CN114114237A - Hump field double-lane vehicle speed measuring method - Google Patents
Hump field double-lane vehicle speed measuring method Download PDFInfo
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- CN114114237A CN114114237A CN202111373701.6A CN202111373701A CN114114237A CN 114114237 A CN114114237 A CN 114114237A CN 202111373701 A CN202111373701 A CN 202111373701A CN 114114237 A CN114114237 A CN 114114237A
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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
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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
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
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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
-
- 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
- G01S7/36—Means for anti-jamming, e.g. ECCM, i.e. electronic counter-counter measures
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention discloses a method for measuring the speed of a vehicle in a double-track of a hump yard, which relates to the technical field of radars, and is characterized in that a radar body adopting a frequency modulation continuous wave working system is arranged on the central line of the double-track of the hump yard, and the detection direction of the radar body is the same as the sliding direction of the vehicle on the track; establishing a reference motion track model for vehicle running in a hump retarder section; the radar body acquires continuous measurement information of corresponding distances, speeds and angles for all running vehicles within the detection power coverage range of the radar body, acquires the actual measurement track of each vehicle by adopting an extended Kalman filter algorithm abbreviated as EKF, and identifies, positions and distinguishes a plurality of groups of running vehicles in a hump by a track tracking method; comparing the actual measurement track with the reference motion track model to obtain the measurement information of the vehicle on the target lane; the method can effectively detect the vehicles on the double tracks in the hump yard, and avoids the defect that a radar needs to be arranged on a single track.
Description
Technical Field
The invention relates to the technical field of radars, in particular to a velocity measurement method for double-lane vehicles in a hump yard.
Background
The radar speed measuring equipment is one of key measuring equipment of an automatic control system of a railway hump field. The railway hump millimeter wave speed measuring radar disclosed in patent CN94204013.9 is mainly used in domestic railway hump fields from the middle of the last ninety years, and the radar is designed based on a horn antenna, a high-frequency component and a discrete device and belongs to an analog speed measuring radar. In long-term use, the analog railway hump millimeter wave speed measuring radar exposes the following defects: firstly, radar speed measurement is easily interfered by adjacent vehicles and vehicles at the front and the rear of the vehicle, and vehicle clamping accidents caused by adjacent interference occur every year in a hump field where a busy train set runs and places densely; secondly, the radar speed measurement is easily influenced by severe weather conditions, and the radar speed measurement is unstable in rain and snow, so that the safety of vehicle sliding control is influenced; and thirdly, in a hump field close to the electrified contact net, radar speed measurement can be interfered by earth diffusion caused by the electrified contact net. The above-mentioned drawbacks significantly affect the operational safety and efficiency of the railroad hump yard. Two digital railway hump speed measuring radars disclosed in patents CN201710306808.6 and CN200420063990.5 both belong to single-target speed measuring radars, and one radar can only measure a sliding vehicle in one track.
Disclosure of Invention
The invention aims to provide a method for measuring the speed of a double-track vehicle in a hump yard, which aims to solve the problem that each track of the hump yard is provided with a radar in the prior art.
In order to achieve the purpose, the invention adopts the technical scheme that:
a hump double-lane vehicle speed measuring method comprises the following steps:
step 2, establishing a reference motion track model for vehicle running in a hump retarder section;
and 4, comparing the actual measurement track with the reference motion track model to obtain the measurement information of the vehicle on the target lane.
Further, the radar body comprises a radar host module, and the radar host module comprises a transmitting antenna, a transmitter connected with the transmitting antenna, a frequency synthesizer connected with the transmitter, a radar processor connected with the frequency synthesizer, an intermediate frequency filter amplifier connected with the radar processor, a receiver connected with the intermediate frequency filter amplifier, a low noise amplifier connected with the receiver and a receiving antenna connected with the low noise amplifier; the transmitter is also connected with the receiver;
the distance, speed and angle in step 3 are obtained in the following manner:
step A, setting the working frequency of radar microwave generated by a radar body to be 24.125G; a frequency synthesizer and a voltage frequency vibrator in a transmitter form a phase-locked loop circuit, and the frequency synthesizer generates a slope frequency sweep control signal to control the transmitter to generate slope frequency sweep frequency; the transmitter outputs the radio frequency signal after power amplification to the transmitting antenna while outputting the local oscillation frequency to the receiver; the receiving antenna receives signals, the signals are amplified by the low noise amplifier and then input to the receiver, the amplified received signals are mixed with local oscillation frequency signals in the receiver, and the receiver outputs intermediate frequency signals containing distance and speed information; a digital signal processing tool box arranged in the radar processor performs Sigma-Delta high-precision AD conversion of 8 paths of intermediate frequency signals and two-dimensional FFT operation of distance and speed, after the two-dimensional FFT operation of the distance and the speed is completed, the FFT operation results of the 8 paths of intermediate frequency signals are subjected to coherent accumulation, and a distance Doppler matrix required by the constant false alarm rate processing method is calculated; detecting the average constant false alarm rate of a unit which is abbreviated as CA-CFAR in the speed direction by adopting a distance window, and detecting the ordered statistic constant false alarm rate which is abbreviated as OS-CFAR in the distance direction; and extracting the distance, speed and angle information, signal intensity and signal-to-noise ratio information of the target detected by the CA-CFAR and the OS-CFAR.
