CN112213719A - Millimeter wave radar rotating device and target tracking method thereof - Google Patents

Millimeter wave radar rotating device and target tracking method thereof Download PDF

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Publication number
CN112213719A
CN112213719A CN202010993119.9A CN202010993119A CN112213719A CN 112213719 A CN112213719 A CN 112213719A CN 202010993119 A CN202010993119 A CN 202010993119A CN 112213719 A CN112213719 A CN 112213719A
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target
millimeter wave
wave radar
control module
servo motor
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CN112213719B (en
Inventor
于博洋
王春燕
赵万忠
吴刚
贾晨
王天成
朱耀鎏
孟琦康
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Nanjing University of Aeronautics and Astronautics
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Nanjing University of Aeronautics and Astronautics
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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
    • G01S13/66—Radar-tracking systems; Analogous systems
    • G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R11/02—Arrangements for holding or mounting articles, not otherwise provided for for radio sets, television sets, telephones, or the like; Arrangement of controls thereof
    • 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
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
    • G01S3/14—Systems for determining direction or deviation from predetermined direction
    • G01S3/46—Systems for determining direction or deviation from predetermined direction using antennas spaced apart and measuring phase or time difference between signals therefrom, i.e. path-difference systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R2011/0042—Arrangements for holding or mounting articles, not otherwise provided for characterised by mounting means
    • B60R2011/008—Adjustable or movable supports
    • B60R2011/0092—Adjustable or movable supports with motorization

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

Abstract

The invention discloses a millimeter wave radar rotating device and a target tracking method thereof, wherein the millimeter wave radar rotating device comprises the following steps: the device comprises a base body, a rotation control module, a pin rod and a rotation shell; the base body is fixedly arranged on a vehicle body; the rotation control module is fixedly arranged on the upper surface of the base body and comprises: the controller, the servo motor, the output gear, the reduction gear and the pin gear; the hole for mounting the pin rod on the base body is coaxial with the bearing mounting hole on the base body and is matched with the bearing to be mounted in the bearing mounting hole of the base body; the pin rod and the base body can rotate relatively; the upper surface of the rotating shell is fixedly connected with the lower end face of the pin rod, and the lower surface of the rotating shell is connected with the base body through a bearing. The invention realizes target tracking under the condition of using a single millimeter wave radar sensor by using the rotating device with simple structure.

Description

Millimeter wave radar rotating device and target tracking method thereof
Technical Field
The invention belongs to the technical field of radar detection, and particularly relates to a millimeter wave radar rotating device and a target tracking method thereof.
Background
The millimeter wave radar has high precision, strong anti-interference capability and small volume, and is widely applied to the technical fields of robots, unmanned planes, unmanned vehicle target detection, target tracking and the like. The millimeter wave radar can detect the distance, the speed and the azimuth angle of a target, the principle of measuring the azimuth angle is that the millimeter wave radar is provided with a plurality of parallel receiving antennas, and the azimuth angle of the target can be obtained by calculating the phase difference of radar waves reflected by the same target and received by different antennas.
With the improvement of the technological level, under special working conditions such as special small-sized detection robots and special unmanned vehicle detection countermeasures, target tracking becomes a hot spot problem. As the moving speed of the robot and the unmanned vehicle is faster and faster, the steering becomes more sensitive, which leads to more and more loss of the tracked target during target tracking. Therefore, a new tracking assistance device or tracking method is needed to reduce the target loss during the target tracking process.
Some scholars propose the use of multi-sensor fusion for target detection and target tracking, such as: the method has a certain loss effect, but has high cost and complex fusion algorithm, and is assisted by a millimeter wave radar and a monocular camera; on the one hand, the normal operation can be carried out only by depending on a high-performance processor, and on the other hand, the multi-sensor causes the size of the machine body and the mass increase, so that the requirements of being convenient for concealment, improving the moving speed and steering sensitivity of the investigation working condition can not be met. Under special working conditions such as unmanned vehicle chasing and robot catching, only a single target is required to be tracked, at the moment, the sensor is required to be small in size, the tracking algorithm is simple, and particularly the response is quick, but the requirement is difficult to achieve by using multiple sensors.
