CN113204025A - System and method for determining vehicle body state - Google Patents
System and method for determining vehicle body state Download PDFInfo
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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
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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
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/583—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets
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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
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/588—Velocity or trajectory determination systems; Sense-of-movement determination systems deriving the velocity value from the range measurement
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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
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/60—Velocity or trajectory determination systems; Sense-of-movement determination systems wherein the transmitter and receiver are mounted on the moving object, e.g. for determining ground speed, drift angle, ground track
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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
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/62—Sense-of-movement determination
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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
- 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
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/415—Identification of targets based on measurements of movement associated with the target
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Abstract
The invention discloses a system and a method for determining a vehicle body state, wherein the system works on a vehicle and is used for determining the running speed and the vehicle body state of the vehicle. The system comprises: the millimeter wave radar transmitting module generates a high-frequency linear frequency modulation continuous wave signal and radiates the signal to a space, an echo signal is obtained after the signal meets an obstacle, the millimeter wave radar receiving module performs frequency mixing filtering on the received echo signal to obtain a low-frequency echo signal, the signal processing module converts the received low-frequency echo signal to obtain a target trace, and the speed extraction module determines the vehicle body state of the vehicle according to the received target trace; the vehicle body state of the vehicle is determined through the target point trace in the radiation result, and in view of the fact that the current vehicle body state extraction mode adopts a mode of adopting different trace boxes for different vehicle types, the system and the method can effectively reduce the installation difficulty and cost for obtaining the vehicle body state of the vehicle, and have better and wider applicability for different vehicle types.
Description
Technical Field
The invention relates to the technical field of radars, in particular to a system and a method for determining a vehicle body state.
Background
The automobile industry for Driving Assistance in recent years is rapidly developing, and the Driving Assistance level is also an increasingly relevant topic, for example, the Driving Assistance commonly used at present is Advanced Driving Assistance System (ADAS), and the vehicle-mounted millimeter wave radar has become one of the important sensors of the ADAS System, but the present automobile millimeter wave radar generally has the following problems:
1. the installation is complicated. The automobile interior modification is related to, the process is relatively complex and tedious, the number of installation wire harnesses is large, and the installation requirement is high.
2. The applicability is poor. Generally, specific various track boxes are required to be installed to extract vehicle body protocols and acquire vehicle body speed information, and the different vehicle factory protocols are greatly different.
3. The ADAS millimeter wave radar for the automobile mainly aims at the front-end market of automobile production, and the rear-mounted radar for the automobile with a large number of storage markets has high false alarm of a static object due to the fact that the rear-mounted radar is complex to mount and cannot obtain the speed information of the automobile body, and great inconvenience is brought to automobile drivers.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide a method, a device, equipment and a storage medium for modeling a trigger event, and aims to solve the technical problem of determining the vehicle body state of a vehicle under the condition of no vehicle body protocol.
In order to achieve the above object, the present invention provides a vehicle body state determination system including: the millimeter wave radar transmitting module, the millimeter wave radar receiving module, the signal processing module and the speed extracting module are connected in sequence;
the millimeter wave radar transmitting module is used for generating a high-frequency linear frequency modulation continuous wave signal, radiating the high-frequency linear frequency modulation continuous wave signal to a space, and reflecting the high-frequency linear frequency modulation continuous wave signal after the high-frequency linear frequency modulation continuous wave signal touches an obstacle to obtain an echo signal;
the millimeter wave radar receiving module is used for receiving the echo signal, performing frequency mixing filtering on the echo signal to obtain a low-frequency echo signal, and sending the low-frequency echo signal to the signal processing module;
the signal processing module is used for receiving the low-frequency echo signal, converting the low-frequency echo signal to obtain a target point trace, and sending the target point trace to the speed extraction module;
the speed extraction module is used for receiving the target point trace, obtaining ground object movement speed information according to the angle and the speed of the target point trace, extracting the movement speed corresponding to the ground object amplitude in the ground object movement speed information, and determining the vehicle body state of the vehicle based on the movement speed.
Optionally, the millimeter wave radar receiving module includes a signal receiving module and a signal frequency reducing module;
the signal receiving module is used for receiving the echo signal and sending the echo signal to the signal frequency reducing module;
and the signal frequency reduction module is used for performing frequency mixing filtering on the echo signal to obtain a low-frequency echo signal and sending the low-frequency echo signal to the signal processing module.
Optionally, the signal processing module includes a signal transformation module and a target extraction module;
the signal conversion module is used for performing distance dimension FFT conversion and speed dimension FFT conversion on the low-frequency echo signal and sending the converted signal to the target extraction module;
the processing module is used for the target extraction module and is used for extracting the transformation signal, obtaining a target point trace according to the extracted transformation signal and sending the target point trace to the speed extraction module.
