CN109946661A - A kind of trailer-mounted radar data processing algorithm verifying system - Google Patents
A kind of trailer-mounted radar data processing algorithm verifying system Download PDFInfo
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Abstract
The invention discloses a kind of trailer-mounted radar data processing algorithms to verify system, comprising: radar sensor, vehicle data collection module, photographing module, data memory module, the first image generation module, radar data Processing Algorithm module, the second image generation module, verifying evaluation module and display equipment.The original intermediate frequency echo data acquired in real time is input to radar data Processing Algorithm module by the present invention, obtains the movement state information of vehicle front target, is generated the second image information of relative movement orbit of vehicle and vehicle front target, that is, is formed authentication image information；According to the speed of vehicle data, the wheel speed data of vehicle, the acceleration information of vehicle and the video data of vehicle front, the first image information of relative movement orbit of generation vehicle and vehicle front target are contrasted image information simultaneously；Due to the real data that authentication image information and contrast images information are run both from real-time vehicle, to ensure that the reliability of verification the verifying results.
Description
Technical field
The present invention relates to intelligent driving car radar biosensor assay technical fields, more particularly relate to a kind of trailer-mounted radar
Data processing algorithm verifies system.
Background technique
It is general with intelligent driving auxiliary system (Advanced Driving Assistant System, abbreviation ADAS)
And the demand of ADAS controller is also more and more.Due to ADAS controller needs connection such as camera, millimetre-wave radar, swash
Multiple sensors of optical radar, ultrasonic radar, inertial navigation etc, it is especially more and more general with the connection of trailer-mounted radar sensor
Time, and need to carry out certain algorithm process, such as filtering algorithm processing to the data of collected trailer-mounted radar sensor.
ADAS controller obtains the trailer-mounted radar sensing data under operating status, and the trailer-mounted radar sensing data input that will acquire
Data processing is extremely carried out in the controller comprising data processing algorithm, but whether correct data processing algorithm is still to be tested.
It is usually to provide analog stimulus data to be tested currently, being verified to trailer-mounted radar sensing data Processing Algorithm
Room emulation, and then the correctness of verify data Processing Algorithm, but the analog stimulus data sample usually provided is single, thus
Influence verification the verifying results.
Summary of the invention
The embodiment of the present invention provides a kind of trailer-mounted radar data processing algorithm verifying system, to solve above-mentioned background technique
The problem of.
The embodiment of the present invention provides a kind of trailer-mounted radar data processing algorithm verifying system, comprising: radar sensor, vehicle
Data acquisition module, photographing module, data memory module, the first image generation module, radar data Processing Algorithm module, second
Image generation module, verifying evaluation module and display equipment；
The radar sensor, for obtaining the original intermediate frequency echo data of vehicle front；
The vehicle data collection module, for obtain the speed data of vehicle, the wheel speed data of vehicle and vehicle plus
Speed data；
The photographing module, for obtaining the video data of vehicle front；
The data memory module stores the original intermediate frequency echo data of vehicle front, the speed of vehicle for synchronous classification
Degree evidence, the wheel speed data of vehicle, the acceleration information of vehicle and the video data of vehicle front；
The first image generation module, the acceleration for data according to the speed of vehicle, the wheel speed data, vehicle of vehicle
The video data of degree evidence and vehicle front generates the phase of vehicle and vehicle front target in conjunction with vehicle structure and dimension information
To the first image information of motion profile；
The radar data Processing Algorithm module passes through radar for the original intermediate frequency echo data according to vehicle front
Data processing algorithm obtains the movement state information of vehicle front target；
The second image generation module, for the movement state information according to vehicle front target, in conjunction with vehicle structure
And dimension information, generate the second image information of relative movement orbit of vehicle and vehicle front target；
The verifying evaluation module, for the first image information of relative movement orbit according to vehicle and vehicle front target
With the second image information of relative movement orbit of vehicle and vehicle front target, corresponding period vehicle and vehicle front mesh are compared
Whether target relative movement orbit is consistent；
The display equipment respectively with the data memory module, the first image generation module, second image
Generation module and verifying evaluation module electrical connection.
Further, the radar sensor include: one of millimetre-wave radar, laser radar, ultrasonic radar or
It is a variety of.
Further, the output end of the radar sensor, the vehicle data collection module output end and described take the photograph
As the output end of module is connect with FPGA processor.
Further, the data memory module is arranged in FPGA processor.
Further, the first image generation module, the radar data Processing Algorithm module, second image are raw
It is integrally disposed in ARM microprocessor at module and the verifying evaluation module.
Further, human-computer interaction interface is provided in the ARM microprocessor.
Further, the first image generation module includes: fisrt feature extraction unit；The fisrt feature is extracted single
Member, for extracting object construction and dimension information from the video data of vehicle front.
Further, the second image generation module includes: second feature extraction unit；The second feature is extracted single
Member, for extracting object construction and dimension information from the movement state information of vehicle front target.
Further, the radar data Processing Algorithm includes: to extract from the original intermediate frequency echo data of vehicle front
The difference frequency information of radar transmitting wave and received wave out, in conjunction with the time width of transmitted waveform, the speed of radio frequency bandwidth information output target,
Angle and range information, and vehicle structure and dimension information are combined, export the relative motion shape of vehicle and vehicle front target
State information.