Disclosure of Invention
In view of the above disadvantages of the prior art, the present invention provides a millimeter wave radar rotating device and a target tracking method thereof, so as to solve the problem in the prior art that a target is easily lost during a target tracking process; the invention realizes target tracking under the condition of using a single millimeter wave radar sensor by using the rotating device with simple structure.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
the invention relates to a millimeter wave radar rotating device, comprising: the device comprises a base body, a rotation control module, a pin rod and a rotation shell;
the base body is fixedly arranged on a vehicle body;
the rotation control module is fixedly arranged on the upper surface of the base body and comprises: the controller, the servo motor, the output gear, the reduction gear and the pin gear;
the controller is electrically connected with the servo motor, the output gear is fixed on an output shaft of the servo motor, the pin rod gear is fixed on the pin rod, the reduction gear is arranged on a cylinder protruding from the inner part of the shell of the rotation control module, and the output gear, the reduction gear and the pin rod gear are meshed in sequence;
the base body is provided with a bearing mounting hole, and the pin rod is arranged in the bearing mounting hole by matching with the bearing; the pin rod and the base body rotate relatively;
the upper surface of the rotating shell is fixedly connected with the lower end surface of the pin rod, and a millimeter wave radar is installed in the rotating shell;
the rotation control module is provided with a radar interface, the controller is connected with the millimeter wave radar and receives signals of the millimeter wave radar, and the controller outputs steering signals of the vehicle body to the electronic control unit in the vehicle body.
Further, the reduction gear is axially positioned by a shoulder on the protruding cylinder of the rotation control module housing and the upper surface of the base body.
Furthermore, a protruding flat plate is arranged inside the shell of the rotation control module, the lower surface of the controller is fixedly adhered above the protruding flat plate of the shell of the rotation control module, and the upper surface of the servo motor is fixedly adhered below the protruding flat plate of the shell of the rotation control module.
Furthermore, a gap is reserved between the pin rod and a hole in the shell of the rotation control module, relative rotation can be achieved, and the rotation shell and the pin rod rotate along the axis of the pin rod synchronously.
Furthermore, the substrate is in a hollow triangular prism shape, the upper flat plate and the lower flat plate are in an isosceles triangle shape, the vertex angles of the upper flat plate and the lower flat plate are rounded, and a bearing mounting hole is formed in the circle center of each rounded corner.
Further, the rotation control module is fixedly adhered to the surface of the upper plate of the base.
Further, in order to facilitate installation of the millimeter wave radar, the rotating housing is of a rectangular box shape.
Furthermore, the rotation direction of the servo motor is variable, and the servo motor can rotate for a certain angle in two directions or maintain the current angle unchanged.
The invention also provides a target tracking method of the millimeter wave radar rotating device, which comprises the following steps:
(1) the millimeter wave radar obtains the movement speed of all targets in a radar target detection area relative to the self vehicle, wherein the target with the movement speed of zero is an invalid target, and otherwise, the target is a valid target;
(2) determining a target to be tracked and reading a relative angle alpha; selecting one target from the effective targets as a target to be tracked according to the requirement of an operator, and reading a relative angle alpha of the target to be tracked, which is obtained by the millimeter wave radar, by a controller;
(3) controlling a relative angle alpha threshold value according to a preset target loss critical angle threshold value beta;
(4) the controller outputs a vehicle body steering signal to an electronic control unit in the vehicle body, and the electronic control unit controls the vehicle body to steer.
Further, the calculation formula of the target relative own vehicle distance in the step (1) is as follows:
Figure BDA0002691619970000021
the calculation formula of the target relative to the moving speed of the self vehicle is as follows:
Figure BDA0002691619970000022
in the formula, rho is the distance between a target and a vehicle, T is the modulation period of a radar, and Delta F is the millimeter wave frequency bandwidth; u is the speed of the target relative to the host vehicle, c is the speed of light, f0Is the operating frequency of the radar centre, fb+Frequency difference of the dynamic target reflected signal and the rising edge of the transmitted information, fb-Is the frequency difference of the falling edge.
Further, the step (2) specifically includes:
the millimeter wave radar receives the phase difference of the millimeter waves reflected by the same monitoring target by using more than two parallel receiving antennas, and calculates to obtain the relative angle alpha of the monitored target;
the specified tracking working condition is that the center of the millimeter wave radar and the target to be tracked are in the same plane, the specified relative angle alpha is an included angle between a connecting line from the center of the millimeter wave radar to the target to be tracked and the direction of a central axis of the millimeter wave radar transmission, and the specified relative angle alpha is positive clockwise and negative anticlockwise in downward view.
