CN111679265B - Train identification method, system, medium and equipment based on millimeter wave radar - Google Patents
Train identification method, system, medium and equipment based on millimeter wave radar Download PDFInfo
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- 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
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
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- 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
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- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
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- 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
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Abstract
The invention discloses a train identification method, a train identification system, a train identification medium and train identification equipment based on millimeter wave radar, wherein the train identification method comprises the following steps: acquiring a detection result of the millimeter wave radar; setting the detection speed as an array Vv; judging whether elements in the array Vv are larger than a preset speed value or not; if the train is larger than the train, judging that the train exists; if not, selecting detection points with similar speeds; sorting the detection points, and recording in Rr1_sort; judging whether the difference value between the maximum value and the minimum value in the array Rr1_sort is larger than a preset length value or not; if so, judging whether the number of elements in Rr1_sort is larger than the preset number; if the measured value is larger than the measured value, calculating the slope of each two adjacent measuring points in the array Rr1_sort, and storing the slope in an array K; calculating the difference value between different elements in the array K; if the difference is less than the preset difference, the detection point is considered to be from the train. The invention has the advantages of high identification precision, low cost, no influence of weather and the like.
Description
Technical Field
The invention relates to the technical field of radars, in particular to a train identification method, system, medium and equipment based on millimeter wave radars.
Background
In many train passing areas, train detection is required to determine whether a train passes or not, but railway workers often appear on the railway to carry out maintenance inspection, in order to avoid false alarm, not only a passing target needs to be detected, but also a category judgment needs to be carried out on the detected target, namely whether the passing target is a train or not. Many application scenes adopt the camera to judge and identify, namely, after the camera acquires the image of the detection target, the camera compares the image to judge whether the target is a train, but the work of the camera is greatly influenced by the day, the night and the weather. In order to make up for the working defect of the camera in the night, the light irradiation needs to be increased, and the energy consumption can be increased.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the technical problems existing in the prior art, the invention provides a train identification method, system, medium and equipment based on millimeter wave radar, which are accurate in identification, all-weather and work all-day.
In order to solve the technical problems, the invention adopts the following technical scheme:
the invention also discloses a train identification method based on the millimeter wave radar, which comprises the following steps:
step one, acquiring a detection result of a millimeter wave radar; the detection result comprises the distance, speed and angle of a detection target; setting a detection distance as an array Rr, a detection speed as an array Vv and a detection angle as an array Aa;
step two, traversing the velocity array Vv, and judging whether elements in the velocity array are larger than a preset velocity value V or not th The method comprises the steps of carrying out a first treatment on the surface of the If it is greater than V th If the train exists in the current detection target, judging that the train exists in the current detection target; if not, jumping to the third step;
step three, traversing the velocity array Vv, and according to a preset threshold V th1 Selecting detection points with similar speeds, and recording the selected detection points in arrays Rr1, vv1 and Aa1 respectively;
sorting the screened detection points according to the sequence from small to large, and recording the sorted detection points in Rr1_sort, vv1_sort and Aa1_sort;
step five, judging whether the difference value between the maximum value and the minimum value in the array Rr1_sort is larger than a preset length value or not; if the difference value is larger than the preset length value, jumping to the step six;
step six, judging whether the number of elements in the array Rr1_sort is larger than the preset number M; if the number of the elements in Rr1_sort is more than M, jumping to a step seven;
step seven, calculating the slope of each two adjacent measuring points in the array Rr1_sort, and storing the calculation result in an array K;
step eight, calculating the difference value between different elements in the array K; if the difference between the different elements is smaller than the preset difference K th And considering that the detection points screened by the array K come from the same target-train, and judging that the train exists in the current detection target.
Preferably, in step seven, the slope calculation formula is as follows:
wherein the distance and angle between two adjacent detected points are R1 and A1, R2 and A2 respectively.
Preferably, in step two, the speed value V is preset th Is 30-40 km/h.
Preferably, in the fifth step, the preset length value is 40-50 m.
Preferably, in the sixth step, the selection of M needs to be determined according to the ranging accuracy of the millimeter wave radar itself; when the ranging accuracy of the millimeter wave radar is 1M, m=10; when the ranging accuracy of the millimeter wave radar is 2M, m=5.
