CN113740855A - Occupancy identification method and device, millimeter wave radar and storage medium - Google Patents
Occupancy identification method and device, millimeter wave radar and storage medium Download PDFInfo
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- CN113740855A CN113740855A CN202110926413.2A CN202110926413A CN113740855A CN 113740855 A CN113740855 A CN 113740855A CN 202110926413 A CN202110926413 A CN 202110926413A CN 113740855 A CN113740855 A CN 113740855A
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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
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
- G01S3/14—Systems for determining direction or deviation from predetermined direction
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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
- G01S7/414—Discriminating targets with respect to background clutter
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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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- Radar, Positioning & Navigation (AREA)
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Abstract
The invention provides an occupancy identification method and device, a millimeter wave radar and a storage medium. The method comprises the following steps: sampling each path of antenna echo signal in a preset area respectively to obtain a time domain echo signal set; each path of antenna echo signal in the preset area is an echo signal obtained by detecting the preset area in the vehicle; aiming at each time domain echo signal in the time domain echo signal set, carrying out one-dimensional FFT (fast Fourier transform) processing on the time domain echo signal to obtain distance information of the time domain echo signal; and determining effective echo signal sets corresponding to each occupied area in the vehicle according to the distance information of each time domain echo signal in the time domain echo signal sets, and judging whether each occupied area is occupied or not according to the effective echo signal sets corresponding to each occupied area. The invention can improve the reliability of vehicle occupation identification.
Description
Technical Field
The invention relates to the technical field of occupancy security, in particular to an occupancy identification method and device, a millimeter wave radar and a storage medium.
Background
With the popularization of automobiles, the safety of automobiles is more and more emphasized. Safety belts are important protection devices for ensuring the safety of passengers, and are particularly important in vehicle safety. Automobiles are gradually transitioning from a physically secure, omni-directional network security and security assistance system. At present, whether a person is at the position is mostly detected through a pressure sensor, and whether an alarm is given or not is judged through the wearing state of a safety belt. Or the camera acquires the image information of the position to judge whether a person exists, and the wearing state of the safety belt is combined to judge whether to alarm.
And whether a person misjudges or not by adopting the pressure sensor can be judged, so that the safety belt alarm misjudgment is caused. The camera has extremely high requirements on light, is easily influenced by dust and the like, has high cost and can also have the alarm misjudgment of the safety belt. The existing safety belt warning mode is easy to misjudge, and the occupied identification accuracy is poor.
Disclosure of Invention
The embodiment of the invention provides an occupancy identification method and device, a millimeter wave radar and a storage medium, and aims to solve the problems that misjudgment is easy to occur in the existing safety belt alarm mode, and the occupancy identification accuracy is poor.
In a first aspect, an embodiment of the present invention provides an occupancy identification method, including:
sampling each path of antenna echo signal in a preset area respectively to obtain a time domain echo signal set; each path of antenna echo signal in the preset area is an echo signal obtained by detecting the preset area in the vehicle;
aiming at each time domain echo signal in the time domain echo signal set, carrying out one-dimensional FFT (fast Fourier transform) processing on the time domain echo signal to obtain distance information of the time domain echo signal;
and determining effective echo signal sets corresponding to each occupied area in the vehicle according to the distance information of each time domain echo signal in the time domain echo signal sets, and judging whether each occupied area is occupied or not according to the effective echo signal sets corresponding to each occupied area.
In one possible implementation, each time domain echo signal in the time domain echo signal set includes an echo signal of a plurality of sampling points; the distance information of the time domain echo signal comprises distance values of echo signals of a plurality of sampling points corresponding to the time domain echo signal;
according to the distance information of each time domain echo signal in the time domain echo signal set, determining an effective echo signal set corresponding to each occupied area in the vehicle, comprising:
selecting echo signals of sampling points of which all distance values are within a preset range in the time domain echo signals as effective echo signals corresponding to the time domain echo signals aiming at each time domain echo signal in the time domain echo signal set;
performing two-dimensional DOA (direction of arrival) estimation on each effective echo signal to obtain position information of a sampling point corresponding to each effective echo signal;
and determining effective echo signal sets corresponding to the occupied areas in the vehicle according to the position information of the sampling points corresponding to the effective echo signals respectively.
In a possible implementation manner, respectively determining whether each occupied area is occupied according to an effective echo signal set corresponding to each occupied area respectively includes:
obtaining point cloud information of each occupied area according to the effective echo signal set corresponding to each occupied area;
and aiming at each occupied area, calculating the micro-motion speed of each point cloud of the occupied area according to the point cloud information of the occupied area, and determining whether the occupied area is occupied or not according to the micro-motion speed of each point cloud of the occupied area.
In one possible implementation, determining whether the occupancy area is occupied according to the jiggle speed of each point cloud of the occupancy area comprises:
and if the number of the point clouds of which the inching speed is greater than the preset inching speed in the occupied area is greater than the preset number, judging that the occupied area is occupied.
