CN112083412B - Fusion method of millimeter wave radar and C-V2X system, system and electronic equipment thereof - Google Patents

Fusion method of millimeter wave radar and C-V2X system, system and electronic equipment thereof Download PDF

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CN112083412B
CN112083412B CN202010966813.1A CN202010966813A CN112083412B CN 112083412 B CN112083412 B CN 112083412B CN 202010966813 A CN202010966813 A CN 202010966813A CN 112083412 B CN112083412 B CN 112083412B
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communication data
fusion
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CN112083412A (en
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李建林
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Nawa Electronics Shanghai Co ltd
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Nawa Electronics Shanghai Co ltd
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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
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • 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
    • 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
    • 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
    • G01S13/933—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
    • 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
    • G01S2013/9328—Rail vehicles

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Traffic Control Systems (AREA)

Abstract

A fusion method of millimeter wave radar and C-V2X system, a system and an electronic device thereof. The fusion method of the millimeter wave radar and the C-V2X system comprises the following steps: based on millimeter wave radar and a C-V2X system configured on current equipment, respectively acquiring detection data and absolute communication data of a peripheral target, wherein the detection data is detection information which is less than a first distance threshold from the current equipment, and the absolute communication data is absolute communication information around the current equipment; preprocessing the absolute communication data according to the running data of the current equipment to obtain relative communication data, wherein the relative communication data is relative communication information which is smaller than a second distance threshold from the current equipment, and the second distance threshold is larger than the first distance threshold; and carrying out fusion processing on the detection data and the relative communication data to obtain fusion data of the peripheral target, so as to guide the safe running of the current equipment according to the fusion data.

Description

Fusion method of millimeter wave radar and C-V2X system, system and electronic equipment thereof
Technical Field
The invention relates to the technical field of Internet of vehicles, in particular to a fusion method of a millimeter wave radar and a C-V2X system, a system and electronic equipment thereof.
Background
In recent years, the development of the whole automobile industry is promoted by the proposal of concepts such as intelligent automobiles, automatic driving and the like, and in the development process, how to make driving become more stable, safer and more accurate is always an important issue in the field of the Internet of vehicles. As an important component of the intelligent driving and automatic driving automobile space sensing system, the millimeter wave radar can provide various high-precision road surface space information for the automobile, such as the distance, azimuth angle, relative speed and the like of a target automobile, and the information has great significance for actively controlling the speed of the automobile, avoiding other automobiles and even executing emergency safety measures.
Currently, most vehicles adopt 77GHz millimeter wave radars, which utilize the 77GHz frequency band to emit electromagnetic waves, and the electromagnetic waves are firstly transmitted to a directional antenna after being transmitted and received by a switch, so that the electromagnetic waves are directionally radiated into the atmosphere through the directional antenna; then, the electromagnetic wave propagates in the atmosphere at a low beam speed, and if the target is located just inside the beam of the directional antenna, the target will intercept a part of the electromagnetic wave; then, the electromagnetic wave intercepted by the target is scattered in all directions, wherein part of the scattered electromagnetic wave propagates towards the receiving direction of the radar so as to acquire weak signals through the radar antenna; finally, the receiver of the radar amplifies the weak signal and obtains the required information (such as the distance, azimuth angle, relative speed and the like of the target) after signal processing.
However, the detection distance of the millimeter wave radar is limited, most of the millimeter wave radars intelligently detect the direction angle, speed and distance of the target within the range of 200 meters, and targets beyond 200 meters have no information acquisition capability, so that the application prospect of the millimeter wave radars in intelligent driving and automatic driving alone is greatly restricted. In fact, when intelligent driving and automatic driving are performed, not only information of a close range target is required to be acquired so as to avoid other vehicles or obstacles, so that safety accidents are avoided, but also information of a far range target (such as traffic information of a front traffic light) is also required to be known in advance so as to make strain response in advance according to specific conditions, mainly because the running speed of the vehicle is high, and reserved response time is relatively short. In addition, the road surface condition of the vehicle during driving is also relatively complex, such as the direction in which an obstacle blocked by the preceding vehicle suddenly appears (e.g., the blocked vehicle suddenly changes lanes) during short-distance driving, which are important factors that cannot be known in advance by the millimeter wave radar and are very easy to cause safety accidents.
Disclosure of Invention
The invention has the advantages that the fusion method of the millimeter wave radar and the C-V2X system, the system and the electronic equipment thereof can acquire the short-distance and long-distance target information at the same time, improve the anti-interference performance, and are suitable for application scenes such as intelligent automobiles, unmanned vehicles, unmanned aerial vehicles, AGV carts, AR/VR, trains, civil aviation safety detection and the like.
The invention further provides a fusion method of the millimeter wave radar and the C-V2X system, a system and electronic equipment thereof, wherein in one embodiment of the invention, the fusion method of the millimeter wave radar and the C-V2X system can make up the defect of the millimeter wave radar by utilizing the C-V2X system, thereby being beneficial to greatly improving the safety of intelligent driving and automatic driving.
Another advantage of the present invention is to provide a method for fusing a millimeter wave radar and a C-V2X system, and a system and an electronic device thereof, wherein in an embodiment of the present invention, the method for fusing a millimeter wave radar and a C-V2X system can solve a technical problem of lane changing of a vehicle, so as to ensure safe driving of the vehicle.
