CN112590781A - Vehicle anti-collision warning method and device based on millimeter wave phased array radar - Google Patents
Vehicle anti-collision warning method and device based on millimeter wave phased array radar Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
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- 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
Abstract
The invention discloses a vehicle anti-collision warning method and device based on a millimeter wave phased array radar, which are less affected by environmental factors, high in distance measurement precision, good in reliability and capable of distinguishing multiple targets in a short distance. The invention discloses a vehicle anti-collision warning method, which comprises the following steps: (10) acquiring environmental information: acquiring the environment information of the highway by adopting an active millimeter wave phased array radar; (20) and (3) judging an environmental object: distinguishing high-speed vehicles from low-speed objects according to the environment information of the highway; (30) and (3) data analysis: respectively judging the speed, the distance and the direction of the high-speed vehicle and the low-speed object; (40) anti-collision warning: when the distance is less than the safety distance, sending out anti-collision warning information; the invention relates to a vehicle anti-collision warning device, which comprises: the environment information acquisition device comprises an environment information acquisition end (1) and a warning end (2), wherein the warning end (2) is connected with the environment information acquisition end (1) through wired or wireless data.
Description
Technical Field
The invention belongs to the technical field of traffic safety, and particularly relates to a vehicle anti-collision warning method and device based on a millimeter wave phased array radar.
Background
Researches show that the frequent occurrence of traffic accidents is mostly caused by that the distances between front and rear vehicles on the same lane are close, or pedestrians appear on the lane, and a driver does not respond timely, so that the traffic accidents are caused. Therefore, the warning when the distance between the vehicles is too close has very important practical significance for reducing the occurrence of traffic accidents.
In the process of highway high-speed driving, the measurement and warning of the distance between vehicles on the same lane are effective prevention modes for preventing and reducing vehicle collision; when low-speed objects appearing on the expressway are found, the high-speed vehicles are warned, so that casualties in traffic accidents can be effectively reduced.
With the progress of science and technology and the continuous innovation of technology, the accuracy and the reliability of the vehicle distance measuring result are continuously improved. According to different information obtaining modes, the vehicle distance measuring method comprises ultrasonic distance measuring, optical distance measuring, infrared distance measuring and the like, and the method can be divided into active distance measuring, passive distance measuring and the like according to the activity or the passivity of a measuring device.
The ultrasonic ranging cannot meet the requirement of the current vehicle on the safe distance due to the reasons of the measured distance, the power consumption and the like. In recent years, optical and infrared measurement modes are gradually developed, but the two modes have low ranging precision, poor multi-target measurement capability and large influence by environmental factors, and accurate measurement cannot be performed in severe environments such as sudden heavy fog, sand dust, heavy rain and the like, so the accuracy, reliability and applicability of the two measurement modes still need to be improved.
Therefore, the prior art has the following problems: the vehicle safety distance measurement is greatly influenced by environmental factors, and has low precision, low reliability and low object resolution.
Disclosure of Invention
The invention aims to provide a vehicle anti-collision warning method based on a millimeter wave phased array radar, which has the advantages of small influence of environmental factors, high ranging precision, good reliability, capability of distinguishing multiple targets in a short distance and the like.
The invention also aims to provide a vehicle anti-collision warning device based on the millimeter wave phased array radar.
The technical solution for realizing the purpose of the invention is as follows:
a vehicle anti-collision warning method based on a millimeter wave phased array radar comprises the following steps:
(10) acquiring environmental information: acquiring highway environment information including the position, distance and speed information of all objects by adopting an active millimeter wave phased array radar;
(20) and (3) judging an environmental object: distinguishing high-speed vehicles from low-speed objects according to the environment information of the highway;
(30) and (3) data analysis: respectively judging the speed, the distance and the direction of the high-speed vehicle and the low-speed object;
(40) anti-collision warning: and when the distance between the high-speed vehicles or the distance between the high-speed vehicles and the low-speed object is smaller than the safe distance, sending out anti-collision warning information.