In one possible implementation, each time domain echo signal in the time domain echo signal set includes an echo signal of a plurality of sampling points;
before performing one-dimensional FFT processing on the time-domain echo signal, the method further includes:
obtaining the signal average value of the echo signals of each sampling point in the time domain echo signals;
respectively subtracting the echo signals of all sampling points in the time domain echo signals from the corresponding signal average values to obtain filtered time domain echo signals of the time domain echo signals;
correspondingly, the one-dimensional FFT processing is performed on the time domain echo signal to obtain the distance information of the time domain echo signal, which includes:
and performing one-dimensional FFT (fast Fourier transform) processing on the filtered time domain echo signal to obtain the distance information of the time domain echo signal.
In one possible implementation, the method further includes:
transmitting the occupation judgment result of each occupation area to a vehicle central control;
and aiming at the occupation judgment result of each occupation area, the occupation judgment result of the occupation area is used for indicating that the occupation judgment result of the vehicle in the occupation area is occupied, detecting that the safety belt of the occupation area is not fastened, and carrying out sound and light alarm on the safety belt of the occupation area when the vehicle speed of the vehicle is detected to be greater than a preset vehicle speed threshold value.
In a second aspect, an embodiment of the present invention provides an occupancy identification device, including:
the sampling module is used for sampling each path of antenna echo signal in a preset area to obtain a time domain echo signal set; each path of antenna echo signal in the preset area is an echo signal obtained by detecting the preset area in the vehicle;
the transformation module is used for carrying out one-dimensional FFT (fast Fourier transform) transformation processing on the time domain echo signal aiming at each time domain echo signal in the time domain echo signal set to obtain the distance information of the time domain echo signal;
and the judging module is used for determining time domain echo signals respectively corresponding to each occupied area in the vehicle according to the distance information of each time domain echo signal in the time domain echo signal set, and judging whether each occupied area is occupied or not according to the time domain echo signals respectively corresponding to each occupied area.
In one possible implementation manner, each time domain echo signal in the time domain echo signal set includes echo signals of a plurality of sampling points; the distance information of the time domain echo signal comprises distance values of echo signals of a plurality of sampling points corresponding to the time domain echo signal;
the judging module may include:
the effective signal selection unit is used for selecting echo signals of sampling points with all distance values within a preset range in the time domain echo signals as effective echo signals corresponding to the time domain echo signals aiming at each time domain echo signal in the time domain echo signal set;
the estimation unit is used for respectively carrying out two-dimensional DOA (direction of arrival) estimation on each effective echo signal to obtain the position information of the sampling point corresponding to each effective echo signal;
and the effective signal determining unit is used for determining effective echo signal sets corresponding to each occupied area in the vehicle according to the position information of the sampling points corresponding to each effective echo signal.
In a third aspect, an embodiment of the present invention provides a millimeter wave radar, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor, when executing the computer program, implements the steps of the occupancy recognition method according to the first aspect or any one of the possible implementation manners of the first aspect.
In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, where a computer program is stored, and the computer program, when executed by a processor, implements the steps of the occupancy recognition method according to the first aspect or any one of the possible implementations of the first aspect.
The embodiment of the invention provides an occupancy identification method and device, a millimeter wave radar and a storage medium, wherein a time domain echo signal set is obtained by sampling each path of antenna echo signals in a preset area respectively; each path of antenna echo signal in the preset area is an echo signal obtained by detecting the preset area in the vehicle; aiming at each time domain echo signal in the time domain echo signal set, carrying out one-dimensional FFT (fast Fourier transform) processing on the time domain echo signal to obtain distance information of the time domain echo signal; and determining effective echo signal sets corresponding to each occupied area in the vehicle according to the distance information of each time domain echo signal in the time domain echo signal sets, and judging whether each occupied area is occupied or not according to the effective echo signal sets corresponding to each occupied area. Antenna echo signal can accurately reflect the situation of the environment in the car, through handling antenna echo signal, judges whether occupation region is occupied, can improve the reliability of occupation discernment, further improves the security that the vehicle travel.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a flowchart illustrating an implementation of a placeholder identification method according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an occupancy identification device according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a millimeter wave radar according to an embodiment of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the following description is made by way of specific embodiments with reference to the accompanying drawings.
In the embodiment of the invention, the millimeter wave radar is arranged at the top in the vehicle, the millimeter wave radar adopts a Monolithic Microwave Integrated Circuit (MMIC) and Multiple Input Multiple Output (MIMO) technology, a processor and a sensor which are highly Integrated by the MMIC reduce the size of a product, and the MIMO array antenna is arranged, so that the size of the antenna is reduced, the good angle resolution capability is ensured, and electromagnetic waves can penetrate through ceiling materials, so that the product is conveniently hidden and installed at the top in the vehicle.
The millimeter wave radar adopts a CAN communication mode, supports functions of dormancy awakening network management and remote firmware flash updating, adopts an advanced signal processing technology, CAN realize multidimensional resolution of distance, speed, azimuth angle, pitch angle and the like, and further improves the identification performance of targets in the vehicle.
