CN109932702B - Barrier gate control method and barrier gate radar - Google Patents
Barrier gate control method and barrier gate radar Download PDFInfo
- Publication number
- CN109932702B CN109932702B CN201910265015.3A CN201910265015A CN109932702B CN 109932702 B CN109932702 B CN 109932702B CN 201910265015 A CN201910265015 A CN 201910265015A CN 109932702 B CN109932702 B CN 109932702B
- Authority
- CN
- China
- Prior art keywords
- target
- barrier
- barrier gate
- effective target
- effective
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Radar Systems Or Details Thereof (AREA)
Abstract
The application is suitable for the technical field of radar, and provides a barrier gate control method and a barrier gate radar, which comprise the following steps: when the barrier radar detects an effective target, performing target tracking on the effective target through the barrier radar, and acquiring tracking data of the effective target tracked by the barrier radar in real time; obtaining a first judgment result based on the tracking data; predicting the running track of the effective target by using the tracking data, and obtaining a second judgment result based on the prediction result; and obtaining a third judgment result according to the first judgment result and the second judgment result, and controlling the lifting of the barrier gate according to the third judgment result. By the method, the vehicle entrance and exit can be accurately identified, and the accurate control of the barrier gate rising and falling can be further realized.
Description
Technical Field
The application relates to the technical field of radars, in particular to a barrier gate control method and a barrier gate radar.
Background
With the development of science and technology, parking systems are more and more intelligent. In a parking system, access control is a key link. At present, a barrier radar is generally used to identify the entrance and exit of a vehicle and control the rise and fall of a barrier according to the identification result.
However, when the conventional barrier radar identifies the entrance and exit of a vehicle, a background clutter processing method is adopted to identify a target, so that an identification error is easily generated. For example, when the method is applied to an advertisement barrier gate, as the fence of the advertisement barrier gate belongs to a large plane metal surface, most useful signals on one side of the fence are reflected in a closed state, and interference signals are easily formed to cause false identification; in the fence opening and closing process, the background noise in the barrier gate radar identification process is changed, and therefore the barrier gate radar identification is wrong. The wrong recognition results will result in the failure to precisely control the rise and fall of the barrier gate.
Disclosure of Invention
In view of this, the embodiments of the present application provide a barrier gate control method and a barrier gate radar, so as to solve the problem in the prior art that the accuracy of identifying the entrance and the exit of a vehicle is low, and therefore the rise and the fall of the barrier gate cannot be precisely controlled.
A first aspect of an embodiment of the present application provides a barrier gate control method, including:
when the barrier radar detects an effective target, performing target tracking on the effective target through the barrier radar, and acquiring tracking data of the effective target tracked by the barrier radar in real time;
obtaining a first judgment result based on the tracking data, wherein the first judgment result comprises that the effective target passes through a barrier gate and the effective target does not pass through the barrier gate;
predicting the running track of the effective target by using the tracking data, and obtaining a second judgment result based on the prediction result, wherein the second judgment result comprises that the effective target passes through the barrier gate and the effective target does not pass through the barrier gate;
and obtaining a third judgment result according to the first judgment result and the second judgment result, and controlling the lifting of the barrier gate according to the third judgment result.
A second aspect of the embodiments of the present application provides a barrier gate radar, including:
the data tracking unit is used for tracking the effective target through the barrier radar when the barrier radar detects the effective target and acquiring tracking data of the effective target tracked by the barrier radar in real time;
a first judging unit, configured to obtain a first judgment result based on the tracking data, where the first judgment result includes that the effective target passes through a barrier gate and that the effective target does not pass through the barrier gate;
a second judgment unit, configured to predict a moving trajectory of the effective target by using the tracking data, and obtain a second judgment result based on a prediction result, where the second judgment result includes that the effective target passes through the barrier gate and that the effective target does not pass through the barrier gate;
and the barrier gate control unit is used for obtaining a third judgment result according to the first judgment result and the second judgment result and controlling the rising and falling of the barrier gate according to the third judgment result.
A third aspect of an embodiment of the present application provides a barrier radar, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the method provided in the first aspect of the embodiment of the present application when executing the computer program.
A fourth aspect of embodiments of the present application provides a computer-readable storage medium storing a computer program which, when executed by one or more processors, performs the steps of the method provided by the first aspect of embodiments of the present application.
Compared with the prior art, the embodiment of the application has the advantages that:
according to the method, the effective target is detected through the barrier gate radar, when the barrier gate radar detects the effective target, the target tracking is carried out on the effective target through the barrier gate radar, the tracking data of the effective target tracked by the barrier gate radar are obtained in real time, a first judgment result is obtained based on the tracking data, the first judgment result comprises that the effective target passes through the barrier gate and the effective target does not pass through the barrier gate, and whether the effective target passes through the barrier gate or not can be recognized for the first time through the method; predicting the running track of the effective target by using the tracking data, and obtaining a second judgment result based on the prediction result, wherein the second judgment result comprises that the effective target passes through the barrier gate and that the effective target does not pass through the barrier gate, and whether the effective target passes through the barrier gate or not can be identified for the second time by the method; and obtaining a third judgment result according to the first judgment result and the second judgment result, and controlling the lifting of the barrier gate according to the third judgment result. By the method, the final recognition result is obtained by integrating the results of the two-time recognition, the recognition accuracy is effectively improved, and the rising and falling of the barrier gate can be accurately controlled.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic flow chart illustrating an implementation of a barrier gate control method according to an embodiment of the present application;
fig. 2 is a schematic diagram of a barrier radar according to an embodiment of the present disclosure;
fig. 3 is a schematic diagram of a barrier radar according to another embodiment of the present disclosure;
FIG. 4 is a schematic diagram of a barrier according to an embodiment of the present disclosure;
FIG. 5 is a schematic diagram of a radar transmission signal waveform provided by an embodiment of the present application;
FIG. 6 is a schematic diagram of an advertisement banister system according to an embodiment of the present disclosure;
fig. 7 is a schematic diagram of multi-threshold long distance entry decision provided in an embodiment of the present application;
fig. 8 is a schematic diagram of short-range decision provided by an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the present application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the specification of the present application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to a determination" or "in response to a detection". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
Before the embodiments of the present application are described, an application scenario of the embodiments of the present application is described. The embodiment of the application can be used for controlling the advertising barrier.
