CN112213719B - 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
CN112213719B
CN112213719B CN202010993119.9A CN202010993119A CN112213719B CN 112213719 B CN112213719 B CN 112213719B CN 202010993119 A CN202010993119 A CN 202010993119A CN 112213719 B CN112213719 B CN 112213719B
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target
millimeter wave
wave radar
rotation
alpha
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CN112213719A (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, comprising the following steps: the device comprises a base body, a rotation control module, a pin rod and a rotation shell; the matrix is fixedly arranged on the vehicle body; the rotation control module is fixedly arranged on the upper surface of the base body, and comprises: the device comprises a controller, a servo motor, an output gear, a reduction gear and a pin gear; the hole for installing the pin rod on the base body is coaxial with the bearing installation hole on the base body, and the matched bearing is installed in the bearing installation hole of the base body; the pin rod and the base body can rotate relatively; the upper surface of the rotary shell is fixedly connected with the lower end face of the pin rod, and the lower surface of the rotary 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 aerial vehicles, unmanned vehicle target detection, target tracking and the like. The millimeter wave radar can detect the distance, speed and azimuth angle of a target, and 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 through phase difference calculation of radar waves reflected by the same target received by different antennas.
Along with the improvement of the technology level, target tracking becomes a hot spot problem under special working conditions such as special small-sized investigation robots, special investigation unmanned vehicles and the like. As robots and unmanned vehicles move faster and faster, steering becomes more sensitive, which results in more and more of the tracked objects being lost during object tracking. Therefore, a new tracking aid or tracking method is needed to reduce the loss of targets during target tracking.
Some scholars propose the use of multi-sensor fusion for target detection and target tracking, such as: the millimeter wave radar is assisted by the monocular camera, and the method has a certain loss effect, but has higher cost and complex fusion algorithm; on one hand, the machine can work normally only by means of a high-performance processor, and on the other hand, the volume and the mass of the machine body are increased by a plurality of sensors, so that the requirements of detecting working conditions, convenient concealment and improvement of moving speed and steering sensitivity cannot be met. Under special working conditions such as unmanned vehicle chase and robot capture, only a single target is required to be tracked, and at the moment, the sensor is required to be small in size, the tracking algorithm is simple, particularly the response is rapid, but the requirement is difficult to achieve by using multiple sensors.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a millimeter wave radar rotating device and a target tracking method thereof, so as to solve the problem that targets are easy to lose in the target tracking process in the prior art; 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 above purpose, the invention adopts the following technical scheme:
the millimeter wave radar rotating device of the invention comprises: the device comprises a base body, a rotation control module, a pin rod and a rotation shell;
the matrix is fixedly arranged on the vehicle body;
the rotation control module is fixedly arranged on the upper surface of the base body, and comprises: the device comprises a controller, a servo motor, an output gear, a reduction gear and a 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 inside of the shell of the rotation control module, and the output gear, the reduction gear and the pin rod gear are sequentially meshed;
the base body is provided with a bearing mounting hole, and the pin rod is matched with the bearing to be arranged in the bearing mounting hole; the pin rod and the base body rotate relatively;
the upper surface of the rotary shell is fixedly connected with the lower end surface of the pin rod, and a millimeter wave radar is installed in the rotary shell;
the rotation control module is provided with a radar interface, the controller is connected with the millimeter wave radar and receives millimeter wave radar signals, and the controller outputs vehicle steering signals to an electronic control unit in the vehicle body.
Further, the reduction gear is axially positioned by a shoulder on the protruding cylinder of the rotary control module housing and the upper surface of the base body.
Further, the inside of the shell of the rotation control module is provided with a protruding flat plate, 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.
Further, the pin rod and the hole on the shell of the rotation control module are provided with gaps, relative rotation can occur, and the rotation shell and the pin rod synchronously rotate along the axis of the pin rod.
Further, the matrix is a hollow triangular prism shape, the upper flat plate and the lower flat plate are isosceles triangles, the vertex angles of the upper flat plate and the lower flat plate are rounded, and the circle center of the rounded corners is provided with a bearing mounting hole.
Further, the rotation control module is fixedly adhered to the surface of the upper plate of the base body.
Further, in order to facilitate installation of the millimeter wave radar, the rotary housing is a rectangular box.