Compare exposed sensors such as ultrasonic wave and camera, because the electromagnetic wave of radar transmission can pierce through the ceiling material, can realize non-exposed mounting means, install in the car promptly in the middle of ceiling and panel beating, the passenger does not experience the existence of any device completely in the car, has avoided the cutting destruction of automobile body material well, and the installation of being convenient for is realized, and hides in the middle of ceiling and panel beating, and privacy is effectual, can not bring the pressure sense for the passenger.
Referring to fig. 1, it shows a flowchart of an implementation of the occupancy recognition method provided by the embodiment of the present invention. As shown in fig. 1, an occupancy recognition method may include:
s101, sampling each path of antenna echo signal in a preset area respectively to obtain a time domain echo signal set; each path of antenna echo signal in the preset area is an echo signal obtained by detecting the preset area in the vehicle.
Optionally, an execution subject of the occupancy recognition method in the embodiment of the present invention is a millimeter wave radar, and the preset area is an area detectable by the millimeter wave radar in the vehicle. For example, the predetermined area may include a front row area of the vehicle interior, and/or a rear row area of the vehicle interior. And each antenna corresponds to one time domain echo signal, and the time domain echo signals of all the antennas form a time domain echo signal set.
Optionally, in the radar, the distance dimension, the azimuth dimension, and the pitch dimension are spatial positions in a spherical coordinate space. Sampling may be ADC sampling of the antenna echo signal along the distance dimension and the time dimension for each antenna, such as a fast time sampling mode.
In the embodiment of the invention, the millimeter wave radar comprises a plurality of transmitting antennas and a plurality of receiving antennas which are arranged in an array manner, when the millimeter wave radar is in a working state, the millimeter wave radar transmits a plurality of detection signals to the interior of a vehicle through the plurality of transmitting antennas, and receives corresponding echo signals of the plurality of receiving antennas through the plurality of receiving antennas.
Specifically, the millimeter wave radar is powered on to work, the transmitting antenna transmits electromagnetic waves with specific frequency to a preset area, the electromagnetic waves are reflected when encountering an object, the reflected electromagnetic waves carry target information, the target information comprises information of the distance, the speed and the space angle of the preset area, the receiving antenna receives the reflected electromagnetic waves (namely echo signals), and the reflected electromagnetic waves are sampled to obtain time domain echo signals.
S102, aiming at each time domain echo signal in the time domain echo signal set, carrying out one-dimensional FFT (fast Fourier transform) processing on the time domain echo signal to obtain the distance information of the time domain echo signal.
Optionally, the one-dimensional FFT transformation processing is used to transform the time domain echo signal to the frequency domain echo signal, so as to obtain the distance information of the time domain echo signal in the preset region, that is, to obtain the distance distribution of the time domain echo signal in the preset region.
S103, determining effective echo signal sets corresponding to all occupied areas in the vehicle according to the distance information of all time domain echo signals in the time domain echo signal sets, and judging whether the occupied areas are occupied or not according to the effective echo signal sets corresponding to the occupied areas respectively.
Optionally, the occupied area is a partial area in the preset area, and if the preset area is a front space in the vehicle, the occupied area may be a primary driving area or a secondary driving area. An occupied area is understood to mean that the occupied area is occupied, for example, an occupied area is a copilot, and the occupied area is occupied to represent the copilot.
The method and the device have the advantages that a time domain echo signal set is obtained by sampling each path of antenna echo signals in a preset area respectively; each path of antenna echo signal in the preset area is an echo signal obtained by detecting the preset area in the vehicle; aiming at each time domain echo signal in the time domain echo signal set, carrying out one-dimensional FFT (fast Fourier transform) processing on the time domain echo signal to obtain distance information of the time domain echo signal; and determining effective echo signal sets corresponding to each occupied area in the vehicle according to the distance information of each time domain echo signal in the time domain echo signal sets, and judging whether each occupied area is occupied or not according to the effective echo signal sets corresponding to each occupied area. Antenna echo signal can accurately reflect the situation of the environment in the car, through handling antenna echo signal, judges whether occupation region is occupied, can improve the reliability of occupation discernment, further improves the security that the vehicle travel.
In some embodiments of the invention, each time domain echo signal in the set of time domain echo signals comprises an echo signal of a plurality of sampling points; the distance information of the time domain echo signal comprises distance values of echo signals of a plurality of sampling points corresponding to the time domain echo signal;
in S103, determining the effective echo signal sets corresponding to the occupied areas in the vehicle according to the distance information of the time domain echo signals in the time domain echo signal sets may include:
selecting echo signals of sampling points of which all distance values are within a preset range in the time domain echo signals as effective echo signals corresponding to the time domain echo signals aiming at each time domain echo signal in the time domain echo signal set;
performing two-dimensional DOA (direction of arrival) estimation on each effective echo signal to obtain position information of a sampling point corresponding to each effective echo signal;
and determining effective echo signal sets corresponding to the occupied areas in the vehicle according to the position information of the sampling points corresponding to the effective echo signals respectively.