Referring to fig. 4, fig. 4 is a schematic view of a barrier provided in the embodiment of the present application. As shown in the figure, the single-rod barrier gate has small shielding area, does not basically influence the target identification on two sides of the barrier gate, belongs to a large-plane metal surface, reflects most useful signals on one side of the barrier in a closed state to form shielding, and can only effectively detect the target on the other side; in addition, when the vehicle is judged to enter or leave, the motion of the advertisement fence needs to be filtered, and misjudgment caused by overturning or rising and falling of the advertisement fence is avoided. Therefore, in the radar signal processing and data processing method, the technical requirements of the advertising barrier radar are higher than those of the traditional barrier radar.
In the prior art, a 24GHz gateway radar is usually used, works in an ISM frequency band, is mainly realized by a single chip, and has 1 transmitting channel and 2 receiving channels, the maximum bandwidth is 250MHz, and the distance resolution can reach 0.6m at most. In this application embodiment, the advertisement banister radar that adopts is 77GHz millimeter wave radar, and the single-chip can realize 2 and send 4 and receive the function, and the work bandwidth can reach 4GHz to the greatest extent, and the range resolution can reach centimetre level to the highest. Compared with a 24GHz radar, the volume of 77GHz millimeter waves is smaller, and better detection performance can be realized.
In the embodiment of the present application, the advertising barrier gate radar system employs an FMCW system (see fig. 5, fig. 5 is a schematic diagram of a radar transmission signal waveform provided in the embodiment of the present application, and as shown in the figure, the basic principle of the FMCW system is that a transmission wave is a high-frequency continuous wave, and the frequency of the transmission wave changes with time according to a triangular wave rule, the received echo frequency is the same as the transmission frequency change rule, and is a triangular wave rule with only one time difference, and a target distance can be calculated by using the small time difference), the wide view angle scanning is realized based on the MIMO technology, the broadband adjustment characteristic is fully utilized, the working bandwidth is large, the distance measurement and test accuracy is high, the environmental adaptability is strong, the target motion direction can be identified, and the rising and falling of the barrier gate can be precisely controlled, meanwhile, the device is compatible with single-rod barrier gate control, and can be widely applied to entrances and exits of various parking lots, expressways, communities and the like and other scenes.
In addition, referring to fig. 6, fig. 6 is a schematic diagram of an advertising barrier radar system provided in the embodiment of the present application, as shown in fig. 6(a), the advertising barrier radar system includes a triggering radar 100 and an anti-pound radar 101, the anti-pound radar is disposed close to the barrier, and the triggering radar is disposed on the vehicle entrance side and away from the barrier. As shown in fig. 6(b), the advertising banister radar system further includes an antenna subsystem for transmitting/receiving signals, and a radar signal processing subsystem for performing target identification.
In order to explain the technical solution described in the present application, the following description will be given by way of specific examples.
Fig. 1 is a schematic flow chart of an implementation of a barrier gate control method provided in an embodiment of the present application, and as shown in the figure, the method may include the following steps:
and S101, when the barrier radar detects an effective target, performing target tracking on the effective target through the barrier radar, and acquiring tracking data of the effective target tracked by the barrier radar in real time.
The barrier gate control method can be applied to an automobile barrier gate system, such as a barrier gate at an entrance and an exit of a parking lot; the method can also be applied to a pedestrian barrier system, such as a park ticket checking entrance and the like. When the barrier control method is applied to an automobile barrier system, an effective target is a vehicle; when the barrier gate control method is applied to a pedestrian barrier gate system, an effective target is a person. Of course, the barrier control method in the application can also be applied to other barrier systems, such as a supermarket entrance barrier and the like, and the effective target is the target of the barrier to be released.
In one embodiment, the obtaining, in real time, tracking data of the barrier radar tracking the effective target includes:
step S1011, acquiring a receiving signal of the barrier gate radar in real time, and identifying an initial target by using the receiving signal.
In one embodiment, the identifying of the initial target by using the received signal includes:
A. and performing one-dimensional fast Fourier transform on the received signal to obtain a first transform result, and calculating a distance according to the first transform result, wherein the distance is the relative distance between a target corresponding to the received signal and the barrier radar.
In practice, the received signal of the radar is 8 paths of data, for example:
performing one-dimensional FFT processing on the received signal, and marking the index of the processed maximum peak signal as krUsing this data to calculate the distance:
wherein the light speed is c, and the sampling rate is FsThe signal slope is S, and the number of points of the one-dimensional FFT is L.
B. And performing two-dimensional fast Fourier transform on the first transform result to obtain a second transform result, and calculating the speed according to the second transform result, wherein the speed is the relative speed of the target corresponding to the received signal and the barrier radar.
Performing two-dimensional FFT processing on the result of the one-dimensional FFT (namely the first conversion result), and marking the subscript of the maximum amplitude signal in the second conversion result after the processing as kvUsing this data to calculate the speed:
wherein the starting frequency is flThe signal period is T, and the number of points of the two-dimensional FFT is Q.
C. And detecting the initial target of the second transformation result by using a constant false alarm method.
Firstly, calculating the average noise of Doppler direction background, and calculating the average noise of background at different Doppler points under the same distance according to the two-dimensional FFT result.
Secondly, calculating the background average noise in the distance direction, and calculating the background average noise in different distances.
Then, the calculated background average noise is superimposed on a preset increment value to be used as a noise threshold.
Finally, the two-dimensional FFT result, i.e. the output amplitude of the second transformation result, is compared to a noise threshold. If the noise threshold is exceeded, judging that an initial target exists; and if the noise threshold is not exceeded, judging that no initial target exists.