The signal conversion module comprises a distance FFT conversion module and a speed FFT conversion module;
the distance FFT conversion module is used for receiving the low-frequency echo signal, performing distance dimension FFT conversion on the low-frequency echo signal to obtain target distance dimension information, and sending the target distance dimension FFT signal to the speed FFT conversion module;
the speed FFT conversion module is used for carrying out speed dimension FFT conversion on the target distance dimension FFT result to obtain target speed dimension information, and sending the speed dimension FFT signal serving as a target conversion signal to the target extraction module;
the target extraction module is configured to extract corresponding target velocity information and target distance information in the target transformation signal, perform angle-dimensional FFT on the extracted target to obtain target angle information, use the target distance information, the target velocity information, and the target angle information as target point traces, and send the target point traces to the velocity extraction module.
Optionally, the system for determining the vehicle body state further includes a trace point screening module and a speed extraction module;
the point trace screening module is used for receiving the target point trace, screening the target point trace according to the preset non-detection area to obtain a ground object point trace set, and sending the ground object point trace set to the speed extraction module;
the speed extraction module is used for receiving the ground object point trace set, obtaining ground object movement speed information according to the angle and the speed of the ground object point trace, extracting the movement speed corresponding to the ground object amplitude in the ground object movement speed information, and determining the vehicle body state of the vehicle based on the movement speed.
Optionally, the point trace screening module is further configured to receive the target point traces, determine whether each of the target point traces is located in the preset non-detection region, and screen each of the target point traces if each of the target point traces is located in the preset non-detection region, so as to obtain a ground object point trace set after screening.
Optionally, the speed extraction module includes a speed calculation module and an extraction module;
the speed calculation module is used for receiving the ground feature point trace set, calculating the current speed and the current angle of the ground trace in the ground feature point trace set to obtain the ground feature movement speed, and sending the ground feature movement speed and the amplitude information of the point trace to the extraction module;
the extraction module is used for receiving the ground feature movement speed and the amplitude information of the dotted trace, obtaining the running speed of the vehicle according to the ground feature movement speed and the amplitude information, and determining the vehicle body state of the vehicle based on the running speed.
Optionally, the extraction module is further configured to receive the feature movement speed and the amplitude information, select a feature movement speed corresponding to the feature amplitude in the amplitude information according to the feature movement speed, obtain a driving speed of the host vehicle according to the feature movement speed, and determine the vehicle body state of the host vehicle based on the driving speed.
Optionally, the system for determining the state of the vehicle body further comprises a data preprocessing module and an alarm module;
the data preprocessing module is used for receiving the running speed and the state of the vehicle, acquiring the current point trace of a detection area, filtering the current point trace according to the running speed of the vehicle to obtain a filtered point trace, judging whether a corresponding target moving object exists according to the filtered point trace, obtaining a corresponding judgment result, and sending the judgment result to the alarm module;
and the alarm module is used for receiving the judgment result and giving an alarm if the judgment result indicates that the target moving object exists.
In addition, in order to achieve the above object, the present invention also proposes a vehicle body state determination method applied to a vehicle body state determination system, the system including: the method comprises the following steps of sequentially connecting a millimeter wave radar transmitting module, a millimeter wave radar receiving module, a signal processing module and a speed extracting module, wherein the method comprises the following steps:
the millimeter wave radar transmitting module generates a high-frequency linear frequency modulation continuous wave signal, the high-frequency linear frequency modulation continuous wave signal is radiated to the space, and the high-frequency linear frequency modulation continuous wave signal is reflected after the high-frequency linear frequency modulation continuous wave signal touches an obstacle to obtain an echo signal;
the millimeter wave radar receiving module receives the echo signal, performs frequency mixing filtering on the echo signal to obtain a low-frequency echo signal, and sends the low-frequency echo signal to the signal processing module;
the signal processing module receives the low-frequency echo signal, converts the low-frequency echo signal to obtain a target trace, and sends the target trace to the speed extraction module;
the speed extraction module receives the target point trace, obtains ground object movement speed information according to the target point trace, extracts movement speed corresponding to ground object amplitude in the ground object movement speed information, and determines the driving speed and the vehicle body state of the vehicle based on the movement speed.
The millimeter wave radar transmitting module is used for generating a high-frequency linear frequency modulation continuous wave signal, radiating the high-frequency linear frequency modulation continuous wave signal to a space, and reflecting the high-frequency linear frequency modulation continuous wave signal after the high-frequency linear frequency modulation continuous wave signal touches an obstacle to obtain an echo signal; the millimeter wave radar receiving module is used for receiving the echo signal, performing frequency mixing filtering on the echo signal to obtain a low-frequency echo signal, and sending the low-frequency echo signal to the signal processing module; the signal processing module is used for receiving the low-frequency echo signal, converting the low-frequency echo signal to obtain a target point trace, and sending the target point trace to the speed extraction module; the speed extraction module is used for receiving the target point trace, obtaining ground object motion speed information according to the target point trace, extracting the ground object motion speed information, determining the running speed and the vehicle body state of the vehicle based on the speed, and determining the vehicle body state through the ground object point trace obtained by the echo signal in the radiation result.