Further, the rotation direction of the servo motor is variable, and the servo motor can rotate 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 moving speed of all targets in the radar target detection area relative to the vehicle, wherein the target with the moving speed of zero is an invalid target, and otherwise, the target is an effective target;
(2) Determining a target to be tracked and a reading relative angle alpha; selecting one target from the effective targets as a target to be tracked according to the needs of operators, and reading the 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 according to a preset target loss critical angle threshold 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 vehicle distance in the step (1) is as follows:
the calculation formula of the target relative self-vehicle movement speed is as follows:
wherein ρ is the distance of the target relative to the vehicle, T is the modulation period of the radar, and ΔF is the millimeter wave frequency bandwidth; u is the speed of the target relative to the vehicle, c is the speed of light, f 0 Is the working frequency of the radar center, f b+ For the frequency difference of the dynamic target reflected signal and the rising edge of the transmitted information, f b- Is the frequency difference of the falling edge.
Further, the step (2) specifically includes:
the millimeter wave radar receives the phase difference of millimeter waves reflected by the same monitoring target by using more than two parallel receiving antennas, and calculates the relative angle alpha of the monitored target;
the specific tracking working condition is that the millimeter wave radar center and the target to be tracked are positioned on the same plane, the specific relative angle alpha is an included angle between the connecting line of the millimeter wave radar center and the target to be tracked and the direction of the transmitting central axis of the millimeter wave radar, and the specific relative angle alpha is positive clockwise and negative anticlockwise in the plane 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 in the direction of reducing the |alpha|; when |alpha| < beta, the controller controls the servo motor to keep the current rotation angle.
Further, the step (3) specifically further includes: the rotation angle of the servo motor in the rotation control module is controlled by PID, and the position control principle of the servo motor is as follows: the rotation speed is determined by controlling the frequency of input pulses, and the rotation angle is determined by controlling the number of pulses, and the specific steps are as follows:
(31) When the absolute value |alpha| of the relative angle alpha is more than or equal to beta, determining the positive and negative of an input pulse signal according to the positive and negative of alpha so as to determine the rotating direction of the servo motor;
(32) To ensure that the rotational speed of the rotating housing is greater than the tangential speed v of the target leaving the detection range t The rotating speed of the rotating shell is determined by the pulse signal frequency input to the servo motor by the controller;
(33) When the relative angle |alpha| < beta of the target to be tracked in the rotating process, the electronic control unit controls the vehicle body to turn, and meanwhile, the servo motor continues to rotate; when the target to be tracked returns to the center of the detection range again, namely alpha approaches to 0, the servo motor is controlled to stop rotating.
Further, the tangential velocity v of the target leaving the detection range in the step (32) t The calculation formula is as follows:
in the formula, v t For tangential velocity of the object leaving the detection range,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 using only 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 simple structure, small whole 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 diagram of a millimeter wave radar rotation device according to the present invention;
FIG. 1b is an exploded view of the assembly of the present invention;
FIG. 2 is a schematic view of a mounting hole of a substrate bearing according to the present invention
FIG. 3a is a schematic diagram illustrating the internal principle of the rotation control module according to the present invention;
FIG. 3b is a schematic diagram illustrating an internal structure of the rotation control module according to the present invention;
FIG. 4 is a schematic diagram illustrating the operation of the turning device of the present invention;
FIG. 5a is a schematic view of a turning device in an inactive condition;
FIG. 5b is a schematic diagram showing the relationship between the positions of the tracking targets about to be lost;
FIG. 5c is a schematic view of the positional relationship of the rotating device after it has been activated;
FIG. 5d is a schematic view of the position relationship of the steering of the vehicle body;
FIG. 6 is a schematic view of a portion of parameters of the present invention;
FIG. 7 is a flow chart of the operation of the present invention;
FIG. 8 is a control flow diagram of the present invention;
in the figure, a 1-substrate, a 2-rotation control module, a 3-pin, a 4-rotation shell, a 5-servo motor, a 6-output gear, a 7-reduction gear, an 8-pin gear, a 9-controller, a 10-millimeter wave radar signal, an 11-vehicle body steering signal, a 12-bearing, a 12 a-bearing outer circle, a 12 b-bearing inner circle, a 21-cylinder, a 22-protruding flat plate and a 211-shaft shoulder.
Detailed Description
The invention will be further described with reference to examples and drawings, to which reference is made, but which are not intended to limit the scope of the invention.