The invention also discloses a train identification system based on the millimeter wave radar, which comprises:
the first module is used for acquiring a detection result of the millimeter wave radar; the detection result comprises the distance, speed and angle of a detection target; setting a detection distance as an array Rr, a detection speed as an array Vv and a detection angle as an array Aa;
a second module for traversing the velocity array Vv and judging whether the elements in the velocity array are greater than a preset velocity value V th The method comprises the steps of carrying out a first treatment on the surface of the If it is greater than V th If the train exists in the current detection target, judging that the train exists in the current detection target; if not, jumping to the third step;
a third module for traversing the velocity array Vv according to a preset threshold V th1 Selecting detection points with similar speeds, and recording the selected detection points in arrays Rr1, vv1 and Aa1 respectively;
a fourth module, configured to sort the screened detection points in order from small to large, and record the sorted detection points in rr1_sort, vv1_sort, aa1_sort;
a fifth module, configured to determine whether a difference between a maximum value and a minimum value in the array rr1_sort is greater than a preset length value; if the difference value is larger than the preset length value, jumping to the step six;
a sixth module, configured to determine whether the number of elements in the array rr1_sort is greater than a preset number M; if the number of the elements in Rr1_sort is more than M, jumping to a step seven;
a seventh module, configured to calculate a slope of each two adjacent measurement points in the array rr1_sort, where a calculation result is stored in the array K;
an eighth module for calculating the difference between different elements in the array K; if the difference between the different elements is smaller than the preset difference K th And considering that the detection points screened by the array K come from the same target-train, and judging that the train exists in the current detection target.
The present invention further discloses a computer readable storage medium having stored thereon a computer program, characterized in that the computer program, when being executed by a processor, performs the steps of the millimeter wave radar based train identification method as described above.
The invention also 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 run by the processor, performs the steps of the millimeter wave radar based train identification method as described above.
Compared with the prior art, the invention has the advantages that:
the train identification method, system, medium and equipment based on the millimeter wave radar, disclosed by the invention, utilize the millimeter wave radar to obtain the speed and the appearance length characteristics of the train to carry out train identification, not only achieve the train identification function, but also filter the interference of railway maintenance workers; moreover, the millimeter wave radar can work all day long and all day long, is not affected by weather and time like a camera, does not need auxiliary lighting equipment, and is low in cost.
Drawings
FIG. 1 is a flow chart of an embodiment of the method of the present invention.
Detailed Description
The invention is further described below with reference to the drawings and specific examples.
The invention adopts millimeter wave radar to recognize train, wherein the working principle of the millimeter wave radar is as follows: the millimeter wave radar emits electromagnetic waves, and the electromagnetic waves are received by the radar after being sent back after being sent to the body of the object. The distance, speed and angle of the detection target can be obtained through a series of conventional signal information processing technologies by the received echo signals. After receiving the detection information of the target, the target is distinguished based on different points of the non-train target such as a train and a maintenance worker. The selection of the different points includes two aspects. One aspect is the speed that the train is traveling at is likely to exceed 36km/h, but it is not possible for railroad service workers to exceed this speed. Another aspect is the length of the train, which takes into account the possibility that the train will slow down through a certain section, and therefore needs to take into account the distinction between a slow speed situation and a railroad service worker. Considering that even a train that is even shorter will have a length exceeding 50m (considering that there are only two locomotives, the length of a single locomotive exceeds 25 m), the maintenance worker will not. Therefore, the length judgment can be carried out on the detected targets, and then the target distinction can be carried out. Regarding the judgment of the train length, the following strategy can be adopted: when the radar (such as a radar with a distance resolution of 1 m) is used, a group of measured values of different distances are returned when the radar measures the train, and the train belongs to a rigid object, so that the forward speeds of different positions on the train are the same. Therefore, the measuring points with similar speed can be firstly selected according to the speed threshold, and the length and the number of the measuring points can be judged (the influence of the stations before and after maintenance workers can be eliminated) so as to determine whether the measuring target is a train.
