CN113204025B - System and method for determining vehicle body state - Google Patents
System and method for determining vehicle body state Download PDFInfo
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- CN113204025B CN113204025B CN202110427372.2A CN202110427372A CN113204025B CN 113204025 B CN113204025 B CN 113204025B CN 202110427372 A CN202110427372 A CN 202110427372A CN 113204025 B CN113204025 B CN 113204025B
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Classifications
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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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- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
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 high-frequency linear frequency modulation continuous wave signal to a space, an echo signal is obtained after the high-frequency linear frequency modulation continuous wave signal encounters an obstacle, the millimeter wave radar receiving module carries out 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 point trace, and the speed extracting module determines the body state of the vehicle according to the received target point trace; the system and the method can effectively reduce the installation difficulty and cost for acquiring the vehicle body state of the vehicle, and can be better and wider in 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 in recent years of auxiliary driving is rapidly developed, and the level of auxiliary driving is also an increasingly relevant topic of people, for example, the current common auxiliary driving is an advanced auxiliary driving system (Advanced Driving Assistance System, ADAS), and the vehicle millimeter wave radar has become one of the important sensors of the ADAS system, but the current automobile millimeter wave radar has the following problems:
1. the installation is complicated. The automobile interior refitting is related to, the process is relatively complex and tedious, the number of the installed wire harnesses is large, and the installation requirement is high.
2. The applicability is poor. It is generally necessary to install specific and various track boxes to extract the vehicle body protocol, obtain the vehicle body speed information, and the different vehicle factory protocols have great difference.
3. The ADAS automobile millimeter wave radar is mainly aimed at the front end market of vehicle production, and the rear radar of the automobile in the huge stock market is high in dead object target false alarm caused by complex installation and incapability of obtaining automobile body speed information, so that great inconvenience is brought to automobile drivers.
The foregoing is provided merely for the purpose of facilitating understanding of the technical solutions of the present invention and is not intended to represent an admission that the foregoing is prior art.
Disclosure of Invention
The invention mainly aims to provide a modeling method, device and equipment for triggering events and a storage medium, and aims to solve the technical problem of determining the state of a vehicle body 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 device comprises a millimeter wave radar transmitting module, a millimeter wave radar receiving module, a signal processing module and a speed extracting module which are sequentially connected;
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 space, and reflecting the high-frequency linear frequency modulation continuous wave signal after the high-frequency linear frequency modulation continuous wave signal encounters an obstacle to obtain an echo signal;
the millimeter wave radar receiving module is used for receiving the echo signals, carrying out frequency mixing filtering on the echo signals to obtain low-frequency echo signals, and sending the low-frequency echo signals to the signal processing module;
the signal processing module is used for receiving the low-frequency echo signals, converting the low-frequency echo signals to obtain target points, and sending the target points to the speed extraction module;
the speed extraction module is used for receiving the target point trace, obtaining ground feature movement speed information according to the angle and the speed of the target point trace, extracting the movement speed corresponding to the ground feature amplitude in the ground feature movement speed information, and determining the body state of the vehicle based on the movement speed.
Optionally, the millimeter wave radar receiving module comprises a signal receiving module and a signal down-conversion module;
the signal receiving module is used for receiving the echo signal and sending the echo signal to the signal down-conversion module;
the signal down conversion module is used for carrying out frequency mixing filtering on the echo signals to obtain low-frequency echo signals, and sending the low-frequency echo signals to the signal processing module.
Optionally, the signal processing module comprises a signal conversion module and a target extraction module;
the signal conversion module is used for carrying out 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 extracting the transformation signal, obtaining a target trace according to the extracted transformation signal, and sending the target 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 signals, carrying out distance dimension FFT conversion on the low-frequency echo signals to obtain target distance dimension information, and sending the target distance dimension FFT signals 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 as a target conversion signal to the target extraction module;
the target extraction module is used for extracting corresponding target speed information and target distance information in the target transformation signal, performing angle dimension FFT transformation on the extracted target to obtain target angle information, taking the target distance information, the target speed information and the target angle information as target point tracks, and sending the target point tracks to the speed extraction module.