Step S1012, if the initial targets are identified, performing information calculation on all the identified initial targets respectively to obtain parameter information of each initial target.
In one embodiment, the performing information solution on all the identified initial targets respectively includes:
A. and performing three-dimensional fast Fourier transform on the initial target to obtain a third transform result, and calculating an angle according to the third transform result, wherein the angle is the relative angle between the initial target and the barrier radar.
Performing three-dimensional FFT processing on the identified initial target, and recording the maximum peak point after processing as KMAXUsing this data to calculate the phase difference in the angular dimension:
wherein, the point number of the three-dimensional FFT is P.
B. And calculating the parameter information of the initial target according to the angle.
The plane coordinates of the initial target are obtained by calculation:
the component velocity of the initial target in the plane is:
the angle of the target in the plane is:
and taking the plane coordinates, the component speed and the angle of the initial target as parameter information of the initial target.
Step S1013, clustering all the initial targets according to the parameter information to obtain a preset number of effective targets and tracking data of the effective targets.
In practice, the identified initial targets may be clustered according to the following conditions:
1) the difference between the coordinates of the two initial targets in the x-axis direction is less than a set width;
2) the difference between the coordinates of the two initial targets in the y-axis direction is < the set width;
3) the difference in the speed of movement of the two initial targets < set speed;
4) the initial targets that do not satisfy the above 3 conditions are clustered individually.
And according to the conditions, clustering all the identified initial targets to obtain h groups, wherein the clustering energy center of each group is used as an effective target (each group comprises at least one initial target).
And taking the speed of the initial target with the maximum energy in each group as the speed of the effective target of the group, and taking the coordinates of the effective target in each group as the position of the effective target of the group. And taking the speed and the position of the effective target as the tracking data of the effective target.
Step S102, obtaining a first judgment result based on the tracking data, wherein the first judgment result comprises that the effective target passes through a barrier gate and that the effective target does not pass through the barrier gate.
The effective target passing barrier comprises two conditions of an effective target entering the barrier and an effective target leaving the barrier.
Wherein the tracking data comprises a position and a velocity of the valid target.
In one embodiment, the obtaining a first determination result based on the tracking data includes:
step S1021, judging whether the effective target meets a first preset condition according to the position of the effective target in historical tracking data, wherein the first preset condition is that the effective target enters a first preset area and a second preset area successively, and the historical tracking data is the tracking data acquired at the current moment.
For example, assuming that the first preset area is an area 2-1.5 m away from the barrier, and the second preset area is an area 0.5-0 m away from the barrier, according to the position of the effective target in the historical tracking data, the position change of the effective target from the barrier can be obtained to be 3m- >2m- >1m- >0.5m, and according to the position change, the effective target enters the first preset area first and then enters the second preset area, so that the effective target meets the first preset condition.
The above example can be used to illustrate the case where a valid target enters the barrier. If the first preset area is set to be an area 0.5-0 m away from the barrier gate, and the second preset area is set to be an area 2-1.5 m away from the barrier gate, if the effective target still meets the first preset condition, the condition is that the effective target leaves the barrier gate.
In other words, the determination of valid targets entering and leaving the barrier is reversed.
Step S1021 is a multi-threshold long distance determining method, see fig. 7, and fig. 7 is a schematic diagram of multi-threshold long distance entry decision provided in this embodiment of the present application.
As shown, the position of the barrier fence can be set as xdSet two positions, x, in the target entry direction, 0a1And xa2And x isa1Near the fence, xa2Away from the fence, when the target position x is detectedaSatisfy | xa|<|xa2The | condition is M times and then | x is satisfieda|<|xa1If the condition is N times, the target is determined to be xa2In the direction xa1And the position is moved, and then the target can be judged to enter.
Step S1022, determining whether the effective target meets a second preset condition according to the position and the speed of the effective target in the tracking data at the current time, where the second preset condition is that the effective target is currently located in a third preset area and the current speed of the effective target is less than a preset speed.
When judging whether the effective target enters the barrier gate, the third preset area is arranged at the entrance side of the barrier gate; and when judging whether the effective target leaves the barrier gate, the third preset area is arranged on the leaving side of the barrier gate.
Step S1022 is a short-distance decision method, see fig. 8, and fig. 8 is a schematic diagram of short-distance decision provided in this embodiment of the present application.
As shown, the gate field is set to xdSetting a single decision position x on the side of the target entry direction as 0a1And x isa1Near the fence, the target position x is continuously recorded at fixed intervals (intervals in the x-axis direction) by using a state storage techniquea[i]Where i is 0, 1, …, n, xa[0]Represents the target position at the current moment when | x is satisfieda[0]|<|xa[1]I, and | xa[1]|<|xa1If yes, judging that a target enters.
In step S1023, if the effective target meets a first preset condition and/or the effective target meets a second preset condition, the first determination result is that the target passes through the gateway.
Step S1024, if the effective target does not meet a first preset condition and the effective target does not meet a second preset condition, determining that the target does not pass through the barrier gate according to the first determination result.
Step S103, predicting the running track of the effective target by using the tracking data, and obtaining a second judgment result based on the prediction result, wherein the second judgment result comprises that the effective target passes through the barrier gate and the effective target does not pass through the barrier gate.
In one embodiment, the predicting the motion trajectory of the effective target by using the tracking data includes:
and predicting the motion trail of the effective target by using the tracking data and based on a track filtering method.
Specifically, the track filtering method may include the following steps:
A. m prediction tracks are initially established according to a target group at the current moment, wherein the target group comprises effective targets and ineffective targets.
Wherein the invalid target is an initial target that is not a valid target.
B. And predicting the predicted position and the predicted speed of the predicted position point corresponding to the next moment of each track.
C. When the next moment comes, whether the targets in the target group meet the third preset condition is judged.
Wherein, judging whether the target in the target group meets a third preset condition specifically comprises: and traversing the position and speed data of each target in the target group at the moment, respectively comparing the position and speed data with the predicted position and predicted speed of the predicted position point in each track, and if the difference value of the position of a certain target in the target group is smaller than a preset position error and the difference value of the speed is within the speed error range, judging that the target meets a third preset condition.