Further, the control method in the step (3) specifically includes: when the absolute value | alpha | of the relative angle alpha is more than or equal to beta, the rotation control module controls the rotation shell to rotate towards the direction of reducing | alpha |; and when the angle is less than beta, the controller controls the servo motor to keep the current rotation angle.
Further, the step (3) specifically further includes: the rotation angle of a servo motor in the rotation control module is controlled by PID, and the position control principle of the servo motor is as follows: the method determines the size of the rotating speed by controlling the frequency of the input pulses, and determines the rotating angle by controlling the number of the pulses, and comprises the following specific steps:
(31) when the absolute value | alpha | of the relative angle alpha is more than or equal to beta, determining the positive and negative of the input pulse signal according to the positive and negative of alpha so as to determine the rotation direction of the servo motor;
(32) ensuring that the rotational speed of the rotating housing is greater than the tangential speed v at which the target leaves the detection rangetThe rotating speed of the rotating shell is determined by the frequency of a pulse signal input to the servo motor by the controller;
(33) when the relative angle | alpha | of the target to be tracked is smaller than beta in the rotating process, the electronic control unit controls the vehicle body to turn, and meanwhile, the servo motor continues to rotate; and when the target to be tracked returns to the center of the detection range again, namely alpha approaches to 0, controlling the servo motor to stop rotating.
Further, the tangential velocity v of the target leaving the detection range in the step (32)tThe calculation formula is as follows:
Figure BDA0002691619970000031
in the formula, vtThe tangential velocity at which the target leaves the detection range,
Figure BDA0002691619970000032
is the first derivative of the relative angle alpha of the object to be tracked.
The invention has the beneficial effects that:
the invention can realize target tracking under the condition of only using a single millimeter wave radar sensor, has few interfaces, is easy to electrically control, is easy to integrate with other electric control systems and has lower cost.
The invention has the advantages of simple structure, small integral volume, small mass, small energy consumption and simple tracking algorithm, and is beneficial to control.
The invention has novel structure and great market competitiveness.
Drawings
FIG. 1a is a schematic structural diagram of a millimeter wave radar rotating apparatus according to the present invention;
FIG. 1b is an exploded view of the present invention assembly;
FIG. 2 is a schematic view of a base bearing mounting hole of the present invention
FIG. 3a is a schematic diagram of the internal principle of the rotating control module according to the present invention;
FIG. 3b is a schematic diagram of the internal structure of the rotation control module according to the present invention;
FIG. 4 is a schematic view of the operation of the rotating device of the present invention;
FIG. 5a is a schematic view of the rotating device not in operation;
FIG. 5b is a schematic diagram illustrating an impending loss of a tracking target;
FIG. 5c is a schematic view of the position relationship of the rotating device after the rotating device is activated;
FIG. 5d is a schematic view showing a vehicle body steering completion position relationship;
FIG. 6 is a partial parameter diagram of the present invention;
FIG. 7 is a flow chart of the present invention;
FIG. 8 is a control flow chart of the present invention;
in the figure, 1-basal body, 2-rotation control module, 3-pin rod, 4-rotation shell, 5-servo motor, 6-output gear, 7-reduction gear, 8-pin rod gear, 9-controller, 10-millimeter wave radar signal, 11-vehicle body steering signal, 12-bearing, 12 a-bearing excircle, 12 b-bearing inner circle, 21-cylinder, 22-protruding flat plate and 211-shaft shoulder.
Detailed Description
In order to facilitate understanding of those skilled in the art, the present invention will be further described with reference to the following examples and drawings, which are not intended to limit the present invention.