The embodiment of the present invention provides a kind of trailer-mounted radar data processing algorithm verifying system to be had compared with prior art
Beneficial effect is as follows:
The original intermediate frequency echo data acquired in real time is input to radar data Processing Algorithm module by the present invention, obtains vehicle
It is opposite with vehicle front target to generate vehicle in conjunction with vehicle structure and dimension information for the movement state information of objects ahead
The second image information of motion profile, that is, form authentication image information；Simultaneously according to the speed of vehicle data, vehicle wheel speed number
Vehicle and vehicle are generated in conjunction with vehicle structure and dimension information according to, the video data of the acceleration information of vehicle and vehicle front
The first image information of relative movement orbit of objects ahead, that is, be contrasted image information；Due to authentication image information and comparison
The real data that image information is run both from real-time vehicle, data are true and reliable, so that ensure that verification the verifying results can
By property.
Before the present invention generates the first image information of relative movement orbit and vehicle and the vehicle of vehicle and vehicle front target
Square mesh target the second image information of relative movement orbit, then compare the relative motion of corresponding period vehicle and vehicle front target
Whether track is consistent, and by showing that equipment shows that, to realize the visualization of verification process, intuitive is strong, grinds convenient for analysis
Study carefully inspection and evaluation verification the verifying results.
Detailed description of the invention
Fig. 1 is that a kind of trailer-mounted radar data processing algorithm provided in an embodiment of the present invention verifies system principle diagram.
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.
Referring to Fig. 1, the embodiment of the present invention provides a kind of trailer-mounted radar data processing algorithm verifying system, which includes:
Radar sensor 1, vehicle data collection module 2, photographing module 3, data memory module 4, the first image generation module 5, radar
Data processing algorithm module 6, the second image generation module 7, verifying evaluation module 8 and display equipment 9.Wherein, radar sensor 1
It include: one of millimetre-wave radar, laser radar, ultrasonic radar or a variety of.
Specifically, radar sensor 1, for obtaining the original intermediate frequency echo data of vehicle front；Vehicle data collection mould
Block 2, for obtaining the speed data, the wheel speed data of vehicle and the acceleration information of vehicle of vehicle；Photographing module 3, for obtaining
Take the video data of vehicle front；Data memory module 4, the original intermediate frequency number of echoes for synchronous classification storage vehicle front
According to, the wheel speed data of the speed data of vehicle, vehicle, the acceleration information of vehicle and the video data of vehicle front, wherein it is same
What step classification storage realized data synchronizes orderly storage.
Specifically, the first image generation module 5, for data according to the speed of vehicle, the wheel speed data of vehicle, vehicle
The video data of acceleration information and vehicle front generates vehicle and vehicle front target in conjunction with vehicle structure and dimension information
The first image information of relative movement orbit；Form proving and comparisom image data.
Specifically, radar data Processing Algorithm module 6 passes through for the original intermediate frequency echo data according to vehicle front
Radar data Processing Algorithm obtains the relative motion status information of vehicle and vehicle front target；Second image generation module 7,
Vehicle is generated in conjunction with vehicle structure and dimension information for the relative motion status information according to vehicle and vehicle front target
With the second image information of relative movement orbit of vehicle front target；Form actual verification image data.
Specifically, evaluation module 8 is verified, for the first image of relative movement orbit according to vehicle and vehicle front target
The second image information of relative movement orbit of information and vehicle and vehicle front target, before comparing corresponding period vehicle and vehicle
Whether square mesh target relative movement orbit is consistent；Illustrate that radar data Processing Algorithm is accurate when consistent, it is otherwise inaccurate.
Specifically, display equipment 9 generates mould with data memory module 4, the first image generation module 5, the second image respectively
Block 7 and verifying evaluation module 8 are electrically connected.Display equipment 9 can not only show the initial data of data memory module 4, can be with
The first image information, the second image information and comparing result diagram are shown, to realize the visualization of verification process, intuitive
By force, convenient for analysis and research inspection and evaluation verification the verifying results.
Further, the output end of radar sensor 1, vehicle data collection module 2 and photographing module 3 is handled with FPGA
Device 101 connects.Data memory module 4 is arranged in FPGA processor 101.First image generation module 5, radar data processing are calculated
Method module 6, the second image generation module 7 and verifying evaluation module 8 are integrally disposed in ARM microprocessor 201.The micro- place ARM
Human-computer interaction interface is provided on reason device 201.The present invention uses FGPA+ARM simultaneously, ensure that the parallel synchronous of data is orderly deposited
Storage, while also ensuring the efficient process and information control of data.
Further, the first image generation module 5 includes: fisrt feature extraction unit；Fisrt feature extraction unit, is used for
Object construction and dimension information are extracted from the video data of vehicle front；Second image generation module 7 includes: second feature
Extraction unit；Second feature extraction unit, for being extracted from the relative motion status information of vehicle and vehicle front target
Object construction and dimension information.Wherein, it extracts object construction and dimension information shows for the ease of image, enhance display effect,
Improve authenticity.