The invention further provides a method for fusing a millimeter wave radar and a C-V2X system, a system and electronic equipment thereof, wherein in one embodiment of the invention, the method for fusing the millimeter wave radar and the C-V2X system can better sense transverse road information at a crossroad, and is beneficial to reducing the risk of safety accidents of vehicles at the crossroad.
Another advantage of the present invention is to provide a method for fusing a millimeter wave radar with a C-V2X system, and a system and an electronic device thereof, wherein in an embodiment of the present invention, the method for fusing a millimeter wave radar with a C-V2X system can learn traffic conditions and traffic light information in front of driving in advance, so as to perform strain processing in advance.
The invention further provides a fusion method of the millimeter wave radar and the C-V2X system, a system and electronic equipment thereof, wherein in one embodiment of the invention, the fusion method of the millimeter wave radar and the C-V2X system can control the fusion interaction time of the 77GHz millimeter wave radar and the C-V2X system within 100ms so as to acquire various information required in intelligent driving and automatic driving in time and improve driving safety.
Another advantage of the present invention is to provide a method for fusing a millimeter wave radar with a C-V2X system, and a system and an electronic device thereof, wherein expensive materials or complex structures are not required in the present invention in order to achieve the above-mentioned objects. Therefore, the invention successfully and effectively provides a solution, not only provides a simple fusion method of the millimeter wave radar and the C-V2X system, a system and electronic equipment thereof, but also increases the practicability and reliability of the fusion method of the millimeter wave radar and the C-V2X system, the system and the electronic equipment thereof.
To achieve at least one of the above or other advantages and objects, the present invention provides a method for fusing a millimeter wave radar with a C-V2X system, comprising the steps of:
Based on millimeter wave radar and a C-V2X system configured on current equipment, respectively acquiring detection data and absolute communication data of a peripheral target, wherein the detection data is detection information of the peripheral target which is less than a first distance threshold from the current equipment, and the absolute communication data is absolute communication information of the peripheral target around the current equipment;
Preprocessing the absolute communication data according to the running data of the current equipment to obtain relative communication data of the peripheral target, wherein the relative communication data is relative communication information of the peripheral target which is less than a second distance threshold from the current equipment, and the second distance threshold is greater than the first distance threshold; and
And carrying out fusion processing on the detection data and the relative communication data of the peripheral target to obtain fusion data of the peripheral target, so as to guide the safe running of the current equipment according to the fusion data.
According to an embodiment of the invention, the millimeter wave radar is a 77GHz millimeter wave radar, wherein the C-V2X system is a 5G C-V2X system.
According to an embodiment of the present invention, the first distance threshold is set according to an effective detection range of the millimeter wave radar.
According to an embodiment of the present invention, the second distance threshold is set according to the driving data and the road condition information of the current device.
According to an embodiment of the invention, the detection information includes a distance, an azimuth angle, and a speed of the peripheral target with respect to the current device.
According to an embodiment of the present invention, the absolute communication information includes longitude and latitude, traveling direction, traveling speed and indication information of the surrounding target relative to a world coordinate system.
According to an embodiment of the present invention, the step of preprocessing the absolute communication data according to the driving data of the current device to obtain the relative communication data of the peripheral target, where the relative communication data is the relative communication information of the peripheral target that is less than a second distance threshold from the current device, and the second distance threshold is greater than the first distance threshold, includes the steps of:
according to the running data of the current equipment, converting the absolute communication data into relative data taking the current equipment as a coordinate origin; and
And filtering out the relative data with the relative distance larger than the second distance threshold value to obtain the relative communication data.
According to an embodiment of the present invention, the step of fusing the detection data of the peripheral target and the relative communication data to obtain fused data of the peripheral target, so as to guide safe driving of the current device according to the fused data includes the steps of:
Sequentially judging whether the target to be fused corresponding to the detection data is in the target corresponding to the relative communication data or not;
In response to the judgment result being yes, replacing the relative communication information corresponding to the target to be fused with the detection information of the target to be fused; and
And in response to the judgment result being no, adding the detection information of the targets to be fused into the relative communication data until all the targets to be fused in the detection data are judged, and taking the final relative communication data as the fusion data.
According to another aspect of the present invention, there is further provided a fusion system of a millimeter wave radar and a C-V2X system, comprising:
The data acquisition module is used for respectively acquiring detection data and absolute communication data of a peripheral target based on millimeter wave radar and a C-V2X system configured on current equipment, wherein the detection data is detection information of the peripheral target which is less than a first distance threshold from the current equipment, and the absolute communication data is absolute communication information of the peripheral target around the current equipment;
the preprocessing module is used for preprocessing the absolute communication data according to the running data of the current equipment to obtain relative communication data of the peripheral target, wherein the relative communication data is relative communication information of the peripheral target which is smaller than a second distance threshold from the current equipment, and the second distance threshold is larger than the first distance threshold; and
And the fusion processing module is used for carrying out fusion processing on the detection data and the relative communication data of the peripheral target to obtain fusion data of the peripheral target, so that the safety running of the current equipment can be guided according to the fusion data.