The technical solution for realizing another purpose of the invention is as follows:
a vehicle anticollision warning device based on millimeter wave phased array radar includes:
the system comprises an environment information acquisition end 1, a data processing module and a data processing module, wherein the environment information acquisition end 1 is used for acquiring highway environment information including the azimuth, distance and speed information of all objects by adopting an active millimeter wave phased array radar;
the warning end 2 is used for distinguishing high-speed vehicles from low-speed objects according to the environment information of the highway; respectively judging the speed, the distance and the direction of the high-speed vehicle and the low-speed object; and when the distance between the high-speed vehicles or the distance between the high-speed vehicles and the low-speed object is smaller than the safe distance, sending out anti-collision warning information.
The warning end 2 is connected with the environmental information acquisition end 1 through wired or wireless data.
Compared with the prior art, the invention has the following remarkable advantages:
1. the measurement accuracy is high: the active millimeter wave Doppler frequency shift is large, the measurement precision of the relative speed is high, and the real-time changing vehicle distance information can be measured more accurately.
2. Multiple targets can be resolved in a short distance: in the measuring process, the angle resolution of the measuring device is a parameter for measuring the capability of the device for distinguishing adjacent objects, the angle resolution is in direct proportion to the working frequency, and the millimeter wave working frequency is relatively high, so that the millimeter wave measuring device has high angle resolution, can distinguish objects with close distances, and improves the object distinguishing capability; the modulation mode of the trapezoidal linear frequency modulation continuous wave is adopted, the distance-speed coupling phenomenon is solved, the short-distance multi-target detection capability of the radar is improved, and the multi-target resolution capability is further improved.
3. The reliability is high: the phased array radar is adopted, the main lobe beam direction of the antenna is adjusted in real time by using the phase shifter, and the measurement blind area is reduced; and secondly, an optical image is used for assisting, secondary judgment is carried out on information, and reliability is improved.
4. All-day-time and all-day work: the millimeter wave has a short wavelength, has strong capability of penetrating smoke, sand dust and water drops, is not influenced by factors such as weather and light, can work all day long, and can work normally if encountering severe weather environments such as sudden rainstorm, sand dust and dense fog in the measurement process.
The invention is described in further detail below with reference to the figures and the detailed description.
Drawings
Fig. 1 is a main flow chart of the vehicle anti-collision warning method based on the millimeter wave phased array radar.
Fig. 2 is a structural block diagram of the vehicle anti-collision warning device based on the millimeter wave phased array radar.
In the figure, an environment information acquisition terminal 1, an alarm terminal 2,
the system comprises a T/R transceiver component 11, an optical camera 12, a data acquisition module 13, a central control module 14 and a data storage module 15.
A data analysis module 21, an optical image analysis module 22 and an alarm module 23.
Detailed Description
As shown in fig. 1, the vehicle anti-collision warning method based on the millimeter wave phased array radar of the invention is characterized by comprising the following steps:
(10) acquiring environmental information: acquiring highway environment information including the position, distance and speed information of all objects by adopting an active millimeter wave phased array radar;
and (10) in the step of obtaining the environmental information, obtaining the image information of the highway environment by assisting an optical camera.
(20) And (3) judging an environmental object: distinguishing high-speed vehicles from low-speed objects according to the environment information of the highway;
the (20) environmental object judging step specifically includes:
and judging the object with the speed higher than 40km/h as a high-speed vehicle, and judging the object with the speed not higher than 40km/h as a low-speed object.
(30) And (3) data analysis: respectively judging the speed, the distance and the direction of the high-speed vehicle and the low-speed object;
(40) anti-collision warning: and when the distance between the high-speed vehicles or the distance between the high-speed vehicles and the low-speed object is smaller than the safe distance, sending out anti-collision warning information.
The (40) collision avoidance warning step includes:
(41) and (3) judging the safe distance between vehicles on the same lane: the safe distance between high-speed vehicles in the same lane or between the high-speed vehicles and low-speed objects is judged according to the vehicle speed according to the following rules:
when the speed of the vehicle exceeds 100km/h, the safe distance between high-speed vehicles or between the high-speed vehicles and a low-speed object is 100 meters;
when the speed of the vehicle is lower than 100km/h, the safe distance between high-speed vehicles or between the high-speed vehicles and a low-speed object is 80 meters;
(42) and (3) judging the safe vehicle distance of different lanes: the safe vehicle distance between the high-speed vehicles on different lanes is judged according to the relative vehicle speed, when the relative speed between the high-speed vehicles exceeds 20km/h, the safe vehicle distance is 30 meters, and when the relative speed between the high-speed vehicles is lower than 20km/h, the safe vehicle distance is 20 meters;
the safe distance between a high-speed vehicle and a low-speed object on different lanes is 100 meters when the vehicle speed exceeds 100km/h, and is 80 meters when the vehicle speed is lower than 100 km/h; reference is made to the same lane standard.
