CN110363995A - There are comprehensive detection system and its detection methods for a kind of vehicle - Google Patents
There are comprehensive detection system and its detection methods for a kind of vehicle Download PDFInfo
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/042—Detecting movement of traffic to be counted or controlled using inductive or magnetic detectors
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Abstract
There are comprehensive detection system and its detection methods for a kind of vehicle provided by the invention, the system comprises: microwave pulse frequency modulated(FM) radar sensor, microprocessor, power management and power supply module, the power management and power supply module are connected with the microprocessor, the microwave pulse frequency modulated(FM) radar sensor and the wireless data transfer module respectively, power for it；Its detection data for detecting with the presence or absence of vehicle in its detection range, and is sent to microprocessor by the microwave pulse frequency modulated(FM) radar sensor.The present invention can be with the presence of rate of false alarm, rate of failing to report and the systemic error rate that vehicle detection is effectively reduced, and improving vehicle, there are the environmental suitability of detection system and stability.
Description
Technical field:
The present invention relates to technical field of vehicle detection, and in particular to there are comprehensive detection system and its detection sides for a kind of vehicle
Method.
Background technique:
Currently, vehicle parking problem of management, which becomes, influences urban transportation order as city automobile ownership increases sharply
An important factor for, including: it nowhere stops, unrest stops leaving about, breaks rules and regulations to occupy passageway for fire apparatus or escape truck etc..It is traditional artificial to stop
Vehicle management needs a large amount of manpower, and ineffective, and there are detection devices can effectively monitor parking stall and again for vehicle
Want the vehicle existence on channel.
There are detection techniques mainly to use geomagnetism detecting mode for wireless vehicle in the prior art, and geomagnetism detecting is to utilize the earth
Magnetic field is influenced by ferromagnetic object, can cause its neighbouring earth's surface when ferromagnetic object state (position, movement speed etc.) changes
Thus the variation in magnetic field detects the detection mode of vehicle existence.Using geomagnetic sensor as the vehicle detection of Primary Component
Device, have it is small in size, low in energy consumption, it is easy for installation, can work long hours, maintenance cost is low.
But earth's magnetic field be affected by the external environment it is larger, such as: in many industrial cities, due to buried cable, water pipe away from
Closer and densely distributed from the ground, the influence to earth's magnetic field is very big, and then has larger shadow to the measuring accuracy of geomagnetic sensor
It rings；In addition near parking lay-by or concentration parking lot, large-scale secondary transformer equipment is often had, it can be to neighbouring ground
Magnetic field impacts, so that the measurement result dynamic range of geomagnetic sensor is very big；The infrastructure of China still has at present
Range is wide, the feature more than quantity, and the heavy construction equipment of construction site also can generate the shadow that can not ignore to neighbouring earth's magnetic field
It rings.Meanwhile ground caused by the load-carrying vehicle of road surface is slightly shaken, and equally will affect the measurement of geomagnetic sensor.
Geomagnetic field intensity is changed greatly with latitude, and China it is vast in territory, latitude span is big, geomagnetic field intensity variation compared with
Greatly, no small difficulty is brought to the realization of the calibration of geomagnetic sensor and algorithm.Earth's magnetic field is equally also by solar activity, gas
It waits, seasonal variations influence, and changes complexity, can not accurately estimate the earth magnetism a reference value of vehicle detection.
In addition, geomagnetic sensor belongs to passive detection, detection range can not be controlled effectively.It is adjacent for parking detection
The vehicle of parking stall is easy to generate current parking stall certain interference, single from the point of view of testing result, and being difficult to distinguish is that current parking stall is
There is vehicle still without vehicle.
It can be seen that single be monitored using geomagnetic sensor to vehicle existence is unable to satisfy Detection accuracy
It is required that.In order to solve problem above, the solution of detection device and Multi-sensor Fusion based on other types sensor
Constantly it is suggested.
In view of the above-mentioned problems, the multiple geomagnetic sensors of setting are currently suggested in the prior art, by guaranteeing two earth magnetism
At least 5 centimetres of sensor distance, to guarantee that two geomagnetic sensors will not simultaneously disable or be magnetized simultaneously, improve detection essence
Degree and anti-interference；Either based in the case where having certain distance between multiple geomagnetic sensors, multiple sensors are for same
One GEOMAGNETIC CHANGE event detection to changes of magnetic field value have different principles so that detector is by calculating multiple sensors
In changes of magnetic field amount measured by least two sensors difference, to distinguish the earth magnetic field and other environment that vehicle is influenced
Change bring changes of magnetic field, improves the anti-interference of detection device；Either by being set near wagon detector without vehicle
There are the geomagnetic sensors of position, for measuring environmental disturbances signal, using its magnetic field signal as revise signal, while with being located at
The magnetic field data of the geomagnetic sensor of wagon detector position is compared with revise signal, is existed to obtain more accurate vehicle
Whether as a result, waiting a variety of methods.
Above method passes through multiple geomagnetic sensors, improves vehicle detection by different deployment way and detection algorithm
Precision and anti-interference, however since geomagnetic sensor is to be included by vehicle to detect earth magnetic field as detection means
A large amount of ferromagnetic materials as detection target, but it is more than the factor since earth magnetic field can be influenced in environment and complicated,
Method using single detection means as examination criteria has limitation always, vehicle is distinguished with background interference more preferable
Method is to introduce new detection sensor, using other features of vehicle as detectable substance.
