CN114089328A - Method for determining moving speed of pedestrian, pedestrian positioning method and vehicle-mounted radar - Google Patents

Method for determining moving speed of pedestrian, pedestrian positioning method and vehicle-mounted radar Download PDF

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Publication number
CN114089328A
CN114089328A CN202111394742.3A CN202111394742A CN114089328A CN 114089328 A CN114089328 A CN 114089328A CN 202111394742 A CN202111394742 A CN 202111394742A CN 114089328 A CN114089328 A CN 114089328A
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pedestrian
speed
moving speed
determining
overall
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Chinese (zh)
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于明成
戴幻尧
李晃
李继锋
朱文明
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Yangzhou Yuan Electronic Technology Co Ltd
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Yangzhou Yuan Electronic Technology Co Ltd
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Priority to CN202111394742.3A priority Critical patent/CN114089328A/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles

Abstract

The invention discloses a method for determining the moving speed of a pedestrian, a pedestrian positioning method and a vehicle-mounted radar, wherein the method for determining the moving speed of the pedestrian comprises the following steps: transmitting and receiving a radar signal reflected by a pedestrian outward; acquiring a micro Doppler spectrogram according to the received radar signal; obtaining a target finding angle theta and an observation overall speed v according to the micro Doppler spectrogramab(ii) a According to the target finding angle theta and the overall observation speed vabThe moving speed v of the pedestrian is acquired. The technical scheme of the invention is that a micro Doppler spectrogram is generated by radar signals which are received by a single-channel radar sensor and reflected by pedestrians, and then the micro Doppler spectrogram is used for acquiring a target finding angle thetaAnd observing the overall velocity vabFinally, finding the angle theta and observing the overall speed v according to the targetabAnd calculating the moving speed v of the pedestrian, and comparing the moving speed v of the pedestrian obtained by adopting the multi-channel radar sensor. The method has low cost and accurate and reliable calculation result.

Description

Method for determining moving speed of pedestrian, pedestrian positioning method and vehicle-mounted radar
Technical Field
The invention relates to the field of road traffic safety, in particular to a method for determining the moving speed of a pedestrian, a pedestrian positioning method and a vehicle-mounted radar.
Background
Vehicle-mounted radar systems have been widely used. For example, modern motor vehicles are often equipped with on-board radar systems to detect other vehicles, obstacles, or traffic weaknesses (e.g., pedestrians or cyclists, etc.). For various Advanced Driving Assistance Systems (ADAS), such as Advanced Emergency Braking (AEB) systems, collision avoidance systems, and Adaptive Cruise Control (ACC) systems, and autonomous driving systems, detection and classification of objects in the traffic space of a host vehicle is particularly desirable. Typically, known doppler effects are employed to gather information about moving objects. Doppler effect or doppler shift refers to the change in frequency observed when the transmitting source is moved relative to the receiver. For a single-channel radar sensor, when a pedestrian passes through a road in front of a motor vehicle, the closer the pedestrian is to the center of the lane, the less obvious the doppler effect is, the more difficult it is for an automobile to correctly obtain the moving speed of the pedestrian passing through the lane, and then traffic accidents are easily caused.
Although the target finding angle can be estimated by increasing the amount of hardware. However, this process requires a rather expensive multi-channel radar sensor, which is too costly.
Disclosure of Invention
The invention mainly aims to provide a method for determining the moving speed of a pedestrian, a pedestrian positioning method and a vehicle-mounted radar, and aims to solve the problem that the moving speed of the pedestrian passing through a lane is difficult to accurately obtain by the Doppler effect of a single-channel radar sensor at low cost.