Drawings
FIG. 1 is a block diagram showing the construction of a first embodiment of a vehicle body state determining system according to the present invention;
FIG. 2 is a block diagram showing the construction of a second embodiment of the vehicle body state determining system according to the present invention;
FIG. 3 is a block diagram showing the construction of a body state determining system according to a third embodiment of the present invention;
FIG. 4 is a block diagram showing a configuration of a vehicle body state determining system according to a fourth embodiment of the present invention;
FIG. 5 is a block diagram showing the construction of a fifth embodiment of the vehicle body state determining system according to the present invention;
fig. 6 is a block diagram showing a structure of a sixth embodiment of a vehicle body state determining method of the invention;
fig. 7 is a block diagram showing a configuration of a vehicle body state determining method according to a seventh embodiment of the present invention;
fig. 8 is a flowchart illustrating a method of determining a vehicle body state according to a first embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a block diagram showing a configuration of a first embodiment of a vehicle body state determining system according to the present invention. The vehicle body state determination system includes: the millimeter wave radar transmitting module 10, the millimeter wave radar receiving module 20, the signal processing module 30 and the speed extracting module 40 are connected in sequence.
In this embodiment, the millimeter wave radar transmitting module 10 in the determination system 100 for the vehicle body state may be a microwave radar transmitting module, may also be a radar signal generating transmitting module, and may also be other transmitting modules that can achieve the same function, and may generate a high frequency chirp continuous wave signal, and radiate the high frequency chirp continuous wave signal to the free space, where the high frequency chirp continuous wave signal refers to a continuous signal whose transmitting frequency is modulated by a specific signal, and the frequency of the signal needs to be maintained as a high frequency.
After the millimeter wave radar receiving module 20 in the system for determining a vehicle body state 100 receives the echo signal, because the frequency of the echo signal is very high, the echo signal needs to be down-converted, specifically, after the millimeter wave radar receiving module 20 receives the echo signal, the echo signal is subjected to mixing filtering, at this time, only a low-frequency echo signal exists in the radiation result, for example, the frequency in the echo signal is a, the reduced frequency is B, and the frequency of B can meet the processing requirement.
The signal processing module 30 in the system 100 for determining the vehicle body state receives the low-frequency echo signal sent by the millimeter wave radar receiving module 20, converts the received low-frequency echo signal, and converts the low-frequency echo signal at this time to obtain a corresponding target point trace, where the target point trace includes a point trace in a preset non-detection area, and the target point trace refers to a target data point obtained in unit time according to the low-frequency echo signal.
The speed extraction module 40 in the system 100 for determining vehicle body state receives the target point trace sent by the signal processing module 30, obtains corresponding ground object movement speed information according to the target point trace, and extracts ground object movement speed information, after the target point trace is obtained, the speed information in the target point trace needs to be extracted to obtain ground object movement speed information, the ground object movement speed information includes the speed magnitude and direction of the target point trace, the vehicle body speed of the vehicle is determined according to the speed corresponding to the ground object movement speed information, wherein the speed magnitude represents the speed of the vehicle, if the speed is 0, the vehicle is in a stationary state, if the speed is negative, the vehicle is in a backward moving state, at this time, the direction is a reverse direction, if the speed is positive, the vehicle is in a forward moving state, the direction is now the positive direction.
In this embodiment, the millimeter wave radar transmitting module is configured to generate a high-frequency chirp continuous wave signal, radiate the high-frequency chirp continuous wave signal to a space, and reflect the high-frequency chirp continuous wave signal after the high-frequency chirp continuous wave signal hits an obstacle to obtain an echo signal; the millimeter wave radar receiving module is used for receiving the echo signal, performing frequency mixing filtering on the echo signal to obtain a low-frequency echo signal, and sending the low-frequency echo signal to the signal processing module; the signal processing module is used for receiving the low-frequency echo signal, converting the low-frequency echo signal to obtain a target point trace, and sending the target point trace to the speed extraction module; the speed extraction module is used for receiving the target point trace, obtaining ground object movement speed information according to the target point trace, extracting the ground object movement speed information, determining the vehicle body state of the vehicle based on the movement speed, and determining the vehicle body state through the target point trace obtained by the echo signal in the radiation result.
Referring to fig. 2, fig. 2 is a block diagram showing a configuration of a second embodiment of the vehicle body state determining system according to the present invention, and the second embodiment of the vehicle body state determining system according to the present invention is proposed based on the embodiment shown in fig. 1.