There are detection means to have: infrared detection technology, ultrasonic detection technology and electromagnetism for current some common objects
Wave detection technique.Wherein infrared detection technology is to be launched infrared ray by infrared launcher, when infrared ray encounters object
Body will be reflected, and infrared receiving device receives reflected infrared ray at this time, then compare transmitting by filtering and reflection is red
Outside line so that it is determined that object existence.But infrared ray is easily blocked, it is necessary first in the detection being deployed in below parking stall
Infrared window is set on device, so that infrared ray can emit and receive, is unfavorable for the pressure-resistant performance of entire detection device, together
When there are sundries, fallen leaves etc. in ground, or when transmitting is with receiving window and wearing or have attachment, infrared detection means will be lost
Effect.In addition, when infrared receiving device encounters strong illumination received infrared ray will cannot be differentiated, at this time infrared detection
Means also will failure.So infrared detection technology is not particularly suited for outdoor or not very clean environment.
Wherein ultrasonic detection technology, it is similar with infrared detection technology, it is equally to there is transmitting module to generate ultrasonic wave, when super
Object is encountered in propagation process of sound wave to be reflected, and the ultrasonic wave reflected is received by detection device, and object is obtained by calculation
Body between detection device at a distance from, to judge the existence of object in a certain range.But ultrasonic wave is different from optical telecommunications
Number, ultrasonic wave is a kind of matter wave, and conduction needs substance as medium, and when passing through different medium, scattering and reflection are all
Clearly, when it is as vehicle detection means, often the shell of detector is thicker and hard, and ultrasonic wave is difficult to penetrate.
In addition, ultrasonic sensor is highly susceptible to the influence of external shock and the influence of rain and snow weather.So ultrasonic wave is equally not
Suitable for being used as vehicle detection means under the complex environments such as outdoor.
Electromagnetic Wave Detection technology then passes through transmitting electromagnetic wave and detects electromagnetic wave the depositing come judgment object being reflected by the object
, unlike infrared detection and ultrasound examination, the penetration capacity of electromagnetic wave much stronger than infrared ray and ultrasonic wave, and by
Small to environment and external interference, especially microwave radar has the characteristics that small in size, spatial resolution is high, is very suitable for vehicle
Detection.It is the electromagnetic radar based on Doppler effect that traditional radar, which surveys object technology,.
In the prior art, for detections of radar, one of which is the parking detection scheme based on Doppler radar, is utilized
Doppler effect detects the position of moving target and the radar of speed of related movement, and vehicle detection utilizes Doppler radar to capture
Signal when vehicles while passing parking stall, to judge vehicle existence.But vehicles while passing parking stall often only have more than ten seconds or
Tens seconds, therefore it is required that sensor frequently detects, and enters the process of parking stall due to needing to capture vehicle, sensor is needed to cover
Capping product is bigger to cause radar energy consumption very high；It is another then be using FMCW (CW with frequency modulation) detections of radar vehicle exist
State, by the fmcw radar continuous wave that tranmitting frequency changes within the scan frequency period, echo and hair after being reflected by the object
Penetrating signal has certain difference on the frequency, can obtain the distance between target and radar information, fmcw radar by measurement frequency difference
Simultaneously, the mean power for emitting signal is equal to peak power, therefore only needs low power device for transmitting-receiving.
Current Multi-sensor Fusion vehicle checking method is using earth magnetism as Disturbance Detection means (i.e. background monitoring), simultaneously
Other detectors are cooperated to judge (i.e. vehicle Detection of Existence) vehicle existence, it is main existing for vehicle detecting sensor
Problem is wanted to be:
Geomagnetic sensor is highly susceptible to environment influence, and geomagnetic sensor judgement inaccuracy may be wrong by environmental disturbances
Erroneous judgement is that there are signals for vehicle；Alternatively, can not differentiating vehicle, there are signals in complex jamming.Geomagnetic sensor is made
For single detection means, it is easy to appear the excessively multiple false triggering of vehicle Detection of Existence, leads to a large amount of power consumptions, or do not trigger, leads
When vehicle existence being caused to change, wagon detector is not detected, and then is likely to result in systemic mistake.
In addition to geomagnetic sensor, there are detection means not to be suitable for complicated outdoor for the tradition object such as infrared, ultrasonic wave
Environment uses；Infrared sensor, ultrasonic sensor, electromagnetic wave doppler radar sensor and frequency modulated continuous wave radar power consumption
It is very high, therefore in use, the opening times of this kind of sensor need to be reduced to the greatest extent；
The scheme of Multi-sensor Fusion at present, due to the limitation of second sensor power consumption and detection technique etc., be all made of with
Geomagnetic sensors detection is trigger condition to interference signal, then is judged by second sensor.Therefore, geomagnetic sensor is such as
Fruit trigger susceptibility it is excessively high, then can frequent starting second sensor, cause power consumption excessively high；If geomagnetic sensor triggers susceptibility
It is too low, then it can miss and answer trigger signal, cause to judge by accident.Meanwhile detection method relies on inspection of the second sensor for vehicle substantially
Accuracy rate is surveyed, is not truly realized sensor fusion；
In addition, vehicle Detection of Existence technology mostly moves the signal generated to capture vehicle as main judgment criteria, or
Become characteristic signal caused by stationary state from movement with vehicle to carry out judging vehicle presence or absence.But vehicle is from movement
There was only several seconds to tens seconds to static or disengaging parking stall time, if Interference Detection underfrequency, it is likely that miss
Current interference signal, while if continuously detected mobile this period to vehicle, detection power consumption again can be very high.
It is, therefore, desirable to provide there are comprehensive detection system and its detection methods for a kind of more practical vehicle, solve above-mentioned
Problem.
