CN110542902A - Simple height measurement method suitable for vehicle-mounted millimeter wave radar - Google Patents
Simple height measurement method suitable for vehicle-mounted millimeter wave radar Download PDFInfo
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- CN110542902A CN110542902A CN201910994003.4A CN201910994003A CN110542902A CN 110542902 A CN110542902 A CN 110542902A CN 201910994003 A CN201910994003 A CN 201910994003A CN 110542902 A CN110542902 A CN 110542902A
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- 230000009286 beneficial effect Effects 0.000 abstract description 2
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
the invention discloses a simple height measurement method suitable for a vehicle-mounted millimeter wave radar, which comprises the following steps: s1, determining radar pitching dimensional antenna parameters; s2, estimating a rough value of the target pitch angle by using a amplitude comparison method; s3, estimating a target pitch angle fuzzy value by using a phase comparison method; s4, resolving ambiguity for the fuzzy value of the target pitch angle by using the rough value of the target pitch angle estimated by the amplitude comparison method to obtain an accurate value of the target pitch angle; and S5, calculating the target height according to the target pitch angle accurate value. The invention has the beneficial effects that: aiming at the problem that the traditional vehicle-mounted millimeter wave radar does not have the height measurement capability, the simple height measurement method applicable to the vehicle-mounted millimeter wave radar is provided, the principle of the method is simple, and the vehicle-mounted millimeter wave radar can have the height measurement capability only by a small number of transmitting antennas in the pitching dimension.
Description
Technical Field
the invention belongs to the technical field of radars, and particularly relates to a simple height measurement method suitable for a vehicle-mounted millimeter wave radar.
background
An Advanced Driver Assistance System (ADAS) performs environmental awareness by using sensors such as a radar and a camera mounted on a vehicle to acquire information such as a type and a motion state of a target, so that a Driver can recognize a possible danger in advance to draw attention and improve safety.
the ADAS mainly uses a laser radar, a millimeter wave radar and a camera as main sensors. Laser radar has high resolution and is a sensor generally applied to an automatic driving system, but the cost is high, and the laser radar can only be used as a sensor of a high-grade automobile. The camera has high target recognition capability and low cost, is widely applied to an automobile safe driving system, but has larger influence on the performance of the camera due to the change of external light because of passive light sensing, and has the possibility of failure at the moment when the light is changed violently when a vehicle enters an underlying garage, a tunnel and an overhead. In addition, the laser radar and the camera can not work reliably in extreme severe weather such as snowfall, heavy fog and the like, and do not have all-weather working conditions. The millimeter wave radar is not affected by external light change and the extreme severe conditions, can work all day long and all weather, has low cost and is an essential sensor in ADAS.
However, the conventional millimeter wave radar has a main problem that the resolution is not high, and only two-dimensional plane measurement can be performed. However, when the millimeter wave radar is applied to unmanned driving and the like, the camera and the laser radar can detect the three-dimensional coordinates of a target object, the traditional millimeter wave radar can only detect the two-dimensional plane coordinates of the object, and the contradiction that other sensors are the three-dimensional coordinates and millimeter waves are the plane coordinates occurs when data fusion of multiple sensors is carried out. This is difficult both for scaling and data fusion. In addition, in order to prevent the vehicle from erroneously detecting some targets during the driving process, such as air targets like overpasses, traffic lights, guideboards, etc., and short targets like manhole covers, speed bumps, etc., the millimeter wave radar needs to have the capability of detecting the height of the target. Therefore, the millimeter wave radar with high detection capability has certain reference value and great market value.
disclosure of Invention
The invention aims to provide a simple height measurement method suitable for a vehicle-mounted millimeter wave radar aiming at the defect that the traditional millimeter wave radar does not have the height measurement capability, so that the height of a target is detected.