Optionally, the system for determining the state of the vehicle body further comprises a spot 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 feature point trace set, and sending the ground feature point trace set to the speed extraction module;
the speed extraction module is used for receiving the ground feature point trace set, obtaining ground feature movement speed information according to the angle and the speed of the ground feature point trace, extracting movement speed corresponding to ground feature amplitude in the ground feature movement speed information, and determining the vehicle body state of the vehicle based on the movement speed.
Optionally, the trace point screening module is further configured to receive the trace point, determine whether each trace point in the trace point is located in the preset non-detection area, and if each trace point in the trace point is located in the preset non-detection area, screen the trace point to obtain a screened ground feature trace point set.
Optionally, the speed extraction module comprises 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 feature point trace in the ground feature point trace set to obtain the ground feature movement speed, and sending the ground feature movement speed and 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 spot, 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 extracting module is further configured to receive the ground feature movement speed and the amplitude information, select a ground feature movement speed corresponding to the ground feature amplitude in the amplitude information according to the ground feature movement speed, obtain a running speed of the vehicle according to the ground feature movement speed, and determine a vehicle body state of the vehicle based on the running 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 a 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, acquiring a corresponding judging result, and sending the judging result to the alarm module;
and the alarm module is used for receiving the judging result and giving an alarm if the judging result is that the target moving object exists.
In addition, in order to achieve the above object, the present invention also proposes a method for determining a vehicle body state, the method for determining a vehicle body state being applied to a system for determining a vehicle body state, 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:
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 encountering an obstacle, the high-frequency linear frequency modulation continuous wave signal is reflected to obtain an echo signal;
The millimeter wave radar receiving module receives the echo signals, carries out frequency mixing filtering on the echo signals to obtain low-frequency echo signals, and sends the low-frequency echo signals 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 running 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 space, and reflecting the high-frequency linear frequency modulation continuous wave signal after the high-frequency linear frequency modulation continuous wave signal encounters an obstacle to obtain an echo signal; the millimeter wave radar receiving module is used for receiving the echo signals, carrying out frequency mixing filtering on the echo signals to obtain low-frequency echo signals, and sending the low-frequency echo signals to the signal processing module; the signal processing module is used for receiving the low-frequency echo signals, converting the low-frequency echo signals to obtain target points, and sending the target points 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 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 of a first embodiment of a vehicle body condition determination system of the present invention;
FIG. 2 is a block diagram of a second embodiment of a vehicle body condition determination system according to the present invention;
FIG. 3 is a block diagram of a third embodiment of a vehicle body condition determination system according to the present invention;
FIG. 4 is a block diagram of a fourth embodiment of a vehicle body condition determination system of the present invention;
FIG. 5 is a block diagram of a fifth embodiment of a vehicle body condition determination system of the present invention;
FIG. 6 is a block diagram showing a construction of a sixth embodiment of a method for determining a vehicle body state according to the present invention;
FIG. 7 is a block diagram showing a seventh embodiment of a method for determining a vehicle body state according to the present invention;
fig. 8 is a flowchart of a first embodiment of a method for determining a vehicle body state according to the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1, fig. 1 is a block diagram showing the construction of a first embodiment of a system for determining a vehicle body state according to the present invention. The system for determining the state of the vehicle body comprises: 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 sequentially connected.
In this embodiment, the millimeter wave radar transmitting module 10 in the vehicle body state determining system 100 may be a microwave radar transmitting module, a radar signal generating transmitting module, or other transmitting modules capable of realizing the same function, and may generate a high-frequency chirped continuous wave signal and radiate the high-frequency chirped continuous wave signal to free space, where the high-frequency chirped 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 kept high, which is not limited in this embodiment, and the signal radiated to free space generates an echo signal after encountering a surrounding obstacle.
After the millimeter wave radar receiving module 20 in the vehicle body state determining system 100 receives the echo signal, the echo signal needs to be down-converted due to the high frequency of the echo signal, specifically, the millimeter wave radar receiving module 20 performs mixing filtering on the echo signal after receiving the echo signal, at this time, only the 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 vehicle body state determining system 100 receives the low-frequency echo signal sent by the millimeter wave radar receiving module 20, and converts the received low-frequency echo signal, at this time, converts the low-frequency echo signal to obtain a corresponding target trace, where the target trace includes a trace in a preset non-detection area, and the target trace is a target data point obtained according to the low-frequency echo signal in a unit time.