Further, after the step a is completed, the method further comprises the following steps:
and step B, setting a distance threshold, a speed threshold, an angle threshold, a signal strength threshold and a signal-to-noise ratio threshold, performing digital filtering on the detected target, and filtering the invalid target.
Further, after the step B is completed, the method further comprises the following steps:
and step C, smoothing the acquired speed information by adopting a Kalman filtering algorithm.
The beneficial technical effects of the invention are as follows:
1) the invention adopts the technical scheme of FMCW frequency modulation continuous wave, can simultaneously measure the speed, distance and angle information of a plurality of groups of vehicles in a hump, and avoids the condition that the existing hump speed measuring radar can only measure a single group of vehicles and can only measure speed information.
2) By adopting a track tracking method and a method for establishing a reference track model in advance, the invention can accurately position the positions of all the running vehicles, and distinguish the running vehicles in the speed reducer section of the road from the vehicles in the front, the rear and the left and right adjacent roads of the road, thereby thoroughly solving the problem of speed measurement interference caused by the adjacent roads and other running vehicles.
3) By adopting the digital filtering and track tracking method, the invention can filter the rainwater target point signal, eliminate the interference of rainwater on radar speed measurement, and fundamentally solve the problem of rainwater interference commonly existing in the conventional hump speed measurement radar. Meanwhile, the digital filtering and track tracking method is adopted, so that the interference of other irregular signals, including the interference of a ground labyrinth generated by an electrified contact network on radar speed measurement, can be filtered.
4) Due to the adoption of an FMCW working mode, the invention can accurately measure the running speed of the vehicle lower than 3 km/h.
Drawings
Fig. 1 is a block diagram of an operating principle of a radar host module in an embodiment.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments of the present invention, and it should be understood 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.
Examples
The embodiment provides a method for measuring speed of a double-lane vehicle in a hump, which comprises the following steps:
step 2, establishing a reference motion track model for the vehicle traveling of the hump retarder section (because the radar installation position is fixed and the vehicle traveling line is fixed, the reference track for the vehicle traveling of the retarder section can be accurately established;
and 4, comparing the actual measurement track with a reference motion track model to obtain the measurement information of the vehicle on the target lane (namely extracting the measurement information of the running vehicle in the speed reducer section of the lane by comparison and only outputting the speed information of the vehicle group).
The radar body of the embodiment comprises a radar host module, wherein the radar host module comprises a transmitting antenna 8, a transmitter 1(SG24T1 transmitter) connected with the transmitting antenna 8, a frequency synthesizer 2(ADF4158 frequency synthesizer) connected with the transmitter 1, a radar processor 3(MPC5775K radar processor) connected with the frequency synthesizer 2, an intermediate frequency filter amplifier 4(GS8091 intermediate frequency filter amplifier) connected with the radar processor 3, a receiver 5(SG24R1 receiver) connected with the intermediate frequency filter amplifier 4, a low noise amplifier 6(CHA2441 low noise amplifier) connected with the receiver 5, and eight receiving antennas 7 connected with the low noise amplifier 6; the transmitter 1 is also connected to a receiver 5;
the distance, speed and angle in step 3 are obtained in the following manner:
step A, setting the working frequency of radar microwave generated by a radar body to be 24.125G, and adopting a frequency modulation continuous wave FMCW working mode; a frequency synthesizer 2 and a voltage frequency vibrator in a transmitter 1 form a phase-locked loop circuit, and the frequency synthesizer 2 generates a slope frequency sweep control signal to control the transmitter 1 to generate slope frequency sweep frequency; the transmitter 1 outputs the radio frequency signal after power amplification to the transmitting antenna 8 while outputting the local oscillation frequency to the receiver 5; a receiving antenna 7 receives signals, the signals are amplified by a low noise amplifier 6 and then input to a receiver 5, the amplified received signals are mixed with local oscillation frequency signals in the receiver 5, and the receiver 5 outputs intermediate frequency signals containing distance and speed information;
a digital signal processing tool kit SPT built in the radar processor 3 performs Sigma-Delta high-precision AD conversion of 8 channels of intermediate frequency signals and two-dimensional FFT operation of distance and speed, wherein an e200z4 kernel built in the radar processor 3 performs operations such as SPT configuration, control start of AD conversion and FFT operation, storage of data in a shared memory space, setting of shared memory occupation state, and the like. The e200z7 kernel built in the radar processor 3 checks the state of the shared memory, reads the FFT operation result data in the shared memory, and performs radar automatic detection and Constant False Alarm Rate (CFAR) processing.
After the two-dimensional FFT operation of the distance and the speed is completed, coherent accumulation is carried out on the FFT operation result of the 8 paths of intermediate frequency signals (the addition is carried out firstly and then the modulus is carried out so as to improve the signal-to-noise ratio of a target signal in front), and a distance Doppler matrix required by the constant false alarm rate processing method is calculated; detecting the average constant false alarm rate of a unit which is abbreviated as CA-CFAR in the speed direction by adopting a distance window, and detecting the ordered statistic constant false alarm rate which is abbreviated as OS-CFAR in the distance direction; and extracting the distance, speed and angle information, signal intensity and signal-to-noise ratio information of the target detected by the CA-CFAR and the OS-CFAR.