D. And marking the predicted position point of each track meeting the third preset condition as an effective position point, and continuously predicting the next predicted position point of each track meeting the third preset condition based on the effective position point.
E. And continuously predicting N moments, if each moment in a certain predicted track meets a third preset condition, judging that the predicted track is effective, reserving the predicted track and continuing the prediction of the next moment.
And G moments are continuously predicted, and if no target in a certain predicted track meets a third preset condition, the track is deleted.
F. And D, repeatedly executing the step B to the step E.
For example, assuming that the current time is t1, 3 tracks are preset according to 3 targets at the current time, and predicted position points of the targets in each predicted track are predicted according to motion states (positions and speeds) of the 3 targets, which are respectively denoted as a (predicted track I), B (predicted track II), and C (predicted track III). When the next time (i.e. t2) comes, the positions M1 and M2 of the 2 targets corresponding to t2 are alternately compared with the positions of three points A, B, C, respectively. Assuming that the comparison result is that the distances from the points a to M1 and B to M2 are smaller than a preset value, and the distances from the point C to Mx (x is 1 and 2) are both larger than a preset value, it is considered that the predicted trajectory I, II can continue to make reasoning, and the actual position of the trajectory I at the time t2 is M1, and the actual position of the trajectory II at the time t2 is M2, and the next time position point is predicted on the basis of M1 and M2, respectively.
Assuming that N is 5, the locus I, II continuously predicts the position points which are valid for 5 times, and it is determined that the loci I and II are valid, and the locus filtering process can be performed.
If G is 3 times and the trajectory III predicts the invalid position points 3 times continuously, the trajectory III is considered invalid and can be deleted.
The target trajectory can be obtained by repeatedly performing the prediction and the filtering.
The above is only an example of predicting the motion trajectory of the effective target, and the number of predicted trajectories, the preset number of times, the preset number, and the like are not specifically limited.
In one embodiment, the obtaining a second determination result based on the prediction result includes:
and S11, judging whether the position of the effective target in the tracking data at the current moment is located in a fourth preset area.
And S12, if the position of the effective target in the tracking data at the current moment is located in a fourth preset area, judging whether the motion direction of the effective target is matched with the setting direction of the barrier gate or not according to the target track.
In one embodiment, determining the moving direction of the effective target may include the steps of:
a) and calculating the distance between the current position point and the last position point in the target track to obtain the instantaneous direction, and taking the instantaneous direction as the moving direction of the effective target.
Alternatively, the first and second electrodes may be,
b) and acquiring a position point at the current moment in the target track and K position points before the current moment, and fitting the motion direction of the effective target according to the acquired K +1 position points.
Of course, the moving direction of the effective target can also be obtained by carrying out comprehensive judgment according to the results of a) and b).
And S13, if the moving direction of the effective target is matched with the setting direction of the barrier gate, the second judgment result is that the target passes through the barrier gate.
And S14, if the moving direction of the effective target is not matched with the setting direction of the barrier gate, the second judgment result is that the target does not pass through the barrier gate.
In practice, an angle range may be set, and when the moving direction of the effective target and the setting direction of the barrier are within a preset angle range, the moving direction of the effective target is considered to be matched with the setting direction of the barrier.
And S104, obtaining a third judgment result according to the first judgment result and the second judgment result, and performing rise and fall control on the barrier gate according to the third judgment result.
In one embodiment, the obtaining a third determination result according to the first determination result and the second determination result includes:
and if the first judgment result is that the target passes through the barrier gate and/or the second judgment result is that the target passes through the barrier gate, the third judgment result is that the target passes through the barrier gate.
And if the first judgment result is that the target does not pass the barrier gate and the second judgment result is that the target does not pass the barrier gate, the third judgment result is that the target does not pass the barrier gate.
In practical application, when a target enters a barrier by taking the barrier as a target, the barrier is controlled to be lifted; and when the target leaves the barrier by taking the barrier as the target, controlling the barrier to fall.
In addition, the identification processes of the radar for the target entering the barrier and the target leaving the barrier are parallel, namely, a re-lift judgment is required. For example, if a new effective target is recognized to enter the barrier during the falling process of the barrier, the lifting of the barrier is controlled to avoid the situation that the barrier smashes the rear vehicle.
In practical application, people and vehicles can be further distinguished and judged. Specifically, a decision region (x1, x2) may be set, and when a valid target passes through the decision region, the sum of the magnitudes of the two-dimensional FFT outputs of all targets detected by the radar within this region at each time is recorded. And comparing the amplitude sum of each moment with a preset amplitude threshold, if the amplitude sum of continuous moments exceeds the amplitude threshold, judging the effective target as a vehicle, and otherwise, judging the effective target as a human. By the method, people and vehicles can be effectively distinguished, and the mistaken lifting or the mistaken falling of the barrier gate is avoided.
It should be noted that the barrier control method in the above embodiment may be applied to a trigger radar in an advertisement barrier system, and may also be applied to an anti-smashing radar. When the anti-smashing radar is applied to the anti-smashing radar, the installation position of the anti-smashing radar is close to the fence of the advertising barrier, and the fence generates instant false targets in the falling and uplifting processes of the fence, so that the instantaneous false targets need to be filtered.