Optionally, the preset range may be a range that is not smaller than the first preset distance value and not larger than the second preset distance value, and the first preset distance value is smaller than the second preset distance value. The preset range may be determined according to the distance between the passenger who actually takes the vehicle and the millimeter wave radar.
For example, in general, the range of the passenger from the millimeter wave radar is greater than 0.5m, so the preset range may be set to 0.5m to 1.5m, and the time domain echo signal with the distance value in the range of 0.5m to 1.5m is selected as the effective echo signal. The area within the preset range can be an effective area inside the vehicle, each effective echo signal is an echo signal in the effective area, each effective echo signal in the effective area is processed to obtain the position information of each effective echo signal, each occupied area is determined according to the position information of each effective echo signal, if the position information can comprise pitch angle information and azimuth angle information, each occupied area can be determined according to the pitch angle information and the azimuth angle information, and whether each occupied area is occupied or not is further judged.
Optionally, each sampling point corresponds to an actual point in a preset region. The azimuth (horizontal) and elevation (longitudinal) two-dimensional DOA (direction of arrival) estimation between the multi-path antennas can be carried out on each effective echo signal, so that the position information of the sampling point corresponding to each effective echo signal is obtained, and the position information of each sampling point in the preset distance range can be obtained. The position information may include azimuth angle information and pitch angle information. The power of the signals in the appointed direction can be enhanced through two-dimensional DOA (direction of arrival) estimation, and meanwhile, the sidelobe of the antenna is cancelled, so that clutter interference is reduced.
For example, the two-dimensional DOA arrival estimation process may be:
setting a steering vector of a target azimuth angle theta as alpha and a covariance matrix of space-time sampling data of Ri array elements of each azimuth as R, then finding min (W is a constant) with an optimal weight coefficient W being equal to mu R alpha and mu being a constantHRW), is the optimal target approach direction theta. And obtaining the pitching direction psi in the same way, and finishing the azimuth and pitching two-dimensional DOA estimation.
Optionally, the millimeter-wave radar is used as a center, and the positions of the occupied areas relative to the millimeter-wave radar are different. Such as the position of the primary driver with respect to the millimeter wave radar, and the position of the secondary driver with respect to the millimeter wave radar. Therefore, each occupied area in the vehicle and the time domain echo signal corresponding to each occupied area can be determined according to the position information of the sampling point corresponding to each effective echo signal.
In some embodiments of the present invention, the "respectively determining whether each occupancy area is occupied according to the effective echo signal set corresponding to each occupancy area" in S103 may include:
obtaining point cloud information of each occupied area according to the effective echo signal set corresponding to each occupied area;
and aiming at each occupied area, calculating the micro-motion speed of each point cloud of the occupied area according to the point cloud information of the occupied area, and determining whether the occupied area is occupied or not according to the micro-motion speed of each point cloud of the occupied area.
Optionally, each occupied area may correspond to one piece of point cloud information, the point cloud information may include three-dimensional coordinates of each point cloud corresponding to the occupied area, and the micro-motion speed of each point cloud of the occupied area may be calculated according to the point cloud information of the occupied area by the prior art.
In some embodiments of the invention, determining whether the placeholder is placeholderd according to the jiggle velocity of each point cloud of the placeholder may include:
and if the number of the point clouds of which the inching speed is greater than the preset inching speed in the occupied area is greater than the preset number, judging that the occupied area is occupied.
Optionally, if the number of the point clouds of which the inching speed is greater than the preset inching speed in the occupied area is not greater than the preset number, it is determined that the occupied area is not occupied.
According to the embodiment of the invention, whether the occupied area is occupied or not is judged according to the two conditions of the inching speed and the point cloud number, so that some accidental interference factors can be eliminated, and the judgment is more accurate than that of a single condition.
In some embodiments of the invention, each time domain echo signal in the set of time domain echo signals comprises an echo signal of a plurality of sampling points;
before the one-dimensional FFT processing is performed on the time domain echo signal, the method may further include:
obtaining the signal average value of the echo signals of each sampling point in the time domain echo signals;
respectively subtracting the echo signals of all sampling points in the time domain echo signals from the corresponding signal average values to obtain filtered time domain echo signals of the time domain echo signals;
correspondingly, the one-dimensional FFT processing is performed on the time domain echo signal to obtain the distance information of the time domain echo signal, and the method includes:
and performing one-dimensional FFT (fast Fourier transform) processing on the filtered time domain echo signal to obtain the distance information of the time domain echo signal.
Optionally, the above process is static clutter removal of the time domain echo signal. Because the limb micro-motion signal belongs to a weak target and is easily interfered by complex echo of the cockpit, the reliability of occupation identification can be improved by carrying out static clutter rejection on the time domain callback signal.
In some embodiments of the present invention, the formula for averaging the echo signals of the sampling points is:
wherein the time domain echo signal is S ═ S1，S2，...，Sn]，
SmeaniFor the echo signal S of the ith sampling point in the time domain echo signaliI is 1 to n, j is 1 to m, n is the number of echo signals of the sampling points included in the time domain echo signal, m is the number of times, S is the average value of the signals of (1 to n), andiSmfor echo signals SiThe signal at time m.