Summary of the invention:
The object of the invention is that overcome drawbacks described above, provide that a kind of equipment power dissipation is low, Detection accuracy is high and sets
There are comprehensive detection system and its equipment of detection method for the standby high vehicle of stability.
To achieve the above object, the invention adopts the following technical scheme:
There are comprehensive detection systems for a kind of vehicle provided by the invention, comprising:
Microwave pulse frequency modulated(FM) radar sensor, for detecting in its detection range with the presence or absence of vehicle, and by its testing number
According to being sent to microprocessor；
Microprocessor, the microprocessor are connected with the microwave pulse frequency modulated(FM) radar sensor, are used to control described
The detection duration and detection frequency of microwave pulse frequency modulated(FM) radar sensor, and according to the microwave pulse frequency modulated(FM) radar sensor
Detection data calculate detection range in vehicle existence；
Power management and power supply module, the power management and power supply module respectively with the microprocessor, the microwave
Pulse FM radar sensor and the wireless data transfer module are connected, and power for it.
Electromagnetic waveform used in the microwave pulse frequency modulated(FM) radar sensor is sawtooth wave, or is triangular wave, institute
Electromagnetic wave sweep bandwidth is stated more than or equal to 0.75GHz.
Wave frequency used in the microwave pulse frequency modulated(FM) radar sensor is between 10GHz to 100GHz.
The microwave pulse frequency modulated(FM) radar sensor, single measurement scanning pulse width are to continue at least one complete scan
Period.
The detection system further includes wireless data transfer module, the wireless data transfer module and microprocessor phase
Even, for the vehicle, there are comprehensive detection systems and data platform or gateway to carry out data communication.
Preferably, the detection system further includes at least one geomagnetic sensor.
Based on a kind of above-mentioned vehicle, there are the detection methods of comprehensive detection system, comprising:
There are the microwave pulse frequency modulated(FM) radar sensors in comprehensive detection system to exist for vehicle described in the microprocessor driven
Under background listening mode, treats detection range and carry out background detection, obtain the first background snoop results；
It is described when current vehicle existence is inconsistent in the first background snoop results and the range to be detected
Microprocessor adjusts the vehicle, and there are comprehensive detection systems to stop the background listening mode, and enters vehicle detection mode,
Obtain the first vehicle detection result；
Vehicle existence in the range to be detected is determined according to the first vehicle detection result；
The microprocessor adjusts the vehicle, and there are comprehensive detection systems to stop the vehicle detection mode, and switches to
Background listening mode, continues background detection.
There are the geomagnetic sensors in comprehensive detection system in background listening mode for vehicle described in the microprocessor driven
Under, it treats detection range and carries out background detection, obtain the second background snoop results；
Described is determined according to current vehicle existence in the range to be detected and the second background snoop results
The validity of two background snoop results；
It is described when current vehicle existence is inconsistent in the second background snoop results and the range to be detected
Microprocessor adjusts the vehicle, and there are comprehensive detection systems to stop background listening mode, and enters vehicle detection mode.
The background listening mode is that the microprocessor opens the microwave pulse frequency modulated(FM) radar with prefixed time interval
Sensor or the geomagnetic sensor carry out background detection to the range to be detected.
The vehicle detection mode is that the microprocessor controls the microwave pulse frequency modulated(FM) radar sensor and (or) institute
It states geomagnetic sensor and continuous detection is carried out repeatedly to the range to be detected with default detection number.
A kind of vehicle of the present invention there are comprehensive detection system and its detection method the utility model has the advantages that
Using microwave radar sensor as background monitoring means, little interference by environment, rate of false alarm, rate of failing to report and system
Stability is very high；
Using microwave radar sensor and geomagnetic sensor group background monitoring means in pairs, environmental change further reduced
Caused by interfere, and strengthen system stability by two kinds of onrelevant background monitoring means and provide system self-adaption
Calibration means；
Using pulse FM radar sensor, the power consumption of detections of radar is greatly reduced, effectively extending equipment makes
Use the period.
Detailed description of the invention:
Fig. 1 be embodiment one vehicle there are the structural block diagrams of comprehensive detection system；
Fig. 2 be embodiment two vehicle there are the structural block diagrams of comprehensive detection system；
Fig. 3 be embodiment one vehicle there are the flow charts of the detection method of comprehensive detection system；
Fig. 4 is the flow chart of the first situation and second situation in embodiment two；
Fig. 5 is the flow chart of the third situation and the 4th kind of situation in embodiment two；
Fig. 6 is the flow chart of the first vehicle detection mode in embodiment two；
Fig. 7 is the flow chart of the second vehicle detection mode in embodiment two；
Fig. 8 is the flow chart of third vehicle detection mode in embodiment two；
Fig. 9 is the flow chart of the 4th vehicle detection mode in embodiment two.
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 embodiment is only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts it is all its
His embodiment, shall fall within the protection scope of the present invention.
It is to be appreciated that the directional instruction (such as up, down, left, right, before and after ...) of institute is only used in the embodiment of the present invention
In explaining in relative positional relationship, the motion conditions etc. under a certain particular pose (as shown in the picture) between each component, if should
When particular pose changes, then directionality instruction also correspondingly changes correspondingly.
In addition, the description for being related to " first ", " second " etc. in the present invention is used for description purposes only, and should not be understood as referring to
Show or imply its relative importance or implicitly indicates the quantity of indicated technical characteristic." first ", " are defined as a result,
Two " feature can explicitly or implicitly include at least one of the features.In addition, the technical solution between each embodiment can
It to be combined with each other, but must be based on can be realized by those of ordinary skill in the art, when the combination of technical solution occurs
Conflicting or cannot achieve when, will be understood that the combination of this technical solution is not present, also not the present invention claims protection model
Within enclosing.
