CN111044987B - Method, system and medium for resolving ambiguity of environmental target speed based on automobile radar - Google Patents
Method, system and medium for resolving ambiguity of environmental target speed based on automobile radar Download PDFInfo
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- CN111044987B CN111044987B CN201911367798.2A CN201911367798A CN111044987B CN 111044987 B CN111044987 B CN 111044987B CN 201911367798 A CN201911367798 A CN 201911367798A CN 111044987 B CN111044987 B CN 111044987B
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/415—Identification of targets based on measurements of movement associated with the target
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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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
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Abstract
The invention discloses an environmental target speed ambiguity resolution method, an environmental target speed ambiguity resolution system and a storage medium based on an automobile radar, which belong to the technical field of radar speed measurement and are used for solving the technical problems of large ambiguity resolution operand and low precision at present, and adopt the specific technical scheme that: two groups of pulse Doppler signals with different pulse repetition periods are transmitted based on an automobile radar, and two groups of different two-dimensional FFT data are obtained; counting the number of targets with different Doppler dimensions in the two groups of two-dimensional FFT data to obtain the Doppler dimension position with the maximum number of targets, namely the Doppler dimension position of the environmental target; and solving the real speed of the environment target by adopting a hypothesis verification method. The method, the system and the storage medium have the advantages of small operand, high precision, simple and convenient operation and the like.
Description
Technical Field
The invention relates to the technical field of radar speed measurement, in particular to an environmental target speed ambiguity resolution method, an environmental target speed ambiguity resolution system and an environmental target speed ambiguity resolution medium based on an automobile radar.
Background
An in-vehicle millimeter-wave radar is a transceiver device for obstacle target detection mounted on an automobile. The method comprises the steps of transmitting electromagnetic waves to the space around the automobile, enabling a part of the electromagnetic waves to return to a radar after encountering a barrier, and enabling the radar to perform a series of signal processing technologies after receiving echo signals to obtain information such as the distance, the speed and the angle of each barrier target contacted by the electromagnetic waves. The radar has a certain detection range for the target information, and when the target is located in the detection range, the detection information is accurate; when the target exceeds the detection range, the check result is fuzzy, and subsequent deblurring operation is required. Where environmental objects (e.g., trees, guideboards, fences, buildings, etc.) account for the majority of the detection results, the velocity measurements for such objects are also ambiguous and require disambiguation operations.
WhereinThe vehicle-mounted millimeter wave radar generally adopts FMCW waveform in the form of pulse Doppler, and under the waveform system, the maximum detection speed V ismaxBy the pulse repetition period TcDetermining:
if the target measurement speed is VaTarget true velocity is VrThen the relationship can be represented by:
Vr＝Va+n·Vmax
wherein n is a fuzzy multiple, and the speed solution of the fuzzy is n which makes the above formula hold. The most common method is a speed ambiguity-resolving method based on the Chinese remainder theorem, but has the following disadvantages:
(1) the existing speed ambiguity resolution method carries out nondifferential ambiguity resolution on both an environmental target and a non-environmental target, which causes the sharp increase of the operation amount, and ambiguity resolution errors are easy to occur due to the error of amplitude matching;
(2) because the solution blurring has a certain success rate, the environmental target solution blurring result may be wrong, so that the solution blurring is easy to be wrong;
(3) according to the existing ambiguity resolution method, the more the targets are, the smaller the ambiguity resolution success rate is, and the environment target frequency spectrum is easy to generate interference on the moving target, so that the ambiguity resolution of dangerous targets such as vehicles, people and the like is failed.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the technical problems in the prior art, the invention provides an environmental target speed ambiguity resolving method, system and medium based on an automobile radar, which have the advantages of less computation and high precision.
In order to solve the technical problems, the invention adopts the technical scheme that:
an environmental target speed ambiguity resolving method based on an automobile radar comprises the following steps:
1) two groups of pulse Doppler signals with different pulse repetition periods are transmitted based on an automobile radar, and two groups of different two-dimensional FFT data are obtained;
2) counting the number of targets with different Doppler dimensions in the two groups of two-dimensional FFT data to obtain the Doppler dimension position with the maximum number of targets, namely the Doppler dimension position of the environmental target;
3) and solving the real speed of the environment target by adopting a hypothesis verification method.