The speed extraction module 40 in the vehicle body state determination system 100 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, and since the target point trace includes distance information, speed information and angle information of a target, after obtaining the target point trace, the speed information in the target point trace needs to be extracted to obtain ground object movement speed information, and the ground object movement speed information includes the speed and direction of the point trace, and determines the vehicle body speed of the vehicle according to the speed corresponding to the ground object movement speed information, wherein the speed indicates the speed of the vehicle, if the speed is 0, the vehicle is in a stationary state, if the speed is negative, the vehicle indicates the running state of the vehicle is backward, if the speed is positive, the vehicle indicates the running state of the vehicle is forward, and the direction is positive.
According to the embodiment, 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 encounters an obstacle to obtain an echo signal; the millimeter wave radar receiving module is used for receiving the echo signals, carrying out frequency mixing filtering on the echo signals to obtain low-frequency echo signals, and sending the low-frequency echo signals to the signal processing module; the signal processing module is used for receiving the low-frequency echo signals, converting the low-frequency echo signals to obtain target points, and sending the target points 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, determining the vehicle body state through the target point trace obtained by echo signals in a radiation result, and compared with the vehicle body state in the prior art through various different trace boxes, the speed extraction module can effectively reduce the installation difficulty and cost of the vehicle body state.
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 described above.
In this embodiment, the millimeter wave radar receiving module 20 includes a signal receiving module 20 'and a signal down-conversion module 20", where the signal down-conversion module 20' sends the echo signal to the signal down-conversion module 20" after receiving the echo signal, so that the signal down-conversion module 20 "performs down-conversion processing on the echo signal.
In this embodiment, the signal down conversion module 20″ receives the echo signal sent by the signal receiving module 20', after receiving the echo signal, performs 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 selection loop, refers to the obtained signal as a target signal, so as 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 signal receiving module receives the echo signal, and sends the echo signal to the signal down-conversion module; the signal down-conversion module carries out frequency mixing filtering on the echo signals to obtain low-frequency echo signals, the low-frequency echo signals are sent to the signal processing module, and the signal down-conversion module carries out frequency mixing and filtering processing on the received echo signals respectively by sending the received echo signals to the signal down-conversion module so as 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 third embodiment of the vehicle body state determining system according to 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 described above.
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, performs a distance-dimensional fast fourier transform (Fast Fourier Transform, FFT) transformation and a velocity-dimensional FFT transformation on the low-frequency echo signal to obtain a target transformation signal, and the target transformation signal is output by the low-frequency echo signal through the distance-dimensional FFT and then through the velocity-dimensional FFT, and sends the target transformation signal to the target extraction module 30".
In this embodiment, the target extraction module 30″ receives the target transformation signal transmitted by the signal transformation module 30', extracts the target transformation signal, obtains a target trace from the extracted transformation signal, and, since the target transformation signal includes target distance information and speed information, and the target trace refers to a target data point obtained from the extracted transformation signal in a unit time, performs angular dimension FFT transformation on the target transformation signal after obtaining the target transformation signal, takes the transformed target speed information, target distance information, and target dimension information as the target trace, and transmits the target trace to the speed extraction module 40.
In this embodiment, a signal conversion module receives a low-frequency echo signal, performs distance and speed 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 takes the target distance information, the target speed information and the target dimension information as target points; the target transformation signal is obtained by transforming the received low-frequency echo signal, the target transformation signal is extracted, and a target trace is obtained 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 fourth embodiment of the vehicle body state determining system according to the present invention, which is proposed based on the embodiment shown in fig. 1 described above.
In this embodiment, the signal conversion module 30' includes a distance FFT conversion module 301 and a speed FFT conversion module 302, where the distance FFT conversion module 301 receives a low-frequency echo signal, performs a distance dimension FFT conversion on the low-frequency echo signal to obtain a distance dimension FFT signal, performs a transformation on the distance signal through a distance dimension fourier, and performs a 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 speed FFT conversion module 302.