There are comprehensive detection systems for a kind of vehicle provided by the invention, comprising: microwave pulse frequency modulated(FM) radar sensor, Wei Chu
Manage device and power management and power supply module, the power management and power supply module respectively with the microprocessor, the microwave arteries and veins
It reconstitutes frequency radar sensor and the wireless data transfer module is connected, power for it；
The microwave pulse frequency modulated(FM) radar sensor for detecting with the presence or absence of vehicle in its detection range, and is examined
Measured data is sent to microprocessor；
The microprocessor, the microprocessor are connected with the microwave pulse frequency modulated(FM) radar sensor, are used to control
The detection duration and detection frequency of the microwave pulse frequency modulated(FM) radar sensor, and passed according to the microwave pulse frequency modulated(FM) radar
The detection data of sensor calculates vehicle existence in detection range.
Specifically, in the present embodiment, electromagnetic waveform used in the microwave pulse frequency modulated(FM) radar sensor is saw
Tooth wave, or be triangular wave, the electromagnetic wave sweep bandwidth is more than or equal to 0.75GHz；The microwave pulse frequency modulated(FM) radar sensing
Wave frequency is between 10GHz to 100GHz used in device.
Specifically, in the present embodiment, the microwave pulse frequency modulated(FM) radar sensor, single measurement scanning pulse width are
Continue at least one complete sweep cycle.
Specifically, in the present embodiment, the detection system further includes wireless data transfer module, and the wireless data passes
Defeated module is connected with microprocessor, carries out data there are comprehensive detection system and data platform or gateway for the vehicle and leads to
Letter.
Specifically, in the present embodiment, the detection system further includes at least one geomagnetic sensor.
Specifically, it is implemented in example, based on a kind of above-mentioned vehicle, there are the detection method of comprehensive detection system, packets
It includes:
There are the microwave pulse frequency modulated(FM) radar sensors in comprehensive detection system to exist for vehicle described in the microprocessor driven
It under background listening mode, treats detection range and carries out background detection, i.e., described in the described microprocessor is opened with prefixed time interval
Microwave pulse frequency modulated(FM) radar sensor carries out background detection to the range to be detected, obtains the first background snoop results；
It is described when current vehicle existence is inconsistent in the first background snoop results and the range to be detected
Microprocessor adjusts the vehicle, and there are comprehensive detection systems to stop the background listening mode, and enters vehicle detection mode,
The i.e. described microprocessor controls the microwave pulse frequency modulated(FM) radar sensor and detects number to the range to be detected with to preset
Continuous detection is carried out repeatedly, the first vehicle detection result is obtained；
Vehicle existence in the range to be detected is determined according to the first vehicle detection result；
The microprocessor adjusts the vehicle, and there are comprehensive detection systems to stop the vehicle detection mode, and switches to
Background listening mode continues background monitoring.
Specifically, in another embodiment, based on a kind of above-mentioned vehicle, there are the detection method of comprehensive detection system, packets
It includes:
There are the geomagnetic sensors in comprehensive detection system in background listening mode for vehicle described in the microprocessor driven
Under, it treats detection range and carries out background detection, i.e., the described microprocessor opens the geomagnetic sensor with prefixed time interval, right
The range to be detected carries out background detection, obtains the second background snoop results；
Described is determined according to current vehicle existence in the range to be detected and the second background snoop results
The validity of two background snoop results；
It is described when current vehicle existence is inconsistent in the second background snoop results and the range to be detected
Microprocessor adjusts the vehicle, and there are comprehensive detection systems to stop background listening mode, and enters vehicle detection mode, i.e. institute
State microprocessor control the microwave pulse frequency modulated(FM) radar sensor and or the geomagnetic sensor with default detection number to institute
It states range to be detected and carries out repeatedly continuous detection.
Embodiment one:
There are comprehensive detection systems for a kind of vehicle provided by the invention, as shown in Figure 1, comprising: microwave pulse frequency modulated(FM) radar
Sensor, microprocessor and power management and power supply module, the power management and power supply module respectively with the microprocessor,
The microwave pulse frequency modulated(FM) radar sensor and the wireless data transfer module are connected, and power for it；The microwave pulse
Its detection data for detecting with the presence or absence of vehicle in its detection range, and is sent to microprocessor by frequency modulated(FM) radar sensor.
Detailed process is as shown in figure 3, when current vehicle existence is no vehicle (S1):
There are the microwave pulse frequency modulated(FM) radar sensors in comprehensive detection system to exist for vehicle described in the microprocessor driven
Under background listening mode, treats detection range and carry out background detection, i.e., between the described microwave pulse frequency modulated(FM) radar sensor is to preset
Every Δ t1Single detection is carried out, the first background snoop results is obtained, judges model to be detected according to the first background snoop results
Whether enclose has vehicle；
Judge when according to the first background snoop results without vehicle (S1) in range to be detected, with the range to be detected
Unanimously for no vehicle (S1), then the microprocessor maintains the background listening mode constant to interior current vehicle existence, described
Current vehicle existence is constant in range to be detected, is still no vehicle (S1)；
When judging there be vehicle (S2) in range to be detected according to the first background snoop results, with the range to be detected
Middle current vehicle existence is inconsistent for no vehicle (S1), then there are comprehensive detection systems for the microprocessor adjustment vehicle
Stop the background listening mode, and enter vehicle detection mode, i.e., the described microprocessor controls the microwave pulse frequency modulation thunder
Continuous detection is carried out repeatedly to the range to be detected with default detection number up to sensor, obtains the first vehicle detection knot
Fruit judges whether range to be detected has vehicle according to the first vehicle detection result；
If judging there be vehicle (S2) in range to be detected according to the first vehicle detection result, in the detection range when
Vehicle in front existence is inconsistent for no vehicle (S1), then changes vehicle existence in the range to be detected, vehicle is existed
State has been changed into vehicle (S2) from no vehicle (S1), and the microprocessor adjusts the wagon detector and stops the vehicle detection mould
Formula, and enter background listening mode, i.e., the described microwave pulse frequency modulated(FM) radar sensor is with preset interval Δ t2Carry out single detection；
If being judged in range to be detected according to the first vehicle detection result without vehicle (S1), in the detection range when
Vehicle in front existence unanimously, then maintains vehicle existence in the range to be detected constant for no vehicle (S1), is still no vehicle
(S1), the microprocessor adjusts the wagon detector stopping vehicle detection mode, and enters background listening mode, i.e.,
The microwave pulse frequency modulated(FM) radar sensor is with preset interval Δ t1Carry out single detection.
