frequency；
One-dimensional FFT spectrum analysis is carried out to the intermediate-freuqncy signal, to obtain apart from frequency spectrum；
According to preset range-amplitude display threshold value, determine that the peak value in frequency spectrum is more than the peak of the range-amplitude display threshold value
It is worth spectral line set；
The smallest peak value spectral line of position of spectral line in the peak value spectral line set is obtained, and records the smallest peak value of the position of spectral line
Spectral line apart from position of spectral line；
Two-dimensional FFT spectrum analysis is carried out to the smallest peak value spectral line of the position of spectral line, to obtain speed spectrum；
According to preset speed amplitude threshold, to obtain the speed in the speed spectrum being more than the speed amplitude threshold
Peak value spectral line, and record the velocity spectral line position of the velocity peak values spectral line；
According to described apart from position of spectral line and velocity spectral line position, the location information and velocity information of target vehicle are obtained.
7. the reminding method of information of vehicles according to claim 6, which is characterized in that according to it is described apart from spectrum position with
And speed spectrum position, the location information and velocity information of target vehicle are obtained, specifically:
According to described apart from spectrum position, the modulating bandwidth and propagation velocity of electromagnetic wave of transmitting signal, target vehicle phase is obtained
To the radial distance of CW with frequency modulation millimetre-wave radar；
According to speed spectrum position, emit the carrier wavelength of signal, preset speed sampling frequency and preset
FFT points obtain radial velocity of the target vehicle with respect to CW with frequency modulation millimetre-wave radar；
According to the radial distance, radial velocity, the height of CW with frequency modulation millimetre-wave radar to ground, target vehicle is obtained
Location information and velocity information.
8. a kind of suggestion device of information of vehicles characterized by comprising
Acquisition unit, for passing through the reflection signal in CW with frequency modulation millimetre-wave radar acquisition testing region；
Acquiring unit, for obtaining the location information and speed letter of the target vehicle in detection zone according to the reflection signal
Breath；
Creating unit, the progress for creating the target vehicle show object；
Generation unit, for showing that object generates according to the location information of the target vehicle, velocity information and the progress
The progress bar image data of the target vehicle；
Display unit is set to the display screen of predeterminated position and shows for the progress bar image data to be sent to, with
Other car owners are enabled to obtain the driving condition of the target vehicle according to the progress bar of display on the display screen.
9. a kind of information of vehicles prompts equipment, which is characterized in that in the memory including processor, memory and storage
And it is configured the computer program executed by the processor, the processor realizes such as right when executing the computer program
It is required that the reminding method of information of vehicles described in 1 to 7 any one.
10. a kind of computer readable storage medium, which is characterized in that the computer readable storage medium includes the calculating of storage
Machine program, wherein equipment where controlling the computer readable storage medium in computer program operation is executed as weighed
Benefit require any one of 1 to 7 described in information of vehicles reminding method.
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| CN201910095062.8A CN109872566B (en) | 2019-01-31 | 2019-01-31 | Vehicle information prompting method, device, equipment and storage medium |
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| CN111627252A (en) * | 2020-06-10 | 2020-09-04 | 上海商汤智能科技有限公司 | Vehicle early warning method and device, electronic equipment and storage medium |
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