According to an embodiment of the present invention, the preprocessing module includes a conversion module and a filtering module that are communicatively connected to each other, where the conversion module is configured to convert the absolute communication data into relative data with the current device as a coordinate origin according to the driving data of the current device; the filtering module is used for filtering out the relative data with the relative distance larger than the second distance threshold value so as to obtain the relative communication data.
According to an embodiment of the present invention, the fusion processing module includes a judging module, a replacing module and an adding module that are communicatively connected to each other, where the judging module is configured to sequentially judge whether a target to be fused corresponding to the probe data is in a target corresponding to the relative communication data; the replacing module is used for replacing relative communication information corresponding to the target to be fused with the detection information of the target to be fused in response to the judgment result being yes; and the adding module is used for adding the detection information of the targets to be fused into the relative communication data in response to the fact that the judging structure is negative, and taking the final relative communication data as the fusion data until all the targets to be fused in the detection data are judged.
According to another aspect of the present invention, there is further provided an electronic apparatus including:
At least one processor for executing instructions; and
A memory communicatively connected to the at least one processor, wherein the memory has at least one instruction, wherein the instruction is executed by the at least one processor to cause the at least one processor to perform some or all of the steps in a fusion method of a millimeter wave radar with a C-V2X system, wherein the fusion method of a millimeter wave radar with a C-V2X system comprises the steps of:
Based on millimeter wave radar and a C-V2X system configured on current equipment, respectively acquiring detection data and absolute communication data of a peripheral target, wherein the detection data is detection information of the peripheral target which is less than a first distance threshold from the current equipment, and the absolute communication data is absolute communication information of the peripheral target around the current equipment;
Preprocessing the absolute communication data according to the running data of the current equipment to obtain relative communication data of the peripheral target, wherein the relative communication data is relative communication information of the peripheral target which is less than a second distance threshold from the current equipment, and the second distance threshold is greater than the first distance threshold; and
And carrying out fusion processing on the detection data and the relative communication data of the peripheral target to obtain fusion data of the peripheral target, so as to guide the safe running of the current equipment according to the fusion data.
According to another aspect of the present invention, there is further provided an electronic apparatus including:
An electronic device body, wherein the electronic device body is configured with at least one millimeter wave radar and at least one C-V2X system; and
A fusion system of a millimeter wave radar and a C-V2X system, wherein the fusion system of the millimeter wave radar and the C-V2X system is communicably configured to the electronic device body, and the fusion system of the millimeter wave radar and the C-V2X system comprises communicably connected to each other:
The data acquisition module is used for respectively acquiring detection data and absolute communication data of a peripheral target based on millimeter wave radar and a C-V2X system configured on current equipment, wherein the detection data is detection information of the peripheral target which is less than a first distance threshold from the current equipment, and the absolute communication data is absolute communication information of the peripheral target around the current equipment;
the preprocessing module is used for preprocessing the absolute communication data according to the running data of the current equipment to obtain relative communication data of the peripheral target, wherein the relative communication data is relative communication information of the peripheral target which is smaller than a second distance threshold from the current equipment, and the second distance threshold is larger than the first distance threshold; and
And the fusion processing module is used for carrying out fusion processing on the detection data and the relative communication data of the peripheral target to obtain fusion data of the peripheral target, so that the safety running of the current equipment can be guided according to the fusion data.
Further objects and advantages of the present invention will become fully apparent from the following description and the accompanying drawings.
These and other objects, features and advantages of the present invention will become more fully apparent from the following detailed description, the accompanying drawings and the appended claims.
Drawings
FIG. 1 is a flow chart of a method of merging a millimeter wave radar with a C-V2X system according to one embodiment of the invention.
Fig. 2 shows a flow chart of one of the steps in the method for fusing the millimeter wave radar with the C-V2X system according to the above embodiment of the present invention.
Fig. 3 is a schematic flow chart of a second step in the method for fusing the millimeter wave radar with the C-V2X system according to the above embodiment of the present invention.
Fig. 4 shows a schematic diagram of the ranging principle of the millimeter wave radar according to the present invention.
Fig. 5 shows a schematic diagram of the azimuthal principle of the millimeter wave radar according to the present invention.
Fig. 6 shows a schematic diagram of the principle of speed measurement of the millimeter wave radar according to the present invention.
Fig. 7 is a schematic structural diagram of a fusion system of a millimeter wave radar and a C-V2X system according to an embodiment of the present invention.
Fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Fig. 9 is a schematic structural view of another electronic device according to an embodiment of the present invention.
Detailed Description
The following description is presented to enable one of ordinary skill in the art to make and use the invention. The preferred embodiments in the following description are by way of example only and other obvious variations will occur to those skilled in the art. The basic principles of the invention defined in the following description may be applied to other embodiments, variations, modifications, equivalents, and other technical solutions without departing from the spirit and scope of the invention.
In the present invention, the terms "a" and "an" in the claims and specification should be understood as "one or more", i.e. in one embodiment the number of one element may be one, while in another embodiment the number of the element may be plural. The terms "a" and "an" are not to be construed as unique or singular, and the term "the" and "the" are not to be construed as limiting the amount of the element unless the amount of the element is specifically indicated as being only one in the disclosure of the present invention.