Referring to fig. 1a, a millimeter wave radar turning device of the present invention includes: the device comprises a base body 1, a rotation control module 2, a pin rod 3 and a rotation shell 4;
the base body 1 can be fixedly arranged on a vehicle body through adhesion or welding;
rotation control module 2 is fixed and is located the upper surface of base member 1, and it contains: the controller 9, the servo motor 5, the output gear 6, the reduction gear 7 and the pin gear 8; as shown in figure 1b of the drawings,
the internal structure of the rotation control module 2 is as shown in fig. 3a and fig. 3b, the controller 9 is electrically connected with the servo motor 5, the output gear 6 is fixed on the output shaft of the servo motor 5 in an interference fit manner, the pin gear 8 is fixed on the pin 3 in an interference fit manner, the reduction gear 7 is installed on a cylinder 21 protruding from the inside of the shell of the rotation control module 2, a gap is formed between the reduction gear 7 and the cylinder 21, the central plane of the pin gear 8 and the central plane of the reduction gear 7 are coplanar with the central plane of the output gear 6, and the output gear 6, the reduction gear 7 and the pin gear 8 are sequentially meshed;
the base body 1 is provided with a bearing mounting hole, the pin rod 3 is in interference fit with the bearing inner circle 12b, and the bearing outer circle 12a is in interference fit with the bearing mounting hole and is arranged in the bearing mounting hole of the upper flat plate of the base body; the pin rod 3 and the base body 1 can rotate relatively;
the upper surface of the rotating shell 4 is fixedly connected with the lower end face of the pin rod 3, the lower surface of the rotating shell is provided with a cylindrical protrusion coaxial with the pin rod 3 and in interference fit with the inner circle 12b of the bearing, and the outer circle 12a of the bearing is in interference fit with the bearing mounting hole and is mounted in the bearing mounting hole of the lower flat plate of the base body.
The reduction gear 7 is axially positioned by a shaft shoulder 211 on a cylinder 21 protruding inside the housing of the rotation control module and the upper surface of the base 1;
a protruding flat plate 22 is arranged in the shell of the rotation control module 2, the lower surface of the controller 9 is fixedly adhered above the protruding flat plate, and the upper surface of the servo motor 5 is fixedly adhered below the protruding flat plate;
the rotation control module is provided with a radar interface, the controller is connected with the millimeter wave radar and receives a millimeter wave radar signal 10, and the controller 10 outputs a vehicle body steering signal 11 to an Electronic Control Unit (ECU) in the vehicle body.
Pin 3 and the pin hole clearance fit on the shell of rotation control module 2 can take place relative rotation, rotate the axis rotation of shell 4 and pin 3 synchronous edge pin, have the installation millimeter wave radar in the rotation shell.
The substrate is in a hollow triangular prism shape, the upper flat plate and the lower flat plate are in an isosceles triangle shape, the vertex angles of the upper flat plate and the lower flat plate are rounded, and the circle center of each rounded corner is provided with a bearing mounting hole (as shown in figure 2).
The rotation control module is fixedly arranged on the surface of the upper flat plate of the base body.
In order to facilitate installation of the millimeter wave radar, the rotating shell is in a cuboid box shape.
The rotation direction of the servo motor is variable, and the servo motor can rotate for a certain angle in two directions or keep the current angle unchanged.
The invention also provides a target tracking method of the millimeter wave radar rotating device, which is shown in fig. 7 and comprises the following steps:
(1) the millimeter wave radar obtains the movement speed of all targets in a radar target detection area relative to the self vehicle, wherein the target with the movement speed of zero is an invalid target, and otherwise, the target is a valid target;
the calculation formula of the target relative to the distance from the vehicle in the step (1) is as follows:
Figure BDA0002691619970000051
the calculation formula of the target relative to the moving speed of the self vehicle is as follows:
Figure BDA0002691619970000052
in the formula, rho is the distance between a target and a vehicle, T is the modulation period of a radar, and Delta F is the millimeter wave frequency bandwidth; u is the speed of the target relative to the host vehicle, c is the speed of light, f0Is the operating frequency of the radar centre, fb+Frequency difference of the dynamic target reflected signal and the rising edge of the transmitted information, fb-Is the frequency difference of the falling edge.
(2) Determining a target to be tracked and reading a relative angle alpha; selecting one target from the effective targets as a target to be tracked according to the requirement of an operator, and reading a relative angle alpha of the target to be tracked, which is obtained by the millimeter wave radar, by a controller;
the step (2) specifically comprises:
the millimeter wave radar receives the phase difference of the millimeter waves reflected by the same monitoring target by using more than two parallel receiving antennas, and calculates to obtain the relative angle alpha of the monitored target;
referring to fig. 4, the specified tracking condition is that the center of the millimeter wave radar and the target to be tracked are on the same plane, the specified relative angle α is an included angle between a connecting line from the center of the millimeter wave radar to the target to be tracked and the central axis direction of the transmission of the millimeter wave radar, and the specified relative angle α is positive clockwise and negative counterclockwise when viewed from top.