To achieve the above object, the present invention provides a method for determining a moving speed of a pedestrian, comprising:
transmitting and receiving a radar signal reflected by a pedestrian outward;
acquiring a micro Doppler spectrogram according to the received radar signal;
obtaining a target finding angle theta and an observation overall speed v according to the micro Doppler spectrogramab；
According to the target finding angle theta and the overall observation speed vabAcquiring the moving speed v of the pedestrian;
wherein the overall velocity v is observedabIs a component velocity of a moving velocity v of the pedestrian in a direction in which the pedestrian points to the radar, and the target finding angle theta is the moving velocity v and the observing overall velocity v of the pedestrianabThe included angle of (c).
In one embodiment, the target finding angle theta and the overall observation speed v are obtained according to the micro Doppler spectrogramabThe method comprises the following steps:
three curves are arranged on the micro Doppler frequency spectrogram, and the three curves are respectively an upper envelope, a lower envelope and an observed overall speed vabThe route of (1);
from the observed bulk velocity vabObtaining and observing the overall velocity v of the routeab；
Acquiring the duration T of the gait cycle according to the upper envelope and the lower envelopegaitcycle；
Obtaining the height H of the pedestrianped；
According to the formula
Figure BDA0003369644520000021
And
Figure BDA0003369644520000022
calculating a target finding angle theta, where K is a constant, rhoTimebinIs the time resolution of the micro-doppler spectrogram.
In one embodiment of the present invention, the substrate is,
Figure BDA0003369644520000023
in one embodiment, the finding of the angle θ and the overall view according to the targetVelocity vabAcquiring the moving speed v of the pedestrian includes:
according to the formula v ═ vabThe moving speed v of the pedestrian is calculated by/cos (θ).
In addition, in order to solve the above problems, the present invention also provides an apparatus for determining a moving speed of a pedestrian, comprising:
the transmitting unit is used for transmitting the radar signals outwards;
a receiving unit for receiving a radar signal reflected by a pedestrian;
the processing unit is used for analyzing and processing the radar signals received by the receiving unit to generate a micro Doppler spectrogram;
a calculating unit for calculating the target finding angle theta and the overall observation speed v according to the micro Doppler spectrogram generated by the processing unitabAnd then the moving speed v of the pedestrian is calculated.
In an embodiment, the computing unit is further configured to compute the duration T of the gait cycle from the upper envelope and the lower envelopegaitcycle
In one embodiment, the device for determining the moving speed of the pedestrian further comprises an obtaining unit for obtaining the height H of the pedestrianped。
In addition, the invention also provides a pedestrian positioning method, which comprises the following steps:
acquiring the moving speed v and the moving time t of the pedestrian;
calculating the displacement of the pedestrian according to the moving speed v and the moving time t of the pedestrian;
the moving speed v of the pedestrian is obtained by adopting the method for determining the moving speed of the pedestrian or the device for determining the moving speed of the pedestrian.
In addition, the invention also provides a vehicle-mounted radar which is provided with the device for determining the moving speed of the pedestrian.
Furthermore, the invention proposes a computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the aforementioned method steps of determining a speed of movement of a pedestrian.
The technical scheme of the invention is that a micro Doppler spectrogram is generated by radar signals reflected by pedestrians and received by a single-channel radar sensor, and then the micro Doppler spectrogram is utilized to acquire a target finding angle theta and observe the overall speed vabFinally, finding the angle theta and observing the overall speed v according to the targetabAnd calculating the moving speed v of the pedestrian, and comparing the moving speed v of the pedestrian obtained by adopting the multi-channel radar sensor. The method has low cost and accurate and reliable calculation result.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic representation of the operation of the vehicle radar of the present invention;
FIG. 2 is a micro-Doppler spectrum of the present invention;
FIG. 3 is a graph of the upper envelope, lower envelope and observed overall velocity v on a micro-Doppler spectrogram of the present inventionabA roadmap of (a);
FIG. 4 is a graph of pedestrian height versus estimated angle error in accordance with the present invention;
FIG. 5 is a graph of estimated target discovery angle over time for the present invention;
FIG. 6 is a pedestrian height map of the present invention estimated over time with the aid of an extended Kalman filter.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.