In the description of the present invention, it should be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In the description of the present invention, unless explicitly stated or limited otherwise, the terms "connected," "connected," and "connected" should be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through a medium. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Schematic method
Referring to fig. 1 to 3 of the drawings of the specification, a fusion method of a millimeter wave radar and a C-V2X system according to an embodiment of the present invention is illustrated. Specifically, as shown in fig. 1, the fusion method of the millimeter wave radar and the C-V2X system may include the steps of:
S100: based on millimeter wave radar and a C-V2X system configured on current equipment, respectively acquiring detection data and absolute communication data of a peripheral target, wherein the detection data is detection information of the peripheral target which is less than a first distance threshold from the current equipment, and the absolute communication data is absolute communication information of the peripheral target around the current equipment;
S200: preprocessing the absolute communication data according to the running data of the current equipment to obtain relative communication data of the peripheral target, wherein the relative communication data is relative communication information of the peripheral target which is away from the current equipment and is smaller than a second distance threshold, and the second distance threshold is larger than the first distance threshold; and
S300: and carrying out fusion processing on the detection data and the relative communication data of the peripheral target to obtain fusion data of the peripheral target, so as to guide the safe running of the current equipment according to the fusion data.
Preferably, the millimeter wave radar may be, but is not limited to being, implemented as a 77GHz millimeter wave radar. Accordingly, the C-V2X system is preferably implemented as a 5G C-V2X system.
It is noted that, although the 77GHz millimeter wave radar is used as a key technology for realizing intelligent driving and unmanned driving, it can detect the azimuth angle, the relative speed and the distance (i.e. detection information) of the object to be detected (i.e. the peripheral target) within the range of 200 meters, but has no information acquisition capability for targets out of the range of 200 meters; meanwhile, the 5G C-V2X system may acquire target communication information within 1000 meters by using the 5 th generation communication technology of the wide area network, using the 2 GHz-6 GHz frequency band, and using a cellular internet of vehicles (C-V2X) system, or may acquire target communication information within 1000 meters by using the 5.9GHz ITS frequency band through the V2X of the local area network, but there is no way to acquire the azimuth angle and the relative speed of the target. Therefore, the fusion method of the millimeter wave radar and the C-V2X system provided by the application carries out fusion processing on the information acquired by the millimeter wave radar and the C-V2X system, so as to make up the defects of the millimeter wave radar and the C-V2X system, obtain more accurate and comprehensive peripheral information to be used as references of intelligent driving and unmanned driving, and improve the safety of intelligent driving and unmanned driving.
It will be appreciated that the C-V2X (Cellular vehicle-to-everything) system is a new generation of information communication technology for connecting vehicles to everything, and is a Cellular network-based vehicle networking technology, specifically including V2V (Vehicle To Vehicle, vehicle-to-vehicle connection), V2I (Vehicle To Infrastructure, vehicle-to-infrastructure connection), V2P (Vehicle To Pedestrian, vehicle-to-pedestrian connection), V2N (Vehicle To Network, vehicle-to-network connection).
According to the above embodiment of the present invention, in the step S100 of the fusion method of the millimeter wave radar and the C-V2X system: the perimeter target may be implemented, but is not limited to, as a pedestrian, a vehicle, a street light, a signal light or sign, or the like. The current device may be implemented, but is not limited to, as a smart networking automobile, drone, robot, or the like.
Preferably, the first distance threshold may be set according to an effective detection range of the millimeter wave radar. For example, the first distance threshold may be, but is not limited to being, implemented as 200 meters.
More preferably, the detection information includes a distance, an azimuth angle, and a speed of the peripheral target with respect to the current device.
Illustratively, the physical basis of the ranging principle of the millimeter wave radar is target reflection and constant velocity linear propagation to obtain a horizontal distance R between the current device and the surrounding target by the millimeter wave radar using a pulse ranging method. For example, as shown in fig. 4: Wherein c is the speed of light; t r is the time difference between the transmitted electromagnetic wave and the received echo.
The principle of the side azimuth angle of the millimeter wave radar is to utilize the included angle of projection of the connecting line of the true north and the radar and the target on the horizontal plane. For example, as shown in fig. 5: the azimuth angle is equal to the angle between the projection OB of the skew R on the horizontal plane and true north (true north).
In addition, the speed measurement principle of the millimeter wave radar is realized by using the Doppler frequency shift principle. For example, as shown in FIG. 6, when the frequency shift f D of the echo with respect to the emitted electromagnetic wave occurs after the peripheral object moves with respect to the radar, the radial velocity of the peripheral object with respect to the radarWhere λ is the operating wavelength of the radar and f D is the two-pass doppler frequency offset.
Notably, since the millimeter wave radar calculates the distance, azimuth angle, and relative speed of the peripheral target with respect to the current device using the transmitted electromagnetic waves and correspondingly received electromagnetic echoes; therefore, when a certain peripheral target is blocked by other peripheral targets (for example, a vehicle blocked by a preceding vehicle or the like), even if the blocked target is located within the detection range of the millimeter wave radar, the millimeter wave radar cannot detect the blocked target, so that the detection data cannot include detection information of the blocked target around the current device. The C-V2X system is used as a special communication terminal, can perform data interaction service with other vehicles, roads, pedestrians and cloud, can directly acquire communication information of all surrounding targets, and can complement related information of a blocked target (such as a vehicle blocked by a preceding vehicle) through preprocessing and fusion processing so as to accurately judge the road condition ahead, and timely make early warning for potential safety hazards, thereby ensuring running safety.