Detailed process is as shown in figure 3, when current vehicle existence, which is, vehicle (S2):
There are the microwave pulse frequency modulated(FM) radar sensors in comprehensive detection system to exist for vehicle described in the microprocessor driven
Under background listening mode, treats detection range and carry out background detection, i.e., between the described microwave pulse frequency modulated(FM) radar sensor is to preset
Every Δ t2Single detection is carried out, the first background snoop results is obtained, judges model to be detected according to the first background snoop results
Whether enclose has vehicle；
When judging there be vehicle (S2) in range to be detected according to the first background snoop results, with the range to be detected
Interior current vehicle existence is to have vehicle (S2) unanimously, then the microprocessor maintains the background listening mode constant, described
Current vehicle existence is constant in range to be detected, still to there is vehicle (S2)；
Judge when according to the first background snoop results without vehicle (S1) in range to be detected, with the range to be detected
Middle current vehicle existence is to have vehicle (S2) inconsistent, then there are comprehensive detection systems for the microprocessor adjustment vehicle
Stop the background listening mode, and enter vehicle detection mode, i.e., the described microprocessor controls the microwave pulse frequency modulation thunder
Continuous detection is carried out repeatedly to the range to be detected with default detection number up to sensor, obtains the first vehicle detection knot
Fruit judges whether range to be detected has vehicle according to the first vehicle detection result；
If being judged in range to be detected according to the first vehicle detection result without vehicle (S1), in the detection range when
Vehicle in front existence is to have vehicle (S2) inconsistent, then changes vehicle existence in the detection range, there are shapes by vehicle
From there is vehicle (S2) to change into no vehicle (S1), the microprocessor adjusts the wagon detector and stops the vehicle detection mould state
Formula, and enter background listening mode, i.e., the described microwave pulse frequency modulated(FM) radar sensor is with preset interval Δ t1Carry out single detection；
If judging there be vehicle (S2) in range to be detected according to the first vehicle detection result, in the range to be detected
Current vehicle existence is to have vehicle (S2) unanimously, then maintains vehicle existence in the range to be detected constant, still to have
Vehicle (S2), the microprocessor adjusts the wagon detector and stops the vehicle detection mode, and enters background listening mode,
The i.e. described microwave pulse frequency modulated(FM) radar sensor is with preset interval Δ t2Carry out single detection.
Specifically, it is described in detail with one of example of actual job:
60GHz ISM band can be used in the Millimeter Wave Pulsed frequency modulated(FM) radar sensor, and frequency modulation sweep bandwidth is 4GHz, single
Secondary measurement pulse width is 10 microseconds.The detection radius of the Millimeter Wave Pulsed frequency modulated(FM) radar sensor is set as 0.1 meter to 0.8
Rice.The Millimeter Wave Pulsed frequency modulated(FM) radar is connect with the microprocessor, and the data detected by it are transferred to micro- place
Reason device is handled；Power management and control module include battery, capacitor and power control circuit, can be directly from city
Face is purchased, and is that there are comprehensive detection system power supplies for the vehicle, as functions expanding, in another modification, the electricity
Source control and control module also include solar powered module or itself at the same include battery and solar powered module, and
Power supply mode is controlled by the power management and control module.
In one embodiment, there are the centers that comprehensive detection system is set to parking stall for the vehicle, if it is examined
Within the scope of measuring car position, current vehicle existence is to be confirmed to be no vehicle (S1), and microprocessor was every 30 seconds unlatching millimeters at this time
Wave impulse frequency modulated(FM) radar sensor carries out pulsatile once measurement, treats detection range and carries out background detection, and will test data hair
Microprocessor is given, when microprocessor judges then to open Millimeter Wave Pulsed frequency modulated(FM) radar sensing with the presence of object in detection range
Device carries out 10 continuous measurements, and is confirmed whether with the presence of vehicle.When with the presence of vehicle, then vehicle exists in confirmation detection range
State is become having vehicle (S2) from no vehicle (S1), and when existing in confirmation detection range without vehicle, then vehicle existence is maintained without vehicle
(S1) constant.
If the vehicle is there are in comprehensive detection system confirmation detection range, current vehicle existence is to be confirmed to be
Vehicle (S2), microprocessor carries out pulsatile once measurement every 30 seconds unlatching Millimeter Wave Pulsed frequency modulated(FM) radar sensors at this time, and will
Detection data is sent to microprocessor, when microprocessor judges that object disappears in detection range, then opens Millimeter Wave Pulsed frequency modulation
Radar sensor is continuously measured, and calculates object existence in detection range.When confirmation detection range in still have vehicle
Existing, then vehicle existence maintenance has vehicle (S2) constant, when vehicle leaves in confirmation detection range, then vehicle existence
Become no vehicle (S1).