As a further improvement of the above technical solution: in the step 1), two-dimensional constant false alarm detection (CFAR) is carried out on two-dimensional FFT data, and the detected target position is represented by a coordinate pair { d, f }, wherein d is a target distance dimensional position, and f is a target Doppler position;
each measured target tiHas a detection result of { di,fiAnd the detection result sets corresponding to the first group of emission pulses are { t }1 t2 … tm}; the second set of transmit waveform detection results are collectively { t }1 t2 … tn}。
As a further improvement of the above technical solution: in step 2), the set { t } is paired1 t2 … tmAnd t1 t2 … tnCounting the f position with the most occurrence times to obtain the maximum Doppler dimension fmax1、fmax2I.e. the doppler dimension position of the environmental target.
As a further improvement of the above technical solution: the specific process of the step 3) is as follows:
3.1) obtaining the detection speed V corresponding to the environment target through the Doppler dimension position of the environment targeta1、Va2；
3.2) Using two detection speeds Va1、Va2Relationship to true speed:
Vr＝Va1+n1·Vmax1＝Va2+n2·Vmax2 (1)
in the formula n1、n2Is an integer, n1、n2The value range is [ -M, M]M is the maximum fuzzy multiple; vmax1For maximum detection speed, V, corresponding to one group of pulse signalsmax2The maximum detection speed corresponding to another group of pulse signals;
solving for [ n ]1 n2]And obtaining the real speed of the environment target.
As a further improvement of the above technical solution: in step 3.2), there is a unique solution pair [ n ] according to the Chinese remainder theorem1 n2]So that the above formula is established, and a hypothesis verification method is adopted to solve:
first suppose n1Value is [ -M, M]Substituting m in formula (1) to calculate n2If n is2If the number is an integer, the hypothesis is established, otherwise, if the hypothesis is not established, the next hypothesis verification is continued, and finally, the correct ambiguity resolving multiple is obtained
For the detection speed Va1The detection target of (2) is regarded as a blur multiple of
Calculating an environmental target true velocity V using equation (1)r＝Va1+m·Vmax1。
As a further improvement of the above technical solution: except for the maximum Doppler dimension fmax1、fmax2And the other doppler dimension positions are moving target positions.
The invention further discloses an environmental target speed ambiguity resolution system based on the automobile radar, which is characterized by comprising
The first module is used for transmitting two groups of pulse Doppler signals with different pulse repetition periods based on the automobile radar to obtain two groups of different two-dimensional FFT data;
the second module is used for counting the number of targets with different Doppler dimensions in the two groups of two-dimensional FFT data to obtain the Doppler dimension position with the maximum number of targets, namely the Doppler dimension position of the environmental target;
and the third module is used for solving the real speed of the environment target by adopting an assumed verification method.
The invention also discloses a computer storage medium on which a computer program is stored, which is characterized in that the computer program, when being executed by a processor, executes the steps of the method for resolving the ambiguity based on the environmental target speed of the automobile radar.
The invention further discloses a computer device comprising a memory and a processor, the memory having stored thereon a computer program, characterized in that the computer program, when being executed by the processor, performs the steps of the method for deblurring an ambient target velocity based on automotive radar as described above.
The invention also discloses a terminal comprising one or more processors and one or more memories, wherein at least one program code is stored in the one or more memories, and the at least one program code is loaded by the one or more processors and executed to realize the operation executed by the method for resolving the ambiguity of the speed of the environmental target based on the automobile radar. .
Compared with the prior art, the invention has the following advantages: .
(1) According to the method, the system and the storage medium for resolving the fuzzy speed of the environmental target based on the automobile radar, a large number of detection targets are classified, the Doppler dimension position with the largest number of targets is determined to be the Doppler dimension position of the environmental target, so that the environmental target (or a static target) is determined, then the unified resolving fuzzy operation is carried out on the environmental target, and the real speed of the environmental target is obtained, so that the resolving fuzzy operation amount can be greatly reduced; in addition, whether the target belongs to the environmental target or not is judged by the method, so that the frequency spectrum interference of the environmental target on the moving target can be reduced; the method is simple and convenient in overall operation and high in precision.
(2) According to the method, the system and the storage medium for resolving the ambiguity of the environmental target speed based on the automobile radar, the ambiguity multiple is directly resolved at the position by counting the static target position of the fast and slow frequency modulation, and each target does not need to be resolved, so that the efficiency is high; by utilizing the fuzzy relation of the fast and slow frequency modulation, only the integer value pair n meeting the speed relation of the fast and slow frequency modulation needs to be found1、n2That is, and due to the static purposeThe target is majority, and the position accuracy of the fast and slow frequency modulation stationary target is extremely high, so that the ambiguity resolution accuracy is extremely high.