For example, for a certain time domain echo signal, an average value of each distance dimension sampling point along a time dimension may be obtained and subtracted to obtain a filtered time domain echo signal.
For example, let S ═ S be the time domain echo signal of a certain antenna1，S2，...，Sn]Wherein
j is 1-m, n is a distance dimension sampling point, m is a time dimension sampling point, and the average value Smean＝[Smean1，Smean2，...，Smeann]，
Obtaining a time domain echo signal S' ═ S after the static noise wave is removed1-Smean，S2-Smean，...，Sn-Smean]Interference of the stationary clutter can be reduced.
In some embodiments of the invention, the method may further comprise:
transmitting the occupation judgment result of each occupation area to a vehicle central control;
and aiming at the occupation judgment result of each occupation area, the occupation judgment result of the occupation area is used for indicating that the occupation judgment result of the vehicle in the occupation area is occupied, detecting that the safety belt of the occupation area is not fastened, and carrying out sound and light alarm on the safety belt of the occupation area when the vehicle speed of the vehicle is detected to be greater than a preset vehicle speed threshold value.
Optionally, the millimeter wave radar of the embodiment of the invention can send the occupancy determination result to the vehicle central control, and the vehicle central control determines whether to perform the sound-light alarm of the safety belt according to the occupancy determination result and other conditions.
Optionally, the occupancy determination result is further used for indicating that the occupant of the vehicle is not occupied, or detecting that the seat belt in the occupancy area is fastened, or detecting that the vehicle speed of the vehicle is not greater than a preset vehicle speed threshold, and not performing sound and light alarm on the seat belt.
For example, the seat belt warning process performed in the embodiment of the present invention may be:
step one, the millimeter wave radar sends detection signals to a preset area in the vehicle through multiple antennas, and each received antenna echo signal is sampled to obtain a time domain echo signal set.
And step two, performing static clutter rejection on each time domain echo signal in the time domain echo signal set to obtain a filtered time domain echo signal set.
And step three, performing one-dimensional FFT (fast Fourier transform) processing on the time domain echo signals in the filtered time domain echo signal set to obtain the distance information of each time domain echo signal.
And step four, determining each occupied area and an effective echo signal corresponding to each occupied area according to the distance information of each time domain echo signal. Selecting a time domain echo signal with the distance information in a preset range as an effective echo signal; performing two-dimensional DOA (direction of arrival) estimation on each effective echo signal to obtain position information of a sampling point corresponding to each effective echo signal; and determining point cloud information of each occupied area according to the position information of the sampling point corresponding to each effective echo signal.
And fifthly, calculating the micro-motion speed of each point cloud of the occupied area according to the point cloud information of the occupied area and determining whether the occupied area is occupied or not according to the micro-motion speed of each point cloud of the occupied area.
And step six, sending the occupation judgment result to the vehicle central control, wherein the occupation judgment result is used for indicating whether the vehicle central control carries out safety belt acousto-optic alarm or not.
In some embodiments of the invention, the method may further comprise:
acquiring a vehicle state signal; the vehicle state signal comprises an unlocking state signal, a driving state signal or a locking state signal;
when the vehicle state signal is an unlocking state signal, sending a detection signal to the first specific area, performing gesture recognition on the received echo signal of the first specific area, and controlling the vehicle to execute corresponding preset operation according to a gesture recognition result;
when the vehicle state signal is a driving state signal, sending a detection signal to a first specific area and a preset area, performing gesture recognition on a received echo signal of the first specific area, controlling a vehicle to execute corresponding preset operation according to a gesture recognition result, performing occupation recognition on the received echo signal of the preset area, and judging whether to perform safety belt warning according to an occupation recognition result;
and when the vehicle state signal is a locking state signal, sending a detection signal to the second specific area, carrying out life body identification on the received echo signal of the second specific area, and judging whether to carry out personnel retention alarm according to a life body identification result.
Illustratively, in the unlocking state of the vehicle, the millimeter wave radar can realize the gesture recognition function so as to control the skylight switch, the air conditioner temperature and the like;
when the vehicle runs, the radar detects whether a person is on the seat, and when the vehicle speed is higher than a certain speed and the person is not wearing the safety belt, sound and light alarm is carried out to prompt the passenger to wear the safety belt;
in the vehicle locking state, whether a child is detained in the vehicle is detected within the first 30min from the start of locking the vehicle, so that the occurrence of high-temperature suffocation accidents is prevented; generally, the working time can be set by a user, after the working time is up, the radar enters a sleep mode, the working current is less than 100uA, the power consumption is extremely low, and the safety requirement of the automobile is met.