Embodiment two:
There are comprehensive detection systems for a kind of vehicle provided by the invention, as shown in Figure 2, comprising: microwave pulse frequency modulated(FM) radar
Sensor, microprocessor, power management and power supply module and at least one geomagnetic sensor, the power management and power supply module
It is connected respectively with the microprocessor, the microwave pulse frequency modulated(FM) radar sensor and the wireless data transfer module, is
It is powered；The microwave pulse frequency modulated(FM) radar sensor for detecting with the presence or absence of vehicle in its detection range, and is detected
Data transmission is to microprocessor.
When current vehicle existence is no vehicle (S1):
The microprocessor controls the microwave pulse frequency modulated(FM) radar sensor and geomagnetic sensor in background listening mode
Under, it treats detection range and carries out background detection, i.e., the described microwave pulse frequency modulated(FM) radar sensor is with geomagnetic sensor respectively with phase
Mutually independent time interval carries out single detection, specifically, the time interval of the microwave pulse frequency modulated(FM) radar sensor detection
For Δ t3, the time interval of the geomagnetic sensors detection is Δ t4；
The first situation, as shown in Figure 4:
If the first background snoop results according to the microwave pulse frequency modulated(FM) radar sensor judge nothing in range to be detected
In vehicle (S1), with the range to be detected current vehicle existence for no vehicle (S1) unanimously, then the microprocessor maintains
The background listening mode is constant, and current vehicle existence is constant in the range to be detected, is still no vehicle (S1)；
If judging have in range to be detected according to the first background snoop results of the microwave pulse frequency modulated(FM) radar sensor
Current vehicle existence is inconsistent for no vehicle (S1) in vehicle (S2), with the range to be detected, then the microprocessor tune
There are comprehensive detection systems to stop the background listening mode for the whole vehicle, and enters the first vehicle detection mode, to described
Vehicle existence in range to be detected carries out confirmatory detection, and tagging system state is (S11)；
First vehicle detection mode, as shown in fig. 6, being carried out to the vehicle existence in the range to be detected
Confirmatory detection, and after tagging system state is (S11), open the geomagnetic sensor and with default detection number to it is described to
Detection range carries out repeatedly continuous detection, and judges whether range to be detected has vehicle according to continuous testing result, if judgement has vehicle,
Then change vehicle existence be have vehicle (S2), if judging no vehicle, open the microwave pulse frequency modulated(FM) radar sensor and with
Default detection number carries out repeatedly continuous detection to the range to be detected, and judges range to be detected according to continuous testing result
Whether vehicle is had, if judgement has vehicle, changing vehicle existence is to have vehicle (S2), if judging no vehicle, maintaining vehicle, there are shapes
State is no vehicle (S1).
Second situation, as shown in Figure 4:
If being judged according to the first background snoop results of the geomagnetic sensor without vehicle (S1) in range to be detected, with institute
Current vehicle existence is stated in range to be detected as no vehicle (S1) unanimously, then the microprocessor maintains the background to monitor mould
Formula is constant, and current vehicle existence is constant in the range to be detected, is still no vehicle (S1)；
If judging there be vehicle (S2) in range to be detected according to the first background snoop results of the geomagnetic sensor, with institute
It is inconsistent for no vehicle (S1) to state current vehicle existence in range to be detected, then the microprocessor adjusts the vehicle and exists
Comprehensive detection system stops the background listening mode, and enters the second vehicle detection mode, in the range to be detected
Vehicle existence carries out confirmatory detection, and tagging system state is (S12)；
Second vehicle detection mode, as shown in fig. 7, being carried out to the vehicle existence in the range to be detected
Confirmatory detection, and tagging system state is after (S11), to open the microwave pulse frequency modulated(FM) radar sensor and with default detection
Number carries out repeatedly continuous detection to the range to be detected, and judges whether range to be detected has according to continuous testing result
Vehicle, if then judgement has vehicle, changing vehicle existence is to have vehicle (S2), if judging no vehicle, opens the geomagnetic sensor
And continuous detection is carried out repeatedly to the range to be detected with default detection number, and judge according to continuous testing result to be detected
Whether range has vehicle, if judgement has vehicle, changing vehicle existence is to have vehicle (S2), if judging no vehicle, vehicle is maintained to exist
State is no vehicle (S1).
When current vehicle existence, which is, vehicle (S2):
The microprocessor controls the microwave pulse frequency modulated(FM) radar sensor and geomagnetic sensor in background listening mode
Under, it treats detection range and carries out background detection, i.e., the described microwave pulse frequency modulated(FM) radar sensor is with geomagnetic sensor respectively with phase
Mutually independent time interval carries out single detection, specifically, the time interval of the microwave pulse frequency modulated(FM) radar sensor detection
For Δ t5, the time interval of the geomagnetic sensors detection is Δ t6；
The third situation, as shown in Figure 5:
If judging have in range to be detected according to the first background snoop results of the microwave pulse frequency modulated(FM) radar sensor
Current vehicle existence is to have vehicle (S2) unanimously in vehicle (S2), with the range to be detected, then the microprocessor maintains
The background listening mode is constant, and current vehicle existence is constant in the range to be detected, still to there is vehicle (S2)；
If the first background snoop results according to the microwave pulse frequency modulated(FM) radar sensor judge nothing in range to be detected
Current vehicle existence is to have vehicle (S2) inconsistent in vehicle (S1), with the range to be detected, then the microprocessor tune
There are comprehensive detection systems to stop the background listening mode for the whole vehicle, and enters third vehicle detection mode, to described
Vehicle existence in range to be detected carries out confirmatory detection, and tagging system state is (S21)；
The third vehicle detection mode, as shown in figure 8, being carried out to the vehicle existence in the range to be detected
Confirmatory detection, and after tagging system state is (S21), open the geomagnetic sensor and with default detection number to it is described to
Detection range carries out repeatedly continuous detection, and judges whether range to be detected has vehicle according to continuous testing result；If judging no vehicle,
Change vehicle existence then as no vehicle (S1), if judgement have vehicle, open the microwave pulse frequency modulated(FM) radar sensor and with
Default detection number carries out repeatedly continuous detection to the range to be detected, and judges range to be detected according to continuous testing result
Whether vehicle is had, if judgement has vehicle, maintaining vehicle existence is to have vehicle (S2), if judging no vehicle, changing vehicle, there are shapes
State is no vehicle (S1).