As shown in fig. 1, based on the above principle, the train identification method based on millimeter wave radar of the present invention includes the steps of:
step one, acquiring a detection result of a millimeter wave radar; the detection result comprises the distance, speed and angle of a detection target; setting a detection distance as an array Rr, a detection speed as an array Vv and a detection angle as an array Aa;
step two, traversing the velocity array Vv, and judging whether elements in the velocity array are larger than a preset velocity value V or not th The method comprises the steps of carrying out a first treatment on the surface of the If it is greater than V th If the train exists in the current detection target, judging that the train exists in the current detection target; if not, jumping to the third step;
step three, traversing the velocity array Vv, and according to a preset threshold V th1 Selecting detection points with similar speeds, and recording the selected detection points in arrays Rr1, vv1 and Aa1 respectively;
sorting the screened detection points according to the sequence from small to large, and recording the sorted detection points in Rr1_sort, vv1_sort and Aa1_sort;
step five, judging whether the difference value between the maximum value and the minimum value in the array Rr1_sort is larger than a preset length value or not; if the difference value is larger than the preset length value, jumping to the step six;
step six, judging whether the number of elements in the array Rr1_sort is larger than the preset number M; if the number of the elements in Rr1_sort is more than M, jumping to a step seven;
step seven, calculating the slope of each two adjacent measuring points in the array Rr1_sort, and storing the calculation result in an array K;
step eight, calculating the difference value between different elements in the array K; if the difference between the different elements is smaller than the preset difference K th And considering that the detection points screened by the array K come from the same target-train, and judging that the train exists in the current detection target.
According to the train identification method based on the millimeter wave radar, the speed and the appearance length characteristics of the train are obtained by utilizing the millimeter wave radar to identify the train, so that the train identification function is achieved, and the interference of railway maintenance workers can be filtered; moreover, the millimeter wave radar can work all day long and all day long, and is not affected by weather and time like a camera.
The method of the invention is further described in connection with an embodiment:
step one, acquiring a detection result of a millimeter wave radar; the detection result comprises the distance, speed and angle of a detection target; setting a detection distance as an array Rr, a detection speed as an array Vv and a detection angle as an array Aa;
step two, traversing the velocity array Vv, and judging whether elements in the velocity array are larger than V or not th (e.g. V th May be 36 km/h); if it is greater than V th If the train exists in the current detection target, judging that the train exists in the current detection target; if not, jumping to the third step;
step three, traversing the velocity array Vv according to the threshold V th1 Selecting detection points with similar speeds (the speed of each detection point on the train is the same as the forward speed of the train because the train belongs to a rigid object); with respect to threshold V th1 The selection of the radar can be performed according to the self-measurement precision and data observation of the radar. After screening out these detection points, for convenience of description, these screened detection points may be recorded in arrays Rr1, vv1, aa1, respectively.
Sorting the screened detection points according to the sequence from small to large, and recording the sorted detection points in Rr1_sort, vv1_sort and Aa1_sort;
step five, judging whether the difference between the maximum value and the minimum value in the array Rr1_sort is larger than 45m (considering that the shortest length of the train is larger than 50m, setting 45m is only a relatively proper value selected for distinguishing maintenance workers from the train); if the difference value is larger than 45m, jumping to the step six; otherwise, executing to the end, returning to the first step, acquiring a radar detection result of the next frame, and repeating the methods from the first step to the fifth step;
step six, judging whether the number of elements in the array Rr1_sort is greater than M, wherein the selection of M is required to be determined according to the ranging accuracy of the radar itself, for example, when the ranging accuracy of the radar is 1M, M=10 can be selected (or selected according to actual data observation); when the distance measurement precision of the radar is 2M, the selection of the M value is halved; if the number of the elements in Rr1_sort is more than M, jumping to a step seven; otherwise, the step I is skipped to obtain the radar detection result of the next frame, and the step I to the step six are repeated;
step seven, calculating the slope of each two adjacent measuring points in the array Rr1_sort; the calculation method is as follows: let the distance and angle between two adjacent detected points be R1 and A1, R2 and A2 respectively, the calculation formula of the slope is as follows:
the slope of each two adjacent measuring points can be calculated according to the formula (1), and the calculation result is stored in the array K
K＝{k 21 ,k 32 ,...} (2)
Step eight, calculating the difference value between different elements in the array K, if the difference value between the different elements is smaller than K th (K th Based on the angular accuracy), the detection points screened by the array K are considered to be from the same target-train, so that the train exists in the current detection target is judged; if the difference between the different elements is not less than K th And jumping back to the first step to judge the next frame.