In this embodiment, the speed FFT transformation module 302 receives the distance dimension FFT signal transmitted by the distance FFT transformation module 301, performs a speed dimension FFT transformation on the distance dimension FFT signal to obtain a speed dimension FFT signal, transforms the distance dimension FFT signal by a speed dimension fourier, and performs a harmonic analysis on the distance dimension FFT signal to obtain target speed dimension information, and transmits the speed dimension FFT signal as a target transformed signal to the target extraction module 30".
In this embodiment, the target extraction module 30″ receives the speed dimension FFT signal sent by the speed FFT transformation module 302, extracts the speed dimension FFT signal to obtain target distance information and target speed information, performs angle dimension FFT transformation according to the speed 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, uses the obtained target distance information, target angle information and target angle information as target point trace, and sends the target point trace to the speed extraction module 40.
In this embodiment, the low-frequency echo signal is received through a distance FFT conversion module, a distance dimension FFT is performed on the low-frequency echo signal, a distance dimension FFT signal is obtained, and the distance dimension FFT signal is sent to the speed FFT conversion module; the speed FFT conversion module performs speed dimension FFT conversion on the distance dimension FFT signal to obtain a speed dimension FFT signal, and sends the speed dimension FFT signal as a target conversion signal to the target extraction module; the target extraction module extracts corresponding target speed information and target distance information in the target transformation signal, performs angle dimension FFT transformation 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 points and sends the target points to the speed extraction module; the method comprises the steps of performing distance dimension FFT conversion on a low-frequency echo signal to obtain a distance dimension FFT signal, performing speed dimension FFT conversion on the distance dimension FFT signal, performing angle dimension FFT conversion on received target distance information and target speed information, extracting a target angle dimension FFT signal obtained through conversion to obtain target angle information, and taking the target distance information, the target speed information and the target angle information as target points.
Referring to fig. 5, 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, 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 described above.
In this embodiment, the vehicle body state determining system 100 further includes a track screening module 50, where the track screening module 50 receives the track of the object sent by the signal processing module 30, obtains a preset non-detection area, screens the track of the object according to the preset non-detection area to obtain a track set of objects, where the preset detection area refers to an area two meters away from the vehicle, for example, a whole area is defined as C, where the area two meters away from the vehicle is D, and at this time, the preset non-detection area is an area C-area D, and if the track of the object corresponding to the area C is C1, the track of the object corresponding to the area D is D1, the track of the object after screening is C1-D1, and the track set of objects is sent to the speed extracting module 40.
In this embodiment, the speed extraction module 40 receives the feature point trace set sent by the point trace screening module 50, and obtains corresponding feature movement speed information according to the feature point trace set, where the feature point trace includes the amplitude information, the target speed information, and the target angle information of the feature, so that after the feature movement speed information is obtained, the feature amplitude information is extracted to obtain a corresponding movement speed, and the body state of the vehicle is determined based on the movement speed.
In the embodiment, a point trace screening module receives a target point trace, a preset non-detection area is obtained, the target point trace is screened according to the preset non-detection area, a ground feature point trace set is obtained, and the ground feature point trace set is sent to a 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 body state of the vehicle based on the movement speed; screening target point tracks through a preset non-detection area, acquiring ground object movement speed information according to a target point track set obtained through screening, extracting corresponding movement speed in ground object amplitude, and determining the movement speed as the running speed of the vehicle.
Referring to fig. 6, fig. 6 is a block diagram showing a configuration of a sixth embodiment of the vehicle body state determining system of the present invention, which is proposed based on the embodiment shown in fig. 1 described above.
In this embodiment, the speed extraction module 40 includes a speed calculation module 40 'and an extraction module 40", the speed calculation 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 feature point trace set, and calculates the feature movement speed mapped by the current speed according to the current angle, for example, the current speed is V at this time, the current angle is θ, and then the mapped feature movement speed is V m =v/cos θ, and the calculated ground object movement speed is sent to the extraction module 40".