In this embodiment, the millimeter wave radar receiving module 20 includes a signal receiving module 20 'and a signal down-conversion module 20 ", and after receiving the echo signal, the signal down-conversion module 20' sends the echo signal to the signal down-conversion module 20", so that the signal down-conversion module 20 ″ down-converts the echo signal.
In this embodiment, the signal down-conversion module 20 ″ receives the echo signal sent by the signal receiving module 20', and after receiving the echo signal, performs frequency mixing filtering on the echo signal, specifically, mixes the echo signal with a higher frequency signal, obtains a signal with a third frequency through a frequency-selecting loop, and refers to the obtained signal as a target signal to obtain a low-frequency echo signal meeting the processing requirement, and sends the low-frequency echo signal to the signal processing module 30.
In this embodiment, the echo signal is received by the signal receiving module, and the echo signal is sent to the signal frequency reducing module; the signal frequency reduction module carries out frequency mixing and filtering on the echo signals to obtain low-frequency echo signals, sends the low-frequency echo signals to the signal processing module, and respectively carries out frequency mixing and filtering on the received echo signals by sending the received echo signals to the signal frequency reduction module to obtain corresponding low-frequency echo signals, so that the processing pressure of the rear end can be effectively reduced.
Referring to fig. 3, fig. 3 is a block diagram showing a configuration of a vehicle body state determining system according to a third embodiment of the present invention, and the third embodiment of the vehicle body state determining system according to the present invention is proposed based on the embodiment shown in fig. 1.
In this embodiment, the signal processing module 30 includes a signal transformation module 30 'and a target extraction module 30 ", where the signal transformation module 30' receives the low-frequency echo signal, and performs Fast Fourier Transform (FFT) transformation and velocity dimension FFT transformation on the low-frequency echo signal to obtain a target transformation signal, where the target transformation signal is output by the low-frequency echo signal through the distance dimension FFT and then through the velocity dimension FFT, and then the target transformation signal is sent to the target extraction module 30".
In this embodiment, the target extraction module 30 ″ receives the target transformation signal sent by the signal transformation module 30', extracts the target transformation signal, obtains a target point trace according to the extracted transformation signal, and performs angle dimensional FFT on the target transformation signal after obtaining the target transformation signal because the target transformation signal includes target distance information and velocity information, and the target point trace refers to a target data point obtained in a unit time according to the extracted transformation signal, and sends the target point trace to the velocity extraction module 40, taking the target velocity information, the target distance information, and the target dimension information obtained by the transformation as the target point trace.
In this embodiment, a signal conversion module receives a low-frequency echo signal, performs distance dimension and velocity dimension FFT conversion on the low-frequency echo signal to obtain a target conversion signal, and sends the target conversion signal to a target extraction module; the target extraction module extracts the received target transformation signal to obtain target distance information, target speed information and target dimension information, and the target distance information, the target speed information and the target dimension information are used as target traces; and transforming the received low-frequency echo signal to obtain a target transformation signal, extracting the target transformation signal, and obtaining a target trace according to the extracted target distance information, target speed information and target dimension information.
Referring to fig. 4, fig. 4 is a block diagram showing a configuration of a fourth embodiment of the vehicle body state determining system according to the present invention, and the fourth embodiment of the vehicle body state determining system according to the present invention is proposed based on the embodiment shown in fig. 1.
In this embodiment, the signal transforming module 30' includes a distance FFT module 301 and a velocity FFT module 302, where the distance FFT module 301 receives the low-frequency echo signal, performs distance dimension FFT on the low-frequency echo signal to obtain a distance dimension FFT signal, and transforms the distance signal through distance dimension fourier transform, which refers to performing harmonic analysis on the low-frequency echo signal to obtain target distance dimension information in the low-frequency echo signal, and sends the target distance dimension FFT signal to the velocity FFT module 302.
In this embodiment, the velocity FFT module 302 receives the distance dimension FFT signal sent by the distance FFT module 301, performs velocity dimension FFT on the distance dimension FFT signal to obtain a velocity dimension FFT signal, and transforms the distance dimension FFT signal by a velocity dimension fourier transform, which refers to performing harmonic analysis on the distance dimension FFT signal to obtain target velocity dimension information, and sends the velocity dimension FFT signal as a target transform signal to the target extraction module 30 ″.
In this embodiment, the target extraction module 30 "receives the velocity dimension FFT signal sent by the velocity FFT module 302, extracts the velocity dimension FFT signal to obtain target distance information and target velocity information, performs angle dimension FFT according to the velocity and distance information of the target to obtain a target angle dimension FFT signal, and extracts the target angle dimension FFT signal to obtain target angle information, and at this time, the obtained target distance information, target angle information, and target angle information are used as target point traces and send the target point traces to the velocity extraction module 40.