In addition, since the absolute communication information of the present application generally refers to absolute data of the peripheral target with respect to the world coordinate system (such as longitude and latitude, traveling direction, traveling speed, type or indication information of the peripheral target, etc.), the absolute communication information needs to be preprocessed to obtain relative data of the peripheral target with respect to the current device (i.e., the relative communication information such as distance, azimuth angle, relative speed, etc. of the peripheral target).
Specifically, as shown in fig. 2, the step S200 of the fusion method of the millimeter wave radar and the C-V2X system of the present application may include the steps of:
s210: according to the running data of the current equipment, converting the absolute communication data into relative data taking the current equipment as a coordinate origin; and
S220: and filtering out the relative data with the relative distance larger than the second distance threshold value to obtain the relative communication data.
Preferably, the second distance threshold may be set according to the driving data and road condition information of the current device. For example, the second distance threshold may be, but is not limited to being, implemented as 1000 meters, because other vehicles that are more than 1000 meters away pose a negligible safety threat to the current device for the speed of travel of the vehicle.
According to the above embodiment of the present invention, as shown in fig. 3, the step S300 of the fusion method of the millimeter wave radar and the C-V2X system may include the steps of:
s310: sequentially judging whether the target to be fused corresponding to the detection data is in the target corresponding to the relative communication data or not;
s320: in response to the judgment result being yes, replacing the relative communication information corresponding to the target to be fused with the detection information of the target to be fused; and
S330: and in response to the judgment result being no, adding the detection information of the targets to be fused into the relative communication data until all the targets to be fused in the detection data are judged, and taking the final relative communication data as the fusion data.
Notably, because the millimeter wave radar can accurately acquire the distance, azimuth angle and relative speed of the peripheral non-shielding target in the close range, and the C-V2X system cannot acquire the angle and relative speed of the close range target, the step S300 of the fusion method of the millimeter wave radar and the C-V2X system can well compensate the defects of the millimeter wave radar and the C-V2X system, the respective advantages of the millimeter wave radar and the C-V2X system are reserved, and the method is convenient for providing better guidance for safe running of current equipment.
For example, the millimeter wave radar cannot detect the information of the vehicle traveling in the lateral road before the vehicle passes through the intersection, although the distance from the current vehicle is less than 200 meters, which is liable to cause an accident that two vehicles collide at the intersection. The fusion method of the millimeter wave radar and the C-V2X system can acquire the vehicle information of the vehicle running in the transverse road in advance by utilizing the C-V2X system, is convenient for providing intersection early warning information for drivers in advance, and can effectively avoid safety accidents at intersections.
For another example, when the vehicle is overtaking, as the front vehicle is blocked, whether the vehicles blocked by the front vehicle and the quantity thereof can not be detected by the millimeter wave radar, and the fusion method of the millimeter wave radar and the C-V2X system can also acquire the information of the vehicles blocked by the front vehicle in advance by utilizing the C-V2X system, thereby being convenient for providing overtaking early warning information for a driver in advance and effectively avoiding safety accidents during overtaking.
For another example, when the vehicle changes lanes, whether the rear vehicle runs at a high speed or not is difficult to detect through the millimeter wave radar due to the shielding of the rear vehicle, and the fusion method of the millimeter wave radar and the C-V2X system can acquire the vehicle information shielded by the rear vehicle in advance by utilizing the C-V2X system, so that lane changing early warning information can be provided for a driver in advance, and safety accidents can be effectively avoided when the lane is changed.
Schematic System
Referring to fig. 7 of the drawings, a fusion system of a millimeter wave radar and a C-V2X system according to an embodiment of the present invention is illustrated. Specifically, as shown in fig. 7, the fusion system 400 of the millimeter wave radar and the C-V2X system may include a data acquisition module 410, a preprocessing module 420, and a fusion processing module 430 that are communicatively connected to each other. The data acquisition module 410 is configured to acquire, based on a millimeter wave radar and a C-V2X system configured on a current device, detection data and absolute communication data of a peripheral target, where the detection data is detection information of the peripheral target that is less than a first distance threshold from the current device, and the absolute communication data is absolute communication information of the peripheral target around the current device. The preprocessing module 420 is configured to preprocess the absolute communication data according to the running data of the current device to obtain relative communication data of the peripheral target, where the relative communication data is relative communication information of the peripheral target that is less than a second distance threshold from the current device, and the second distance threshold is greater than the first distance threshold. The fusion processing module 430 is configured to perform fusion processing on the detection data and the relative communication data of the peripheral target, so as to obtain fusion data of the peripheral target, so that the current device is conveniently guided to run safely according to the fusion data.
It should be noted that, in an example of the present invention, as shown in fig. 7, the preprocessing module 420 includes a conversion module 421 and a filtering module 422 that are communicatively connected to each other, where the conversion module 421 is configured to convert the absolute communication data into relative data with the current device as a coordinate origin according to the driving data of the current device; wherein the filtering module 422 is configured to filter out the relative data having the relative distance greater than the second distance threshold, so as to obtain the relative communication data.