(3) Controlling a relative angle alpha threshold value according to a preset target loss critical angle threshold value beta;
the control method in the step (3) is specifically as follows: referring to fig. 5b and 5c, when the absolute value | α | ≧ β of the relative angle α, the rotation control module controls the rotation housing to rotate in a direction that decreases | α |; referring to fig. 5a, when | α | < β, the controller controls the servo motor to maintain the current rotation angle.
Referring to fig. 8, the step (3) further includes: the rotation angle of a servo motor in the rotation control module is controlled by PID, and the position control principle of the servo motor is as follows: the method determines the size of the rotating speed by controlling the frequency of the input pulses, and determines the rotating angle by controlling the number of the pulses, and comprises the following specific steps:
(31) when the absolute value | alpha | of the relative angle alpha is more than or equal to beta, determining the positive and negative of the input pulse signal according to the positive and negative of alpha so as to determine the rotation direction of the servo motor;
(32) ensuring that the rotational speed of the rotating housing is greater than the tangential speed v at which the target leaves the detection rangetThe rotating speed of the rotating shell is determined by the frequency of a pulse signal input to the servo motor by the controller;
(33) when the relative angle | alpha | of the target to be tracked is smaller than beta in the rotating process, the electronic control unit controls the vehicle body to turn, and meanwhile, the servo motor continues to rotate; and when the target to be tracked returns to the center of the detection range again, namely alpha approaches to 0, controlling the servo motor to stop rotating.
The tangential velocity v of the target leaving the detection range in said step (32)tThe calculation formula is as follows:
Figure BDA0002691619970000061
in the formula, vtThe tangential velocity at which the target leaves the detection range,
Figure BDA0002691619970000062
the first derivative of the relative angle alpha of the object to be tracked is shown with reference to fig. 6.
(4) Referring to fig. 7, the controller outputs a vehicle body steering signal to an Electronic Control Unit (ECU) in the vehicle body, and the electronic control unit controls the vehicle body steering.
While the invention has been described in terms of its preferred embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention.

Claims (11)

1. A millimeter wave radar rotating apparatus, comprising: the device comprises a base body, a rotation control module, a pin rod and a rotation shell;
the base body is fixedly arranged on a vehicle body;
the rotation control module is fixedly arranged on the upper surface of the base body and comprises: the controller, the servo motor, the output gear, the reduction gear and the pin gear;
the controller is electrically connected with the servo motor, the output gear is fixed on an output shaft of the servo motor, the pin rod gear is fixed on the pin rod, the reduction gear is arranged on a cylinder protruding from the inner part of the shell of the rotation control module, and the output gear, the reduction gear and the pin rod gear are meshed in sequence;
the base body is provided with a bearing mounting hole, and the pin rod is arranged in the bearing mounting hole by matching with the bearing; the pin rod and the base body rotate relatively;
the upper surface of the rotating shell is fixedly connected with the lower end surface of the pin rod, and a millimeter wave radar is installed in the rotating shell;
the rotation control module is provided with a radar interface, the controller is connected with the millimeter wave radar and receives signals of the millimeter wave radar, and the controller outputs steering signals of the vehicle body to the electronic control unit in the vehicle body.
2. The millimeter wave radar turning device of claim 1, wherein the reduction gear is axially located by a shoulder on the protruding cylinder of the rotation control module housing and the upper surface of the base.
3. The millimeter wave radar turning device according to claim 1, wherein a protruding plate is provided inside the rotation control module housing, the lower surface of the controller is fixedly attached above the protruding plate of the rotation control module housing, and the upper surface of the servo motor is fixedly attached below the protruding plate of the rotation control module housing.
4. The millimeter wave radar turning device of claim 1, wherein the pin has clearance from a hole in the rotation control module housing for relative rotation, and the turn housing rotates with the pin in synchronization with the rotation of the pin along the axis of the pin.