In some embodiments of the present invention, performing gesture recognition on the received echo signal of the first specific region may include:
sampling each path of antenna echo signal in a first specific area to obtain a gesture echo signal set; each path of antenna echo signal in the first specific area is an echo signal obtained by detecting the first specific area in the vehicle;
performing one-dimensional FFT (fast Fourier transform) on each gesture echo signal in the gesture echo signal set, and performing two-dimensional FFT on each gesture echo signal after the one-dimensional FFT to obtain point cloud data of each sampling point in a first specific area; the point cloud data of the sampling point comprises the distance and the speed of the sampling point;
calculating the point cloud data of all sampling points with non-zero speeds in the first specific area to obtain the amplitude of the point cloud data of each sampling point with non-zero speed;
respectively carrying out non-coherent accumulation processing on the amplitude of point cloud data of each sampling point with the speed not being zero, and selecting all point cloud data of the sampling points with the amplitude after the non-coherent accumulation processing being larger than a preset amplitude to form a target point cloud data set;
performing two-dimensional DOA (direction of arrival) estimation on the target point cloud data set to obtain spatial angle information of corresponding sampling points of each point cloud data in the target point cloud data set;
and performing gesture recognition according to the spatial angle information of the corresponding sampling point of each point cloud data in the target point cloud data set.
Optionally, the human gesture is 0.5m away from the radar and is a motion gesture with a speed, so that point cloud data with the speed within 0-0.5 m and non-zero can be intercepted, non-coherent accumulation processing is performed on the newly obtained point cloud data, and all point cloud data with the amplitude larger than the preset amplitude after the non-coherent accumulation processing are selected to form a target point cloud data set.
Optionally, each point cloud data in the target point cloud data set includes various information such as distance, speed, azimuth angle, pitch angle, and the like.
For example, the gesture recognition process may be:
setting 1: the left side of the first specific area corresponds to the negative angle of the millimeter wave radar azimuth, and the right side of the first specific area corresponds to the positive angle of the millimeter wave radar azimuth;
setting 2: a group of uniform-speed gestures sliding from left to right within 50cm of the millimeter wave radar lasts 60 frames in total, and the 60 frames are divided into three stages (for illustration, three stages are taken as an example, and actually can be further refined) when viewed in time first;
the point set trajectory should appear as:
in the first stage (1-20 frames), a point set is concentrated on an azimuth negative angle;
in the second stage (21-40 frames), the point set is concentrated on the azimuth zero angle;
in the third stage (41-60 frames), the point set is concentrated on the positive azimuth angle.
All the motion gestures are classified according to the trajectory principle, and the type of the gesture can be judged by utilizing different point set trajectory information presented by different motion gestures, so that gesture recognition is realized.
In some embodiments of the present invention, determining whether to perform a person retention alarm according to a result of the recognition of the living body includes:
and sending the recognition result of the living body to a vehicle central control, wherein the recognition result of the living body is used for indicating the vehicle central control to carry out personnel retention alarm in the preset area when detecting that the recognition result of the living body is that the living body exists in the preset area.
Optionally, the function of preventing children from forgetting is adopted for personnel retention warning, and the millimeter wave radar provided by the embodiment of the invention is not only suitable for detecting a large-amplitude moving target, but also has high detection precision on a thoracic cavity micro-motion signal. The millimeter wave radar adopts a large bandwidth of 4GHz, converts small thoracic cavity displacement into obvious phase change, and judges that a real target exists when the frequency and the correlation information of the phase meet the threshold requirement, namely that a life body exists in the vehicle. If it has the life body to detect in the car, the result that will have the life body sends the vehicle central control through CAN bus mode, and the two sudden strain of a muscle whistles of control are reported to the police, and simultaneously, the vehicle central control sends alarm information to customer's cell-phone end through the car networking, and dual guarantee is detained children's safety.
In some embodiments of the invention, the method may further comprise:
recording and uploading a safety belt alarm and a personnel retention alarm;
and sending the personnel retention alarm to the user side.
Optionally, the safety belt warning and the personnel retention warning can be recorded, and the vehicle warning information reminding process is further optimized through data analysis.
The millimeter wave technology of the embodiment of the invention has high frequency band, large bandwidth and high detection precision, is not influenced by light, temperature, dust, climate and the like, utilizes the unique Doppler principle, has sensitive motion perception to drivers and passengers in the vehicle, has high detection precision, can realize the functions of gesture recognition, occupied safety belt reminding, child forgetting prevention and the like, and provides an intelligent solution for the development of intelligent vehicle alarm.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
The following are embodiments of the apparatus of the invention, reference being made to the corresponding method embodiments described above for details which are not described in detail therein.
Fig. 2 shows a schematic structural diagram of an occupancy identification device provided in an embodiment of the present invention, and for convenience of description, only the parts related to the embodiment of the present invention are shown, which are detailed as follows:
as shown in fig. 2, the occupancy identification device 20 may include:
the sampling module 201 is configured to sample each path of antenna echo signal in a preset area, respectively, to obtain a time domain echo signal set; each path of antenna echo signal in the preset area is an echo signal obtained by detecting the preset area in the vehicle;
the transformation module 202 is configured to perform one-dimensional FFT on each time domain echo signal in the time domain echo signal set to obtain distance information of the time domain echo signal;
and the judging module 203 is configured to determine, according to the distance information of each time domain echo signal in the time domain echo signal set, an effective echo signal set corresponding to each occupied area in the vehicle, and determine whether each occupied area is occupied or not according to the effective echo signal set corresponding to each occupied area.