The invention also discloses a train identification system based on the millimeter wave radar, which comprises:
the first module is used for acquiring a detection result of the millimeter wave radar; the detection result comprises the distance, speed and angle of a detection target; setting a detection distance as an array Rr, a detection speed as an array Vv and a detection angle as an array Aa;
a second module for traversing the velocity array Vv and judging whether the elements in the velocity array are greater than a preset velocity value V th The method comprises the steps of carrying out a first treatment on the surface of the If it is greater than V th If the train exists in the current detection target, judging that the train exists in the current detection target; if not, jumping to the third step;
a third module is provided for the first and second modules,for traversing the velocity array Vv according to a preset threshold V th1 Selecting detection points with similar speeds, and recording the selected detection points in arrays Rr1, vv1 and Aa1 respectively;
a fourth module, configured to sort the screened detection points in order from small to large, and record the sorted detection points in rr1_sort, vv1_sort, aa1_sort;
a fifth module, configured to determine whether a difference between a maximum value and a minimum value in the array rr1_sort is greater than a preset length value; if the difference value is larger than the preset length value, jumping to the step six;
a sixth module, configured to determine whether the number of elements in the array rr1_sort is greater than a preset number M; if the number of the elements in Rr1_sort is more than M, jumping to a step seven;
a seventh module, configured to calculate a slope of each two adjacent measurement points in the array rr1_sort, where a calculation result is stored in the array K;
an eighth module for calculating the difference between different elements in the array K; if the difference between the different elements is smaller than the preset difference K th And considering that the detection points screened by the array K come from the same target-train, and judging that the train exists in the current detection target.
The train identification system based on millimeter wave radar of the present invention is used for executing the method as described above, and also has the advantages as described above. The present invention further discloses a computer readable storage medium having stored thereon a computer program, characterized in that the computer program, when being executed by a processor, performs the steps of the millimeter wave radar based train identification method as described above. The invention also 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 run by the processor, performs the steps of the millimeter wave radar based train identification method as described above. The present invention may be implemented by implementing all or part of the procedures in the methods of the embodiments described above, or by instructing the relevant hardware by a computer program, which may be stored in a computer readable storage medium, and which when executed by a processor, may implement the steps of the embodiments of the methods described above. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, executable files or in some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. The memory may be used to store computer programs and/or modules, and the processor performs various functions by executing or executing the computer programs and/or modules stored in the memory, and 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, memory, plug-in hard disk, smart Media Card (SMC), secure Digital (SD) Card, flash Card (Flash Card), at least one disk storage device, flash memory device, or other volatile solid state storage device, etc.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above examples, and all technical solutions belonging to the concept of the present invention belong to the protection scope of the present invention. It should be noted that modifications and adaptations to the invention without departing from the principles thereof are intended to be within the scope of the invention as set forth in the following claims.
Claims (8)
1. The train identification method based on the millimeter wave radar is characterized by comprising the following steps:
step one, acquiring a detection result of a millimeter wave radar; the detection result comprises the distance, speed and angle of a detection target; setting a detection distance as an array Rr, a detection speed as an array Vv and a detection angle as an array Aa;
step two, traversing the speed array Vv, and judging whether elements in the speed array are larger than a preset speed value or notThe method comprises the steps of carrying out a first treatment on the surface of the If there is more than->If the train exists in the current detection target, judging that the train exists in the current detection target; if not, jumping to the third step;
step three, traversing the velocity array Vv, and according to a preset thresholdSelecting detection points with similar speeds, and recording the selected detection points in arrays Rr1, vv1 and Aa1 respectively;
sorting the screened detection points according to the sequence from small detection distance to large detection distance, and recording the sorted detection points in Rr1_sort, vv1_sort and Aa1_sort;
step five, judging whether the difference value between the maximum value and the minimum value in the array Rr1_sort is larger than a preset length value or not; if the difference value is larger than the preset length value, jumping to the step six;
step six, judging whether the number of elements in the array Rr1_sort is larger than the preset number M; if the number of the elements in Rr1_sort is more than M, jumping to a step seven;
step seven, calculating the slope of each two adjacent measuring points in the array Rr1_sort, and storing the calculation result in an array K;
step eight, calculating the difference value between different elements in the array K; if the difference between the different elements is smaller than the preset differenceAnd considering that the detection points screened by the array K come from the same target-train, and judging that the train exists in the current detection target.