In this embodiment, the distance dimension FFT module receives the low frequency echo signal, performs distance dimension FFT on the low frequency echo signal to obtain a distance dimension FFT signal, and sends the distance dimension FFT signal to the velocity FFT module; the velocity dimension FFT conversion module is used for carrying out velocity dimension FFT conversion on the distance dimension FFT signal to obtain a velocity dimension FFT signal, and the velocity dimension FFT signal is used as a target conversion signal and is sent to the target extraction module; a target extraction module extracts corresponding target speed information and target distance information in the target conversion signal, performs angle dimension FFT conversion according to the target distance information and the target speed information to obtain a target angle dimension FFT signal, extracts corresponding target angle information in the target angle dimension FFT signal, takes the target distance information, the target speed information and the target dimension information as target point traces, and sends the target point traces to the speed extraction module; the method comprises the steps of obtaining a distance dimension FFT signal by carrying out distance dimension FFT conversion on a low-frequency echo signal, carrying out speed dimension FFT conversion on the distance dimension FFT signal, carrying out angle dimension FFT conversion on received target distance information and target speed information, extracting the target angle dimension FFT signal obtained by conversion to obtain target angle information, and taking the target distance information, the target speed information and the target angle information as target traces.
Referring to fig. 5, fig. 5 is a block diagram showing a configuration of a fifth embodiment of the vehicle body state determining system according to the present invention, and the fifth embodiment of the vehicle body state determining system according to the present invention is proposed based on the embodiment shown in fig. 1.
In this embodiment, the system 100 for determining the vehicle body state further includes a trace-point screening module 50, the trace-point screening module 50 receives the target trace point sent by the signal processing module 30, obtains a preset non-detection region, and screens the target trace point according to the preset non-detection region to obtain a set of trace points of the ground object, where the preset detection region refers to a region two meters away from the vehicle right behind, for example, a whole region is defined as C, where the region two meters away from the vehicle right behind is D, and the preset non-detection region is a region C-region D, and if the target trace point corresponding to the region C is C1 and the trace point corresponding to the region D is D1, the screened target trace point is C1-D1, and the set of trace points is sent to the speed extraction module 40.
In this embodiment, the speed extraction module 40 receives the feature point trace set sent by the trace screening module 50, and obtains the corresponding feature movement speed information according to the feature point trace set, where the feature point trace includes the feature amplitude information, the target speed information, and the target angle information, and therefore, after obtaining the feature movement speed information, the feature amplitude information is extracted to obtain the corresponding movement speed, and the vehicle body state of the vehicle is determined based on the movement speed.
In this embodiment, the target point trace is received by the point trace screening module, a preset non-detection region is obtained, the target point trace is screened according to the preset non-detection region, a ground object point trace set is obtained, and the ground object point trace set is sent to the speed extraction module; the speed extraction module receives the ground object point trace set, obtains ground object movement speed information according to the ground object point trace set, extracts movement speed corresponding to ground object amplitude in the ground object movement linear speed information, and determines the vehicle body state of the vehicle based on the movement speed; and screening the target point traces through a preset non-detection area, acquiring ground object motion speed information according to a set of target point traces obtained by screening, extracting corresponding motion speed in ground object amplitude, and determining the motion speed as the running speed of the vehicle.
Referring to fig. 6, fig. 6 is a block diagram showing a configuration of a system for determining a vehicle body state according to a sixth embodiment of the present invention, which is proposed based on the embodiment shown in fig. 1.
In this embodiment, the speed extracting module 40 includes a speed calculating module 40 'and an extracting module 40 ″, where the speed calculating module 40' receives the feature point trace set sent by the point trace screening module 50, extracts the current speed and the current angle of the traces in the feature point trace set, and extracts the current speed and the current angle of the traces according to the current speed and the current angleCalculating the ground object movement speed mapped by the current speed according to the current angle, for example, when the current speed is V and the current angle is theta, the mapped ground object movement speed is VmThe calculated ground feature movement velocity is sent to the extraction module 40 ″, V/cos θ.
In the present embodiment, the extracting module 40 ″ receives the ground object movement speed and the corresponding ground object amplitude sent by the speed calculating module 40', obtains the corresponding ground object movement speed according to the maximum value of the ground object amplitude information, the ground object movement speed serves as the driving speed of the host vehicle, and determines the vehicle body state of the host vehicle based on the driving speed, for example, a plurality of target speeds exist, which are E1, E2 and E3, respectively, where the amplitude corresponding to E1 is the maximum, the amplitude corresponding to E2 is the minimum, the amplitude corresponding to E3 is located between E1 and E2, and the ground object amplitude is the maximum amplitude corresponding to the amplitude information, so that the current speed is E1, and determines the vehicle body state of the host vehicle based on E1. The absolute value of E1 is the vehicle body speed, the positive and negative outputs represent the forward and backward movement of the vehicle, E1 is 0, the vehicle is stationary, E1 is negative, the vehicle is backward, E1 is positive, and the vehicle is forward.
