CN110542902B - Simple height measurement method suitable for vehicle millimeter wave radar - Google Patents
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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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Abstract
The invention discloses a simple height measurement method suitable for a vehicle millimeter wave radar, which comprises the following steps: s1, determining radar pitching dimension antenna parameters; s2, estimating a rough value of a target pitch angle by using a amplitude comparison method; s3, estimating a target pitch angle fuzzy value by a phase comparison method; s4, resolving and blurring the target pitch angle fuzzy value by using the rough target pitch angle value estimated by the amplitude comparison method to obtain an accurate target pitch angle value; s5, calculating the target height according to the accurate value of the target pitch angle. The beneficial effects of the invention are as follows: aiming at the problem that the traditional vehicle millimeter wave radar does not have the height measurement capability, the simple height measurement method suitable for the vehicle millimeter wave radar is provided, the principle of the method is simple, and the vehicle millimeter wave radar can have the height measurement capability by only needing fewer 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 millimeter wave radar.
Background
The advanced driving assistance system (Advanced Driver Assistance System, ADAS) obtains information such as the type and the movement state of a target by performing environmental sensing through sensors such as a radar and a camera mounted on a vehicle, so that a driver can perceive possible danger in advance to draw attention and improve the active safety technology of safety.
In ADAS, mainly laser radar, millimeter wave radar and camera are used as main sensors. Laser radar is a widely applicable sensor in an automatic driving system with high resolution, but has high cost, and can 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 because of passive light, the change of external light has great influence on the performance of the camera, such as the moment that the light changes drastically when a vehicle enters a garage, a tunnel or an overhead under the camera, the possibility of failure exists. In addition, the laser radar and the camera cannot guarantee reliable work in extremely severe weather such as snowfall, heavy fog and the like, and do not have all-weather working conditions. The millimeter wave radar is not influenced by external light changes and the extreme severe conditions, can work all day long and has low cost, and is an indispensable sensor in ADAS.
However, the conventional millimeter wave radar has a main problem that resolution is not high, and only two-dimensional plane measurement can be performed. However, when unmanned applications are performed, the camera and the laser radar detect three-dimensional coordinates of the target object, the traditional millimeter wave radar can only detect two-dimensional plane coordinates of the object, and when multi-sensor data fusion is performed, the contradiction that other sensors are three-dimensional coordinates and millimeter waves are plane coordinates appears. At this time, calibration and data fusion are difficult. In addition, in order to prevent false detection of some targets, such as overhead targets like overpasses, traffic lights, signboards, etc., and short targets like well covers, speed bumps, etc., during running of the vehicle, the millimeter wave radar needs to have the capability of detecting the target height. 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 millimeter wave radar to realize the height detection of a target aiming at the defect that the traditional millimeter wave radar does not have height measurement capability.
In order to achieve the above purpose, the technical scheme of the invention is as follows:
the invention discloses a simple height measurement method suitable for a vehicle millimeter wave radar, which is characterized by comprising the following steps of: s1, determining radar pitching dimension antenna parameters: assuming that the vehicle millimeter wave radar is provided with two transmitting antennas in the elevation dimension, the elevation dimension distance of the two transmitting antennas is d h The beam directors of the two transmitting antennas are respectivelyAnd->The two transmitting antennas transmit signals in a time-sharing manner, the receiving antenna receives signals transmitted by the two transmitting antennas at the same time, and two echo signals received by the same receiving antenna are marked as s 1 Sum s 2 ；
S2, estimating a rough value of the target pitch angle by using a amplitude comparison method: using echo signals s 1 Sum s 2 Performing amplitude comparison and angle measurement, and estimating a rough value of a target pitch angle
S3, estimating a target pitch angle fuzzy value by a phase comparison method: using echo signals s 1 、s 2 Performing phase comparison angle measurement, and estimating a target pitch angle fuzzy value
S4, the rough value of the target pitch angle estimated by the amplitude comparison method is used for deblurring the fuzzy value of the target pitch angle, and the accurate value of the target pitch angle is obtained: using a coarse value of the target pitch angleFuzzy value +.>Performing deblurring to obtain a target pitch angle accurate value +.>
S5, calculating the target height according to the accurate value of the target pitch angle: accurate value according to target pitch angleCalculating a target height H: />Wherein: h is the installation height of the target, RIs the distance of the target;
further: the rough value of the target pitch angle in the step S2The calculation steps of (1) comprise:
s21, calculating sum signals by using transmitting antenna patterns
Wherein:respectively represent the patterns of the two transmitting antennas,
s22, calculating a difference signal by using the transmitting antenna pattern
S23, constructing an error function by using the sum signal and the difference signal
S24, utilizing echo signal S 1 、s 2 Calculating a target error signal
S25, calculating meeting conditions by using the error signal and the error functionAngle of->Angle->I.e. coarse value of pitch angle of the target +.>
Further, the target pitch angle blur value in step S3The calculation steps of (1) comprise:
s31, calculating echo signal S 1 、s 2 Phase difference of signals
S32, utilizing the phase differenceCalculating a target pitch angle blur value +.>
Wherein: lambda is the carrier wavelength.
