CN114814811A - Radar parking space detection method and equipment and computer readable storage medium - Google Patents
Radar parking space detection method and equipment and computer readable storage medium Download PDFInfo
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- CN114814811A CN114814811A CN202210734887.1A CN202210734887A CN114814811A CN 114814811 A CN114814811 A CN 114814811A CN 202210734887 A CN202210734887 A CN 202210734887A CN 114814811 A CN114814811 A CN 114814811A
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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
- G01S13/04—Systems determining presence of a target
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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
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
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Abstract
The invention relates to a radar parking space detection method, which collects and processes a background noise signal of a radar; transmitting a signal through a radar, and acquiring an echo signal; calculating the signal weight and the target distance of the echo signal; and processing the signal weight and the target distance of the echo signal, comparing the signal weight and the target distance with preset values, and judging the parking space state according to a comparison result. According to the technical scheme, the background noise signal is collected and obtained firstly, the signal weight and the target distance value of the echo signal are calculated, and whether a vehicle exists in the parking space or not is judged through two groups of numerical values and a preset threshold value. The detection method can improve the signal-to-noise ratio of the radar target signal, is easier to distinguish weak target signals, solves the problem that the radar cannot detect the car fuel tank, and avoids the problem of radar misjudgment.
Description
Technical Field
The invention relates to the technical field of intelligent parking lots, in particular to a radar parking space detection method, equipment and a computer readable storage medium.
Background
An intelligent parking lot management system is a general name of modern parking lot vehicle charging and equipment automatic management. The parking lot is a high-technology electromechanical integrated product which completely places the parking lot under the unified management of a computer.
The existing intelligent parking lot is provided with radar equipment on the ground of a parking space and used for detecting whether a vehicle is parked in the parking space or not. The basic principle is to send a pulse signal by radar and then receive an echo signal. When no target exists, all the signals received by the radar are background noise signals; when a target exists, most of signals emitted by the radar are reflected back by the target, the radar can receive a strong rebound signal, and the equipment correspondingly processes the received signals and then judges whether a vehicle is parked on the parking space.
However, as shown in fig. 3 and 4, since most fuel tanks of fuel vehicles are mounted on the chassis, the fuel tanks are basically made of polymer resin materials, and the resin materials generally have hysteresis loss, dielectric loss, resistance loss, and the like, a large portion of the electromagnetic waves irradiated to the fuel tanks are absorbed. When the vehicle stops at a parking space and the oil tank part is just aligned to the radar parking space detection module, most of the radar emission signals can be absorbed by the oil tank, so that the received target signals are very weak, and the real signals are difficult to distinguish from the noise signals. The signals rebounded from other parts of the vehicle bottom are very obvious in difference from noise, and the parking of the vehicle can be judged simply; and the rebound signal of the oil tank part is very weak and very close to noise, so that whether a vehicle stops or not is difficult to directly judge. Due to the reason, the misjudgment phenomenon is easily caused, and the subsequent scheduling and charging work of the intelligent parking lot is influenced.
Disclosure of Invention
Therefore, it is necessary to provide a radar parking space detection method for solving the problem that misjudgment is easily caused in the existing parking space detection method.
On one hand, the invention provides a radar parking space detection method, which comprises the following steps:
s10: collecting and processing a background noise signal of the radar;
s20: transmitting a signal through a radar, and acquiring an echo signal;
s30: calculating the signal weight and the target distance of the echo signal;
s40: and processing the signal weight and the target distance of the echo signal, comparing the signal weight and the target distance with preset values, and judging the parking space state according to a comparison result.
Further, in step S10: carrying out normalization processing on the background noise signal;
in step S30: acquiring an average value queue of echo signals; and calculating a target distance queue of the echo signals.