In this embodiment, a speed calculation module receives the feature point trace set, calculates the current speed and the current angle of the feature point trace in the feature point trace set to obtain a feature movement speed, and sends the feature movement speed and the amplitude information to an extraction module; the extraction module receives the ground object movement speed and the ground object amplitude information, obtains the running speed of the vehicle according to the ground object movement speed and the ground object amplitude information, and determines the vehicle body state of the vehicle based on the running speed; the current speed and the current angle in the received feature point trace combination are extracted, the feature movement speed is calculated according to the current speed and the current angle, and the running speed of the vehicle is obtained according to the feature movement speed, so that the running speed of the vehicle can be obtained timely and quickly.
Referring to fig. 7, fig. 7 is a block diagram showing a configuration of a vehicle body state determining system according to a seventh embodiment of the present invention, which is proposed based on the embodiment shown in fig. 1.
In this embodiment, the system 100 for determining the vehicle body state further includes a data preprocessing module 60 and an alarm module 70, the data preprocessing module 60 receives the vehicle body state of the vehicle, obtains the current trace of the target area, filters the current trace of the target area according to the vehicle body state of the vehicle to obtain the filtered trace, and determines whether there is a corresponding target moving object according to the filtered trace to obtain a corresponding determination result, where the target detection area is an area outside a preset non-detection area, i.e. an area two meters away from the vehicle directly behind the vehicle, for example, if an entire area is defined as C, where the area two meters away from the vehicle is D, and the area D is the target detection area, the determination result includes two types, one type is that there is a corresponding target moving object, and the other type is that there is no target moving object, after the filtered traces are obtained, if the filtered traces plus the traveling speed of the vehicle is 0, the object corresponding to the traces is determined as a stationary object, and if the filtered traces plus the traveling speed of the vehicle is not 0, the object corresponding to the traces is determined as a target moving object, and the determination result is sent to the alarm module 70.
In this embodiment, the alarm module 70 receives the determination result sent by the data preprocessing module 60, and since the determination result is divided into two types, if the determination result indicates that the target moving object exists, the alarm is given, the alarm form is divided into multiple types, which can be visual, auditory and tactile, the visual alarm indicates that the indicator light of the instrument turns red or the alarm signal is played by the bezel, the auditory alarm indicates that the alarm signal is given by the buzzer or the sound, and the tactile alarm indicates that the steering wheel, the seat, the safety belt or the vehicle brakes and shakes.
In this embodiment, the current trace point of the target detection area is obtained through the data preprocessing module, the current trace point of the target detection area is filtered according to the received vehicle body state of the vehicle, so as to obtain the filtered trace point, whether a corresponding target moving object exists or not is judged according to the filtered trace point, a judgment result is obtained, the judgment result is sent to the alarm module, the alarm module judges that the target moving object exists, an alarm is given, the current trace point is filtered according to the vehicle body state, whether the target moving object exists or not is judged according to the filtered trace point, and if the target moving object exists, the alarm is given in time, so that the driving safety can be effectively improved.
Referring to fig. 8, the system for determining a vehicle body state of the present invention provides a method for determining a vehicle body state, and fig. 8 is a flowchart illustrating a first embodiment of the method for determining a vehicle body state of the present invention, and the system for determining a vehicle body state includes: the millimeter wave radar transmitting module, the millimeter wave radar receiving module, the signal processing module and the speed extracting module are connected in sequence;
the method for determining the state of the vehicle body comprises the following steps:
step S10, the millimeter wave radar transmitting module generates a high-frequency linear frequency modulation continuous wave signal, the high-frequency linear frequency modulation continuous wave signal is radiated to the space, and after the high-frequency linear frequency modulation continuous wave signal touches an obstacle, the high-frequency linear frequency modulation continuous wave signal is reflected to obtain an echo signal.
The millimeter wave radar transmitting module generates a high-frequency linear frequency modulation continuous wave signal and radiates the high-frequency linear frequency modulation continuous wave signal to a free space, wherein the high-frequency linear frequency modulation continuous wave signal refers to a continuous signal of which the transmitting frequency is modulated by a specific signal, the frequency of the signal needs to be kept at a high frequency, the signal is not limited by the embodiment, and the signal radiated to the free space can generate an echo signal after meeting surrounding obstacles.
And step S20, the millimeter wave radar receiving module receives the echo signal, performs frequency mixing filtering on the echo signal to obtain a low-frequency echo signal, and sends the low-frequency echo signal to the signal processing module.