Further, the target pitch angle in step S4 is accurateThe calculation steps of (1) comprise:
s41, determining fuzzy times k of a phase comparison method according to radar pitch angle indexes, wherein k is more than or equal to 0, and k is an integer;
s42, calculating a set of possible values of the target pitch angle
S43, calculating meeting conditionsIs->Namely the accurate value of the target pitch angle +.>
Further, in the step 3, the radar pitch angle has no fuzzy rangeThe method comprises the following steps:
compared with the prior art, the invention has the beneficial effects that: aiming at the problem that the traditional vehicle millimeter wave radar does not have the height measurement capability, the simple height measurement method suitable for the vehicle millimeter wave radar is provided, the principle of the method is simple, and the vehicle millimeter wave radar can have the height measurement capability by only needing fewer transmitting antennas in the pitching dimension.
Drawings
FIG. 1 is a schematic flow chart of a simple height measurement method applicable to an on-board millimeter wave radar of the invention;
FIG. 2 is a graph of error function constructed when estimating pitch angle of a target using the amplitude comparison method of the present invention;
FIG. 3 is a graph of two echo signal phase differences constructed when estimating the pitch angle of a target by the phase comparison method in the invention;
FIG. 4 is a graph of the variation of the root mean square error of the pitch angle of the target estimated by the ratio-amplitude method and the variation of the root mean square error of the pitch angle of the target estimated by the ratio-amplitude method according to the signal-to-noise ratio.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
The following describes the implementation and effect of the present invention with reference to the accompanying drawings.
As shown in fig. 1, the implementation steps of the present invention are as follows:
s1, determining radar pitching dimension antenna parameters;
two transmitting antennas are arranged on the elevation dimension of the vehicle millimeter wave radar, and the elevation dimension distance of the two transmitting antennas is d h The beam directors of the two transmitting antennas are respectivelyAnd->The two transmitting antennas transmit signals in a time-sharing way, the receiving antenna receives signals transmitted by the two transmitting antennas at the same time, and two echo signals received by the same receiving antenna are recorded as s 1 Sum s 2 ；
S2, estimating a rough value of a target pitch angle by using a amplitude comparison method;
the specific implementation of the steps is as follows: using echo signals s 1 Sum s 2 Performing amplitude comparison and angle measurement, and estimating a rough value of a target pitch angle
S21, calculating sum signals by using transmitting antenna patterns
Wherein:respectively representing the directional patterns of the two transmitting antennas;
s22, calculating a difference signal by using the transmitting antenna pattern
S23, constructing an error function by using the sum signal and the difference signal
S24, utilizing echo signal S 1 Sum s 2 Calculating an error signal of a target
S25, utilizing the error signalError function->Calculation meeting the Condition->Angle of->Angle ofI.e. the target pitch angle rough value +.>
S3, estimating a target pitch angle fuzzy value by a phase comparison method;
the specific implementation of the steps is as follows: using echo signals s 1 Sum s 2 Performing phase contrast angle measurement to estimate the target depressionElevation angle ambiguity value
S31, calculating echo signal S 1 Sum s 2 Is of the phase difference of (2)
S32, utilizing the phase differenceCalculating a target pitch angle blur value +.>Wherein: lambda is the carrier wavelength;
s4, the rough value of the target pitch angle estimated by the amplitude comparison method is used for deblurring the fuzzy value of the target pitch angle estimated by the phase comparison method.
The specific implementation of the steps is as follows: using a coarse value of the target pitch angleFuzzy value +.>Performing deblurring to obtain a target pitch angle accurate value +.>
S41, determining fuzzy times k of a phase comparison method according to radar pitch angle indexes, wherein k is more than or equal to 0, and k is an integer;
s42, calculating a set of possible values of the target pitch angle
S43, calculating meeting conditionsIs->Namely the accurate value of the target pitch angle +.>
S5, calculating the target height by using the accurate value of the pitch angle of the target;
calculating the height H of the target according to the estimated accurate value of the pitch angle of the target: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 computer simulation and measured data processing results.
1. Simulation conditions:
1) Computer environment configuration: in the simulation experiment, the computer hardware configuration environment is an Intel (R) Core (i 5-4210) 1.70GHZ central processing unit and a memory 4G, WINDOWS operating system, and MATLAB R2017b software is adopted as computer simulation software.
2) Simulation parameter setting
2a) Radar related parameters
The radar is provided with 2 transmitting antennas in the pitching dimension, the distance between the 2 transmitting antennas in the pitching dimension is 5λ, the beam directions of the two antennas are respectively 5 degrees and-5 degrees, and the detection range of the radar pitching angle is-10 degrees to 10 degrees;
2b) Target simulation parameters:
the distance of the target is r=25m, and the pitch angle isRadar mounting height h=0.5 m, target height h=3.98 m;
2. the simulation experiment of the invention has two:
simulation 1: under the condition of the simulation parameters, the simulation result of the change curve of the error function constructed by the amplitude comparison method along with the target pitch angle in the invention is shown in figure 2, and the simulation result of the change curve of the phase difference function constructed by the phase comparison method along with the target pitch angle in the invention is shown in figure 3.