Drawings
FIG. 1 is a flow chart of an embodiment of the method of the present invention.
FIG. 2 is a waveform diagram of two sets of pulse signals according to an embodiment of the present invention.
Detailed Description
The invention is further described below with reference to the figures and the specific embodiments of the description.
As shown in fig. 1, the method for resolving the ambiguity of the speed of the environmental target based on the automobile radar is applied to the scenes such as the automobile radar or the protective radar, and specifically comprises the following steps:
1) two groups of pulse Doppler signals with different pulse repetition periods are transmitted based on an automobile radar, and two groups of different two-dimensional FFT data are obtained;
2) counting the number of targets with different Doppler dimensions in the two groups of two-dimensional FFT data to obtain the Doppler dimension position with the maximum number of targets, namely the Doppler dimension position of the environmental target;
3) and solving the real speed of the environment target by adopting a hypothesis verification method.
According to the method for resolving the fuzzy speed of the environmental target based on the automobile radar, a large number of detection targets are classified, the Doppler dimension position with the largest number of targets is determined to be the Doppler dimension position of the environmental target, so that the environmental target (or a static target) is determined, then unified resolving fuzzy operation is carried out on the environmental target, and the real speed of the environmental target is obtained, so that the resolving fuzzy operation amount can be greatly reduced; in addition, whether the target belongs to the environmental target or not is judged by the method, so that the frequency spectrum interference of the environmental target on the moving target can be reduced; the method is simple and convenient in overall operation and high in precision.
In the embodiment, in step 1), two-dimensional constant false alarm detection (CFAR) is performed on two-dimensional FFT data, and a detected target position is represented by a coordinate pair { d, f }, where d is a target distance dimension position and f is a target doppler position;
each measured target tiHas a detection result of { di,fiAnd the detection result sets corresponding to the first group of emission pulses are { t }1 t2 … tm}; the second set of transmit waveform detection results are collectively { t }1 t2 … tn}；
In step 2), the set { t } is paired1 t2 … tmAnd t1 t2 … tnCounting the f position with the most occurrence times to obtain the maximum Doppler dimension fmax1、fmax2I.e. the doppler dimension position of the environmental target.
In this embodiment, the specific process of step 3) is as follows:
3.1) obtaining the detection speed V corresponding to the environment target through the Doppler dimension position of the environment targeta1、Va2；
3.2) Using two detection speeds Va1、Va2Relationship to true speed:
Vr＝Va1+n1·Vmax1＝Va2+n2·Vmax2 (1)
in the formula n1、n2Is an integer, n1、n2The value range is [ -M, M]M is the maximum fuzzy multiple; vmax1 is the maximum detection speed, V, corresponding to one group of pulse signalsmax2The maximum detection speed corresponding to another group of pulse signals;
solving for [ n ]1 n2]And obtaining the real speed of the environment target.
In step 3.2), there is a unique solution pair [ n ] according to the Chinese remainder theorem1 n2]So that the above formula is established, and a hypothesis verification method is adopted to solve:
first suppose n1Value is [ -M, M]Substituting m in formula (1) to calculate n2If n is2If the number is an integer, the hypothesis is established, otherwise, if the hypothesis is not established, the next hypothesis verification is continued, and finally, the correct ambiguity resolving multiple is obtained
For the detection speed Va1The detection target of (2) is regarded as a blur multiple of
Calculating an environmental target true velocity V using equation (1)r＝Va1+m·Vmax1。
According to the method, the position of the static target of the fast and slow frequency modulation is counted, the fuzzy multiple is directly solved for the position, and the ambiguity resolution for each target is not needed, so that the efficiency is high; by utilizing the fuzzy relation of the fast and slow frequency modulation, only the integer value pair n meeting the speed relation of the fast and slow frequency modulation needs to be found1、n2Namely, due to the majority of the static targets, the position accuracy of the fast and slow frequency modulation static targets is extremely high, so the ambiguity resolution accuracy is extremely high.