According to the method, the effective target is detected through the barrier gate radar, when the barrier gate radar detects the effective target, the target tracking is carried out on the effective target through the barrier gate radar, the tracking data of the effective target tracked by the barrier gate radar are obtained in real time, a first judgment result is obtained based on the tracking data, the first judgment result comprises that the effective target passes through the barrier gate and the effective target does not pass through the barrier gate, and whether the effective target passes through the barrier gate or not can be recognized for the first time through the method; predicting the running track of the effective target by using the tracking data, and obtaining a second judgment result based on the prediction result, wherein the second judgment result comprises that the effective target passes through the barrier gate and that the effective target does not pass through the barrier gate, and whether the effective target passes through the barrier gate or not can be identified for the second time by the method; and obtaining a third judgment result according to the first judgment result and the second judgment result, and controlling the lifting of the barrier gate according to the third judgment result. By the method, the final recognition result is obtained by integrating the results of the two-time recognition, the recognition accuracy is effectively improved, and the rising and falling of the barrier gate can be accurately controlled.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
Fig. 2 is a schematic diagram of a barrier radar according to an embodiment of the present application, and for convenience of description, only a portion related to the embodiment of the present application is shown.
The barrier radar shown in fig. 2 may be a software unit, a hardware unit, or a combination of software and hardware unit that is built in the existing terminal device, may also be integrated into the terminal device as an independent pendant, and may also exist as an independent terminal device.
The barrier radar 2 includes:
and the data tracking unit 21 is configured to, when the barrier radar detects an effective target, perform target tracking on the effective target through the barrier radar, and acquire tracking data of the effective target tracked by the barrier radar in real time.
A first determining unit 22, configured to obtain a first determination result based on the tracking data, where the first determination result includes that the valid target passes through a barrier and that the valid target does not pass through the barrier.
A second determining unit 23, configured to predict a moving trajectory of the effective target by using the tracking data, and obtain a second determination result based on a prediction result, where the second determination result includes that the effective target passes through the barrier and that the effective target does not pass through the barrier.
And a barrier gate control unit 24, configured to obtain a third determination result according to the first determination result and the second determination result, and perform rise and fall control on the barrier gate according to the third determination result.
Wherein the tracking data comprises a position and a velocity of the valid target.
Optionally, the first judging unit 22 includes:
the first judging module is used for judging whether the effective target meets a first preset condition according to the position of the effective target in historical tracking data, the first preset condition is that the effective target enters a first preset area and a second preset area successively, and the historical tracking data is the tracking data acquired at the current moment.
And the second judging module is used for judging whether the effective target meets a second preset condition according to the position and the speed of the effective target in the tracking data at the current moment, wherein the second preset condition is that the effective target is currently positioned in a third preset area and the current speed of the effective target is less than a preset speed.
And the first result module is used for judging that the target passes through the barrier if the effective target meets a first preset condition and/or the effective target meets a second preset condition.
And the second result module is used for judging that the target does not pass the barrier if the effective target does not meet the first preset condition and the effective target does not meet the second preset condition.
Optionally, the second judging unit 23 includes:
and the track filtering module is used for predicting the motion track of the effective target by utilizing the tracking data and based on a track filtering method.
Optionally, the second judging unit 23 includes:
and the third judging module is used for judging whether the position of the effective target in the tracking data at the current moment is located in a fourth preset area.
And the fourth judging module is used for judging whether the moving direction of the effective target is matched with the setting direction of the barrier gate or not according to the target track if the position of the effective target in the tracking data at the current moment is located in a fourth preset area.
And the third result module is used for determining that the target passes through the barrier if the motion direction of the effective target is matched with the setting direction of the barrier.
And the fourth result module is used for judging that the target does not pass through the barrier if the motion direction of the effective target is not matched with the setting direction of the barrier.
Optionally, the barrier control unit 24 includes:
and a fifth result module, configured to determine that the third determination result is that the target passes through the barrier if the first determination result is that the target passes through the barrier and/or the second determination result is that the target passes through the barrier.
A sixth result module, configured to determine that the target does not pass through the barrier if the first determination result is that the target does not pass through the barrier and the second determination result is that the target does not pass through the barrier.
Optionally, the data tracking unit 21 includes:
and the identification module is used for acquiring the received signal of the barrier gate radar in real time and identifying the initial target by using the received signal.
And the resolving module is used for respectively performing information resolving on all the identified initial targets to obtain the parameter information of each initial target if the initial targets are identified.
And the clustering module is used for clustering all the initial targets according to the parameter information to obtain a preset number of effective targets and tracking data of the effective targets.
Optionally, the identification module includes:
and the first transformation submodule is used for performing one-dimensional fast Fourier transformation on the received signal to obtain a first transformation result and calculating the distance according to the first transformation result, wherein the distance is the relative distance between a target corresponding to the received signal and the barrier gate radar.
And the second transformation submodule is used for performing two-dimensional fast Fourier transformation on the first transformation result to obtain a second transformation result, and calculating the speed according to the second transformation result, wherein the speed is the relative speed between the target corresponding to the received signal and the barrier gate radar.
And the constant false alarm detection submodule is used for detecting the initial target of the second transformation result by using a constant false alarm method.
Optionally, the resolving module includes:
and the third transformation submodule is used for performing three-dimensional fast Fourier transformation on the initial target to obtain a third transformation result and calculating an angle according to the third transformation result, wherein the angle is the relative angle between the initial target and the barrier radar.
And the calculating submodule is used for calculating the parameter information of the initial target according to the angle.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
Fig. 3 is a schematic view of a barrier radar according to an embodiment of the present application. As shown in fig. 3, the barrier radar 3 of this embodiment includes: a processor 30, a memory 31 and a computer program 32 stored in said memory 31 and executable on said processor 30. The processor 30 executes the computer program 32 to implement the steps in each embodiment of the barrier control method, such as the steps S101 to S104 shown in fig. 1. Alternatively, the processor 30, when executing the computer program 32, implements the functions of the modules/units in the above-mentioned device embodiments, such as the functions of the modules 21 to 24 shown in fig. 2.
Illustratively, the computer program 32 may be partitioned into one or more modules/units that are stored in the memory 31 and executed by the processor 30 to accomplish the present application. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution process of the computer program 32 in the barrier radar 3. For example, the computer program 32 may be divided into a data tracking unit, a first determining unit, a second determining unit, and a barrier control unit, and the specific functions of each unit are as follows:
and the data tracking unit is used for tracking the target of the effective target through the barrier radar when the barrier radar detects the effective target, and acquiring the tracking data of the effective target tracked by the barrier radar in real time.