Further, radar data Processing Algorithm includes: to extract thunder from the original intermediate frequency echo data of vehicle front
Up to the difference frequency information of transmitted wave and received wave, in conjunction with the time width of transmitted waveform, the speed of radio frequency bandwidth information output target, angle
With range information, and combination vehicle structure and dimension information, the relative motion state of output vehicle and vehicle front target is believed
Breath.
In conclusion the original intermediate frequency echo data acquired in real time is input to radar data Processing Algorithm mould by the present invention
Block obtains the movement state information of vehicle front target, in conjunction with vehicle structure and dimension information, generates vehicle and vehicle front
The second image information of relative movement orbit of target, that is, form authentication image information；Data, vehicle according to the speed of vehicle simultaneously
Wheel speed data, the acceleration information of vehicle and the video data of vehicle front generate vehicle in conjunction with vehicle structure and dimension information
The first image information of relative movement orbit with vehicle front target, that is, be contrasted image information；Since authentication image is believed
The real data that breath and contrast images information are run both from real-time vehicle, data are true and reliable, to ensure that verifying
The reliability of effect.
Disclosed above is only several specific embodiments of the invention, and those skilled in the art can carry out the present invention
Various modification and variations without departing from the spirit and scope of the present invention, if these modifications and changes of the present invention belongs to the present invention
Within the scope of claim and its equivalent technologies, then the present invention is also intended to include these modifications and variations.
Claims (9)
1. a kind of trailer-mounted radar data processing algorithm verifies system characterized by comprising radar sensor, vehicle data are adopted
It is raw to collect module, photographing module, data memory module, the first image generation module, radar data Processing Algorithm module, the second image
At module, verifying evaluation module and display equipment；
The radar sensor, for obtaining the original intermediate frequency echo data of vehicle front；
The vehicle data collection module, for obtaining the speed data, the wheel speed data of vehicle and the acceleration of vehicle of vehicle
Data；
The photographing module, for obtaining the video data of vehicle front；
The data memory module stores the original intermediate frequency echo data of vehicle front, the number of speed of vehicle for synchronous classification
According to, the wheel speed data of vehicle, the acceleration information of vehicle and the video data of vehicle front；
The first image generation module, for data according to the speed of vehicle, the wheel speed data of vehicle, vehicle acceleration degree
The opposite fortune of vehicle and vehicle front target is generated in conjunction with vehicle structure and dimension information according to the video data with vehicle front
The first image information of dynamic rail mark；
The radar data Processing Algorithm module passes through radar data for the original intermediate frequency echo data according to vehicle front
Processing Algorithm obtains the movement state information of vehicle front target；
The second image generation module, for the movement state information according to vehicle front target, in conjunction with vehicle structure and ruler
Very little information generates the second image information of relative movement orbit of vehicle and vehicle front target；
The verifying evaluation module, for the first image information of relative movement orbit and vehicle according to vehicle and vehicle front target
The second image information of relative movement orbit with vehicle front target compares corresponding period vehicle and vehicle front target
Whether relative movement orbit is consistent；
The display equipment is generated with the data memory module, the first image generation module, second image respectively
Module and verifying evaluation module electrical connection.
2. trailer-mounted radar data processing algorithm as described in claim 1 verifies system, which is characterized in that the radar sensor
It include: one of millimetre-wave radar, laser radar, ultrasonic radar or a variety of.
3. trailer-mounted radar data processing algorithm as described in claim 1 verifies system, which is characterized in that the radar sensor
Output end, the vehicle data collection module output end and the photographing module output end with FPGA processor connect
It connects.
4. trailer-mounted radar data processing algorithm as described in claim 1 verifies system, which is characterized in that the data store mould
Block is arranged in FPGA processor.
5. trailer-mounted radar data processing algorithm as claimed in claim 4 verifies system, which is characterized in that the first image is raw
It is integrated at module, the radar data Processing Algorithm module, the second image generation module and the verifying evaluation module
It is arranged in ARM microprocessor.
6. trailer-mounted radar data processing algorithm as claimed in claim 5 verifies system, which is characterized in that the ARM micro process
Human-computer interaction interface is provided on device.
7. trailer-mounted radar data processing algorithm as described in claim 1 verifies system, which is characterized in that the first image is raw
It include: fisrt feature extraction unit at module；The fisrt feature extraction unit, for being mentioned from the video data of vehicle front
Take out object construction and dimension information.
8. trailer-mounted radar data processing algorithm as described in claim 1 verifies system, which is characterized in that second image is raw
It include: second feature extraction unit at module；The second feature extraction unit, for the motion state from vehicle front target
Object construction and dimension information are extracted in information.
9. trailer-mounted radar data processing algorithm as described in claim 1 verifies system, which is characterized in that at the radar data
Adjustment method includes: that the difference frequency information of radar transmitting wave and received wave is extracted from the original intermediate frequency echo data of vehicle front,
In conjunction with the time width of transmitted waveform, the speed of radio frequency bandwidth information output target, angle and range information, and combine vehicle structure
And dimension information, export the relative motion status information of vehicle and vehicle front target.
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Application publication date: 20190628 |