In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In addition, the meaning of "and/or" appearing throughout includes three juxtapositions, exemplified by "A and/or B" including either A or B or both A and B. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The invention provides a method for determining the moving speed of a pedestrian.
In one embodiment of the invention, the method for determining the moving speed of the pedestrian comprises the following steps:
s1, the radar signal reflected by the pedestrian is transmitted and received to the outside, as shown in fig. 1, by the vehicle-mounted radar system 13 installed at the front of the motor vehicle 11 to the area 23 in front of the motor vehicle 11 (i.e., the area above the motor vehicle 11 in fig. 1), and the radar signal is received by the vehicle-mounted radar system 13 after being reflected by the pedestrian 19.
In this embodiment, the vehicle-mounted radar system 13 employs a commercial millimeter-wave radar sensor, and preferably employs a single-channel radar sensor to reduce the production cost.
In this embodiment, the onboard radar system 13 may be connected to an onboard control system, such as for use in connection with an advanced emergency braking system, a pedestrian collision avoidance system, or an autonomous driving system, and in operation, the motor vehicle 11 moves in a direction of travel 15 over the lane 17, and a pedestrian 19 traversing the lane 17 moves in a direction 21, the direction of travel 21 being perpendicular to the driving direction 15, although in other embodiments the direction of travel 21 may not be perpendicular to the driving direction 15.
S2, a micro-doppler spectrogram 30 is obtained from the received radar signal, as shown in fig. 2, which shows an exemplary micro-doppler spectrogram 30. Wherein the horizontal axis is a time axis and the vertical axis is a doppler shift axis. In the right part of fig. 2, a segment of the micro-doppler spectrogram is given, which corresponds to the gait cycle of the pedestrian 19. The gait cycle continues from the ground contact of one foot to the next ground contact of that foot and therefore generally corresponds to two consecutive steps. The periodic motion of the foot during walking generates an at least substantially periodic pattern in the micro-doppler spectrogram 30.
In this embodiment, the Time-frequency analysis may be performed on the radar echo signal to generate the micro-doppler spectrogram 30, and particularly, the micro-doppler spectrogram is generated by using Short-Time-fourier-Transform (STFT) or Wigner-Vi l e-Di str i buti on (WVD) technique.
S3, obtaining the target finding angle theta according to the micro Doppler spectrogramAnd observing the overall velocity vabIn the present embodiment, by configuring the vehicle-mounted radar system 13 so as to emit radar signals into the front area 23 of the motor vehicle 11 and detect the presence or absence of a pedestrian 19 in the front area 23 based on the radar signals reflected back by the pedestrian 19, a line 25 extending from the pedestrian 19 to a sensing area in the vehicle-mounted radar system 13 is referred to as a "line of sight", and the overall speed v of observation of the pedestrian 19 can be determined in a known manner using the doppler effectab(i.e., the velocity component associated with the pedestrian's torso 27 and oriented along the line of sight 25). In particular, the observed overall velocity v is knownabThe relationship with the speed of the pedestrian 19 in the direction of movement 21 is given as follows:
v＝vab/cos(θ) (1)
where θ is the target finding angle, i.e. the angle between the direction of movement 21 and the line of sight 25.
S4, finding angle theta and overall observing speed v according to the targetabThe moving speed v of the pedestrian can be obtained by adopting a formula (1); wherein the overall velocity v is observedabIs a component velocity of a moving velocity v of the pedestrian in a direction in which the pedestrian points to the radar, and the target finding angle theta is the moving velocity v and the observing overall velocity v of the pedestrianabThe included angle of (a).
In the present embodiment, the doppler shift is mainly caused by the overall motion of the observed object (i.e., the pedestrian situation observed by the motion from the body of the pedestrian). In addition to this frequency shift caused by subject motion, there is typically local motion associated with the subject motion site. For example, the swing arm or leg of a pedestrian can cause additional doppler shift. This additional frequency shift is discernable in the micro-doppler spectrogram. The generation of micro-doppler spectrograms has been disclosed in some literature, for example in Chen v.c. "micro-doppler effect in radar" (Artech House press 2011).