Further, step S40 includes:
s31, obtaining the minimum value of the average value queue, and comparing the minimum value of the average value queue with a preset threshold value; when the minimum value of the average value queue is smaller than a preset threshold value, judging that no vehicle exists in the parking space;
s32, when the minimum value of the average value queue is larger than or equal to the preset threshold value, dividing the maximum value of the average value queue by the minimum value of the average value queue to obtain a ratio, and comparing the ratio with a preset weight value; when the ratio is smaller than a preset weight value, judging that no vehicle exists in the parking space;
s33, when the ratio is larger than or equal to the preset weight value, calculating the fluctuation value of the distance queue, and comparing the fluctuation value with the preset value; when the fluctuation value is smaller than a preset value, judging that a vehicle is in the parking space; and when the fluctuation value is greater than or equal to the preset value, judging that no vehicle exists in the parking space.
Further, in step S10, a background noise signal of the radar is acquired by a leakage subtraction calculation,
the calculation formula is as follows:
A=max(min(X(d ls ),d ml )-d bg ,0)；
Y(d)=max(X(d)-A*(max(d le -d,0)/(d le -d ls )),0)；
wherein d is ls Linear reduction of envelope data acquired for radar in leakage region, d ml Is the maximum leakage value, d bg As a background value, d le To cut off the leakage value, d ls 、d ml 、d bg And d le Are acquired by radar sampling.
Further, in step S30, the average weight value and the target average distance of the signal are calculated by the following formulas:
by the formula Z (d) = f (Y (d)/X bg -1)max(Y(d)-X bg 0) calculating a smooth filtering amplitude of the radar envelope data, and setting W (d) = Z (d) × d;
wherein, the average weight value of the echo signal is:
(ii) a The target average distance is:
。
further, in step S30,
when the conditions are simultaneously satisfied: if Wmin is more than or equal to Wth, Wmax/Wmin is less than or equal to Q, and Dmax-Dmin is less than or equal to S, judging that a vehicle is in the parking space, otherwise, judging that no vehicle is in the parking space;
wherein Wmin is the minimum value of the average value queue, Wmax is the maximum value of the average value queue, and Dmax-Dmin is the fluctuation value of the distance queue; wth is a preset threshold, Q is a preset weight value, and S is a preset value.
Further, the radar is a microwave radar with a 60GHZ frequency band.
On the other hand, the invention also provides radar parking space detection equipment for executing the radar parking space detection method, which comprises the following steps:
a radar module: collecting a background noise signal of a radar; transmitting a signal through a radar, and acquiring an echo signal;
a processing module: processing a background noise signal of the radar, and calculating the signal weight and the target distance of an echo signal;
a comparison module: and processing the signal weight and the target distance of the echo signal, comparing the signal weight and the target distance with preset values, and judging the parking space state according to a comparison result.
In still another aspect, the present invention further provides a computer-readable storage medium, on which computer instructions are stored, and when the computer instructions are executed, the steps of the radar parking space detection method described above are performed.
In another aspect, the invention provides a radar parking space detection device, which includes a memory and a processor, where the memory stores computer instructions, and the processor executes the steps of the radar parking space detection method when the computer instructions are executed.
According to the technical scheme, the background noise signal is collected and obtained firstly, the signal weight and the target distance value of the echo signal are calculated, and whether a vehicle exists in the parking space or not is judged through two groups of numerical values and a preset threshold value. The detection method can improve the signal-to-noise ratio of the radar target signal, is easier to distinguish weak target signals, solves the problem that the radar cannot detect the car fuel tank, and avoids the problem of radar misjudgment.
Drawings
Fig. 1 is a flowchart illustrating steps of a radar parking space detection method according to an embodiment of the present invention.
Fig. 2 is a flowchart illustrating steps of a radar parking space detection method according to another embodiment of the present invention.
Fig. 3 is a schematic diagram of a radar setting position in the radar parking space detection method.
Fig. 4 is a schematic diagram of a principle of a radar parking space detection method.
In the drawings, the components represented by the respective reference numerals are listed below:
10. a radar; 20. an automobile; 21. and an oil tank.