In some embodiments of the present invention, in the determining module 203, each time domain echo signal in the time domain echo signal set includes an echo signal of a plurality of sampling points; the distance information of the time domain echo signal comprises distance values of echo signals of a plurality of sampling points corresponding to the time domain echo signal;
the determining module 203 may include:
the effective signal selection unit is used for selecting echo signals of sampling points with all distance values within a preset range in the time domain echo signals as effective echo signals corresponding to the time domain echo signals aiming at each time domain echo signal in the time domain echo signal set;
the estimation unit is used for respectively carrying out two-dimensional DOA (direction of arrival) estimation on each effective echo signal to obtain the position information of the sampling point corresponding to each effective echo signal;
and the effective signal determining unit is used for determining effective echo signal sets corresponding to each occupied area in the vehicle according to the position information of the sampling points corresponding to each effective echo signal.
In some embodiments of the present invention, the determining module 203 may further include
The point cloud information determining unit is used for obtaining point cloud information of each occupied area according to the effective echo signal set corresponding to each occupied area;
and the calculating unit is used for calculating the micro-motion speed of each point cloud of the occupied area according to the point cloud information of the occupied area and determining whether the occupied area is occupied according to the micro-motion speed of each point cloud of the occupied area.
In some embodiments of the invention, the calculation unit is further configured to determine that the occupancy area is occupied if the number of point clouds in the occupancy area, in which the inching speed is greater than the preset inching speed, is greater than a preset number.
In some embodiments of the invention, each time domain echo signal in the set of time domain echo signals comprises an echo signal of a plurality of sampling points; the occupancy identification device 20 may further include:
the preprocessing module is used for solving the signal average value of the echo signals of each sampling point in the time domain echo signals;
a difference module for respectively subtracting the echo signals of each sampling point in the time domain echo signal from the corresponding signal average value to obtain a filtered time domain echo signal of the time domain echo signal
Correspondingly, the transform module 202 is further configured to perform one-dimensional FFT processing on the filtered time domain echo signal to obtain distance information of the time domain echo signal.
In some embodiments of the invention, the occupancy-identification device 20 may further include:
the occupation sending module is used for sending the occupation judgment result of each occupation area to the vehicle central control; and aiming at the occupation judgment result of each occupation area, the occupation judgment result of the occupation area is used for indicating that the occupation judgment result of the vehicle in the occupation area is occupied, detecting that the safety belt of the occupation area is not fastened, and carrying out sound and light alarm on the safety belt of the occupation area when the vehicle speed of the vehicle is detected to be greater than a preset vehicle speed threshold value.
Fig. 3 is a schematic diagram of a millimeter wave radar according to an embodiment of the present invention. As shown in fig. 3, the millimeter wave radar 30 of the embodiment includes: a processor 300, a memory 301, and a computer program 302 stored in the memory 301 and executable on the processor 300. The processor 300, when executing the computer program 302, implements the steps in the above-described embodiments of the occupancy identification method, such as S101 to S103 shown in fig. 1. Alternatively, the processor 300, when executing the computer program 302, implements the functions of the modules/units in the above-described device embodiments, such as the modules/units 201 to 203 shown in fig. 2.
Illustratively, the computer program 302 may be partitioned into one or more modules/units, which are stored in the memory 301 and executed by the processor 300 to implement the present invention. One or more of the modules/units may be a series of computer program instruction segments capable of performing certain functions that are used to describe the execution of computer program 302 in millimeter wave radar 30. For example, the computer program 302 may be divided into the modules/units 201 to 203 shown in fig. 2.
Millimeter-wave radar 30 may include, but is not limited to, a processor 300, a memory 301. Those skilled in the art will appreciate that fig. 3 is merely an example of the millimeter wave radar 30, and does not constitute a limitation of the millimeter wave radar 30, and may include more or fewer components than illustrated, or some components in combination, or different components.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules, so as to perform all or part of the functions described above. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus/terminal and method may be implemented in other ways. For example, the above-described apparatus/terminal embodiments are merely illustrative, and for example, a module or a unit may be divided into only one logical function, and may be implemented in other ways, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow in the method according to the embodiments of the present invention may also be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of the above-described embodiments of the occupancy recognition method. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may include any suitable increase or decrease as required by legislation and patent practice in the jurisdiction, for example, in some jurisdictions, computer readable media may not include electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (10)
1. An occupancy identification method, comprising:
sampling each path of antenna echo signal in a preset area respectively to obtain a time domain echo signal set; each path of antenna echo signal in the preset area is an echo signal obtained by detecting the preset area in the vehicle;
aiming at each time domain echo signal in the time domain echo signal set, carrying out one-dimensional FFT (fast Fourier transform) processing on the time domain echo signal to obtain distance information of the time domain echo signal;
and determining effective echo signal sets corresponding to each occupied area in the vehicle according to the distance information of each time domain echo signal in the time domain echo signal sets, and judging whether each occupied area is occupied or not according to the effective echo signal sets corresponding to each occupied area.