A first determining unit, configured to obtain a first determination result based on the tracking data, where the first determination result includes that the effective target passes through a barrier gate and that the effective target does not pass through the barrier gate.
And the second judgment unit is used for predicting the running track of the effective target by using the tracking data and obtaining a second judgment result based on a prediction result, wherein the second judgment result comprises that the effective target passes through the barrier gate and the effective target does not pass through the barrier gate.
And the barrier gate control unit is used for obtaining a third judgment result according to the first judgment result and the second judgment result and controlling the rising and falling of the barrier gate according to the third judgment result.
Wherein the tracking data comprises a position and a velocity of the valid target.
Optionally, the first determining unit includes:
the first judging module is used for judging whether the effective target meets a first preset condition according to the position of the effective target in historical tracking data, the first preset condition is that the effective target enters a first preset area and a second preset area successively, and the historical tracking data is the tracking data acquired at the current moment.
And the second judging module is used for judging whether the effective target meets a second preset condition according to the position and the speed of the effective target in the tracking data at the current moment, wherein the second preset condition is that the effective target is currently positioned in a third preset area and the current speed of the effective target is less than a preset speed.
And the first result module is used for judging that the target passes through the barrier if the effective target meets a first preset condition and/or the effective target meets a second preset condition.
And the second result module is used for judging that the target does not pass the barrier if the effective target does not meet the first preset condition and the effective target does not meet the second preset condition.
Optionally, the second judging unit includes:
and the track filtering module is used for predicting the motion track of the effective target by utilizing the tracking data and based on a track filtering method.
Optionally, the second judging unit includes:
and the third judging module is used for judging whether the position of the effective target in the tracking data at the current moment is located in a fourth preset area.
And the fourth judging module is used for judging whether the moving direction of the effective target is matched with the setting direction of the barrier gate or not according to the target track if the position of the effective target in the tracking data at the current moment is located in a fourth preset area.
And the third result module is used for determining that the target passes through the barrier if the motion direction of the effective target is matched with the setting direction of the barrier.
And the fourth result module is used for judging that the target does not pass through the barrier if the motion direction of the effective target is not matched with the setting direction of the barrier.
Optionally, the barrier gate control unit includes:
and a fifth result module, configured to determine that the third determination result is that the target passes through the barrier if the first determination result is that the target passes through the barrier and/or the second determination result is that the target passes through the barrier.
A sixth result module, configured to determine that the target does not pass through the barrier if the first determination result is that the target does not pass through the barrier and the second determination result is that the target does not pass through the barrier.
Optionally, the data tracking unit includes:
and the identification module is used for acquiring the received signal of the barrier gate radar in real time and identifying the initial target by using the received signal.
And the resolving module is used for respectively performing information resolving on all the identified initial targets to obtain the parameter information of each initial target if the initial targets are identified.
And the clustering module is used for clustering all the initial targets according to the parameter information to obtain a preset number of effective targets and tracking data of the effective targets.
Optionally, the identification module includes:
and the first transformation submodule is used for performing one-dimensional fast Fourier transformation on the received signal to obtain a first transformation result and calculating the distance according to the first transformation result, wherein the distance is the relative distance between a target corresponding to the received signal and the barrier gate radar.
And the second transformation submodule is used for performing two-dimensional fast Fourier transformation on the first transformation result to obtain a second transformation result, and calculating the speed according to the second transformation result, wherein the speed is the relative speed between the target corresponding to the received signal and the barrier gate radar.
And the constant false alarm detection submodule is used for detecting the initial target of the second transformation result by using a constant false alarm method.
Optionally, the resolving module includes:
and the third transformation submodule is used for performing three-dimensional fast Fourier transformation on the initial target to obtain a third transformation result and calculating an angle according to the third transformation result, wherein the angle is the relative angle between the initial target and the barrier radar.
And the calculating submodule is used for calculating the parameter information of the initial target according to the angle.
The barrier radar 3 may be a desktop computer, a notebook, a palm computer, a cloud server, or other computing devices. The barrier radar may include, but is not limited to, a processor 30, a memory 31. Those skilled in the art will appreciate that fig. 3 is merely an example of the barrier radar 3, and does not constitute a limitation of the barrier radar 3, and may include more or less components than those shown, or combine some components, or different components, for example, the barrier radar may also include input-output devices, network access devices, buses, etc.