In this embodiment, the extraction module 40″ receives the feature movement speed and the corresponding feature amplitude sent by the speed calculation module 40', and obtains the corresponding feature movement speed according to the maximum value of the feature amplitude information, where the feature movement speed is used as the running speed of the host vehicle, and the body state of the host vehicle is determined based on the running speed, for example, there are a plurality of target speeds, E1, E2, and E3, 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 feature amplitude is the maximum amplitude corresponding to the amplitude information, so the current speed is E1, and the body state of the host vehicle is determined based on E1. The absolute value of E1 is the speed of the vehicle body, the positive and negative output represents forward and backward movement of the vehicle, E1 is 0, the vehicle is stationary, E1 is negative, the vehicle is backward movement, E1 is positive, and the vehicle is forward.
In this embodiment, the speed calculation module receives the ground feature point trace set, calculates the current speed and the current angle of the ground feature point trace in the ground feature point trace set, obtains the ground feature movement speed, and sends the ground feature movement speed and amplitude information to the 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 ground feature point trace combination are extracted, the ground 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 ground feature movement speed, so that the running speed of the vehicle can be timely and quickly obtained.
Referring to fig. 7, fig. 7 is a block diagram showing the construction of a seventh embodiment of the vehicle body state determining system according to the present invention, which is proposed based on the embodiment shown in fig. 1 described above.
In this embodiment, the vehicle body state determining system 100 further includes a data preprocessing module 60 and an alarm module 70, where the data preprocessing module 60 receives the vehicle body state of the host vehicle, obtains a current trace of the target area, filters the current trace of the target area according to the vehicle body state of the host vehicle to obtain a filtered trace, determines whether a corresponding target moving object exists according to the filtered trace, and obtains a corresponding determination result, where the target detection area is an area other than a preset non-detection area, that is, an area two meters away from the host vehicle, for example, if the whole area is defined as C, where the area two meters away from the host vehicle is D, the area D is the target detection area, one is that the corresponding target moving object exists, and the other is that the target moving object does not exist, after the filtered trace is obtained, if the filtered trace is added with the running speed of the host vehicle to be 0, the object corresponding to the point is determined as a stationary object, and if the filtered trace is added with the running speed of the host vehicle to be not 0, the object is determined as the target moving object, and the alarm module is sent to the target moving object.
In this embodiment, the alarm module 70 receives the judgment result sent by the data preprocessing module 60, and if the judgment result is that the target moving object exists, the alarm is given in multiple modes, such as vision, hearing and touch, the vision alarm is that the instrument indicator light turns red or the frame is played to prompt the alarm, the hearing alarm is that the buzzer or the sound sends out the alarm prompt tone, and the touch alarm is that the steering wheel, the seat, the safety belt or the vehicle brakes and shakes.
In this embodiment, the current trace of the target detection area is obtained through the data preprocessing module, the current trace of the target detection area is filtered according to the received vehicle body state of the vehicle, so as to obtain a filtered trace, whether a corresponding target moving object exists or not is judged according to the filtered trace, 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 is filtered according to the vehicle body state, whether the target moving object exists or not is judged according to the filtered trace, 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, a vehicle body state determining system according to the present invention provides a vehicle body state determining method, and fig. 8 is a flowchart of a first embodiment of the vehicle body state determining method according to the present invention, where the vehicle body state determining system includes: the device comprises a millimeter wave radar transmitting module, a millimeter wave radar receiving module, a signal processing module and a speed extracting module which are sequentially connected;
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 space, and after the high-frequency linear frequency modulation continuous wave signal encounters an obstacle, the high-frequency linear frequency modulation continuous wave signal is reflected, and an echo signal is obtained.
The millimeter wave radar transmitting module generates a high-frequency chirped continuous wave signal and radiates the high-frequency chirped continuous wave signal into free space, wherein the high-frequency chirped continuous wave signal refers to a continuous signal with a transmitting frequency modulated by a specific signal, the frequency of the signal needs to be kept high, the embodiment is not limited to this, and an echo signal can be generated after the signal radiated into the free space encounters a surrounding obstacle.
And step S20, the millimeter wave radar receiving module receives the echo signals, carries out frequency mixing filtering on the echo signals to obtain low-frequency echo signals, and sends the low-frequency echo signals to the signal processing module.
After receiving the echo signal, the millimeter wave radar receiving module needs to perform frequency reduction on the echo signal because the frequency of the echo signal is very high, specifically, the millimeter wave radar receiving module performs frequency mixing filtering on the echo signal after receiving the echo signal, at this time, only a low-frequency echo signal exists in a 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.
And step S30, the signal processing module receives the low-frequency echo signals, performs conversion processing on the low-frequency echo signals to obtain target points, and sends the target points to the speed extraction module.
The signal processing module converts the received low-frequency echo signals, at the moment, the low-frequency echo signals are converted to obtain corresponding target point tracks, the target point tracks comprise point tracks in a preset detection area, and the target point tracks refer to target data points obtained according to the low-frequency echo signals in unit time.
And 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 value of the amplitude of the target point trace, and determines the 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, and because the target point trace comprises distance information, speed information and angle information of the vehicle, 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 comprises the speed and the direction of the vehicle running of the vehicle, and the vehicle body state of the vehicle is determined according to the speed corresponding to the ground object movement speed information, wherein the speed represents the speed of the vehicle running 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 state, and if the speed is positive, the vehicle is in a forward state, and the direction is in a positive direction.
According to the embodiment, 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 encounters an obstacle to obtain an echo signal; the millimeter wave radar receiving module is used for receiving the echo signals, carrying out frequency mixing filtering on the echo signals to obtain low-frequency echo signals, and sending the low-frequency echo signals to the signal processing module; the signal processing module is used for receiving the low-frequency echo signals, converting the low-frequency echo signals to obtain target points, and sending the target points 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 ground object movement speed corresponding to the largest ground object amplitude, determining the vehicle body state of the vehicle based on the speed, determining the vehicle body state of the vehicle through the target point trace obtained by echo signals in a radiation result, and compared with the prior art, obtaining the vehicle body state through various track boxes distributed on the vehicle, the speed extraction module can effectively reduce the installation difficulty and cost for obtaining the vehicle body state of the vehicle.
Other embodiments of the system device for determining a vehicle body state or the implementation method thereof according to the present invention may refer to the above-mentioned method embodiments, and are not repeated here.
Furthermore, it should 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 one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages 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 use of the words first, second, third, etc. do not denote any order. These words may be interpreted as names.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. Read Only Memory)/RAM, magnetic disk, optical disk) and including several instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method according to the embodiments of the present invention.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (7)
1. A system for determining a state of a vehicle body, the system comprising: the device comprises a millimeter wave radar transmitting module, a millimeter wave radar receiving module, a signal processing module and a speed extracting module which are sequentially connected;
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 space, and reflecting the high-frequency linear frequency modulation continuous wave signal after the high-frequency linear frequency modulation continuous wave signal encounters an obstacle to obtain an echo signal;
the millimeter wave radar receiving module is used for receiving the echo signals, carrying out frequency mixing filtering on the echo signals to obtain low-frequency echo signals, and sending the low-frequency echo signals to the signal processing module;
the signal processing module is used for receiving the low-frequency echo signals, converting the low-frequency echo signals to obtain target points, and sending the target points to the speed extraction module;
the speed extraction module is used for receiving the target point trace, obtaining ground feature movement speed information according to the angle and the speed of the target point trace, extracting the movement speed corresponding to the ground feature amplitude in the ground feature movement speed information, and determining the vehicle body state of the vehicle based on the movement speed;
the system for determining the state of the vehicle body further comprises a spot screening module and a speed extraction module;
the spot trace screening module is used for receiving the target spot trace, screening the target spot trace according to a preset non-detection area to obtain a ground feature spot trace set, and sending the ground feature spot trace set to the speed extraction module;
The speed extraction module is used for receiving the ground feature point trace set, obtaining ground feature movement speed information according to the angle and the speed of the ground feature point trace, extracting movement speed corresponding to the ground feature amplitude in the ground feature movement speed information, and determining the vehicle body state of the vehicle based on the movement speed;
the point trace screening module is further configured to receive the point trace, determine whether each point trace in the point trace is located in the preset non-detection area, and screen each point trace if each point trace in the point trace is located in the preset non-detection area, so as to obtain a screened ground feature point trace set;
the speed extraction module comprises 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 feature point 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 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.