4th kind of situation, as shown in Figure 5:
If judging there be vehicle (S2) in range to be detected according to the first background snoop results of the geomagnetic sensor, with institute
Stating current vehicle existence in range to be detected is to have vehicle (S2) unanimously, then the microprocessor maintains the background to monitor mould
Formula is constant, and current vehicle existence is constant in the range to be detected, still to there is vehicle (S2)；
If being judged according to the first background snoop results of the geomagnetic sensor without vehicle (S1) in range to be detected, with institute
Stating current vehicle existence in range to be detected is to have vehicle (S2) inconsistent, then the microprocessor adjusts the vehicle and exists
Comprehensive detection system stops the background listening mode, and enters the 4th vehicle detection mode, in the range to be detected
Vehicle existence carries out confirmatory detection, and tagging system state is (S22).
4th vehicle detection mode, as shown in figure 9, being carried out to the vehicle existence in the range to be detected
Confirmatory detection, and tagging system state is after (S11), to open the microwave pulse frequency modulated(FM) radar sensor and with default detection
Number carries out repeatedly continuous detection to the range to be detected, and judges whether range to be detected has according to continuous testing result
Vehicle changes vehicle existence if judging no vehicle as no vehicle (S1), if then judgement has vehicle, maintains the vehicle existence to be
There is vehicle (S2).
Embodiment three:
There are comprehensive detection systems for a kind of vehicle provided by the invention, comprising: microwave pulse frequency modulated(FM) radar sensor, Wei Chu
Manage device, power management and power supply module and at least one geomagnetic sensor, the power management and power supply module respectively with it is described
Microprocessor, the microwave pulse frequency modulated(FM) radar sensor and the wireless data transfer module are connected, and power for it；It is described
Microwave pulse frequency modulated(FM) radar sensor for detecting with the presence or absence of vehicle in its detection range, and its detection data is sent to
Microprocessor.
The vehicle can also include helpers detection sensor there are comprehensive detection system, the helpers detection
Sensor is connect with the microprocessor, can be one or more of infrared sensor or ultrasonic sensor.It is described
Helpers detection sensor as helpers there are detection means, the detection judge in process in investigative range into
Row object detection, and will test data and be sent to microprocessor, to assist confirmation vehicle existence.
The vehicle can also include active detecting sensor there are comprehensive detection system.The active detecting sensor can
To be the one or more of the communication modules such as bluetooth module, RFID module, NFC module.The active detecting sensor is communication
Module, can the held respective communication module of or personnel self-contained with vehicle establish and be wirelessly connected, and by whether establish connection, or
The information of the active detecting sensor is sent to by the respective communication module that the vehicle is self-contained or personnel are held, thus auxiliary
Help confirmation vehicle existence.
The vehicle can also include wireless communication module there are comprehensive detection system.The wireless communication module can be
Bluetooth module, WiFi module, LoRa module, ZigBee module.The wireless communication module can be with other vehicle detecting systems
Data connection is established, to assist confirmation vehicle existence.The wireless communication module can also be with gateway or network data
Platform connection, carries out more detection system data fusions and judges that there are situations for vehicle in detection range.
One of specific embodiment is enumerated, i.e., there are comprehensive detection systems for a kind of vehicle provided by the invention, comprising: micro-
Wave impulse frequency modulated(FM) radar sensor, microprocessor, power management and power supply module and at least one geomagnetic sensor, the power supply
Management and power supply module are passed with the microprocessor, the microwave pulse frequency modulated(FM) radar sensor and the wireless data respectively
Defeated module is connected, and powers for it；The microwave pulse frequency modulated(FM) radar sensor, for detecting in its detection range with the presence or absence of vehicle
, and its detection data is sent to microprocessor, bluetooth module is also integrated in the microprocessor, the bluetooth module is real
The connection of existing vehicle comprehensive detection system and on-vehicle Bluetooth system.