In an example of the present invention, as shown in fig. 7, the fusion processing module 430 includes a judging module 431, a replacing module 432 and an adding module 433 that are communicatively connected to each other, where the judging module 431 is configured to sequentially judge whether a target to be fused corresponding to the probe data is among targets corresponding to the relative communication data; the replacing module 432 is configured to replace the relative communication information corresponding to the target to be fused with the detection information of the target to be fused in response to the determination result being yes; the adding module 433 is configured to, in response to the determination that the structure is no, add the probe information of the target to be fused to the relative communication data until all the targets to be fused in the probe data are determined, and take the final relative communication data as the fused data.
Schematic electronic device
Next, an electronic device according to an embodiment of the present invention is described with reference to fig. 8. As shown in fig. 8, the electronic device 90 includes one or more processors 91 and memory 92.
The processor 91 may be a Central Processing Unit (CPU) or other form of processing unit having data processing and/or instruction execution capabilities, and may control other components in the electronic device 90 to perform desired functions. In other words, the processor 91 comprises one or more physical devices configured to execute instructions. For example, the processor 91 may be configured to execute instructions that are part of: one or more applications, services, programs, routines, libraries, objects, components, data structures, or other logical constructs. Such instructions may be implemented to perform a task, implement a data type, transform the state of one or more components, implement a technical effect, or otherwise achieve a desired result.
The processor 91 may include one or more processors configured to execute software instructions. Additionally or alternatively, the processor 91 may include one or more hardware or firmware logic machines configured to execute hardware or firmware instructions. The processors of the processor 91 may be single-core or multi-core, and the instructions executed thereon may be configured for serial, parallel, and/or distributed processing. The various components of the processor 91 may optionally be distributed across two or more separate devices, which may be remotely located and/or configured for coordinated processing. Aspects of the processor 91 may be virtualized and executed by remotely accessible networked computing devices configured in a cloud computing configuration.
The memory 92 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, random Access Memory (RAM) and/or cache memory (cache), and the like. The non-volatile memory may include, for example, read Only Memory (ROM), hard disk, flash memory, and the like. One or more computer program instructions may be stored on the computer readable storage medium and executed by the processor 11 to perform some or all of the steps in the above-described exemplary methods of the present invention, and/or other desired functions.
In other words, the memory 92 includes one or more physical devices configured to hold machine readable instructions executable by the processor 91 to implement the methods and processes described herein. In implementing these methods and processes, the state of the memory 92 may be transformed (e.g., different data is saved). The memory 92 may include removable and/or built-in devices. The memory 92 may include optical memory (e.g., CD, DVD, HD-DVD, blu-ray disc, etc.), semiconductor memory (e.g., RAM, EPROM, EEPROM, etc.), and/or magnetic memory (e.g., hard-disk drive, floppy-disk drive, tape drive, MRAM, etc.), among others. The memory 92 may include volatile, nonvolatile, dynamic, static, read/write, read-only, random access, sequential access, location-addressable, file-addressable, and/or content-addressable devices.
It is to be appreciated that the memory 92 includes one or more physical devices. However, aspects of the instructions described herein may alternatively be propagated through a communication medium (e.g., an electromagnetic signal, an optical signal, etc.) that is not held by a physical device for a limited period of time. Aspects of the processor 91 and the memory 92 may be integrated together into one or more hardware logic components. These hardware logic components may include, for example, field Programmable Gate Arrays (FPGAs), program and application specific integrated circuits (PASICs/ASICs), program and application specific standard products (PSSPs/ASSPs), system on a chip (SOCs), and Complex Programmable Logic Devices (CPLDs).
In one example, as shown in FIG. 8, the electronic device 90 may also include an input device 93 and an output device 94, which are interconnected by a bus system and/or other form of connection mechanism (not shown). For example, the input device 93 may be, for example, a camera module or the like for capturing image data or video data. As another example, the input device 93 may include or interface with one or more user input devices such as a keyboard, mouse, touch screen, or game controller. In some embodiments, the input device 93 may include or interface with selected Natural User Input (NUI) components. Such component parts may be integrated or peripheral and the transduction and/or processing of the input actions may be processed on-board or off-board. Example NUI components may include microphones for speech and/or speech recognition; infrared, color, stereoscopic display, and/or depth cameras for machine vision and/or gesture recognition; head trackers, eye trackers, accelerometers and/or gyroscopes for motion detection and/or intent recognition; and an electric field sensing component for assessing brain activity and/or body movement; and/or any other suitable sensor.
The output device 94 may output various information including the classification result and the like to the outside. The output device 94 may include, for example, a display, speakers, a printer, and a communication network and remote output devices connected thereto, etc.
Of course, the electronic device 90 may further comprise the communication means, wherein the communication means may be configured to communicatively couple the electronic device 90 with one or more other computer devices. The communication means may comprise wired and/or wireless communication devices compatible with one or more different communication protocols. As non-limiting examples, the communication subsystem may be configured for communication via a wireless telephone network or a wired or wireless local area network or wide area network. In some embodiments, the communications apparatus may allow the electronic device 90 to send and/or receive messages to and/or from other devices via a network such as the Internet.
It will be appreciated that the configurations and/or approaches described herein are exemplary in nature, and that these specific embodiments or examples are not to be considered in a limiting sense, because numerous variations are possible. The specific routines or methods described herein may represent one or more of any number of processing strategies. As such, various acts illustrated and/or described may be performed in the sequence illustrated and/or described, in other sequences, in parallel, or omitted. Also, the order of the above-described processes may be changed.
