CN111965647B - 基于雷达通信一体化的路况探测方法 - Google Patents
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Abstract
本发明公开了基于雷达通信一体化的路况探测方法,包括:1、k时刻主站雷达发送雷达通信一体化信号对s1(k)和s2(k),根据回波信号获取路段内车辆和障碍物探测信息I(k);2、k+1时刻主站雷达发射雷达通信一体化信号对s1(k+1)和s2(k+1),根据回波信号获取路段内车辆和障碍物探测信息I(k+1);通过改变s2(k+1)中每个脉冲的宽度将k时刻的探测信息I(k)调制到s1(k+1)和s2(k+1)中;3、路段内的车辆接收到雷达通信一体化信号对s1(k+1)和s2(k+1),从中获取上一时刻探测信息I(k)。该方法将用于探测目标的雷达信号和用于传输探测信息的通信信号用一组等周期脉冲信号对来实现,在实现路况探测功能的基础上节省了电磁资源。
Description
技术领域
本发明属于智能交通技术领域,具体涉及一种基于雷达通信一体化的路况探测方法。
背景技术
智能交通系统是一种先进的综合一体化的交通管理系统,其基于现代化的电子信息技术,服务于交通运输系统。车辆行驶过程中,道路上的其他车辆、障碍物都会对车辆的行驶造成影响,如果能实时获取到环境中其他车辆和障碍物的运动信息,将有利于车辆的安全行驶,同时有利于辅助驾驶或无人驾驶中路径规划、避障等功能的实现。
申请号为201910703507.6的中国专利文献中公开了一种基于多雷达协同探测的雷达探测方法,其通过安装在车辆上的雷达设备和通信设备来实现目标探测和车辆间的通信,将通信雷达进行一体化设计,采用雷达信号和通信信号分频的方式共享带宽资源。这种方式需要较大的通信带宽。
申请号为201810407725.0的中国专利文献公开了一种车辆雷达通信一体化的实现方法,其通过安装在车辆上的雷达设备和通信设备将自身的运动信息主动发送给其他车辆,同时还发送对其他车辆状态的请求信息。在实际使用中,大多数车主并不愿意主动发送自身的运动信息,因此限制了该方法的使用。另外,当道路上车辆较多时,需要向很多车辆发送信息,同时也要接收来自大量的其他车辆的请求信息,这样会给通信设备带来压力。
发明内容
发明目的:针对现有技术中存在的缺陷,本发明公开了一种基于雷达通信一体化的路况探测方法,该方法将用于探测目标的雷达信号和用于传输探测信息的通信信号用一组等周期脉冲信号对来实现,在实现路况探测功能的基础上节省了电磁资源。
技术方案:本发明采用如下技术方案:
基于雷达通信一体化的路况探测方法,包括:
(1)k时刻主站雷达发送雷达通信一体化信号对s1(k)和s2(k),根据回波信号获取路段内车辆和障碍物探测信息I(k);
(2)k+1时刻主站雷达发射雷达通信一体化信号对s1(k+1)和s2(k+1),根据回波信号获取路段内车辆和障碍物探测信息I(k+1);
所述s1(·)为等宽脉冲信号,所述s2(·)为不等宽脉冲信号,s1(·)与s2(·)周期相等,均为T;通过改变s2(k+1)中每个脉冲的宽度将k时刻的探测信息I(k)调制到s1(k+1)和s2(k+1)中,调制方法为:
其中IL(k)为I(k)第L个码元,w1(L)和w2(L)分别为s1(k+1)和s2(k+1)的第L个脉冲的宽度;W为常数,0<W<T,且W≠w1(L);
(3)路段内的车辆接收到雷达通信一体化信号对s1(k+1)和s2(k+1),从中获取上一时刻探测信息I(k):
其中IL(k)为I(k)第L个码元。
本发明实施例之一中,W>w1(L),即当s2(·)的脉冲宽度大于s1(·)的脉冲宽度时传输的码元为“1”。
优选地,所述主站雷达通过双圆极化天线发射雷达通信一体化信号对s1(k)和s2(k)。
所述探测信息包括路段内车辆和障碍物的位置、速度信息。
路段内车辆通过安装在车辆上的双圆极化天线接收设备接收主站雷达发送的雷达通信一体化信号对。
为了降低雷达发射功率,每个路段安装一个主站雷达,不同路段之间设置信号隔离网来防止不同路段之间的雷达通信一体化信号干扰。