After the millimeter wave radar receiving module receives the echo signal, because the frequency of the echo signal is very high, the echo signal needs to be subjected to frequency reduction, specifically, after the millimeter wave radar receiving module receives the echo signal, the echo signal is subjected to frequency mixing filtering, only a low-frequency echo signal exists in a radiation result at this time, for example, the frequency in the echo signal is a, the reduced frequency is B, and the frequency of B can meet the processing requirement.
Step S30, the signal processing module receives the low-frequency echo signal, performs conversion processing on the low-frequency echo signal to obtain a target trace, and sends the target trace to the speed extraction module.
The signal processing module converts the received low-frequency echo signal, converts the low-frequency echo signal at the moment, and obtains a corresponding target point trace, wherein the target point trace comprises a point trace in a preset detection area, and the target point trace refers to a target data point obtained in unit time according to the low-frequency echo signal.
And step S40, the speed extraction module receives the target point trace, obtains ground object movement speed information according to the target point trace, extracts movement speed information corresponding to the maximum amplitude of the target point trace, and determines the vehicle body state of the vehicle based on the movement speed.
The speed extraction module obtains corresponding target speed information according to the target point trace and extracts the speed corresponding to the target speed information, since the target point trace includes the distance information, the speed information, and the angle information of the vehicle, after the target point trace is obtained, the speed information in the target point trace needs to be extracted, so as to obtain the ground object movement speed information, the ground object movement speed information comprises the speed and the direction of the vehicle, the vehicle body state of the vehicle is determined according to the speed corresponding to the ground object movement speed information, wherein the speed is the speed of the vehicle, if the speed is 0, the vehicle is in a static state, if the speed is negative, this indicates that the running state of the host vehicle is backward, and the direction is reverse, and if the speed is positive, this indicates that the running state of the host vehicle is forward, and the direction is positive.
In this embodiment, the millimeter wave radar transmitting module is configured to generate a high-frequency chirp continuous wave signal, radiate the high-frequency chirp continuous wave signal to a space, and reflect the high-frequency chirp continuous wave signal after the high-frequency chirp continuous wave signal hits an obstacle, so as to obtain an echo signal; the millimeter wave radar receiving module is used for receiving the echo signal, performing frequency mixing filtering on the echo signal to obtain a low-frequency echo signal, and sending the low-frequency echo signal to the signal processing module; the signal processing module is used for receiving the low-frequency echo signal, converting the low-frequency echo signal to obtain a target point trace, and sending the target point trace to the speed extraction module; the speed extraction module is used for receiving the target point trace, obtaining ground object motion speed information according to the target point trace, extracting the ground object motion speed corresponding to the maximum ground object amplitude, determining the vehicle body state of the vehicle based on the speed, and determining the vehicle body state of the vehicle through the target point trace obtained by the echo signal in the radiation result.
Other embodiments or implementations of the body condition determining system apparatus of the present invention are described with reference to the method embodiments described above and are not intended to be exhaustive.
Further, it is to be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention or portions thereof that contribute to the prior art may be embodied in the form of a software product, where the computer software product is stored in a storage medium (e.g. Read Only Memory (ROM)/RAM, magnetic disk, optical disk), and includes several instructions for enabling a terminal device (e.g. a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A vehicle body state determination system, characterized by comprising: the millimeter wave radar transmitting module, the millimeter wave radar receiving module, the signal processing module and the speed extracting module are connected in sequence;
the millimeter wave radar transmitting module is used for generating a high-frequency linear frequency modulation continuous wave signal, radiating the high-frequency linear frequency modulation continuous wave signal to a space, and reflecting the high-frequency linear frequency modulation continuous wave signal after the high-frequency linear frequency modulation continuous wave signal touches an obstacle to obtain an echo signal;
the millimeter wave radar receiving module is used for receiving the echo signal, performing frequency mixing filtering on the echo signal to obtain a low-frequency echo signal, and sending the low-frequency echo signal to the signal processing module;
the signal processing module is used for receiving the low-frequency echo signal, converting the low-frequency echo signal to obtain a target point trace, and sending the target point trace to the speed extraction module;
the speed extraction module is used for receiving the target point trace, obtaining ground object movement speed information according to the angle and the speed of the target point trace, extracting the movement speed corresponding to the ground object amplitude in the ground object movement speed information, and determining the vehicle body state of the vehicle based on the movement speed.
2. The system for determining the state of the vehicle body according to claim 1, wherein the millimeter wave radar receiving module comprises a signal receiving module and a signal frequency reducing module;
the signal receiving module is used for receiving the echo signal and sending the echo signal to the signal frequency reducing module;
and the signal frequency reduction module is used for performing frequency mixing filtering on the echo signal to obtain a low-frequency echo signal and sending the low-frequency echo signal to the signal processing module.