in order to achieve the purpose, the technical scheme of the invention is as follows:
The invention discloses a simple height measurement method suitable for a vehicle-mounted millimeter wave radar, which is characterized by comprising the following steps of: s1, determining radar pitching dimensional antenna parameters: supposing that the vehicle-mounted millimeter wave radar is provided with two transmitting antennas in a pitching dimension, the pitch dimension distance of the two transmitting antennas is dh, the beam directions of the two transmitting antennas are respectively time-sharing transmitting signals with the two transmitting antennas, the receiving antennas simultaneously receive the signals transmitted by the two transmitting antennas, and the two echo signals received by the same receiving antenna are marked as s1 and s 2;
S2, estimating the rough value of the target pitch angle by using a amplitude comparison method: amplitude comparison angle measurement is carried out by using echo signals s1 and s2, and a target pitch angle rough value is estimated
s3, estimating a target pitch angle fuzzy value by using a phase comparison method: the echo signals s1 and s2 are used for carrying out phase comparison angle measurement to estimate a target pitch angle fuzzy value
S4, resolving ambiguity for the fuzzy value of the target pitch angle by using the rough value of the target pitch angle estimated by the amplitude comparison method to obtain an accurate value of the target pitch angle: the fuzzy value of the target pitch angle is deblurred by utilizing the rough value of the target pitch angle to obtain the accurate value of the target pitch angle
S5, calculating the target height according to the accurate value of the target pitch angle: calculating the target height H according to the accurate value of the target pitch angle: wherein: h is the mounting height of the target, R is the distance of the target;
further: the step of calculating the rough value of the target pitch angle in step S2 includes:
S21, calculating sum signal by using transmitting antenna directional diagram
Wherein: the patterns of the two transmitting antennas are shown separately,
S22, calculating difference signal by using transmitting antenna directional diagram
S23, constructing an error function using the sum signal and the difference signal
S24, calculating the target error signal by using the echo signals S1 and S2
s25, calculating an angle satisfying the condition as a rough value of the pitch angle of the target by using the error signal and the error function
further, the calculating of the target pitch angle blur value in step S3 includes:
S31, calculating the phase difference of the echo signals S1 and S2
S32, calculating target pitch angle fuzzy value by using phase difference
wherein: λ is the carrier wavelength.
further, the step of calculating the accurate value of the target pitch angle in step S4 includes:
S41, determining the fuzzy times k of the phase comparison method according to the radar pitch angle index, wherein k is greater than or equal to 0 and is an integer;
S42, calculating a set of possible values of the target pitch angle
s43, calculating the accurate value of the target pitch angle when the condition is met
further, in step 3, the radar pitch angle unambiguous range is as follows:
Compared with the prior art, the invention has the beneficial effects that: aiming at the problem that the traditional vehicle-mounted millimeter wave radar does not have the height measurement capability, the simple height measurement method applicable to the vehicle-mounted millimeter wave radar is provided, the principle of the method is simple, and the vehicle-mounted millimeter wave radar can have the height measurement capability only by a small number of transmitting antennas in the pitching dimension.
drawings
FIG. 1 is a schematic flow chart of a simple height measurement method for a vehicle-mounted millimeter wave radar according to the present invention;
FIG. 2 is a graph of an error function constructed when the amplitude comparison method estimates the pitch angle of a target in the present invention;
FIG. 3 is a phase difference graph of two echo signals constructed when estimating the pitch angle of a target according to the phase comparison method of the present invention;
FIG. 4 is a graph of the RMS error of the target pitch angle estimated by ambiguity resolution versus phase angle and amplitude versus signal-to-noise ratio according to the present invention, and a graph of the RMS error of the target pitch angle estimated by amplitude comparison.
Detailed Description
in order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The following describes the embodiments and effects of the present invention with reference to the accompanying drawings.