5. The millimeter wave radar rotating apparatus according to claim 1, wherein the base body is a hollow triangular prism, the upper and lower flat plates are isosceles triangles, the top angles of the two flat plates are rounded, and a bearing mounting hole is formed at the center of the rounded corner.
6. A target tracking method of a millimeter wave radar rotating device is characterized by comprising the following steps:
(1) the millimeter wave radar obtains the movement speed of all targets in a radar target detection area relative to the self vehicle, wherein the target with the movement speed of zero is an invalid target, and otherwise, the target is a valid target;
(2) determining a target to be tracked and reading a relative angle alpha; selecting one target from the effective targets as a target to be tracked according to the requirement of an operator, and reading a relative angle alpha of the target to be tracked, which is obtained by the millimeter wave radar, by a controller;
(3) controlling a relative angle alpha threshold value according to a preset target loss critical angle threshold value beta;
(4) the controller outputs a vehicle body steering signal to an electronic control unit in the vehicle body, and the electronic control unit controls the vehicle body to steer.
7. The method for tracking the target of the millimeter wave radar turning device according to claim 6, wherein the formula for calculating the distance between the target and the vehicle in the step (1) is as follows:
Figure RE-FDA0002810813350000011
the calculation formula of the target relative to the moving speed of the self vehicle is as follows:
Figure RE-FDA0002810813350000021
in the formula, rho is the distance between a target and a vehicle, T is the modulation period of a radar, and Delta F is the millimeter wave frequency bandwidth; u is the speed of the target relative to the host vehicle, c is the speed of light, f0Is the operating frequency of the radar centre, fb+Frequency difference of the dynamic target reflected signal and the rising edge of the transmitted information, fb-Is the frequency difference of the falling edge.
8. The method for tracking the target of the millimeter wave radar turning device according to claim 6, wherein the step (2) specifically comprises:
the millimeter wave radar receives the phase difference of the millimeter waves reflected by the same monitoring target by using more than two parallel receiving antennas, and calculates to obtain the relative angle alpha of the monitored target;
the specified tracking working condition is that the center of the millimeter wave radar and the target to be tracked are in the same plane, the specified relative angle alpha is an included angle between a connecting line from the center of the millimeter wave radar to the target to be tracked and the direction of a central axis of the millimeter wave radar transmission, and the specified relative angle alpha is positive clockwise and negative anticlockwise in downward view.
9. The method for tracking the target of the millimeter wave radar rotating apparatus according to claim 6, wherein the control method in the step (3) is specifically: when the absolute value | alpha | of the relative angle alpha is more than or equal to beta, the rotation control module controls the rotation shell to rotate towards the direction of reducing | alpha |; and when the angle is less than beta, the controller controls the servo motor to keep the current rotation angle.
10. The method for tracking the target of the millimeter wave radar turning device according to claim 9, wherein the step (3) further comprises: the rotation angle of a servo motor in the rotation control module is controlled by PID, and the position control principle of the servo motor is as follows: the method determines the size of the rotating speed by controlling the frequency of the input pulses, and determines the rotating angle by controlling the number of the pulses, and comprises the following specific steps:
(31) when the absolute value | alpha | of the relative angle alpha is more than or equal to beta, determining the positive and negative of the input pulse signal according to the positive and negative of alpha so as to determine the rotation direction of the servo motor;
(32) ensuring that the rotational speed of the rotating housing is greater than the tangential speed v at which the target leaves the detection rangetThe rotating speed of the rotating shell is determined by the frequency of a pulse signal input to the servo motor by the controller;
(33) when the relative angle | alpha | of the target to be tracked is smaller than beta in the rotating process, the electronic control unit controls the vehicle body to turn, and meanwhile, the servo motor continues to rotate; and when the target to be tracked returns to the center of the detection range again, namely alpha approaches to 0, controlling the servo motor to stop rotating.
11. The method for tracking the target of a millimeter wave radar turning device according to claim 10, wherein the tangential velocity v of the target out of the detection range in the step (32)tThe calculation formula is as follows:
Figure RE-FDA0002810813350000022
in the formula, vtThe tangential velocity at which the target leaves the detection range,
Figure RE-FDA0002810813350000023
is the first derivative of the relative angle alpha of the object to be tracked.
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