The Processor 30 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, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 31 may be an internal storage unit of the barrier radar 3, such as a hard disk or a memory of the barrier radar 3. The memory 31 may also be an external storage device of the barrier radar 3, such as a plug-in hard disk provided on the barrier radar 3, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like. Further, the memory 31 may also include both an internal storage unit and an external storage device of the barrier radar 3. The memory 31 is used for storing the computer program and other programs and data required by the barrier radar. The memory 31 may also be used to temporarily store data that has been output or is to be output.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed barrier radar and method may be implemented in other ways. For example, the above-described embodiments of barrier radar are merely illustrative, and for example, the division of the modules or units is only one logical function division, and there may be other division manners in actual implementation, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow in the method of the embodiments described above can be realized by a computer program, which can be stored in a computer-readable storage medium and can realize the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain other components which may be suitably increased or decreased as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media which may not include electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (8)
1. A barrier gate control method is characterized in that the barrier gate is an advertisement barrier gate, and comprises the following steps:
when the barrier radar detects an effective target, performing target tracking on the effective target through the barrier radar, and acquiring tracking data of the effective target tracked by the barrier radar in real time; the tracking data comprises a position and a velocity of the valid target;
obtaining a first judgment result based on the tracking data, wherein the first judgment result comprises that the effective target passes through a barrier gate and the effective target does not pass through the barrier gate; the obtaining a first judgment result based on the tracking data comprises:
judging whether the effective target meets a first preset condition according to the position of the effective target in historical tracking data, wherein the first preset condition is that the effective target enters a first preset area and a second preset area in sequence, and the historical tracking data is tracking data acquired at the current moment; the first preset area is an area different from the second preset area;
judging whether the effective target meets a second preset condition according to the position and the speed of the effective target in the tracking data at the current moment, wherein the second preset condition is that the effective target is currently located in a third preset area and the current speed of the effective target is smaller than a preset speed; the third preset area is arranged on the entrance side of the barrier gate;
if the effective target meets a first preset condition and/or the effective target meets a second preset condition, the first judgment result is that the target passes through a barrier;
if the effective target does not meet a first preset condition and the effective target does not meet a second preset condition, determining that the target does not pass through the barrier gate according to the first judgment result;
predicting the running track of the effective target by using the tracking data, and obtaining a second judgment result based on the prediction result, wherein the second judgment result comprises that the effective target passes through the barrier gate and the effective target does not pass through the barrier gate;
obtaining a third judgment result according to the first judgment result and the second judgment result, and controlling the rising and falling of the barrier gate according to the third judgment result; the obtaining a third determination result according to the first determination result and the second determination result includes: if the first judgment result is that the target passes through the barrier gate and/or the second judgment result is that the target passes through the barrier gate, the third judgment result is that the target passes through the barrier gate; if the first judgment result is that the target does not pass through the barrier gate and the second judgment result is that the target does not pass through the barrier gate, the third judgment result is that the target does not pass through the barrier gate;
and the effective targets pass through the barrier gate and comprise effective target entering barrier gates and effective target leaving barrier gates, and the re-lifting judgment is carried out on the identification processes of the target entering barrier gates and the target leaving barrier gates.
2. The barrier gate control method according to claim 1, wherein the predicting the motion trajectory of the effective target using the tracking data includes:
and predicting the motion trail of the effective target by using the tracking data and based on a track filtering method.
3. The barrier gate control method according to claim 2, wherein the obtaining of the second determination result based on the prediction result comprises:
judging whether the position of the effective target in the tracking data at the current moment is located in a fourth preset area or not;
if the position of the effective target in the tracking data at the current moment is located in a fourth preset area, judging whether the motion direction of the effective target is matched with the setting direction of the barrier gate or not according to the target track;
if the moving direction of the effective target is matched with the setting direction of the barrier gate, the second judgment result is that the target passes through the barrier gate;
and if the moving direction of the effective target is not matched with the setting direction of the barrier gate, the second judgment result is that the target does not pass through the barrier gate.
4. The barrier gate control method according to claim 1, wherein the obtaining of the tracking data of the barrier gate radar tracking the effective target in real time comprises:
acquiring a receiving signal of the barrier gate radar in real time, and identifying an initial target by using the receiving signal;
if the initial targets are identified, performing information calculation on all the identified initial targets respectively to obtain parameter information of each initial target;
and clustering all initial targets according to the parameter information to obtain a preset number of effective targets and tracking data of the effective targets.
5. The barrier gate control method according to claim 4, wherein said identifying an initial target using said received signal comprises:
performing one-dimensional fast Fourier transform on the received signal to obtain a first transform result, and calculating a distance according to the first transform result, wherein the distance is the relative distance between a target corresponding to the received signal and the barrier radar;
performing two-dimensional fast Fourier transform on the first transform result to obtain a second transform result, and calculating the speed according to the second transform result, wherein the speed is the relative speed between a target corresponding to the received signal and the barrier radar;
detecting an initial target of the second transformation result by using a constant false alarm method;
the information calculation of all the identified initial targets respectively comprises the following steps:
performing three-dimensional fast Fourier transform on the initial target to obtain a third transform result, and calculating an angle according to the third transform result, wherein the angle is the relative angle between the initial target and the barrier radar;
and calculating the parameter information of the initial target according to the angle.
6. The utility model provides a banister radar, its characterized in that, the banister is advertisement fence banister, includes:
the data tracking unit is used for tracking the effective target through the barrier radar when the barrier radar detects the effective target and acquiring tracking data of the effective target tracked by the barrier radar in real time; the tracking data comprises a position and a velocity of the valid target;
a first judging unit, configured to obtain a first judgment result based on the tracking data, where the first judgment result includes that the effective target passes through a barrier gate and that the effective target does not pass through the barrier gate; the first judging unit is used for judging whether the effective target meets a first preset condition according to the position of the effective target in historical tracking data, the first preset condition is that the effective target enters a first preset area and a second preset area in sequence, and the historical tracking data is the tracking data acquired at the current moment; judging whether the effective target meets a second preset condition according to the position and the speed of the effective target in the tracking data at the current moment, wherein the second preset condition is that the effective target is currently located in a third preset area and the current speed of the effective target is smaller than a preset speed; if the effective target meets a first preset condition and/or the effective target meets a second preset condition, the first judgment result is that the target passes through a barrier; if the effective target does not meet a first preset condition and the effective target does not meet a second preset condition, determining that the target does not pass through the barrier gate according to the first judgment result; the first preset area is an area different from the second preset area; the third preset area is arranged on the entrance side of the barrier gate;
a second judgment unit, configured to predict a moving trajectory of the effective target by using the tracking data, and obtain a second judgment result based on a prediction result, where the second judgment result includes that the effective target passes through the barrier gate and that the effective target does not pass through the barrier gate;
the barrier gate control unit is used for obtaining a third judgment result according to the first judgment result and the second judgment result and controlling the rising and falling of the barrier gate according to the third judgment result; the barrier gate control unit is configured to determine that the third determination result is that the target passes through the barrier gate if the first determination result is that the target passes through the barrier gate and/or the second determination result is that the target passes through the barrier gate; if the first judgment result is that the target does not pass through the barrier gate and the second judgment result is that the target does not pass through the barrier gate, the third judgment result is that the target does not pass through the barrier gate;
and the effective targets pass through the barrier gate and comprise effective target entering barrier gates and effective target leaving barrier gates, and the re-lifting judgment is carried out on the identification processes of the target entering barrier gates and the target leaving barrier gates.