Because rainwater reflection area is little to the plane of reflection is unstable, discontinuous, and the accessible sets up clutter information such as rainwater that can effectively obtain under the reasonable threshold condition and filters, and is specific:
after the step A is finished, the method also comprises the following steps:
step B, setting a distance threshold, a speed threshold (including a motion direction), an angle threshold, a signal strength threshold and a signal-to-noise ratio threshold, performing digital filtering on the detected target, and filtering the invalid target; after multi-dimensional parameter filtering, the residual random rainwater point targets cannot form an effective motion track, and even cannot form a motion track which is consistent with the reference track model, so that the motion track can be ignored.
Aiming at the speed change characteristics of the easily-shaken vehicles such as the oil tank truck and the rolling mill, the obtained speed information can be smoothed by adopting a Kalman filtering algorithm so as to improve the speed measurement stability of the easily-shaken vehicles such as the oil tank truck and the rolling mill.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (4)
1. A hump double-lane vehicle speed measuring method is characterized by comprising the following steps:
step 1, installing a radar body adopting a frequency modulation continuous wave working system on a center line of a double track of a hump yard, wherein the installation position accords with railway clearance regulations; the detection direction of the radar body is the same as the sliding direction of the vehicles on the station track;
step 2, establishing a reference motion track model for vehicle running in a hump retarder section;
step 3, the radar body acquires continuous measurement information of corresponding distance, speed and angle for all the running vehicles within the detection power coverage range, acquires the actual measurement track of each vehicle by adopting an extended Kalman filter algorithm abbreviated as EKF, and identifies, positions and distinguishes a plurality of groups of running vehicles in a hump by a track tracking method;
and 4, comparing the actual measurement track with the reference motion track model to obtain the measurement information of the vehicle on the target lane.
2. The hump double-track vehicle speed measuring method according to claim 1, characterized in that the radar body comprises a radar host module, and the radar host module comprises a transmitting antenna, a transmitter connected with the transmitting antenna, a frequency synthesizer connected with the transmitter, a radar processor connected with the frequency synthesizer, an intermediate frequency filter amplifier connected with the radar processor, a receiver connected with the intermediate frequency filter amplifier, a low noise amplifier connected with the receiver, and a receiving antenna connected with the low noise amplifier; the transmitter is also connected with the receiver;
the distance, speed and angle in step 3 are obtained in the following manner:
step A, setting the working frequency of radar microwave generated by a radar body to be 24.125G; a frequency synthesizer and a voltage frequency vibrator in a transmitter form a phase-locked loop circuit, and the frequency synthesizer generates a slope frequency sweep control signal to control the transmitter to generate slope frequency sweep frequency; the transmitter outputs the radio frequency signal after power amplification to the transmitting antenna while outputting the local oscillation frequency to the receiver; the receiving antenna receives signals, the signals are amplified by the low noise amplifier and then input to the receiver, the amplified received signals are mixed with local oscillation frequency signals in the receiver, and the receiver outputs intermediate frequency signals containing distance and speed information; a digital signal processing tool box arranged in the radar processor performs Sigma-Delta high-precision AD conversion of 8 paths of intermediate frequency signals and two-dimensional FFT operation of distance and speed, after the two-dimensional FFT operation of the distance and the speed is completed, the FFT operation results of the 8 paths of intermediate frequency signals are subjected to coherent accumulation, and a distance Doppler matrix required by the constant false alarm rate processing method is calculated; detecting the average constant false alarm rate of a unit which is abbreviated as CA-CFAR in the speed direction by adopting a distance window, and detecting the ordered statistic constant false alarm rate which is abbreviated as OS-CFAR in the distance direction; and extracting the distance, speed and angle information, signal intensity and signal-to-noise ratio information of the target detected by the CA-CFAR and the OS-CFAR.
3. The method for measuring the speed of the hump double-track vehicle according to claim 2, wherein the step A is completed and then comprises the following steps:
and step B, setting a distance threshold, a speed threshold, an angle threshold, a signal strength threshold and a signal-to-noise ratio threshold, performing digital filtering on the detected target, and filtering the invalid target.
4. The hump double-track vehicle speed measuring method according to claim 3, wherein after step B is completed, the method further comprises the following steps:
and step C, smoothing the acquired speed information by adopting a Kalman filtering algorithm.
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| CN202111373701.6A CN114114237A (en) | 2021-11-19 | 2021-11-19 | Hump field double-lane vehicle speed measuring method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115841755A (en) * | 2023-02-27 | 2023-03-24 | 深圳市顺禾电器科技有限公司 | Vehicle collision early warning method and device, electronic equipment and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115841755A (en) * | 2023-02-27 | 2023-03-24 | 深圳市顺禾电器科技有限公司 | Vehicle collision early warning method and device, electronic equipment and storage medium |
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