Further, in the present embodiment, the doppler shift superposition of the respective components is referred to as "micro doppler characteristic". The detected objects can be classified by analyzing the micro-doppler signature. By means of the method according to the invention, the target finding angle can be determined in a fast and simple manner by analyzing only the micro-doppler spectrum. In the field of radar-based object recognition, the target finding angle is an important variable used in various processing and evaluation steps. Knowing the target finding angle, it is possible to detect pedestrians crossing the road particularly reliably. In particular, if the target finding angle is known, the speed of the pedestrian in the moving direction can be calculated.
Theoretically, the target finding angle can be estimated by increasing the number of hardware. However, this process requires a rather expensive multi-channel radar system. In contrast, the method according to the invention is not dependent on the presence of a multi-channel radar sensor and can be implemented directly in the range-doppler domain. The invention thus makes possible the production of low-cost pedestrian identification systems.
In this embodiment, the target finding angle θ and the overall observation velocity v are obtained from the micro-doppler spectrogramabThe method comprises the following steps:
s31, arranging three curves on the micro Doppler spectrogram, as shown in FIG. 3, wherein the three curves are respectively an upper envelope, a lower envelope and an observed overall velocity vabFig. 3 shows, in an enlarged view, the right-hand part of a micro-doppler spectrogram 30 based on fig. 2. Three curves are shown in the micro-doppler plot 30, which correspond to different movement component paths. In particular, the observed overall velocity vabThe path 40 is shown as a solid black line, and the upper envelope 41 of the micro-doppler spectrum 30 and the lower envelope 42 of the micro-doppler spectrum 30 are shown as dashed lines.
In the present embodiment, the overall velocity v is observed for the purpose of determinationabThe course 40, the upper envelope 41 and the lower envelope 42, a cumulative amplitude distribution function is determined for each time segment. Observed overall velocity vabIs specified as a percentile of approximately 50% of the cumulative amplitude distribution function. The upper envelope 41 is designated as a percentile of approximately 95% of the cumulative amplitude distribution function, while the lower envelope 42 is designated as a percentile of approximately 5% of the cumulative amplitude distribution function. In particular, the paper of Gurbuz S.Z. et alThe percentile-based method or curve fitting method disclosed in "assessment and adaptive selection of operation of micro-doppler signatures" (IET Radar Sonar navig., vol. 9, 9 th, page 1196 and 1204, 2015) can be used to determine the overall velocity of observation.
S32, according to the observed overall speed vabObtaining and observing the overall velocity v of the routeab。
S33, obtaining the duration T of the gait cycle according to the upper envelope and the lower envelopegaitcycleI.e. by applying a Fast Fourier Transform (FFT) on the upper 41 and lower 42 envelopes to estimate the repetition frequency of the gait cycle, while the duration T of the gait cycle isgaitcycleIs the inverse of the repetition frequency in the gait cycle.
S34, obtaining the height H of the pedestrianpedDuration of gait cycle TgaitcycleCan be expressed as:
Figure BDA0003369644520000091
wherein HtIs the height of the thigh of the pedestrian. Generally speaking, the thigh height H of a pedestriantCan be expressed as:
Ht≈0.53·Hped (3)
wherein HpedIs the height of the pedestrian.
S35 according to the formula
Figure BDA0003369644520000092
And
Figure BDA0003369644520000093
calculating a target finding angle theta, where K is a constant rhoTimebinIs the time resolution of the micro-doppler spectrogram. Because N is included in one gait cyclegaitcycleEach time block:
Figure BDA0003369644520000094
wherein N isfootstepIs the number of time blocks contained in a step segment. In equation (4), the factor 2 accounts for the fact that typically a gait cycle comprises two steps.
The combination of equations (I) - (4) gives the following 2 equations:
Figure BDA0003369644520000095
Figure BDA0003369644520000096
where K is a constant:
Figure BDA0003369644520000101
from equation (6), it can be seen that:
Figure BDA0003369644520000102
if H is presentpedIs known, the target finding angle θ can be determined according to equation (8).