Of course, only some of the components of the electronic device 90 that are relevant to the present invention are shown in fig. 8 for simplicity, components such as buses, input/output interfaces, etc. are omitted. In addition, the electronic device 90 may include any other suitable components depending on the particular application.
According to another aspect of the present invention, an embodiment of the present invention further provides another electronic device. Illustratively, as shown in FIG. 9, the electronic device includes an electronic device body 800 and a fusion system 400 of millimeter wave radar and C-V2X systems. The electronic device body 800 may be configured with at least one millimeter wave radar 810 and at least one C-V2X system 820. The fusion system 400 of the millimeter wave radar and the C-V2X system is communicably configured to the electronic device body 800, wherein the fusion system 400 of the millimeter wave radar and the C-V2X system includes communicably connected to each other: the data acquisition module is used for respectively acquiring detection data and absolute communication data of a peripheral target based on millimeter wave radar and a C-V2X system configured on current equipment, wherein the detection data is detection information of the peripheral target which is less than a first distance threshold from the current equipment, and the absolute communication data is absolute communication information of the peripheral target around the current equipment; the preprocessing module is used for preprocessing the absolute communication data according to the running data of the current equipment to obtain relative communication data of the peripheral target, wherein the relative communication data is relative communication information of the peripheral target which is smaller than a second distance threshold from the current equipment, and the second distance threshold is larger than the first distance threshold; and a fusion processing module, configured to perform fusion processing on the detection data of the peripheral target and the relative communication data, so as to obtain fusion data of the peripheral target, so that the current device is conveniently guided to run safely according to the fusion data.
It is noted that as shown in fig. 9, the electronic device body 800 of the present application may be, but is not limited to be, implemented as a smart car. Of course, in other examples of the application, the electronic device body 800 may also be implemented as a drone, intelligent robot, AR/VR device, or train or the like.
It is also noted that in the apparatus, devices and methods of the present invention, the components or steps may be disassembled and/or assembled. Such decomposition and/or recombination should be considered as equivalent aspects of the present invention.
The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the invention. Thus, the present invention is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
It will be appreciated by persons skilled in the art that the embodiments of the invention described above and shown in the drawings are by way of example only and are not limiting. The objects of the present invention have been fully and effectively achieved. The functional and structural principles of the present invention have been shown and described in the examples and embodiments of the invention may be modified or practiced without departing from the principles described.

Claims (11)

1. The fusion method of the millimeter wave radar and the C-V2X system is characterized by comprising the following steps:
Based on millimeter wave radar and a C-V2X system configured on current equipment, respectively acquiring detection data and absolute communication data of a peripheral target, wherein the detection data is detection information of the peripheral target which is less than a first distance threshold from the current equipment, and the absolute communication data is absolute communication information of the peripheral target around the current equipment;
Preprocessing the absolute communication data according to the running data of the current equipment to obtain relative communication data of the peripheral target, wherein the relative communication data is relative communication information of the peripheral target which is less than a second distance threshold from the current equipment, and the second distance threshold is greater than the first distance threshold; and
The detection data and the relative communication data of the peripheral target are fused to obtain fusion data of the peripheral target, so that the safety running of the current equipment can be guided according to the fusion data;
the step of fusing the detection data of the peripheral target and the relative communication data to obtain fused data of the peripheral target, so as to guide the safe running of the current device according to the fused data comprises the following steps:
Sequentially judging whether the target to be fused corresponding to the detection data is in the target corresponding to the relative communication data or not;
In response to the judgment result being yes, replacing the relative communication information corresponding to the target to be fused with the detection information of the target to be fused; and
And in response to the judgment result being no, adding the detection information of the targets to be fused into the relative communication data until all the targets to be fused in the detection data are judged, and taking the final relative communication data as the fusion data.
2. The method of merging the millimeter wave radar with the C-V2X system of claim 1, wherein the millimeter wave radar is a 77GHz millimeter wave radar, wherein the C-V2X system is a 5GC-V2X system.
3. The fusion method of the millimeter wave radar and the C-V2X system according to claim 1, wherein the first distance threshold is set according to an effective detection range of the millimeter wave radar.
4. The fusion method of millimeter wave radar and C-V2X system according to claim 1, wherein the second distance threshold is set according to traveling data and road condition information of the current device.
5. The method of claim 1, wherein the probe information includes a distance, an azimuth angle, and a speed of the surrounding target relative to the current device.
6. The method of claim 1, wherein the absolute communication information includes latitude and longitude of the surrounding target with respect to a world coordinate system, a traveling direction, a traveling speed, and indication information.
7. The method for merging millimeter wave radar with a C-V2X system according to any one of claims 1 to 6, wherein the step of preprocessing the absolute communication data according to the traveling data of the current device to obtain the relative communication data of the peripheral target, wherein the relative communication data is the relative communication information of the peripheral target that is less than a second distance threshold from the current device, and the second distance threshold is greater than the first distance threshold, comprises the steps of:
according to the running data of the current equipment, converting the absolute communication data into relative data taking the current equipment as a coordinate origin; and
And filtering out the relative data with the relative distance larger than the second distance threshold value to obtain the relative communication data.