7. Barrier gate radar comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor realizes the steps of the method according to any one of claims 1 to 5 when executing the computer program.
8. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910265015.3A CN109932702B (en) | 2019-04-03 | 2019-04-03 | Barrier gate control method and barrier gate radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910265015.3A CN109932702B (en) | 2019-04-03 | 2019-04-03 | Barrier gate control method and barrier gate radar |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109932702A CN109932702A (en) | 2019-06-25 |
| CN109932702B true CN109932702B (en) | 2021-07-30 |
Family
ID=66989153
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910265015.3A Active CN109932702B (en) | 2019-04-03 | 2019-04-03 | Barrier gate control method and barrier gate radar |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109932702B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110501700A (en) * | 2019-08-27 | 2019-11-26 | 四川长虹电器股份有限公司 | A kind of personnel amount method of counting based on millimetre-wave radar |
| CN111383376B (en) * | 2020-03-27 | 2022-06-14 | 浙江大华技术股份有限公司 | Device control method and apparatus, storage medium, and electronic apparatus |
| CN111830508B (en) * | 2020-06-23 | 2023-05-16 | 北京航空航天大学 | Road gate anti-smashing system and method adopting millimeter wave radar |
| CN111897278B (en) * | 2020-09-30 | 2020-12-29 | 深圳电目科技有限公司 | Barrier gate control method and system based on radar |
| CN115331413A (en) * | 2022-08-11 | 2022-11-11 | 深圳安智杰科技有限公司 | Barrier gate rod early warning method and device, electronic equipment and storage medium |
Family Cites Families (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SE532004C2 (en) * | 2008-02-07 | 2009-09-22 | Scania Cv Ab | Methods and devices for adaptive cruise control, computer programs, computer software products, computers and vehicles |
| CN202230531U (en) * | 2011-10-24 | 2012-05-23 | 上海理工大学 | Gate machine control system for parting lot |
| GB2531056A (en) * | 2014-10-10 | 2016-04-13 | Continental Automotive Gmbh | Smart driver window |
| CN106846538B (en) * | 2015-12-04 | 2019-12-03 | 杭州海康威视数字技术股份有限公司 | Cross vehicle record treating method and apparatus |
| CN105931326B (en) * | 2016-04-15 | 2018-11-02 | 刘双文 | A kind of access control device and method |
| CN106199589A (en) * | 2016-06-24 | 2016-12-07 | 芜湖森思泰克智能科技有限公司 | The millimetre-wave radar controlled for banister and control method thereof |
| CN205749892U (en) * | 2016-06-28 | 2016-11-30 | 长江三峡通航管理局 | A kind of high accuracy based on microwave interferometer surveys ship radar |
| CN108022333A (en) * | 2016-11-04 | 2018-05-11 | 杭州海康威视数字技术股份有限公司 | A kind of access control method, access controller and access control system |
| CN107730663A (en) * | 2017-05-10 | 2018-02-23 | 西安艾润物联网技术服务有限责任公司 | Door-access control method and device |
| CN108152808A (en) * | 2017-11-23 | 2018-06-12 | 安徽四创电子股份有限公司 | A kind of circumference intelligent predicting method for early warning based on millimetre-wave radar |
| CN108230502B (en) * | 2017-12-29 | 2021-01-19 | 小儒技术（深圳）有限公司 | Barrier gate control method and device, storage medium and electronic device |
| CN108269339A (en) * | 2018-02-28 | 2018-07-10 | 成都蓉创智谷科技有限公司 | A kind of Gate-ban Monitoring System based on laser radar |
-
2019
- 2019-04-03 CN CN201910265015.3A patent/CN109932702B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN109932702A (en) | 2019-06-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109932702B (en) | Barrier gate control method and barrier gate radar | |
| Urazghildiiev et al. | Vehicle classification based on the radar measurement of height profiles | |
| CN111239728B (en) | Passenger counting method and system based on millimeter wave radar | |
| CN110865365B (en) | Parking lot noise elimination method based on millimeter wave radar | |
| CN110058239B (en) | Vehicle-mounted millimeter wave radar device and target detection method | |
| CN111830508B (en) | Road gate anti-smashing system and method adopting millimeter wave radar | |
| JP6673030B2 (en) | Information processing apparatus, information processing method, and program | |
| CN113009448B (en) | Method, device, equipment and storage medium for detecting multipath target | |
| WO2018135754A1 (en) | Clutter elimination and multi-target tracking method for radar system | |
| CN112859033A (en) | Target detection method, device and related equipment | |
| EP4343369A2 (en) | Interference signal detection method and apparatus, and integrated circuit, radio device and terminal | |
| Liu et al. | A two‐step abnormal data analysis and processing method for millimetre‐wave radar in traffic flow detection applications | |
| CN103901427A (en) | Speed measuring radar multi-target tracking method and device | |
| CN113408504B (en) | Lane line identification method and device based on radar, electronic equipment and storage medium | |
| CN112986945B (en) | Radar target identification method, device, equipment and storage medium | |
| Argüello et al. | Radar classification for traffic intersection surveillance based on micro-Doppler signatures | |
| Yang et al. | Urban traffic congestion alleviation system based on millimeter wave radar and improved probabilistic neural network | |
| CN113687358A (en) | Target object identification method and device, electronic equipment and storage medium | |
| CN111452723B (en) | Intelligent vehicle, early warning control method, device and system thereof and storage medium | |
| CN114241015B (en) | Method and device for counting number of people who pass in and out based on millimeter wave radar | |
| CN115047419A (en) | Constant false alarm rate detection method and device for millimeter wave radar | |
| CN113820704A (en) | Method and device for detecting moving target and electronic equipment | |
| Park et al. | Bi-directional LSTM-based Overhead Target Classification for Automotive Radar Systems | |
| CN113687348B (en) | Pedestrian recognition method and device based on tracking micro Doppler graph | |
| CN115184891B (en) | Millimeter wave radar road fence detection and identification method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |