CN113253273B - Detection method and detection system for remote vehicle - Google Patents
Detection method and detection system for remote vehicle 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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Abstract
The application relates to a detection method and a detection system of a remote vehicle, which relate to the technical field of radar detection, and are used for carrying out collision prediction with other vehicles based on interaction of chirp signals with preset frequency and same frequency band, wherein the detection method comprises the following steps: mixing according to the first chirp signal sent by the vehicle and the second chirp signal sent by another vehicle to obtain a third chirp signal; obtaining an azimuth angle according to the phase difference of the first chirp signal and the second chirp signal; obtaining the relative speed with another vehicle according to the frequency of the same frequency band of the third chirp signal; judging whether collision hidden danger exists or not according to the relative speed and the azimuth angle. The method and the device have the advantages that on the premise of not changing the hardware of the conventional radar, the detection range of the conventional radar is doubled, and the cost is low.
Description
Technical Field
The application relates to the technical field of radar detection, in particular to a detection method and a detection system for a remote vehicle.
Background
Along with the rapid development of economy, the complexity of road traffic is improved, and the detection requirement of vehicles is also continuously developed. At present, most of vehicle detection is radar detection, however, the detection distance of the angle radar is within hundred meters, and if the relative speed of a front vehicle and a rear vehicle is high, a vehicle collision accident is easy to occur if enough reaction time is not available.
The limit distance of vehicle detection is enlarged, which is beneficial to reducing the accident rate of vehicle running on the road. In the related art, in order to concentrate energy more for the radar to perform long-range detection, or to make a beam narrower using a novel antenna, or to increase transmission power. In the method for narrowing the beam, if the designed FOV is to be ensured, the antenna needs to be increased, the antenna area is increased, the radar volume is larger, the calculation amount, the radio frequency chip, the high frequency plate and the like are all-round improved, and the production cost is increased.
In another related art, the transmission power is increased to enable the radar to perform long-range detection, such as phased array, MIMO (multiple-in multiple-out) and the like, however, the excessive transmission power also causes energy waste and cost increase. For example, in the method of increasing the transmitting power, if other conditions are unchanged and the effect of doubling the distance is detected, the transmitting power of the antenna needs to be increased to 16 times of the original transmitting power, and if the technical effect is achieved for the vehicle-mounted radar, the research and development cost is extremely high, and mass production is difficult to realize for the automobile market with a large number of user groups.
Based on this, how to realize remote detection of vehicles at low cost is the core direction of our development.
Disclosure of Invention
The embodiment of the application provides a detection method and a detection system for a remote vehicle, which are used for solving the defect that the radar hardware structure is required to be changed or the cost is high when the vehicle is detected remotely in the related technology.
In a first aspect, a method for detecting a remote vehicle is provided, which performs collision prediction with other vehicles based on interactions of chirp signals of the same frequency band having a preset frequency, and includes the steps of:
mixing according to the first chirp signal sent by the vehicle and the second chirp signal sent by another vehicle to obtain a third chirp signal;
obtaining an azimuth angle according to the phase difference of the first chirp signal and the second chirp signal;
obtaining the relative speed with another vehicle according to the frequency of the same frequency band of the third chirp signal;
judging whether collision hidden danger exists or not according to the relative speed and the azimuth angle.
In some embodiments, the specific step of obtaining the third chirp signal by mixing the first chirp signal sent by the receiver with the second chirp signal sent by another vehicle includes:
and calculating the frequency difference between the received second chirp signal and the sent first chirp signal, wherein the frequency difference is the frequency of the second chirp signal.
In some embodiments, the specific step of obtaining the relative speed with another vehicle according to the frequency of the same frequency band of the third chirp signal includes:
acquiring the frequency of the same frequency band of the third chirp signal;
dividing the frequency of the same frequency band of the third chirp signal by the frequency of the same frequency band of the first chirp signal, and multiplying the frequency by the speed of light to obtain the relative speed with another vehicle.
In some embodiments, the specific step of determining whether there is a collision risk according to the relative speed and the azimuth angle includes:
comparing the relative speed with a set speed threshold value, and judging whether another vehicle is a fast moving target vehicle according to the comparison result;
after judging that the other vehicle is a fast moving target vehicle, judging whether the other vehicle has a collision hidden trouble in a long-distance detection mode or not according to the azimuth angle.
In some embodiments, the specific step of comparing the relative speed with a set speed threshold and determining whether another vehicle is a fast moving target vehicle according to the comparison result includes:
and comparing whether the relative speed is smaller than a set speed threshold, if so, judging that no collision hidden danger exists with the other vehicle, otherwise, judging that the other vehicle is a fast moving target vehicle.
In some embodiments, after determining that the other vehicle is a fast moving target vehicle, determining whether there is a hidden danger of collision with the other vehicle in the remote detection mode according to the azimuth angle includes:
after judging that another vehicle is a fast moving target vehicle, judging whether the other vehicle can be detected according to the frequency of the third chirp signal in the different frequency range, if so, switching to a close range detection mode, otherwise, comparing the azimuth angle with a set angle threshold, and judging that no collision hidden danger exists with the other vehicle in a far range detection mode according to the comparison result.
In some embodiments, the specific steps of comparing the azimuth angle with a set angle threshold, and determining that there is no collision hidden danger with the other vehicle in the remote detection mode according to the comparison result include:
comparing the azimuth angle with a set angle threshold;
if the azimuth exceeds the angle threshold, judging that no collision hidden danger exists with another vehicle in a remote detection mode;
and if the azimuth angle is below the angle threshold value, determining that the other vehicle is positioned on the same lane or a neighboring lane of the vehicle according to the azimuth angle.
In a second aspect, there is also provided a method for detecting a remote vehicle, for collision prediction with other vehicles based on interactions of chirp signals of the same frequency band having a preset frequency, comprising the steps of:
the method comprises the steps of sending a first chirp signal by itself and receiving a second chirp signal sent by another vehicle;
mixing according to the first chirp signal sent by the vehicle and the second chirp signal sent by another vehicle to obtain a third chirp signal;
obtaining an azimuth angle according to the phase difference of the first chirp signal and the second chirp signal;
obtaining the relative speed with another vehicle according to the frequency of the same frequency band of the third chirp signal;
judging whether collision hidden danger exists or not according to the relative speed and the azimuth angle.
In a third aspect, there is also provided a detection system for a remote vehicle, comprising a vehicle, a radar, another vehicle, and another radar;
the radar is arranged on the vehicle and used for sending out a first chirp signal and carrying out collision prediction with the other vehicle based on interaction of the chirp signals with the same frequency band with preset frequency;
the other radar is arranged on the other vehicle and is used for sending out a second chirp signal;
the radar is also used for mixing frequency according to the first chirp signal sent by the radar and the second chirp signal sent by another vehicle to obtain a third chirp signal; obtaining an azimuth angle according to the phase difference of the first chirp signal and the second chirp signal; obtaining the relative speed with another vehicle according to the frequency of the same frequency band of the third chirp signal; judging whether collision hidden danger exists or not according to the relative speed and the azimuth angle.
In some embodiments, the first chirp signal is the same as the second chirp signal.
The beneficial effects that technical scheme that this application provided brought include: the detection range of the conventional radar is doubled on the premise of not additionally changing the hardware of the conventional radar by combining the conventional radar on one vehicle with the conventional radar on the other vehicle, and the cost is low.
The embodiment of the application provides a detection method of a remote vehicle, wherein one vehicle performs collision prediction with the other vehicle based on interaction of chirp signals with the same frequency range and preset frequency, and the one vehicle mixes according to a first chirp signal sent by the one vehicle and a second chirp signal sent by the other vehicle, so as to obtain a third chirp signal; obtaining an azimuth angle according to the phase difference of the first chirp signal and the second chirp signal; obtaining the relative speed with another vehicle according to the frequency of the same frequency band of the third chirp signal; judging whether collision hidden danger exists or not according to the relative speed and the azimuth angle. Therefore, in the embodiment of the application, the conventional radar on one vehicle receives the chirp signal transmitted by the conventional radar on the other vehicle, the received chirp signal is always transmitted forward in the process, the detection range of the conventional radar is doubled within the same detection range of the conventional radar, the remote detection of the radar on the vehicle is facilitated, and the cost is low on the premise that the hardware of the conventional radar is not changed additionally, so that the radar has good market prospect.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flow chart of a method for detecting a remote vehicle according to an embodiment of the present application;
fig. 2 is a block diagram of a detection system of a remote vehicle according to an embodiment of the present application.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present application based on the embodiments herein.
The embodiment of the application provides a detection method of a remote vehicle, which uses the combination of a conventional radar on one vehicle and a conventional radar on another vehicle, does not additionally change the hardware of the conventional radar, the conventional radar on one vehicle receives a chirp signal transmitted by the conventional radar on the other vehicle, the received chirp signal is always transmitted forwards in the process, and the detection range of the conventional radar is doubled within the same detection range of the conventional radar, so that the remote detection of the vehicle radar is more facilitated.
As shown in fig. 1, an embodiment of the present application provides a method for detecting a remote vehicle, which performs collision prediction with other vehicles based on interaction of chirp signals with the same frequency band and a preset frequency, and includes the following steps:
s1: mixing according to the first chirp signal sent by the vehicle and the second chirp signal sent by another vehicle to obtain a third chirp signal;
s2: obtaining an azimuth angle according to the phase difference of the first chirp signal and the second chirp signal;
s3: obtaining the relative speed with another vehicle according to the frequency of the same frequency band of the third chirp signal;
s4: judging whether collision hidden danger exists or not according to the relative speed and the azimuth angle.
The embodiment of the application provides a detection method of a remote vehicle, wherein the detection method is operated by a processor or a processor in a radar on one vehicle, the radar on the other vehicle sends a first chirp signal, the radar on the other vehicle sends a second chirp signal, and after the radar on the one vehicle receives the second chirp signal sent by the radar on the other vehicle, the processor mixes according to the first chirp signal sent by the processor and the received second chirp signal sent by the other vehicle, so as to obtain a third chirp signal; obtaining an azimuth angle according to the phase difference of the first chirp signal and the second chirp signal; obtaining the relative speed with another vehicle according to the frequency of the same frequency band of the third chirp signal; judging whether collision hidden danger exists or not according to the relative speed and the azimuth angle.
In the detection method, the chirp signals are sent forward, the reflected chirp signals are not considered temporarily, the coverage range of the chirp signals with the same energy is doubled, meanwhile, the chirp signals have a part of non-same frequency band and a part of same frequency band, in the general radar ranging, the signals with different frequency bands are used for ranging, and the same frequency band is less utilized.
It can be seen that, in the embodiment of the application, the conventional radar on one vehicle receives the chirp signal transmitted by the conventional radar on the other vehicle, and the received chirp signal is always transmitted forward in the process, so that the detection range of the conventional radar is doubled within the same detection range of the conventional radar, which is more beneficial to the remote detection of the vehicle radar.
Further, the specific steps of the step S1 include:
and calculating the frequency difference between the received second chirp signal and the sent first chirp signal, wherein the frequency difference is the frequency of the second chirp signal.
In this embodiment, although the frequencies of the same frequency band of the first chirp signal and the second chirp signal are the same, since the vehicles travel on the early road with a certain speed, the vehicles may be close to each other or far away from each other, and according to the doppler effect, it is known that the received second chirp signal is not necessarily equal to the transmitted second chirp signal, and then it is possible to determine whether the vehicles are close to each other or far away from each other according to the frequency difference between the second chirp signal and the first chirp signal.
Further, the specific step of obtaining the relative speed with another vehicle according to the frequency of the same frequency band of the third chirp signal includes:
acquiring the frequency of the same frequency band of the third chirp signal;
dividing the frequency of the same frequency band of the third chirp signal by the frequency of the same frequency band of the first chirp signal, and multiplying the frequency by the speed of light to obtain the relative speed with another vehicle.
In this embodiment, the calculation formula for obtaining the relative speed V of another vehicle is:
V＝(F/F1)·c，
wherein F is the frequency of the third chirp signal in the same frequency band, C is the speed of light, and V is the relative speed of the other vehicle.
Wherein F is also equal to the frequency of the first chirp signal transmitted by one car minus the second chirp signal transmitted by the other car received.
Further, the specific step of judging whether there is a collision hidden danger according to the relative speed and the azimuth angle includes:
comparing the relative speed with a set speed threshold value, and judging whether another vehicle is a fast moving target vehicle according to the comparison result;
after judging that the other vehicle is a fast moving target vehicle, judging whether the other vehicle has a collision hidden trouble in a long-distance detection mode or not according to the azimuth angle.
Further, the specific steps of comparing the relative speed with a set speed threshold, and determining whether another vehicle is a fast moving target vehicle according to the comparison result include:
and comparing whether the relative speed is smaller than a set speed threshold, if so, judging that no collision hidden danger exists with the other vehicle, otherwise, judging that the other vehicle is a fast moving target vehicle.
Further, after the other vehicle is determined to be the fast moving target vehicle, the specific step of determining whether there is a collision hidden danger with the other vehicle in the remote detection mode according to the azimuth angle includes:
after judging that another vehicle is a fast moving target vehicle, judging whether the other vehicle can be detected according to the frequency of the third chirp signal in the different frequency range, if so, switching to a close range detection mode, otherwise, comparing the azimuth angle with a set angle threshold, and judging that no collision hidden danger exists with the other vehicle in a far range detection mode according to the comparison result.
Still further, the specific step of comparing the azimuth with a set angle threshold, and determining that there is no hidden danger of collision with the other vehicle in the remote detection mode according to the comparison result includes:
comparing the azimuth angle with a set angle threshold;
if the azimuth exceeds the angle threshold, judging that no collision hidden danger exists with another vehicle in a remote detection mode;
and if the azimuth angle is below the angle threshold value, determining that the other vehicle is positioned on the same lane or a neighboring lane of the vehicle according to the azimuth angle.
In this embodiment, after the relative speed is obtained, the relative speed is compared with a set speed threshold, where the speed threshold is determined according to the radar design distance and the actual functional requirement, and may be understood as an empirical value, when the relative speed is lower than the speed threshold, it is indicated that there is no collision hidden danger, another vehicle is abandoned as the target vehicle for detection, otherwise, the other vehicle is identified as the target vehicle that moves fast, and the remote vehicle detection is continued.
In the process of continuing to detect the remote vehicle, if the other vehicle can be detected according to the non-same frequency band of the third chirp signal, the detection of the remote vehicle is stopped and switched to a short-range detection mode if the other vehicle is in the general detection range of the conventional radar, so in the embodiment, the short-range detection mode refers to the conventional radar detection, and the long-range detection mode refers to the detection method in the embodiment of the application; if another vehicle cannot be detected in the different frequency bands, the subsequent steps of the embodiment are continuously executed, the azimuth angle is compared with the set angle threshold value, if the azimuth angle exceeds the angle threshold value, the other vehicle is not adjacent to each lane of the vehicle, no hidden danger of collision exists, otherwise, the other vehicle can be in the same lane or adjacent lane of the vehicle, and then the lane where the other vehicle is located is determined according to the specific indication of the azimuth angle.
The embodiment of the application also provides a detection method of the remote vehicle, which performs collision prediction with other vehicles based on the interaction of the chirp signals with the same frequency band of the preset frequency, and comprises the following steps:
the method comprises the steps of sending a first chirp signal by itself and receiving a second chirp signal sent by another vehicle;
mixing according to the first chirp signal sent by the vehicle and the second chirp signal sent by another vehicle to obtain a third chirp signal;
obtaining an azimuth angle according to the phase difference of the first chirp signal and the second chirp signal;
obtaining the relative speed with another vehicle according to the frequency of the same frequency band of the third chirp signal;
judging whether collision hidden danger exists or not according to the relative speed and the azimuth angle.
In this embodiment, when the computing capability of the radar is sufficient, the detection method of the embodiment of the application may be implemented by using a processor of the radar itself. Specific embodiments have been described in the above embodiments, and will not be described in detail herein.
The embodiment of the application also provides a detection system of the remote vehicle, which comprises one vehicle, one radar, another vehicle and another radar;
the radar is arranged on the vehicle and used for sending out a first chirp signal and carrying out collision prediction with the other vehicle based on interaction of the chirp signals with the same frequency band with preset frequency;
the other radar is arranged on the other vehicle and is used for sending out a second chirp signal;
the radar is also used for mixing frequency according to the first chirp signal sent by the radar and the second chirp signal sent by another vehicle to obtain a third chirp signal; obtaining an azimuth angle according to the phase difference of the first chirp signal and the second chirp signal; obtaining the relative speed with another vehicle according to the frequency of the same frequency band of the third chirp signal; based on the relative velocity and the orientation
Specifically, the first chirp signal is identical to the second chirp signal.
In this embodiment, as shown in fig. 2, the detection system includes a first vehicle, a first radar, a second vehicle, and a second radar, the first radar is mounted on the first vehicle, the second radar is mounted on the second vehicle, and a first chirp signal sent by the first radar interacts with a second chirp signal sent by the second radar to perform collision prediction.
In the description of the present application, it should be noted that the azimuth or positional relationship indicated by the terms "upper", "lower", etc. are based on the azimuth or positional relationship shown in the drawings, and are merely for convenience of description of the present application and simplification of the description, and are not indicative or implying that the apparatus or element in question must have a specific azimuth, be configured and operated in a specific azimuth, and thus should not be construed as limiting the present application. Unless specifically stated or limited otherwise, the terms "mounted," "connected," and "coupled" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.
It should be noted that in this application, relational terms such as "first" and "second" and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus 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 apparatus. 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 apparatus that comprises the element.
The foregoing is merely a specific embodiment of the application to enable one skilled in the art to understand or practice the application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (8)
1. A method for detecting a remote vehicle, characterized in that collision prediction is performed with other vehicles based on interactions of chirp signals of the same frequency band having a preset frequency, comprising the steps of:
mixing according to the first chirp signal sent by the vehicle and the second chirp signal sent by another vehicle to obtain a third chirp signal; calculating the frequency difference between the received second chirp signal and the sent first chirp signal, wherein the frequency difference is the frequency of the third chirp signal;
obtaining an azimuth angle according to the phase difference of the first chirp signal and the second chirp signal;
obtaining the relative speed with another vehicle according to the frequency of the same frequency band of the third chirp signal;
wherein obtaining the relative speed with another car according to the frequency of the same frequency band of the third chirp signal includes:
acquiring the frequency of the same frequency band of the third chirp signal;
dividing the frequency of the same frequency band of the third chirp signal by the frequency of the same frequency band of the first chirp signal, and multiplying the frequency by the speed of light to obtain the relative speed with another vehicle; judging whether collision hidden danger exists or not according to the relative speed and the azimuth angle.
2. The method for detecting a long-distance vehicle according to claim 1, wherein the specific step of determining whether there is a collision risk based on the relative speed and the azimuth angle comprises:
comparing the relative speed with a set speed threshold value, and judging whether another vehicle is a fast moving target vehicle according to the comparison result;
after judging that the other vehicle is a fast moving target vehicle, judging whether the other vehicle has a collision hidden trouble in a long-distance detection mode or not according to the azimuth angle.
3. The method of claim 2, wherein the step of comparing the relative speed with a set speed threshold and determining whether another vehicle is a fast moving target vehicle based on the comparison result comprises:
and comparing whether the relative speed is smaller than a set speed threshold, if so, judging that no collision hidden danger exists with the other vehicle, otherwise, judging that the other vehicle is a fast moving target vehicle.
4. The method for detecting a long-distance vehicle according to claim 2, wherein the specific step of determining whether there is a collision hidden danger with the other vehicle in the long-distance detection mode according to the azimuth after determining that the other vehicle is a fast moving target vehicle comprises:
after judging that another vehicle is a fast moving target vehicle, judging whether the other vehicle can be detected according to the frequency of the third chirp signal in the different frequency range, if so, switching to a close range detection mode, otherwise, comparing the azimuth angle with a set angle threshold, and judging that no collision hidden danger exists with the other vehicle in a far range detection mode according to the comparison result.
5. The method of claim 4, wherein the specific step of comparing the azimuth angle with a set angle threshold value and determining that there is no collision risk with the other vehicle in the remote detection mode according to the comparison result comprises:
comparing the azimuth angle with a set angle threshold;
if the azimuth exceeds the angle threshold, judging that no collision hidden danger exists with another vehicle in a remote detection mode;
and if the azimuth angle is below the angle threshold value, determining that the other vehicle is positioned on the same lane or a neighboring lane of the vehicle according to the azimuth angle.
6. A method for detecting a remote vehicle, characterized in that collision prediction is performed with other vehicles based on interactions of chirp signals of the same frequency band having a preset frequency, comprising the steps of:
the method comprises the steps of sending a first chirp signal by itself and receiving a second chirp signal sent by another vehicle;
mixing according to the first chirp signal sent by the vehicle and the second chirp signal sent by another vehicle to obtain a third chirp signal; calculating the frequency difference between the received second chirp signal and the sent first chirp signal, wherein the frequency difference is the frequency of the third chirp signal;
obtaining an azimuth angle according to the phase difference of the first chirp signal and the second chirp signal;
obtaining the relative speed with another vehicle according to the frequency of the same frequency band of the third chirp signal;
wherein obtaining the relative speed with another car according to the frequency of the same frequency band of the third chirp signal includes:
acquiring the frequency of the same frequency band of the third chirp signal;
dividing the frequency of the same frequency band of the third chirp signal by the frequency of the same frequency band of the first chirp signal, and multiplying the frequency by the speed of light to obtain the relative speed with another vehicle;
judging whether collision hidden danger exists or not according to the relative speed and the azimuth angle.
7. A detection system for a remote vehicle, comprising a vehicle, a radar, another vehicle and another radar;
the radar is arranged on the vehicle and used for sending out a first chirp signal and carrying out collision prediction with the other vehicle based on interaction of the chirp signals with the same frequency band with preset frequency;
the other radar is arranged on the other vehicle and is used for sending out a second chirp signal;
the radar is also used for mixing frequency according to the first chirp signal sent by the radar and the second chirp signal sent by another vehicle to obtain a third chirp signal; obtaining an azimuth angle according to the phase difference of the first chirp signal and the second chirp signal; obtaining the relative speed with another vehicle according to the frequency of the same frequency band of the third chirp signal; judging whether collision hidden danger exists or not according to the relative speed and the azimuth angle;
calculating the frequency difference between the received second chirp signal and the sent first chirp signal, wherein the frequency difference is the frequency of the third chirp signal;
wherein obtaining the relative speed with another car according to the frequency of the same frequency band of the third chirp signal includes:
acquiring the frequency of the same frequency band of the third chirp signal;
dividing the frequency of the same frequency band of the third chirp signal by the frequency of the same frequency band of the first chirp signal, and multiplying the frequency by the speed of light to obtain the relative speed with another vehicle.
8. The detection system of a remote vehicle according to claim 7, wherein the first chirp signal is identical to the second chirp signal.
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