Detailed Description
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. It is understood that the specific details described below are merely exemplary of some embodiments of the invention, and that the invention may be practiced in many other embodiments than as described herein. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without any inventive step, are within the scope of the present invention.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
In an embodiment, please refer to fig. 1, the present invention provides a radar parking space detection method, including:
s10: collecting a background noise signal of the radar, and carrying out normalization processing on the background noise signal;
s20: transmitting a signal through a radar, and acquiring an echo signal;
s30: acquiring and calculating an average value queue of echo signals; calculating a target distance queue of the echo signals;
s40: processing the signal weight and the target distance of the echo signal, comparing the signal weight and the target distance with a preset value, and judging the parking space state according to a comparison result;
the method specifically comprises the following steps: acquiring the minimum value of the average value queue, and comparing the minimum value of the average value queue with a preset threshold value; when the minimum value of the average value queue is smaller than a preset threshold value, judging that no vehicle exists in the parking space;
when the minimum value of the average value queue is larger than or equal to a preset threshold value, dividing the maximum value of the average value queue by the minimum value of the average value queue to obtain a ratio, and comparing the ratio with a preset weight value; when the ratio is smaller than the preset weight value, judging that no vehicle exists in the parking space;
when the ratio is greater than or equal to the preset weight value, calculating a fluctuation value of the distance queue, and comparing the fluctuation value with the preset value; when the fluctuation value is smaller than a preset value, judging that a vehicle is in the parking space; and when the fluctuation value is greater than or equal to the preset value, judging that no vehicle exists in the parking space.
According to the technical scheme, the background noise signal is collected and obtained firstly, the signal weight and the target distance value of the echo signal are calculated, and whether a vehicle exists in the parking space or not is judged through two groups of numerical values and a preset threshold value. The detection method can improve the signal-to-noise ratio of the radar target signal, is easier to distinguish weak target signals, solves the problem that the radar cannot detect the car fuel tank, and avoids the problem of radar misjudgment.
Referring to fig. 2, a background noise signal of the radar is acquired through a leakage subtraction calculation,
the calculation formula is as follows:
A=max(min(X(d ls ),d ml )-d bg ,0)；
Y(d)=max(X(d)-A*(max(d le -d,0)/(d le -d ls )),0)；
wherein d is ls Linear reduction of envelope data acquired for radar in leakage region, d ml Is the maximum leakage value, d bg As a background value, d le To cut off the leakage value, d ls 、d ml 、d bg And d le Are acquired by radar pre-sampling.
Calculating the average weight value and the target average distance of the signal by the following formulas:
by the formula Z (d) = f (Y (d)/X bg -1)max(Y(d)-X bg 0) calculating a smooth filtering amplitude of the radar envelope data, and setting W (d) = Z (d) · d;
wherein, the average weight value of the echo signal is:
(ii) a The target average distance is:
。
further, in step S30,
when the conditions are simultaneously satisfied: if Wmin is more than or equal to Wth, Wmax/Wmin is less than or equal to Q, and Dmax-Dmin is less than or equal to S, judging that a vehicle exists in the parking space, otherwise, judging that no vehicle exists in the parking space;
wherein Wmin is the minimum value of the average value queue, Wmax is the maximum value of the average value queue, and Dmax-Dmin is the fluctuation value of the distance queue; wth is a preset threshold, Q is a preset weight value, and S is a preset value.
Further, the radar is a microwave radar in a 60GHz frequency band.
The radar parking space detection module is a parking space detection module which takes an MCU (microprogrammed control unit) with an M4 kernel and a 60G microwave radar as main devices, and has the basic principle that a pulse signal is sent by the microwave radar, an echo signal is received, and the echo signal is converted into an envelope digital signal through related processing; when a target exists, most of signals emitted by the radar are reflected back by the target, and the radar can receive a strong signal. And the MCU performs corresponding algorithm processing and logic judgment on the received radar signals to obtain the information whether the vehicle is parked on the parking space.
As shown in fig. 3 and 4, the fuel tank 21 of most fuel-powered vehicles 20 on the market is installed on the chassis, and is basically made of a polymer resin material, and the resin material generally has properties such as hysteresis loss, dielectric loss, and resistance loss, so that a large portion of the electromagnetic waves irradiated to the fuel tank 21 is absorbed. When a vehicle stops at a parking space and the oil tank 21 is just aligned to the radar 10, most of signals transmitted by the radar 10 can be absorbed by the oil tank 21, so that received target signals are very weak, and real signals are difficult to distinguish from noise signals, so that the vehicle detection at the parking space has a misjudgment phenomenon.