Referring to fig. 1a, a millimeter wave radar rotation device of the present invention includes: a base body 1, a rotation control module 2, a pin rod 3 and a rotation shell 4;
the matrix 1 can be fixedly arranged on a vehicle body through adhesion or welding;
the rotation control module 2 is fixedly arranged on the upper surface of the base body 1, and comprises: a controller 9, a servo motor 5, an output gear 6, a reduction gear 7 and a pin gear 8; as shown in figure 1b of the drawings,
the internal structure of the rotation control module 2 is 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 arranged on a cylinder 21 protruding from the inside of the shell of the rotation control module 2, a gap is reserved, relative rotation can occur, the central surface of the pin gear 8 and the central surface of the reduction gear 7 are coplanar with the central surface 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 rotary shell 4 is fixedly connected with the lower end face of the pin rod 3, the lower surface is provided with a cylindrical bulge coaxial with the pin rod 3 and 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 lower flat plate of the base body.
The speed reducing gear 7 is axially positioned by rotating a shaft shoulder 211 on a cylinder 21 protruding from the inside of the control module shell and the upper surface of the base body 1;
the inside of the shell of the rotation control module 2 is provided with a protruding flat plate 22, 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.
The pin rod 3 is in clearance fit with a pin rod hole on the shell of the rotation control module 2, relative rotation can occur, the rotation shell 4 and the pin rod 3 synchronously rotate along the axis of the pin rod, and the millimeter wave radar is installed in the rotation shell.
The base body is a hollow triangular prism, the upper and lower flat plates are isosceles triangles, the vertex angles of the upper and lower flat plates are rounded, and the center of the rounded corners is provided with a bearing mounting hole (shown in figure 2).
Wherein, the rotation control module is fixedly arranged on the surface of the upper flat plate of the matrix.
In order to facilitate installation of the millimeter wave radar, the rotary shell is a cuboid box.
The rotation direction of the servo motor is changeable, and the servo motor can rotate 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 is shown by referring to FIG. 7 and comprises the following steps:
(1) The millimeter wave radar obtains the moving speed of all targets in the radar target detection area relative to the vehicle, wherein the target with the moving speed of zero is an invalid target, and otherwise, the target is an effective target;
the calculation formula of the target relative vehicle distance in the step (1) is as follows:
the calculation formula of the target relative self-vehicle movement speed is as follows:
wherein ρ is the distance of the target relative to the vehicle, T is the modulation period of the radar, and ΔF is the millimeter wave frequency bandwidth; u is the speed of the target relative to the vehicle, c is the speed of light, f 0 Is the working frequency of the radar center, f b+ For the frequency difference of the dynamic target reflected signal and the rising edge of the transmitted information, f b- Is the frequency difference of the falling edge.
(2) Determining a target to be tracked and a reading relative angle alpha; selecting one target from the effective targets as a target to be tracked according to the needs of operators, and reading the 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 millimeter waves reflected by the same monitoring target by using more than two parallel receiving antennas, and calculates the relative angle alpha of the monitored target;
referring to fig. 4, 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 the connecting line from the center of the millimeter wave radar to the target to be tracked and the direction of the transmitting central axis of the millimeter wave radar, and the specified relative angle alpha is positive clockwise and negative anticlockwise in a plane view.
(3) Controlling a relative angle alpha threshold according to a preset target loss critical angle threshold beta;
the control method in the step (3) specifically comprises the following steps: referring to fig. 5b, 5c, when the absolute value |α| of the relative angle α is not less than β, the rotation control module controls the rotation housing to rotate in a direction in which |α| is reduced; 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) specifically further includes: the rotation angle of the servo motor in the rotation control module is controlled by PID, and the position control principle of the servo motor is as follows: the rotation speed is determined by controlling the frequency of input pulses, and the rotation angle is determined by controlling the number of pulses, and the specific steps are as follows:
(31) When the absolute value |alpha| of the relative angle alpha is more than or equal to beta, determining the positive and negative of an input pulse signal according to the positive and negative of alpha so as to determine the rotating direction of the servo motor;
(32) To ensure that the rotational speed of the rotating housing is greater than the tangential speed v of the target leaving the detection range t The rotating speed of the rotating shell is determined by the pulse signal frequency input to the servo motor by the controller;
(33) When the relative angle |alpha| < beta of the target to be tracked in the rotating process, the electronic control unit controls the vehicle body to turn, and meanwhile, the servo motor continues to rotate; when the target to be tracked returns to the center of the detection range again, namely alpha approaches to 0, the servo motor is controlled to stop rotating.