2. The vehicle body state determination system according to claim 1, wherein the millimeter wave radar receiving module includes a signal receiving module and a signal down-conversion module;
the signal receiving module is used for receiving the echo signal and sending the echo signal to the signal down-conversion module;
the signal down conversion module is used for carrying out frequency mixing filtering on the echo signals to obtain low-frequency echo signals, and sending the low-frequency echo signals to the signal processing module.
3. The vehicle body state determination system according to claim 1, wherein the signal processing module includes a signal conversion module and a target extraction module;
the signal conversion module is used for carrying out 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 transformation signal, obtaining a target trace according to the extracted transformation signal, and sending the target trace to the speed extraction module.
4. The vehicle body state determination system of claim 3, wherein the signal transformation module comprises a distance FFT transformation module, a velocity FFT transformation module;
The distance FFT conversion module is used for receiving the low-frequency echo signals, carrying out distance dimension FFT conversion on the low-frequency echo signals to obtain target distance dimension information, and sending 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 sending the speed dimension FFT output as a target conversion signal to the target extraction module;
the target extraction module is used for extracting corresponding target speed information and target distance information in the target transformation signal, performing angle dimension FFT transformation on the extracted target to obtain target angle information, taking the target distance information, the target speed information and the target angle information as target points, and sending the target points to the speed extraction module.
5. The system for determining a vehicle body state according to claim 1, 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 a traveling speed of the host vehicle according to the feature movement speed, and determine the vehicle body state of the host vehicle based on the traveling speed.
6. The vehicle body state determination system according to any one of claims 1 to 5, further comprising a data preprocessing module and an alarm module;
the data preprocessing module is used for receiving the running speed of the vehicle, acquiring a current trace of a target detection area, filtering the current trace according to the running speed of the vehicle to obtain a filtered trace, judging whether a corresponding target moving object exists according to the filtered trace, acquiring a corresponding judging result, and sending the judging result to the alarm module;
and the alarm module is used for receiving the judging result and giving an alarm if the judging result is that the target moving object exists.
7. A determination method of a vehicle body state, characterized in that the determination method of a vehicle body state is applied to the determination system of a vehicle body state according to any one of claims 1 to 6, 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, a speed extracting module, a trace spot screening module and a speed extracting module, wherein the speed extracting module comprises a speed calculating module and an extracting module, and 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 after encountering an obstacle, the high-frequency linear frequency modulation continuous wave signal is reflected to obtain an echo signal;
the millimeter wave radar receiving module receives the echo signals, carries out frequency mixing filtering on the echo signals to obtain low-frequency echo signals, and sends the low-frequency echo signals 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 object point trace, obtains ground object movement speed information according to the ground object point trace, extracts movement speed corresponding to ground object amplitude in the ground object movement speed information, and determines the state of the vehicle body of the vehicle based on the movement speed;
the point trace screening module receives the target point trace, screens the target point trace according to the preset non-detection area to obtain a ground feature point trace set, and sends the ground feature point trace set to the speed extraction module;
The speed extraction module receives the ground feature point trace set, obtains ground feature movement speed information according to the angle and the speed of the ground feature point trace, extracts movement speed corresponding to ground feature amplitude in the ground feature movement speed information, and determines the vehicle body state of the vehicle based on the movement speed;
the point trace screening module receives the point trace and judges whether each point trace in the point trace is positioned in the preset non-detection area, if the point trace in the point trace is positioned in the preset non-detection area, the point trace is screened, and a screened ground feature point trace set is obtained;
the speed extraction module comprises a speed calculation module and an extraction module;
the speed calculation module receives the ground feature point trace set, calculates the current speed and the current angle of the ground feature point trace in the ground feature point trace set to obtain the ground feature movement speed, and sends the movement speed and amplitude information of the ground feature point trace to the extraction module;
the extraction module receives the movement speed and the amplitude information of the ground feature trace, obtains the running speed of the vehicle according to the movement speed and the amplitude information of the ground feature, and determines the vehicle body state of the vehicle based on the running speed.
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