Further, in other embodiments, equation (8) is utilized and H is calculatedpedReplacement by H for statistical average pedestrian height in special application scenariosped_avgThe target finding angle theta is calculated. At this time, the angle estimation error caused by the unknown pedestrian height is:
Figure BDA0003369644520000103
in fig. 4, it is given that for a target found angle θ varying between 60 ° and 120 °, the angle estimation error is less than 6 °, which is sufficient for most applications. And the closer the pedestrian is to Hped_avgThe more the estimation error will beIs small. For most pedestrian crossing road scenarios, the target finding angle θ is always between 60 ° and 120 °.
In other embodiments, another method of estimating the target finding angle θ is to utilize a recursive state estimator, such as an Extended Kalman Filter (EKF). The target finding angle θ can be estimated more accurately with such a recursive state estimator than with the above-described method using the average pedestrian height.
In extended Kalman filter based algorithms, the state space model of θ and vabThe measurement model of (a) can be given by the following equation:
Figure BDA0003369644520000111
Figure BDA0003369644520000112
wherein the random variable Wn-1And qn represents process noise and measurement noise. The subscripts n, n-1 represent the current state and the previous state, respectively. The dots represent the derivative of theta.
Using equation (10) and equation (11), the target finding angle θ can be estimated. Fig. 5 shows the estimated target finding angle θ in a series of scans for the onboard radar system 13 (fig. 1). The EKF-based approach provides a more reliable estimate than the fixed-height-based approach described above.
After the target finding angle θ is determined, the velocity v of the pedestrian 19 in the moving direction 21 can be determined by rearranging the formula (1):
v＝vab/cos(θ) (12)
due to HpedIs a component of the EKF state vector given in equation (10) and, therefore, can also be estimated by the EKF. An example of such an estimate is shown in fig. 6. Estimation of H from EKFpedThe tables may be enabled to estimate the velocity v of the pedestrian 19 in the direction of movement 21 using equation (5):
Figure BDA0003369644520000113
the technical scheme of the invention is that a micro Doppler spectrogram is generated by radar signals reflected by pedestrians and received by a single-channel radar sensor, and then the micro Doppler spectrogram is utilized to acquire a target finding angle theta and observe the overall speed vabFinally, finding the angle theta and observing the overall speed v according to the targetabAnd calculating the moving speed v of the pedestrian, and comparing the moving speed v of the pedestrian obtained by adopting the multi-channel radar sensor. The method has low cost, does not need to use complex and expensive hardware, and has accurate and reliable calculation result.
In addition, in order to solve the above problems, the present invention also provides an apparatus for determining a moving speed of a pedestrian, comprising:
the transmitting unit is used for transmitting the radar signals outwards;
a receiving unit for receiving a radar signal reflected by a pedestrian;
the processing unit is used for analyzing and processing the radar signals received by the receiving unit to generate a micro Doppler spectrogram;
a calculating unit for calculating the target finding angle theta and the overall observation speed v according to the micro Doppler spectrogram generated by the processing unitabAnd then the moving speed v of the pedestrian is calculated.
In this embodiment, the calculating unit is further configured to calculate the duration T of the gait cycle from the upper envelope and the lower envelopegaitcycle。
In this embodiment, the apparatus for determining the moving speed of the pedestrian further comprises an obtaining unit for obtaining the height H of the pedestrianped。
In addition, the invention also provides a pedestrian positioning method, which comprises the following steps:
acquiring the moving speed v and the moving time t of the pedestrian;
calculating the displacement of the pedestrian according to the moving speed v and the moving time t of the pedestrian;
the moving speed v of the pedestrian is obtained by adopting the method for determining the moving speed of the pedestrian or the device for determining the moving speed of the pedestrian.