The above method is further described below with reference to a full embodiment:
s01, a millimeter-level radar transmits two groups of pulse Doppler signals of an FMCW system, the starting and stopping frequencies, the signal bandwidth, the modulation time, the number of sampling points, the pulse accumulation number, the sampling rate and other parameters of the two groups of signals are completely consistent, the only difference is that the waiting time between two adjacent pulses is different, as shown in figure 2, a signal of a first period is transmitted first, and a signal of a second period is transmitted immediately after the transmission is finished;
s02, respectively and simultaneously carrying out target detection on the echo signals of the two groups of sending signals, wherein the detection method adopts a general radar detection method and carries out digital signal processing on radar echo data, and the digital signal processing comprises digital signal sampling, moving target display, Fourier transform, constant false alarm detection and the like; particularly, two-dimensional constant false alarm detection (CFAR) needs to be performed on a two-dimensional FFT result, the detected target position is represented by a coordinate pair { d, f }, d is a target distance dimension position, and f is a target doppler position; each measured target tiHas a detection result of { di,fiAnd the detection results corresponding to the first group of emission waveforms are set as { t }1 t2 … tm}; the second set of transmit waveform detection results are collectively { t }1 t2 … tn}；
S03, respectively pairing detection sets { t1 t2 … tm}、{t1 t2 … tnCounting the f position with the most occurrence times to obtain the maximum Doppler dimension fmax1、fmax2That is, the Doppler dimension position of the stationary target is obtained, and the detection speed V corresponding to the stationary target is calculateda1And Va2；
S04, using two speed values Va1，Va2Relation to true speed, namely:
Vr＝Va1+n1·Vmax1＝Va2+n2·Vmax2 (1)
in the above formula n1、n2Is an integer, n1、n2The value range is [ -M, M]And M is the maximum fuzzy multiple. The method for resolving the ambiguity of the stationary target is to find n which makes the above formula hold1、n2According to the Chinese remainder theorem, there is a unique solution pair [ n ]1n2]The above formula is established, so the hypothesis verification method can be adopted to solve:
first suppose n1Value is [ -M, M]Substituting m into the above formula to calculate n2If n is2If the number is an integer, the hypothesis is established, otherwise, if the hypothesis is not established, the next hypothesis verification is continued, and finally, the correct ambiguity resolving multiple is obtained
For the detection speed Va1The detection target of (2) is regarded as a blur multiple of
Calculating the true speed V of the stationary target using the equationr＝Va1+m·Vmax1
For the detection speed not being Va1The detected target is regarded as a moving target and is calculated by a conventional fuzzy resolving method.
The invention also discloses an environmental target speed ambiguity-resolving system based on the automobile radar, which comprises
The first module is used for transmitting two groups of pulse Doppler signals with different pulse repetition periods based on the automobile radar to obtain two groups of different two-dimensional FFT data;
the second module is used for counting the number of targets with different Doppler dimensions in the two groups of two-dimensional FFT data to obtain the Doppler dimension position with the maximum number of targets, namely the Doppler dimension position of the environmental target;
and the third module is used for solving the real speed of the environment target by adopting an assumed verification method.
The invention also discloses a computer storage medium on which a computer program is stored, which, when being executed by a processor, performs the steps of the method for deblurring an ambient target velocity based on automotive radar as described above. The invention further discloses a computer arrangement comprising a memory and a processor, the memory having stored thereon a computer program which, when executed by the processor, performs the steps of the method for ambiguity resolution of an ambient target velocity based on automotive radar as described above. The invention also discloses a terminal comprising one or more processors and one or more memories, wherein at least one program code is stored in the one or more memories, and the at least one program code is loaded by the one or more processors and executed to realize the operation executed by the method for resolving the ambiguity of the speed of the environmental target based on the automobile radar.
All or part of the flow of the method of the embodiments may be implemented by a computer program, which may be stored in a computer-readable storage medium and executed by a processor, to implement the steps of the embodiments of the methods. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, recording medium, U.S. disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution media, and the like. The memory may be used to store computer programs and/or modules, and the processor may perform various functions by executing or executing the computer programs and/or modules stored in the memory, as well as by invoking data stored in the memory. The memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.