3. The system for determining the state of a vehicle body according to claim 1, wherein the signal processing module comprises a signal transformation module and a target extraction module;
the signal conversion module is used for performing distance dimension FFT conversion and speed dimension FFT conversion on the low-frequency echo signal to obtain a target conversion signal and sending the target conversion signal to the target extraction module;
the target extraction module is used for extracting the conversion signal, obtaining a target point trace according to the extracted conversion signal and sending the target point trace to the speed extraction module.
4. The system for determining the vehicle body state according to claim 3, wherein the signal transformation module comprises a distance FFT transformation module and a speed FFT transformation module;
the distance FFT conversion module is used for receiving the low-frequency echo signal, performing distance dimension FFT conversion on the low-frequency echo signal to obtain target distance dimension information, and sending the target distance dimension FFT output to the speed FFT conversion module;
the speed FFT conversion module is used for carrying out speed dimension FFT conversion on the target distance dimension FFT result to obtain target speed dimension information, and the speed dimension FFT output is used as a target conversion signal to be sent to the target extraction module;
the target extraction module is configured to extract corresponding target speed information and target distance information in the target conversion signal, perform angle-dimensional FFT on the extracted target to obtain target angle information, use the target distance information, the target speed information, and the target angle information as a target point trace, and send the target point trace to the speed extraction module.
5. The vehicle body state determining system according to claim 1, further comprising a dot trace screening module and a speed extracting module;
the point trace screening module is used for receiving the target point trace, screening the target point trace according to the preset non-detection area to obtain a ground object point trace set, and sending the ground object point trace set to the speed extraction module;
the speed extraction module is used for receiving the ground object point trace set, obtaining ground object movement speed information according to the angle and the speed of the ground object point trace, extracting the movement speed corresponding to the ground object amplitude in the ground object movement speed information, and determining the vehicle body state of the vehicle based on the movement speed.
6. The system for determining the vehicle body state according to claim 5, wherein the point trace screening module is further configured to receive the target point traces, determine whether each of the target point traces is located in the preset non-detection region, and screen each of the target point traces if each of the target point traces is located in the preset non-detection region to obtain a ground object point trace set after screening.
7. The vehicle body state determination system according to claim 6, wherein the speed extraction module includes a speed calculation module and an extraction module;
the speed calculation module is used for receiving the ground feature point trace set, calculating the current speed and the current angle of the ground trace in the ground feature point trace set to obtain the ground feature movement speed, and sending the movement speed and the amplitude information of the ground feature point trace to the extraction module;
the extraction module is used for receiving the movement speed and the amplitude information of the ground feature point trace, obtaining the running speed of the vehicle according to the movement speed and the amplitude information of the ground feature, and determining the vehicle body state of the vehicle based on the running speed.
8. The system for determining the vehicle body state according to claim 7, wherein the extraction module is further configured to receive the feature movement speed and the amplitude information, select a feature movement speed corresponding to a feature amplitude in the amplitude information according to the feature movement speed, obtain the driving speed of the host vehicle according to the feature movement speed, and determine the vehicle body state of the host vehicle based on the driving speed.
9. The system for determining the state of the vehicle body according to any one of claims 1 to 8, further comprising a data preprocessing module and an alarm module;
the data preprocessing module is used for receiving the driving speed of the vehicle, acquiring the current point trace of a target detection area, filtering the current point trace according to the driving speed of the vehicle to obtain a filtered point trace, judging whether a corresponding target moving object exists according to the filtered point trace, obtaining a corresponding judgment result, and sending the judgment result to the alarm module;
and the alarm module is used for receiving the judgment result and giving an alarm if the judgment result indicates that the target moving object exists.
10. A vehicle body state determination method applied to a vehicle body state determination system according to any one of claims 1 to 9, the system comprising: the method comprises the following steps of sequentially connecting a millimeter wave radar transmitting module, a millimeter wave radar receiving module, a signal processing module and a speed extracting module, wherein the method comprises the following steps:
the millimeter wave radar transmitting module generates a high-frequency linear frequency modulation continuous wave signal, the high-frequency linear frequency modulation continuous wave signal is radiated to the space, and the high-frequency linear frequency modulation continuous wave signal is reflected after the high-frequency linear frequency modulation continuous wave signal touches an obstacle to obtain an echo signal;
the millimeter wave radar receiving module receives the echo signal, performs frequency mixing filtering on the echo signal to obtain a low-frequency echo signal, and sends the low-frequency echo signal to the signal processing module;
the signal processing module receives the low-frequency echo signal, converts the low-frequency echo signal to obtain a target trace, and sends the target trace to the speed extraction module;
the speed extraction module receives the ground feature point trace, obtains ground feature movement speed information according to the ground feature point trace, extracts movement speed corresponding to ground feature amplitude in the ground feature movement speed information, and determines the state of the vehicle body of the vehicle based on the movement speed.
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