Tangential velocity v of the object leaving the detection range in said step (32) t The calculation formula is as follows:
in the formula, v t For tangential velocity of the object leaving the detection range,as a first derivative of the relative angle a of the object to be tracked, reference is made 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, which controls the vehicle body steering.
The present invention has been described in terms of the preferred embodiments thereof, and it should be understood by those skilled in the art that various modifications can be made without departing from the principles of the invention, and such modifications should also be considered as being within the scope of the invention.

Claims (4)

1. A target tracking method of a millimeter wave radar rotation device, the millimeter wave radar rotation device comprising: the device comprises a base body, a rotation control module, a pin rod and a rotation shell;
the matrix is fixedly arranged on the vehicle body;
the rotation control module is fixedly arranged on the upper surface of the base body, and comprises: the device comprises a controller, a servo motor, an output gear, a reduction gear and a 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 inside of the shell of the rotation control module, and the output gear, the reduction gear and the pin rod gear are sequentially meshed;
the base body is provided with a bearing mounting hole, and the pin rod is matched with the bearing to be arranged in the bearing mounting hole; 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 millimeter wave radar signals, and the controller outputs vehicle steering signals to the electronic control unit in the vehicle body;
the method is characterized by comprising the following steps of:
(1) The millimeter wave radar obtains the moving speed of all targets in the radar target detection area relative to the vehicle, wherein the target with the moving speed of zero is an invalid target, and otherwise, the target is an effective target;
(2) Determining a target to be tracked and a reading relative angle alpha; selecting one target from the effective targets as a target to be tracked according to the needs of operators, and reading the relative angle alpha of the target to be tracked, which is obtained by the millimeter wave radar, by a controller;
(3) Controlling according to the relation between a preset target loss critical angle threshold value beta and a relative angle alpha;
(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;
the control method in the step (3) specifically comprises the following steps: 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 in the direction of reducing the |alpha|; when |alpha| < beta, the controller controls the servo motor to keep the current rotation angle;
the step (3) specifically further includes: the rotation angle of the servo motor in the rotation control module is controlled by PID, and the position control principle of the servo motor is as follows: the rotation speed is determined by controlling the frequency of input pulses, and the rotation angle is determined by controlling the number of pulses, and the specific steps are as follows:
(31) When the absolute value |alpha| of the relative angle alpha is more than or equal to beta, determining the positive and negative of an input pulse signal according to the positive and negative of alpha so as to determine the rotating direction of the servo motor;
(32) To ensure that the rotational speed of the rotating housing is greater than the tangential speed v of the target leaving the detection range t The rotating speed of the rotating shell is determined by the pulse signal frequency input to the servo motor by the controller;
(33) When the relative angle |alpha| < beta of the target to be tracked in the rotating process, the electronic control unit controls the vehicle body to turn, and meanwhile, the servo motor continues to rotate; when the target to be tracked returns to the center of the detection range again, namely alpha approaches to 0, the servo motor is controlled to stop rotating.
2. The method for tracking the target of the millimeter wave radar rotation device according to claim 1, wherein the calculation formula of the target relative vehicle distance in the step (1) is:
the calculation formula of the target relative self-vehicle movement speed is as follows:
wherein ρ is the distance of the target relative to the vehicle, T is the modulation period of the radar, and ΔF is the millimeter wave frequency bandwidth; u is the target relativeAt the speed of the vehicle, c is the speed of light, f 0 Is the working frequency of the radar center, f b+ For the frequency difference of the dynamic target reflected signal and the rising edge of the transmitted information, f b- Is the frequency difference of the falling edge.
3. The method for tracking the target of the millimeter wave radar rotation device according to claim 1, wherein the step (2) specifically comprises:
the millimeter wave radar receives the phase difference of millimeter waves reflected by the same monitoring target by using more than two parallel receiving antennas, and calculates the relative angle alpha of the monitored target;
the specific tracking working condition is that the millimeter wave radar center and the target to be tracked are positioned on the same plane, the specific relative angle alpha is an included angle between the connecting line of the millimeter wave radar center and the target to be tracked and the direction of the transmitting central axis of the millimeter wave radar, and the specific relative angle alpha is positive clockwise and negative anticlockwise in the plane view.
4. The method for tracking the target of the millimeter wave radar rotation device according to claim 1, wherein the tangential velocity v of the target leaving the detection range in the step (32) t The calculation formula is as follows:
in the formula, v t For tangential velocity of the object leaving the detection range,is the first derivative of the relative angle alpha of the object to be tracked.
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