In the present embodiment, for the advanced driving assistance system, knowing the detected speed v of the pedestrian in the moving direction doubles with little effort. For example, if the speed v of a pedestrian in the direction of movement is known, the potential hazard in a certain traffic situation, in particular an imminent collision with a pedestrian, can be predicted and calculated.
In addition, the invention also provides a vehicle-mounted radar which is provided with the device for determining the moving speed of the pedestrian.
Furthermore, the invention proposes a computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the aforementioned method steps of determining a speed of movement of a pedestrian.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims (10)

1. A method of determining the speed of movement of a pedestrian, comprising:
transmitting and receiving a radar signal reflected by a pedestrian outward;
acquiring a micro Doppler spectrogram according to the received radar signal;
obtaining a target finding angle theta and an observation overall velocity v according to the micro Doppler spectrogramab；
According to the target finding angle theta and the overall observation speed vabAcquiring the moving speed v of the pedestrian;
wherein the overall velocity v is observedabIs the component velocity of the moving velocity v of the pedestrian in the direction in which the pedestrian points to the radar, and the target finding angle theta is the moving velocity v of the pedestrian and the observation overall velocity vabThe included angle of (a).
2. The method of determining pedestrian velocity according to claim 1, wherein said obtaining a target finding angle θ and an observed overall velocity v from a micro-doppler spectrogramabThe method comprises the following steps:
three curves are arranged on the micro Doppler frequency spectrogram, and the three curves are respectively an upper envelope, a lower envelope and an observed overall speed vabThe route of (1);
from the observed bulk velocity vabObtaining and observing the overall velocity v of the routeab；
Acquiring the duration T of the gait cycle according to the upper envelope and the lower envelopegaitcycle；
Obtaining the height H of the pedestrianped；
According to the formula
Figure FDA0003369644510000011
And
Figure FDA0003369644510000012
calculating a target finding angle theta, where K is a constant, rhoTimebinIs the time resolution of the micro-doppler spectrogram.
3. The method of determining a pedestrian movement speed according to claim 2,
Figure FDA0003369644510000021
4. a method of determining the speed of movement of a pedestrian according to claim 1 characterised in that said finding of the angle θ from the target and the overall speed of observation v is based onabAcquiring the moving speed v of the pedestrian includes:
according to the formula v-vabThe moving speed v of the pedestrian is calculated by/cos (θ).
5. An apparatus for determining a speed of movement of a pedestrian, comprising:
the transmitting unit is used for transmitting the radar signals outwards;
a receiving unit for receiving a radar signal reflected by a pedestrian;
the processing unit is used for analyzing and processing the radar signals received by the receiving unit to generate a micro Doppler spectrogram;
a calculating unit for calculating the target finding angle theta and the overall observation speed v according to the micro Doppler spectrogram generated by the processing unitabAnd then the moving speed v of the pedestrian is calculated.
6. The apparatus for determining a pedestrian's locomotion speed of claim 5, wherein the computing unit is further adapted to compute the duration T of the gait cycle from the upper envelope and the lower envelopegaitcycle。
7. The apparatus for determining the moving speed of a pedestrian according to claim 5, further comprising an obtaining unit for obtaining the height H of the pedestrianped。
8. A pedestrian positioning method, comprising:
acquiring the moving speed v and the moving time t of the pedestrian;
calculating the displacement of the pedestrian according to the moving speed v and the moving time t of the pedestrian;
the pedestrian moving speed v is obtained by the method for determining the moving speed of the pedestrian according to any one of claims 1 to 4, or by the device for determining the moving speed of the pedestrian according to any one of claims 5 to 7.
9. A vehicle radar having means for determining the speed of movement of a pedestrian according to any one of claims 5 to 7.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method of determining a speed of movement of a pedestrian according to any one of claims 1 to 4.
CN202111394742.3A 2021-11-23 2021-11-23 Method for determining moving speed of pedestrian, pedestrian positioning method and vehicle-mounted radar Pending CN114089328A (en)

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Inventor after: Yu Mingcheng

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