(43) Warning safety distance: when the distance between the high-speed vehicles or the distance between the high-speed vehicles and the low-speed object is smaller than the safe distance, warning information is sent out to remind a vehicle owner to decelerate and control the distance between the vehicles or park the vehicles.
As shown in fig. 2, the vehicle anti-collision warning device based on the millimeter wave phased array radar of the present invention includes:
the system comprises an environment information acquisition end 1, a data processing module and a data processing module, wherein the environment information acquisition end 1 is used for acquiring highway environment information including the azimuth, distance and speed information of all objects by adopting an active millimeter wave phased array radar; acquiring environmental information by adopting an active millimeter wave phased array radar and an optical camera, and measuring the distance between two vehicles on any lane or between a high-speed vehicle and a low-speed object; acquiring an optical image of a vehicle or object;
the warning end 2 is used for distinguishing high-speed vehicles from low-speed objects according to the environment information of the highway; respectively judging the speed, the distance and the direction of the high-speed vehicle and the low-speed object; and when the distance between the high-speed vehicles or the distance between the high-speed vehicles and the low-speed object is smaller than the safe distance, sending out anti-collision warning information. Comprehensively judging whether the distance between two vehicles on any lane or between a high-speed vehicle and a low-speed object is lower than the safe distance at the corresponding speed or not according to the millimeter wave information and the optical image information, and if the distance is lower than the safe distance, giving a warning to remind a vehicle owner to decelerate and control the distance or park;
the warning end 2 is connected with the environmental information acquisition end 1 through wired or wireless data.
An environment information acquisition end 1, which adopts an active millimeter wave phased array radar and an optical camera to acquire environment information and measures the distance between two vehicles on any lane or between a high-speed vehicle and a low-speed object; acquiring an optical image of a vehicle or object;
and the warning end 2 comprehensively judges whether the distance between two vehicles on any lane or between a high-speed vehicle and a low-speed object is lower than the safe distance under the corresponding vehicle speed according to the millimeter wave information and the optical image information obtained by the information obtaining end 1, and sends a warning if the distance is lower than the safe distance so as to remind a vehicle owner to decelerate and control the vehicle distance or park.
As shown in the left end of fig. 2, the information acquisition end 1 includes a T/R transceiver component 11, an optical camera 12, a data acquisition module 13, a central control module 14 and a data storage module 15;
the T/R transceiving component 11 is used for acquiring speed, distance and direction information of a traffic lane and all objects around;
the optical camera 12 is used for acquiring an optical image of a high-speed vehicle or a low-speed object;
the data acquisition module 13 is used for receiving acquired information;
the central control module 14 is configured to process the acquired information, and measure the speed, distance, and orientation of all objects;
the data storage module 15 is used for storing speed, distance, direction information and optical image information and transmitting the information to the warning end 2;
the T/R transceiving component 11, the optical camera 12 and the central control module 14 are respectively connected with the data acquisition module 13, and the central control module 14 is connected with the data storage module 15.
The central control module 14 employs an STM32 microcontroller.
The T/R receiving and transmitting component works in a wave band of 8mm, wherein the phase shifter adopts a GaAs digital MMIC phase shifter to realize the function of phase shifting scanning of the T/R receiving and transmitting component antenna, the antenna adopts a circularly polarized small-sized circular-caliber antenna with a scanning range of +/-60 degrees to emit trapezoidal linear frequency modulation continuous waves, the distance-speed coupling phenomenon is solved, and a plurality of close-range targets can be distinguished; the power amplification working frequency of the receiving channel (T) is 35-43 GHz, the gain is 20dB, the low-noise amplification working frequency of the receiving channel (R) is 24-40 GHz, and the gain is 17 dB.