Claims (7)
1. An environmental target speed ambiguity resolving method based on an automobile radar is characterized by comprising the following steps:
1) two groups of pulse Doppler signals with different pulse repetition periods are transmitted based on an automobile radar, and two groups of different two-dimensional FFT data are obtained;
2) counting the number of targets with different Doppler dimensions in the two groups of two-dimensional FFT data to obtain the Doppler dimension position with the maximum number of targets, namely the Doppler dimension position of the environmental target;
3) solving the real speed of the environmental target by adopting a hypothesis verification method;
in the step 1), two-dimensional constant false alarm detection is carried out on two-dimensional FFT data, and the detected target position is represented by a coordinate pair { d, f }, wherein d is a target distance dimension position, and f is a target Doppler position;
each measured target tiIs detected to be connected withThe fruit is { di,fiAnd the detection result sets corresponding to the first group of emission pulses are { t }1t2…tm}; the second set of transmit waveform detection results are collectively { t }1t2…tn}；
In step 2), the set { t } is paired1t2…tmAnd t1t2…tnCounting the f position with the most occurrence times to obtain the maximum Doppler dimension fmax1、fmax2The Doppler dimension position of the environment target is obtained;
except for the maximum Doppler dimension fmax1、fmax2And the other doppler dimension positions are moving target positions.
2. The method for deblurring the speed of the environmental target based on the automotive radar as claimed in claim 1, wherein the specific process of the step 3) is as follows:
3.1) obtaining the detection speed V corresponding to the environment target through the Doppler dimension position of the environment targeta1、Va2；
3.2) Using two detection speeds Va1、Va2Relationship to true speed:
Vr＝Va1+n1·Vmax1＝Va2+n2·Vmax2 (1)
in the formula n1、n2Is an integer, n1、n2The value range is [ -M, M]M is the maximum fuzzy multiple; vmax1For maximum detection speed, V, corresponding to one group of pulse signalsmax2The maximum detection speed corresponding to another group of pulse signals;
solving for [ n ]1n2]And obtaining the real speed of the environment target.
3. The method for ambiguity resolution of ambient target speed based on automotive radar as claimed in claim 2, wherein in step 3.2), there is a unique solution pair [ n ] according to the chinese remainder theorem1n2]So thatThe above formula is established, and the hypothesis verification method is adopted to solve:
first suppose n1Value is [ -M, M]Substituting m in formula (1) to calculate n2If n is2If the number is an integer, the hypothesis is established, otherwise, if the hypothesis is not established, the next hypothesis verification is continued, and finally, the correct ambiguity resolving multiple is obtained
For the detection speed Va1The detection target of (2) is regarded as a blur multiple of
Computing environmental target true speed using equation (1)
4. An environmental target speed ambiguity resolution system based on automobile radar is characterized by comprising
The first module is used for transmitting two groups of pulse Doppler signals with different pulse repetition periods based on the automobile radar to obtain two groups of different two-dimensional FFT data;
the second module is used for counting the number of targets with different Doppler dimensions in the two groups of two-dimensional FFT data to obtain the Doppler dimension position with the maximum number of targets, namely the Doppler dimension position of the environmental target;
the third module is used for solving the real speed of the environment target by adopting a hypothesis verification method;
in a first module, performing two-dimensional constant false alarm detection on two-dimensional FFT data, and expressing a detected target position by a coordinate pair { d, f }, wherein d is a target distance dimension position, and f is a target Doppler position;
each measured target tiHas a detection result of { di,fiAnd the detection result sets corresponding to the first group of emission pulses are { t }1t2…tm}; second set of transmit waveform detection result setsIs { t }1t2…tn}；
In the second module, the set of pairs t1t2…tmAnd t1t2…tnCounting the f position with the most occurrence times to obtain the maximum Doppler dimension fmax1、fmax2The Doppler dimension position of the environment target is obtained;
except for the maximum Doppler dimension fmax1、fmax2And the other doppler dimension positions are moving target positions.
5. A computer storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, performs the steps of the method for ambiguity resolution of ambient target speed based on automotive radar as claimed in any one of claims 1-3.
6. A computer arrangement comprising a memory and a processor, the memory having stored thereon a computer program, characterized in that the computer program, when being executed by the processor, is adapted to carry out the steps of the method for ambiguity resolution of an ambient target speed based on automotive radar as claimed in any one of claims 1-3.
7. A terminal, characterized in that the terminal comprises one or more processors and one or more memories, wherein at least one program code is stored in the one or more memories, and the at least one program code is loaded and executed by the one or more processors to implement the operations performed by the automotive radar-based ambient target speed deblurring method according to any one of claims 1 to 3.
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