Specifically, in one embodiment, when microprocessor was sensed every 30 seconds unlatching Millimeter Wave Pulsed frequency modulated(FM) radars
Device treats detection range and carries out background detection, and transfers data to microprocessor, when discovery background signal disturbance, microprocessor
Start bluetooth module, while entering vehicle and there is confirmation:
If within the scope of its detected parking stall, current vehicle existence is to be confirmed to be no vehicle (S1), at this time microprocessor
Pulsatile once measurement is carried out every 30 seconds unlatching Millimeter Wave Pulsed frequency modulated(FM) radar sensors, detection range is treated and carries out background inspection
It surveys, and will test data and be sent to microprocessor, when microprocessor judges then to open millimeter wave with the presence of object in detection range
Pulse FM radar sensor carries out 10 continuous measurements, and is confirmed whether with the presence of vehicle.When confirmation detection range in have vehicle
Existing, then vehicle existence is become having vehicle (S2) from no vehicle (S1), when existing in confirmation detection range without vehicle, then vehicle
Existence remains constant without vehicle (S1)；
If the vehicle is there are in comprehensive detection system confirmation detection range, current vehicle existence is to be confirmed to be
Vehicle (S2), microprocessor carries out pulsatile once measurement every 30 seconds unlatching Millimeter Wave Pulsed frequency modulated(FM) radar sensors at this time, and will
Detection data is sent to microprocessor, when microprocessor judges that object disappears in detection range, then opens Millimeter Wave Pulsed frequency modulation
Radar sensor is continuously measured, and calculates object existence in detection range.When confirmation detection range in still have vehicle
Existing, then vehicle existence maintenance has vehicle (S2) constant, when vehicle leaves in confirmation detection range, then vehicle existence
Become no vehicle (S1)；
When vehicle establishes connection there are comprehensive detection system and on-vehicle Bluetooth system, information of vehicles can be obtained, is confirmed simultaneously
Vehicle exists in detection range.When vehicle detecting system can not establish connection with Bluetooth system, but confirm in detection range there is vehicle
Exist, then can notify vehicle management system or administrative staff by alarm means.
Meanwhile in another embodiment, the on-vehicle Bluetooth system also may alternatively be driver's Bluetooth of mobile phone
System.
Finally it should be noted that: the above embodiments are merely illustrative of the technical scheme of the present invention and are not intended to be limiting thereof, to the greatest extent
Pipe is described the invention in detail referring to above-described embodiment, it should be understood by those ordinary skilled in the art that: still may be used
With modifications or equivalent substitutions are made to specific embodiments of the invention, and repaired without departing from any of spirit and scope of the invention
Change or equivalent replacement, should all cover in present claims range.
Claims (10)
1. there are comprehensive detection systems for a kind of vehicle characterized by comprising
Microwave pulse frequency modulated(FM) radar sensor for detecting with the presence or absence of vehicle in its detection range, and its detection data is passed
It send to microprocessor；
Microprocessor, the microprocessor are connected with the microwave pulse frequency modulated(FM) radar sensor, are used to control the microwave
The detection duration and detection frequency of pulse FM radar sensor, and according to the inspection of the microwave pulse frequency modulated(FM) radar sensor
Measured data calculates vehicle existence in detection range；
Power management and power supply module, the power management and power supply module respectively with the microprocessor, the microwave pulse
Frequency modulated(FM) radar sensor and the wireless data transfer module are connected, and power for it.
2. there are comprehensive detection systems for a kind of vehicle according to claim 1, it is characterised in that: the microwave pulse frequency modulation
Electromagnetic waveform used in radar sensor is sawtooth wave, or is triangular wave, and the electromagnetic wave sweep bandwidth is more than or equal to
0.75GHz。
3. there are comprehensive detection systems for a kind of vehicle according to claim 1, it is characterised in that: the microwave pulse frequency modulation
Wave frequency is between 10GHz to 100GHz used in radar sensor.
4. there are comprehensive detection systems for a kind of vehicle according to claim 1, it is characterised in that: the microwave pulse frequency modulation
Radar sensor, single measurement scanning pulse width are to continue at least one complete sweep cycle.
5. there are comprehensive detection systems for a kind of vehicle according to claim 1, which is characterized in that including wireless data transmission
Module, the wireless data transfer module are connected with microprocessor, and for the vehicle, there are comprehensive detection system and data are flat
Platform or gateway carry out data communication.
6. there are comprehensive detection systems for a kind of vehicle according to claim 1, which is characterized in that including at least one earth magnetism
Sensor.
7. there are the detection methods of comprehensive detection system for a kind of vehicle according to claim 1 or 6, which is characterized in that packet
It includes:
There are the microwave pulse frequency modulated(FM) radar sensors in comprehensive detection system in background for vehicle described in the microprocessor driven
Under listening mode, treats detection range and carry out background detection, obtain the first background snoop results；
When current vehicle existence is inconsistent in the first background snoop results and the range to be detected, micro- place
Managing the device adjustment vehicle, there are comprehensive detection systems to stop the background listening mode, and enters vehicle detection mode, obtains
First vehicle detection result；
Vehicle existence in the range to be detected is determined according to the first vehicle detection result；
The microprocessor adjusts the vehicle, and there are comprehensive detection systems to stop the vehicle detection mode, and switches to background
Listening mode continues background detection.
8. there are the detection methods of comprehensive detection system for a kind of vehicle according to claim 6, it is characterised in that:
There are the geomagnetic sensors in comprehensive detection system under background listening mode for vehicle described in the microprocessor driven, right
Range to be detected carries out background detection, obtains the second background snoop results；
Second back is determined according to current vehicle existence in the range to be detected and the second background snoop results
The validity of scape snoop results；
When current vehicle existence is inconsistent in the second background snoop results and the range to be detected, micro- place
Managing the device adjustment vehicle, there are comprehensive detection systems to stop background listening mode, and enters vehicle detection mode.
9. detection method according to claim 7 or 8, it is characterised in that: the background listening mode is the micro process
Device opens the microwave pulse frequency modulated(FM) radar sensor or the geomagnetic sensor with prefixed time interval, to the model to be detected
Enclose carry out background detection.
10. detection method according to claim 7 or 8, it is characterised in that: the vehicle detection mode is micro- place
Manage device control the microwave pulse frequency modulated(FM) radar sensor and or the geomagnetic sensor with default detection number to described to be checked
It surveys range and carries out repeatedly continuous detection.
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