As shown in the right end of fig. 2, the warning end 2 includes a data analysis module 21, an optical image analysis module 22, and a warning module 23;
the data analysis module 21 is configured to analyze the acquired data information, divide the lane and nearby objects into a high-speed vehicle and a low-speed object, determine the speed and distance of the high-speed vehicle and the lane, and send a warning to the vehicle owner through the warning module 23 if the distance between two vehicles on any lane is lower than the safe distance at the corresponding vehicle speed, so as to remind the vehicle owner to decelerate and pay attention to the vehicle distance; and meanwhile, whether a low-speed object is close to the traffic lane is analyzed, and if a high-speed vehicle exists on the close traffic lane and the safety distance is lower than the safety distance of the corresponding vehicle speed, a warning is sent to the vehicle owner through the warning module 23.
The optical image analysis module 22 is used for identifying and analyzing the optical image of the high-speed vehicle or the low-speed object, is used for assisting the data analysis module to make judgment, and has the function of extracting license plate number information;
the data analysis module 21 and the optical image analysis module 22 are respectively connected with the warning module 23.
The operation process of the vehicle anti-collision warning device based on the millimeter wave phased array radar is as follows:
firstly: placing a detector in a middle lane of the expressway;
the second step is that: transmitting trapezoidal linear frequency modulation continuous millimeter waves by using a T/R (transmitter-receiver) transceiver component, detecting all objects on a traffic lane and in the periphery, and collecting millimeter wave data;
the third step: sending the collected millimeter wave data to an STM32 microprocessor of the central control module;
the fourth step: the STM32 microprocessor processes the received millimeter wave data, obtains the speed information of the object by transmitting and receiving the Doppler frequency shift of the data, and divides the object into a high-speed vehicle and a low-speed object; obtaining azimuth information through the phase difference between the transmitted data and the received data so as to obtain lanes where all objects are located; acquiring an optical image to assist in judging information such as lanes, objects, license plates and the like;
finally, according to the result of the fourth step, whether the vehicle distance between two vehicles on any lane is lower than the safe distance under the corresponding vehicle speed is judged according to the vehicle distance and the vehicle speed of the vehicles, and if the vehicle distance is lower than the safe distance under the corresponding vehicle speed, a warning is sent out; and simultaneously detecting whether a low-speed object is close to the traffic lane, and if a high-speed vehicle exists on the close traffic lane and the safety distance is lower than the safety distance of the corresponding vehicle speed, giving out a warning.
The invention aims to provide a vehicle distance measuring device and a warning method based on a millimeter wave phased array radar, so that the safe vehicle distance of a vehicle can be measured, the vehicle smaller than the safe vehicle distance is warned, so that the vehicle can take corresponding measures, the millimeter wave phased array radar has the capacity of all-weather working all day long, can normally work in the environments of sudden heavy rain, sand dust, dense fog and the like, has the capacity of short-distance multi-view identification, has no radar vision blind area, greatly improves the warning efficiency and reliability, and provides evidence for responsibility investigation after an accident occurs. The invention has great practical value in the aspect of standardizing the driving safety.
Claims (8)
1. A vehicle anti-collision warning method based on a millimeter wave phased array radar is characterized by comprising the following steps:
(10) acquiring environmental information: acquiring highway environment information including the position, distance and speed information of all objects by adopting an active millimeter wave phased array radar;
(20) and (3) judging an environmental object: distinguishing high-speed vehicles from low-speed objects according to the environment information of the highway;
(30) and (3) data analysis: respectively judging the speed, the distance and the direction of the high-speed vehicle and the low-speed object;
(40) anti-collision warning: and when the distance between the high-speed vehicles or the distance between the high-speed vehicles and the low-speed object is smaller than the safe distance, sending out anti-collision warning information.
2. The vehicle anti-collision warning method according to claim 1, characterized in that:
and (10) in the step of obtaining the environmental information, obtaining the image information of the highway environment by assisting an optical camera.
3. The vehicle anti-collision warning method according to claim 1, wherein the (20) environmental object determining step is specifically:
and judging the object with the speed higher than 40km/h as a high-speed vehicle, and judging the object with the speed not higher than 40km/h as a low-speed object.