2. The millimeter wave radar-based train identification method according to claim 1, wherein in step seven, the slope calculation formula is as follows:
（1）
wherein the distance and angle between two adjacent detected points are R1 and A1, R2 and A2 respectively.
3. The millimeter wave radar-based train identification method according to claim 1 or 2, wherein in the second step, a speed value is preset30-40 km/h.
4. The millimeter wave radar-based train identification method according to claim 1 or 2, wherein in the fifth step, the preset length value is 40 to 50m.
5. The train identification method based on millimeter wave radar according to claim 1 or 2, wherein in step six, the selection of M is determined according to the ranging accuracy of the millimeter wave radar itself; m=10 when the ranging accuracy of the millimeter wave radar is 1M, and m=5 when the ranging accuracy of the millimeter wave radar is 2M.
6. A millimeter wave radar-based train identification system for performing the steps of the millimeter wave radar-based train identification method according to any one of claims 1 to 5, comprising:
the first module is used for acquiring a detection result of the millimeter wave radar; the detection result comprises the distance, speed and angle of a detection target; setting a detection distance as an array Rr, a detection speed as an array Vv and a detection angle as an array Aa;
a second module for traversing the speed array Vv and judging whether the elements in the speed array are larger than a preset speed valueThe method comprises the steps of carrying out a first treatment on the surface of the If there is more than->If the train exists in the current detection target, judging that the train exists in the current detection target; if not, jumping to the third step;
a third module for traversing the velocity array Vv according to a preset thresholdSelecting detection points with similar speeds, and recording the selected detection points in arrays Rr1, vv1 and Aa1 respectively;
a fourth module, configured to sort the screened detection points according to a sequence from a smaller detection distance to a larger detection distance, and record the sorted detection points in rr1_start, vv1_start, aa1_start;
a fifth module, configured to determine whether a difference between a maximum value and a minimum value in the array rr1_sort is greater than a preset length value; if the difference value is larger than the preset length value, jumping to the step six;
a sixth module, configured to determine whether the number of elements in the array rr1_sort is greater than a preset number M; if the number of the elements in Rr1_sort is more than M, jumping to a step seven;
a seventh module, configured to calculate a slope of each two adjacent measurement points in the array rr1_sort, where a calculation result is stored in the array K;
an eighth module for calculating the difference between different elements in the array K; if the difference between the different elements is smaller than the preset differenceAnd considering that the detection points screened by the array K come from the same target-train, and judging that the train exists in the current detection target.
7. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, performs the steps of the millimeter wave radar-based train identification method according to any one of claims 1 to 5.
8. A computer device comprising a memory and a processor, the memory having stored thereon a computer program, characterized in that the computer program, when run by the processor, performs the steps of the millimeter wave radar based train identification method according to any of claims 1-5.
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Citations (3)
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|---|---|---|---|---|
| CN103235310A (en) * | 2013-03-26 | 2013-08-07 | 北京理工雷科电子信息技术有限公司 | Vehicular millimeter-wave train collision avoidance radar system |
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| US10408932B2 (en) * | 2016-12-16 | 2019-09-10 | Automotive Research & Testing Center | Environment recognition system using vehicular millimeter wave radar |
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| CN109178040A (en) * | 2018-11-01 | 2019-01-11 | 同方威视技术股份有限公司 | Train identifying system and its method, train safety check system and its method |
| CN111289980A (en) * | 2020-03-06 | 2020-06-16 | 成都纳雷科技有限公司 | Roadside stationary object detection method and system based on vehicle-mounted millimeter wave radar |
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