Simulation 2: under the condition of the simulation parameters, when the SNR takes different values, under the condition of different SNRs, the technical scheme provided by the invention is adopted to measure the height of the target, 500 Monte Carlo simulation experiments are respectively carried out under each SNR, and the pitch angle simulation root mean square error is obtained, and the simulation result is shown in figure 4.
3. Simulation result analysis:
fig. 2 is an error function curve constructed when estimating a pitch angle of a target by using a ratio method in the invention, wherein an abscissa represents a pitch angle of the target, a unit is a degree, and an ordinate represents an amplitude ratio of two echo signals, and it can be seen from the figure that the amplitude ratio of the two echo signals approximately linearly changes along with the pitch angle of the target within a pitch angle observation range of-10 degrees to 10 degrees of the system, one echo signal amplitude ratio corresponds to one pitch angle, and in practice, the pitch angle of the target can be calculated by the echo signal amplitude ratio.
FIG. 3 is a graph of phase difference between two echo signals constructed when pitch angle of a target is estimated by a phase comparison method, wherein the abscissa represents pitch angle of the target, the unit is degree, and the ordinate represents phase difference between the two echo signals, and as can be seen from the graph, in the pitch angle observation range of the system, the phase difference function curve can be divided into 3 sections, each section is approximately a linear curve, the pitch angle no-blurring range is-5.7 degrees, the pitch angle of the target is in the interval of-10-5.7 degrees and 5.7-10 degrees, and the pitch angle estimated by the phase comparison method can be blurred to the interval of-5.7 degrees, so that the ambiguity needs to be solved.
Fig. 4 is a graph showing the variation of the root mean square error of the pitch angle of the target estimated by the proportional phase angle and the proportional amplitude solution with the signal to noise ratio, and a graph showing the variation of the root mean square error of the pitch angle of the target estimated by the proportional amplitude method alone with the signal to noise ratio. 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. As can be seen from fig. 4, the root mean square error of the pitch angle in both 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 adopting the technical scheme provided by the invention is obviously smaller than that estimated by the near amplitude comparison method, and when the signal to noise ratio is higher than 15 db, the root mean square error of the pitch angle estimated by the invention is smaller, and the estimated value is more accurate.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (1)
1. The simple height measurement method suitable for the vehicle millimeter wave radar is characterized by comprising the following steps of:
s1, determining radar pitching dimension antenna parameters: assuming that the vehicle millimeter wave radar is provided with two transmitting antennas in the elevation dimension, the elevation dimension distance of the two transmitting antennas is d h The beam directors of the two transmitting antennas are respectivelyAnd->The two transmitting antennas transmit signals simultaneously, the receiving antenna receives the signals transmitted by the two transmitting antennas simultaneously, and the two echo signals received by the same receiving antenna are marked as s1 and s2;
s2, estimating a rough value of the target pitch angle by using a amplitude comparison method: using echo signals s 1 Sum s 2 Performing amplitude comparison and angle measurement, and estimating a rough value of a target pitch angle
S3, estimating a target pitch angle fuzzy value by a phase comparison method: using echo signals s 1 、s 2 Performing phase contrast angle measurement and estimating the pitch of a targetAngular blur value
S4, the rough value of the target pitch angle estimated by the amplitude comparison method is used for deblurring the fuzzy value of the target pitch angle, and the accurate value of the target pitch angle is obtained: using a coarse value of the target pitch angleFuzzy value +.>Performing deblurring to obtain a target pitch angle accurate value +.>
S5, calculating the target height according to the accurate value of the target pitch angle: accurate value according to target pitch angleCalculating a target height H:wherein: h is the installation height of the target, and R is the distance of the target;
the rough value of the target pitch angle in the step S2The calculation steps of (1) comprise:
s21, calculating sum signals by using transmitting antenna patterns Wherein: />Respectively represent the patterns of the two transmitting antennas,
s22, calculating a difference signal by using the transmitting antenna pattern
S23, constructing an error function by using the sum signal and the difference signal
S24, utilizing echo signal S 1 、s 2 Calculating a target error signal
S25, calculating meeting conditions by using the error signal and the error functionAngle of->Angle->I.e. coarse value of pitch angle of the target +.>
The target pitch angle fuzzy value in the S3The calculation steps of (1) comprise:
s31, calculating echo signal S 1 、s 2 Phase difference of signals
S32, utilizing the phase differenceCalculating a target pitch angle blur value +.>Wherein: lambda is the carrier wavelength;
in the S3, the radar pitch angle has no fuzzy rangeThe method comprises the following steps: />
The accurate value of the target pitch angle in the S4The calculation steps of (1) comprise:
s41, determining fuzzy times k of a phase comparison method according to radar pitch angle indexes, wherein k is more than or equal to 0, and k is an integer;
s42, calculating a set of possible values of the target pitch angle
S43, calculating meeting conditionsIs->Namely the accurate value of the target pitch angle +.>
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