2. The occupancy recognition method of claim 1, wherein each time domain echo signal in the set of time domain echo signals comprises echo signals of a plurality of sampling points; the distance information of the time domain echo signal comprises distance values of echo signals of a plurality of sampling points corresponding to the time domain echo signal;
the determining, according to the distance information of each time domain echo signal in the time domain echo signal set, an effective echo signal set corresponding to each occupied area in the vehicle includes:
selecting echo signals of sampling points of which all distance values are within a preset range in the time domain echo signals as effective echo signals corresponding to the time domain echo signals aiming at each time domain echo signal in the time domain echo signal set;
performing two-dimensional DOA (direction of arrival) estimation on each effective echo signal to obtain position information of a sampling point corresponding to each effective echo signal;
and determining effective echo signal sets corresponding to the occupied areas in the vehicle according to the position information of the sampling points corresponding to the effective echo signals respectively.
3. The occupancy recognition method of claim 1, wherein the determining whether each occupancy area is occupied according to the effective echo signal set corresponding to each occupancy area respectively comprises:
obtaining point cloud information of each occupied area according to the effective echo signal set corresponding to each occupied area;
and aiming at each occupied area, calculating the micro-motion speed of each point cloud of the occupied area according to the point cloud information of the occupied area, and determining whether the occupied area is occupied or not according to the micro-motion speed of each point cloud of the occupied area.
4. The occupancy recognition method of claim 3, wherein the determining whether the occupancy area is occupied according to the jiggle velocity of each point cloud of the occupancy area comprises:
and if the number of the point clouds of which the inching speed is greater than the preset inching speed in the occupied area is greater than the preset number, judging that the occupied area is occupied.
5. The occupancy recognition method of claim 1, wherein each time domain echo signal in the set of time domain echo signals comprises echo signals of a plurality of sampling points;
before the performing the one-dimensional FFT processing on the time domain echo signal, the method further includes:
obtaining the signal average value of the echo signals of each sampling point in the time domain echo signals;
respectively subtracting the echo signals of all sampling points in the time domain echo signals from the corresponding signal average values to obtain filtered time domain echo signals of the time domain echo signals;
correspondingly, the performing one-dimensional FFT processing on the time domain echo signal to obtain the distance information of the time domain echo signal includes:
and performing one-dimensional FFT (fast Fourier transform) processing on the filtered time domain echo signal to obtain the distance information of the time domain echo signal.
6. The occupancy recognition method according to any one of claims 1 to 5, characterized in that the method further comprises:
transmitting the occupation judgment result of each occupation area to a vehicle central control;
and aiming at the occupation judgment result of each occupation area, the occupation judgment result of the occupation area is used for indicating that the occupation judgment result of the vehicle in the occupation area is occupied, and when the safety belt of the occupation area is not fastened and the vehicle speed of the vehicle is detected to be greater than a preset vehicle speed threshold value, carrying out sound and light alarm on the safety belt of the occupation area.
7. An occupancy recognition device, comprising:
the sampling module is used for respectively sampling each path of antenna echo signal in a preset area to obtain a time domain echo signal set; each path of antenna echo signal in the preset area is an echo signal obtained by detecting the preset area in the vehicle;
the transformation module is used for carrying out one-dimensional FFT (fast Fourier transform) transformation processing on the time domain echo signal aiming at each time domain echo signal in the time domain echo signal set to obtain the distance information of the time domain echo signal;
and the judging module is used for determining effective echo signal sets corresponding to each occupied area in the vehicle according to the distance information of each time domain echo signal in the time domain echo signal sets, and judging whether each occupied area is occupied or not according to the effective echo signal sets corresponding to each occupied area.
8. The occupancy recognition device of claim 7, wherein each time domain echo signal in the set of time domain echo signals comprises echo signals of a plurality of sampling points; the distance information of the time domain echo signal comprises distance values of echo signals of a plurality of sampling points corresponding to the time domain echo signal;
the judging module may include:
the effective signal selection unit is used for selecting echo signals of sampling points with all distance values within a preset range in the time domain echo signals as effective echo signals corresponding to the time domain echo signals aiming at each time domain echo signal in the time domain echo signal set;
the estimation unit is used for respectively carrying out two-dimensional DOA (direction of arrival) estimation on each effective echo signal to obtain the position information of the sampling point corresponding to each effective echo signal;
and the effective signal determining unit is used for determining effective echo signal sets corresponding to each occupied area in the vehicle according to the position information of the sampling points corresponding to each effective echo signal.
9. A millimeter-wave radar comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the occupancy recognition method according to any of the preceding claims 1 to 6 when executing the computer program.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the occupancy identification method according to any one of the preceding claims 1 to 6.
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