4. A vehicle collision avoidance warning method according to claim 3, wherein the collision avoidance warning step (40) comprises:
(41) and (3) judging the safe distance between vehicles on the same lane: the safe distance between high-speed vehicles in the same lane or between the high-speed vehicles and low-speed objects is judged according to the following rule root:
when the speed of the vehicle exceeds 100km/h, the safe distance between high-speed vehicles or between the high-speed vehicle and a low-speed object is 100 meters;
when the speed of the vehicle is lower than 100km/h, the safe distance between high-speed vehicles or between the high-speed vehicles and a low-speed object is 80 meters;
(42) and (3) judging the safe vehicle distance of different lanes: the safe vehicle distance between the high-speed vehicles on different lanes is judged according to the relative vehicle speed, when the relative speed between the high-speed vehicles exceeds 20km/h, the safe vehicle distance is 30 meters, and when the relative speed between the high-speed vehicles is lower than 20km/h, the safe vehicle distance is 20 meters;
the safe distance between a high-speed vehicle and a low-speed object on different lanes is 100 meters when the vehicle speed exceeds 100km/h, and is 80 meters when the vehicle speed is lower than 100 km/h;
(43) warning safety distance: when the distance between the high-speed vehicles or the distance between the high-speed vehicles and the low-speed object is smaller than the safe distance, warning information is sent out to remind a vehicle owner to decelerate and control the distance between the vehicles or park the vehicles.
5. The utility model provides a vehicle anticollision warning device based on millimeter wave phased array radar which characterized in that includes:
the system comprises an environment information acquisition end (1) and a control end, wherein the environment information acquisition end is used for acquiring highway environment information including the azimuth, distance and speed information of all objects by adopting an active millimeter wave phased array radar;
the warning end (2) is used for distinguishing high-speed vehicles from low-speed objects according to the environment information of the highway; respectively judging the speed, the distance and the direction of the high-speed vehicle and the low-speed object; and when the distance between the high-speed vehicles or the distance between the high-speed vehicles and the low-speed object is smaller than the safe distance, sending out anti-collision warning information.
The warning end (2) is connected with the environmental information acquisition end (1) through wired or wireless data.
6. The vehicle collision avoidance warning device of claim 5, wherein:
the information acquisition terminal (1) comprises a T/R transceiving component (11), an optical camera (12), a data acquisition module (13), a central control module (14) and a data storage module (15);
the T/R transceiving component (11) is used for acquiring speed, distance and direction information of a traffic lane and all objects around;
the optical camera (12) is used for acquiring an optical image of a high-speed vehicle or a low-speed object;
the data acquisition module (13) is used for receiving acquired information;
the central control module (14) is used for processing the acquired information and measuring the speed, the distance and the direction of all objects;
the data storage module (15) is used for storing speed, distance, direction information and optical image information and transmitting the information to the warning end (2);
the T/R transceiving component (11), the optical camera (12) and the central control module (14) are respectively connected with the data acquisition module (13), and the central control module (14) is connected with the data storage module (15).
7. The vehicle crash alert device according to claim 6, wherein:
the central control module (14) employs an STM32 microcontroller.
8. The vehicle collision avoidance warning device of claim 5, wherein:
the warning end (2) comprises a data analysis module (21), an optical image analysis module (22) and a warning module (23);
the data analysis module (21) is used for analyzing the acquired data information, dividing the lane and nearby objects into high-speed vehicles and low-speed objects, judging the speed, the distance and the lane of the high-speed vehicles, and if the distance between two vehicles on any lane is lower than the safe distance under the corresponding speed, sending a warning to the vehicle owner through the warning module (23) to remind the vehicle owner of reducing the speed and paying attention to the distance between the vehicles; and meanwhile, whether a low-speed object is close to the traffic lane is analyzed, and if a high-speed vehicle exists on the close traffic lane and the safety distance is lower than the safety distance of the corresponding vehicle speed, a warning is sent to a vehicle owner through a warning module (23).
The optical image analysis module (22) is used for identifying and analyzing the optical image of the high-speed vehicle or the low-speed object, is used for assisting the data analysis module to make judgment, and has the function of extracting license plate number information;
the data analysis module (21) and the optical image analysis module (22) are respectively connected with the warning module (23).
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| CN114924274A (en) * | 2022-04-08 | 2022-08-19 | 苏州大学 | High-dynamic railway environment radar sensing method based on fixed grids |
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| CN111325978A (en) * | 2020-02-27 | 2020-06-23 | 江苏大学 | Whole-process monitoring and warning system and method for abnormal behaviors of vehicles on expressway |
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