有益效果:本发明公开的路况探测方法,能够在一个路段内只通过主站设备辐射雷达通信一体化信号,保证路段内所有车辆实现对周边环境的实时探测,节省电磁资源。
附图说明
图1为本发明公开的路况探测方法流程图;
图2为雷达通信一体化信号对信息调制方法示意图。
具体实施方式
下面结合附图和具体实施方式,进一步阐明本发明。
将一条道路上两个相邻红路灯之间的路段划定为一个独立的车联子网,不同路段之间设置信号隔离网,来防止不同路段之间的信号干扰,保证路段之间是独立的。每个车联子网对应的路段的中间位置安装主站雷达设备,其上设置双圆极化天线,用于发射雷达通信一体化信号;道路上的车辆安装有双圆极化天线,用于接收雷达通信一体化信号,同时具有抗多径干扰功能。
利用上述系统的基于雷达通信一体化的路况探测方法,如图1所示,包括:
(1)k时刻主站雷达发射雷达通信一体化信号对s1(k)和s2(k),根据路段回波信号感知周围环境,获取路段内车辆和障碍物探测信息I(k),探测信息包括路段内车辆和障碍物的位置、速度信息;
(2)k+1时刻主站雷达发射雷达通信一体化信号对s1(k+1)和s2(k+1),根据回波信号获取路段内车辆和障碍物探测信息I(k+1);
所述s1(·)为等宽脉冲信号,所述s2(·)为不等宽脉冲信号,s1(·)与s2(·)周期相等,均为T;通过改变s2(k+1)中每个脉冲的宽度将k时刻的探测信息I(k)调制到s1(k+1)和s2(k+1)中,调制方法为:
其中IL(k)为I(k)第L个码元,w1(L)和w2(L)分别为s1(k+1)和s2(k+1)的第L个脉冲的宽度;W为常数,0<W<T,且W≠w1(L);
本实施例中,W>w1(L),如图2所示,为信号的调制示意图。
由此,通过雷达通信一体化信号对s1(k+1)和s2(k+1)实现了目标探测,同时通过脉冲宽度的异同实现了传输探测信息。
(3)路段内的车辆接收到雷达通信一体化信号对s1(k+1)和s2(k+1),从中获取上一时刻探测信息I(k):
其中IL(k)为I(k)第L个码元。
本发明中,每个主站雷达发射信号只需覆盖本路段即可,发射功率不需过高;每个车辆只需接收主站雷达发送的信号,无需与其他车辆进行通信。
Claims (6)
1.基于雷达通信一体化的路况探测方法,其特征在于,包括:
(1)k时刻主站雷达发送雷达通信一体化信号对s1(k)和s2(k),根据回波信号获取路段内车辆和障碍物探测信息I(k);
(2)k+1时刻主站雷达发射雷达通信一体化信号对s1(k+1)和s2(k+1),根据回波信号获取路段内车辆和障碍物探测信息I(k+1);
所述s1(·)为等宽脉冲信号,所述s2(·)为不等宽脉冲信号,s1(·)与s2(·)周期相等,均为T;通过改变s2(k+1)中每个脉冲的宽度将k时刻的探测信息I(k)调制到s1(k+1)和s2(k+1)中,调制方法为:
其中IL(k)为I(k)第L个码元,w1(L)和w2(L)分别为s1(k+1)和s2(k+1)的第L个脉冲的宽度;W为常数,0<W<T,且W≠w1(L);
(3)路段内的车辆接收到雷达通信一体化信号对s1(k+1)和s2(k+1),从中获取上一时刻探测信息I(k):
其中IL(k)为I(k)第L个码元。
2.根据权利要求1所述的路况探测方法,其特征在于:W>w1(L)。
3.根据权利要求1所述的路况探测方法,其特征在于:所述主站雷达通过双圆极化天线发射雷达通信一体化信号对s1(k)和s2(k)。
4.根据权利要求1所述的路况探测方法,其特征在于:所述探测信息包括路段内车辆和障碍物的位置、速度信息。
5.根据权利要求1所述的路况探测方法,其特征在于:路段内车辆通过安装在车辆上的双圆极化天线接收设备接收主站雷达发送的雷达通信一体化信号对。
6.根据权利要求1所述的路况探测方法,其特征在于:每个路段安装一个主站雷达,不同路段之间设置信号隔离网。
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