8. A fusion system of millimeter wave radar and a C-V2X system, comprising:
The data acquisition module is used for respectively acquiring detection data and absolute communication data of a peripheral target based on millimeter wave radar and a C-V2X system configured on current equipment, wherein the detection data is detection information of the peripheral target which is less than a first distance threshold from the current equipment, and the absolute communication data is absolute communication information of the peripheral target around the current equipment;
the preprocessing module is used for preprocessing the absolute communication data according to the running data of the current equipment to obtain relative communication data of the peripheral target, wherein the relative communication data is relative communication information of the peripheral target which is smaller than a second distance threshold from the current equipment, and the second distance threshold is larger than the first distance threshold; and
The fusion processing module is used for carrying out fusion processing on the detection data and the relative communication data of the peripheral target to obtain fusion data of the peripheral target, so that the safety running of the current equipment can be guided according to the fusion data;
The fusion processing module comprises a judging module, a replacing module and an adding module which are mutually connected in a communication way, wherein the judging module is used for sequentially judging whether a target to be fused corresponding to the detection data is in a target corresponding to the relative communication data or not; the replacing module is used for replacing relative communication information corresponding to the target to be fused with the detection information of the target to be fused in response to the judgment result being yes; and the adding module is used for adding the detection information of the targets to be fused into the relative communication data in response to the fact that the judging structure is negative, and taking the final relative communication data as the fusion data until all the targets to be fused in the detection data are judged.
9. The fusion system of millimeter wave radar and C-V2X system according to claim 8, wherein the preprocessing module comprises a conversion module and a filtering module which are communicatively connected with each other, wherein the conversion module is configured to convert the absolute communication data into relative data with the current device as a coordinate origin according to the driving data of the current device; the filtering module is used for filtering out the relative data with the relative distance larger than the second distance threshold value so as to obtain the relative communication data.
10. An electronic device, comprising:
At least one processor for executing instructions; and
A memory communicatively connected to the at least one processor, wherein the memory has at least one instruction, wherein the instruction is executed by the at least one processor to cause the at least one processor to perform some or all of the steps in a fusion method of a millimeter wave radar with a C-V2X system, wherein the fusion method of a millimeter wave radar with a C-V2X system comprises the steps of:
Based on millimeter wave radar and a C-V2X system configured on current equipment, respectively acquiring detection data and absolute communication data of a peripheral target, wherein the detection data is detection information of the peripheral target which is less than a first distance threshold from the current equipment, and the absolute communication data is absolute communication information of the peripheral target around the current equipment;
Preprocessing the absolute communication data according to the running data of the current equipment to obtain relative communication data of the peripheral target, wherein the relative communication data is relative communication information of the peripheral target which is less than a second distance threshold from the current equipment, and the second distance threshold is greater than the first distance threshold; and
The detection data and the relative communication data of the peripheral target are fused to obtain fusion data of the peripheral target, so that the safety running of the current equipment can be guided according to the fusion data;
The detection data and the relative communication data of the peripheral target are fused to obtain fusion data of the peripheral target, so that the safety running of the current equipment can be guided according to the fusion data, and the method comprises the following steps:
Sequentially judging whether the target to be fused corresponding to the detection data is in the target corresponding to the relative communication data or not;
In response to the judgment result being yes, replacing the relative communication information corresponding to the target to be fused with the detection information of the target to be fused; and
And in response to the judgment result being no, adding the detection information of the targets to be fused into the relative communication data until all the targets to be fused in the detection data are judged, and taking the final relative communication data as the fusion data.
11. An electronic device, comprising:
An electronic device body, wherein the electronic device body is configured with at least one millimeter wave radar and at least one C-V2X system; and
A fusion system of a millimeter wave radar and a C-V2X system, wherein the fusion system of the millimeter wave radar and the C-V2X system is communicably configured to the electronic device body, and the fusion system of the millimeter wave radar and the C-V2X system comprises communicably connected to each other:
The data acquisition module is used for respectively acquiring detection data and absolute communication data of a peripheral target based on millimeter wave radar and a C-V2X system configured on current equipment, wherein the detection data is detection information of the peripheral target which is less than a first distance threshold from the current equipment, and the absolute communication data is absolute communication information of the peripheral target around the current equipment;
the preprocessing module is used for preprocessing the absolute communication data according to the running data of the current equipment to obtain relative communication data of the peripheral target, wherein the relative communication data is relative communication information of the peripheral target which is smaller than a second distance threshold from the current equipment, and the second distance threshold is larger than the first distance threshold; and
The fusion processing module is used for carrying out fusion processing on the detection data and the relative communication data of the peripheral target to obtain fusion data of the peripheral target, so that the safety running of the current equipment can be guided according to the fusion data;
The fusion processing module comprises a judging module, a replacing module and an adding module which are mutually connected in a communication way, wherein the judging module is used for sequentially judging whether a target to be fused corresponding to the detection data is in a target corresponding to the relative communication data or not; the replacing module is used for replacing relative communication information corresponding to the target to be fused with the detection information of the target to be fused in response to the judgment result being yes; and the adding module is used for adding the detection information of the targets to be fused into the relative communication data in response to the fact that the judging structure is negative, and taking the final relative communication data as the fusion data until all the targets to be fused in the detection data are judged.
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