Referring to fig. 1, the implementation steps of the present invention are as follows:
S1, determining radar pitching dimensional antenna parameters;
setting a vehicle-mounted millimeter wave radar to place two transmitting antennas on a pitching dimension, wherein the pitch dimension distance of the two transmitting antennas is dh, the beam directions of the two transmitting antennas are respectively time-sharing transmitting signals with the two transmitting antennas, the receiving antennas simultaneously receive signals transmitted by the two transmitting antennas, and two echo signals received by the same receiving antenna are recorded as s1 and s 2;
S2, estimating a rough value of the target pitch angle by using a amplitude comparison method;
The specific implementation of this step is as follows: amplitude comparison angle measurement is carried out by using echo signals s1 and s2, and a target pitch angle rough value is estimated
S21, calculating sum signal by using transmitting antenna directional diagram
wherein: respectively representing the directional diagrams of the two transmitting antennas;
S22, calculating difference signal by using transmitting antenna directional diagram
s23, constructing an error function using the sum signal and the difference signal
S24, calculating the error signal of the target by using the echo signals S1 and S2
s25, calculating the angle meeting the conditions by using the error signal and the error function, namely the rough value of the target pitch angle
S3, estimating a target pitch angle fuzzy value by using a phase comparison method;
The specific implementation of this step is as follows: the echo signals s1 and s2 are used for carrying out phase comparison angle measurement to estimate a target pitch angle fuzzy value
S31, calculating the phase difference of the echo signals S1 and S2
S32, calculating a target pitch angle fuzzy value by using the phase difference, wherein: λ is the carrier wavelength;
and S4, deblurring the target pitch angle fuzzy value estimated by the amplitude comparison method by using the target pitch angle rough value estimated by the amplitude comparison method.
The specific implementation of this step is as follows: the fuzzy value of the target pitch angle is deblurred by utilizing the rough value of the target pitch angle to obtain the accurate value of the target pitch angle
s41, determining the fuzzy times k of the phase comparison method according to the radar pitch angle index, wherein k is greater than or equal to 0 and is an integer;
s42, calculating a set of possible values of the target pitch angle
S43, calculating the accurate value of the target pitch angle when the condition is met
S5, calculating the target height by using the accurate value of the target pitch angle;
Calculating the height H of the target according to the estimated accurate value of the target pitch angle: wherein: h is the mounting height of the target and R is the distance of the target.
The effect of the present invention is further illustrated by the following results of computer simulation and actual measurement data processing.
1. Simulation conditions are as follows:
1) Computer environment configuration: in the simulation experiment, the computer hardware configuration environment is an Intel (R) Core (i5-4210)1.70GHZ central processing unit and a memory 4G, WINDOWS 7 operating system, and computer simulation software adopts MATLAB R2017b software.
2) Simulation parameter setting
2a) Radar related parameters
The radar is provided with 2 transmitting antennas in a pitching dimension, the distance between the 2 transmitting antennas in the pitching dimension is 5 lambda, the beam directions of the two antennas are respectively 5 degrees and-5 degrees, and the detection range of the radar pitch angle is-10 degrees to 10 degrees;
2b) Target simulation parameters:
The distance of the target is 25m, the pitch angle is 0.5m of radar installation height H, and the target height H is 3.98 m;
2. The simulation experiment of the invention has two:
Simulation 1: under the above simulation parameter conditions, the simulation result of the variation curve of the error function constructed by the amplitude comparison method along with the target pitch angle in the invention is shown in fig. 2, and the simulation result of the variation curve of the phase difference function constructed by the phase comparison method along with the target pitch angle in the invention is shown in fig. 3.
Simulation 2: under the simulation parameter conditions, when the SNR (signal to noise ratio) takes different values, the technical scheme provided by the invention is adopted to measure the height of the target under different SNR conditions, 500 Monte Carlo simulation experiments are respectively carried out under each SNR to obtain the simulation root mean square error of the pitch angle, and the simulation result is shown in figure 4.
3. and (3) simulation result analysis:
fig. 2 is an error function curve constructed when the target pitch angle is estimated by using an amplitude comparison method in the present invention, wherein the abscissa represents the target pitch angle, the unit is degree, and the ordinate represents the amplitude ratio of two echo signals, as can be seen from the figure, within the pitch angle observation range of the system of-10 ° to 10 °, the amplitude ratio of the two echo signals changes approximately linearly with the target pitch angle, one echo signal amplitude ratio corresponds to one pitch angle, and in practice, the pitch angle of the target can be calculated by the amplitude ratio of the echo signals.
Fig. 3 is a phase difference curve of two echo signals constructed when the phase comparison method is used to estimate the pitch angle of a target in the present invention, wherein the abscissa represents the target pitch angle, the unit is degree, and the ordinate represents the phase difference between the two echo signals, as can be seen from the figure, in the observation range of the pitch angle of the system, the phase difference function curve is divided into 3 sections, each section is approximately a linear curve, the range of the pitch angle without ambiguity is-5.7 °, the target pitch angle is in the interval of-10-5.7 °, and 5.7-10 °, the pitch angle estimated by the phase comparison method is blurred to-5.7 °, and the ambiguity needs to be resolved.
FIG. 4 is a plot of RMS error versus signal-to-noise ratio for a pitch angle of a target deblurred with phase measurements and amplitude in accordance with the present invention, and a plot of RMS error versus signal-to-noise ratio for a pitch angle of a target estimated solely with amplitude. The abscissa represents the signal-to-noise ratio in decibels, and the ordinate represents the root mean square error of the pitch angle of the target in degrees. It can be seen from fig. 4 that the root mean square error of the pitch angle of the two methods is reduced along with the improvement of the signal-to-noise ratio, and the root mean square error of the pitch angle estimated by the technical scheme provided by the invention is obviously smaller than the root mean square error of the pitch angle estimated by the near-use amplitude-to-amplitude method, and when the signal-to-noise ratio is higher than 15 decibels, the root mean square error of the pitch angle estimated by the invention is smaller, and the estimated value is more accurate.
the above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (5)
1. A simple height measurement method suitable for a vehicle-mounted millimeter wave radar is characterized by comprising the following steps:
S1, determining radar pitching dimensional antenna parameters: supposing that the vehicle-mounted millimeter wave radar is provided with two transmitting antennas in a pitching dimension, the pitch dimension distance of the two transmitting antennas is dh, the beam directions of the two transmitting antennas are respectively time-sharing transmitting signals with the two transmitting antennas, the receiving antennas simultaneously receive the signals transmitted by the two transmitting antennas, and the two echo signals received by the same receiving antenna are marked as s1 and s 2;
s2, estimating the rough value of the target pitch angle by using a amplitude comparison method: amplitude comparison angle measurement is carried out by using echo signals s1 and s2, and a target pitch angle rough value is estimated
S3, estimating a target pitch angle fuzzy value by using a phase comparison method: the echo signals s1 and s2 are used for carrying out phase comparison angle measurement to estimate a target pitch angle fuzzy value
s4, resolving ambiguity for the fuzzy value of the target pitch angle by using the rough value of the target pitch angle estimated by the amplitude comparison method to obtain an accurate value of the target pitch angle: the fuzzy value of the target pitch angle is deblurred by utilizing the rough value of the target pitch angle to obtain the accurate value of the target pitch angle
S5, calculating the target height according to the accurate value of the target pitch angle: calculating the target height H according to the accurate value of the target pitch angle:
wherein: h is the mounting height of the target and R is the distance of the target.
2. The simple height measurement method suitable for the vehicle-mounted millimeter wave radar according to claim 1, characterized in that:
The step of calculating the rough value of the target pitch angle in step S2 includes:
S21, calculating sum signal by using transmitting antenna directional diagram
wherein: the patterns of the two transmitting antennas are shown separately,
S22, calculating difference signal by using transmitting antenna directional diagram
S23, constructing an error function using the sum signal and the difference signal
s24, calculating the target error signal by using the echo signals S1 and S2
S25, calculating an angle satisfying the condition as a rough value of the pitch angle of the target by using the error signal and the error function
3. the simple height measurement method suitable for the vehicle-mounted millimeter wave radar according to claim 2, characterized in that:
the step of calculating the target pitch angle ambiguity value in S3 includes:
S31, calculating the phase difference of the echo signals S1 and S2
S32, calculating target pitch angle fuzzy value by using phase difference
wherein: λ is the carrier wavelength.
4. The simple height measurement method suitable for the vehicle-mounted millimeter wave radar according to claim 3, wherein:
The step of calculating the accurate value of the target pitch angle in the step S4 includes:
S41, determining the fuzzy times k of the phase comparison method according to the radar pitch angle index, wherein k is greater than or equal to 0 and is an integer;
s42, calculating a set of possible values of the target pitch angle
S43, calculating the accurate value of the target pitch angle when the condition is met
5. the simple height measurement method suitable for the vehicle-mounted millimeter wave radar according to claim 3, wherein:
In S3, the radar pitch angle unambiguous range is:
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