In view of the above existing problems, the present embodiment provides a method, which is specifically implemented as follows:
step 1: calculating the background noise of the radar by leakage subtraction, wherein the calculation formula is as follows:
A=max(min(X(d ls ),d ml )-d bg ,0)；
Y(d)=max(X(d)-A*(max(d le -d,0)/(d le -d ls )),0)；
wherein d is ls Linear reduction of the envelope data acquired for the radar in the leakage region, d ml Is the maximum leakage value, d bg As a background value, d le To cut off the leakage values, these parameters are obtained by the radar by sampling. Wherein X () is the raw data of the radar, e.g. X (d) ml ) The most leaky part in the raw data.
Step2 calculating Signal weight and target distance
By the formula Z (d) = f (Y (d)/X bg -1)max(Y(d)-X bg And 0) obtaining a smooth filtering amplitude of the radar envelope data, and setting W (d) = Z (d) × d.
The average weight value of the radar signal is:
the target average distance is:
wherein Y (d) is a variable as in A.
Step3, parking judgment and result output;
when the result after calculation simultaneously satisfies following three conditions, then can judge that there is the vehicle to park above the radar sensor, otherwise judge that there is not the vehicle to park above the radar sensor:
1.Wmin≥Wth；2.Wmax/Wmin≤Q；3.Dmax-Dmin≤S；
wherein Wth, Q and S are set values (note: Wth is a weight threshold value, Q is a weight allowable fluctuation maximum value, and S is a distance allowable fluctuation maximum value), and can be adjusted according to actual conditions.
On the other hand, the invention also provides radar parking space detection equipment for executing the radar parking space detection method, which comprises the following steps:
a radar module: collecting a background noise signal of a radar; transmitting a signal through a radar, and acquiring an echo signal;
a processing module: processing a background noise signal of the radar, and calculating the signal weight and the target distance of an echo signal;
a comparison module: and processing the signal weight and the target distance of the echo signal, comparing the signal weight and the target distance with preset values, and judging the parking space state according to a comparison result.
In another aspect, the present invention further provides a computer-readable storage medium, on which computer instructions are stored, and when the computer instructions are executed, the steps of the radar parking space detection method are performed.
In another aspect, the invention provides a radar parking space detection device, which includes a memory and a processor, wherein the memory stores computer instructions, and the processor executes the steps of the radar parking space detection method when the computer instructions are executed.
According to the technical scheme, the signal-to-noise ratio of the radar target signal can be improved, the weak target signal can be distinguished more easily, and the problem that the radar cannot detect the car oil tank is solved.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above examples only show several embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the invention. It should be noted that, for those skilled in the art, various changes, substitutions and alterations can be made without departing from the spirit and scope of the invention. Therefore, the protection scope of the present invention should be subject to the claims.
Claims (10)
1. A radar parking space detection method is characterized by comprising the following steps:
s10: collecting and processing a background noise signal of the radar;
s20: transmitting a signal through a radar, and acquiring an echo signal;
s30: calculating the signal weight and the target distance of the echo signal;
s40: and processing the signal weight and the target distance of the echo signal, comparing the signal weight and the target distance with preset values, and judging the parking space state according to a comparison result.
2. The radar parking space detection method according to claim 1,
in step S10: carrying out normalization processing on the background noise signal;
in step S30: acquiring an average value queue of echo signals; and calculating a target distance queue of the echo signals.
3. The radar parking space detection method according to claim 2, wherein the step S40 includes:
s31, obtaining the minimum value of the average value queue, and comparing the minimum value of the average value queue with a preset threshold value; when the minimum value of the average value queue is smaller than a preset threshold value, judging that no vehicle exists in the parking space;
s32, when the minimum value of the average value queue is larger than or equal to the preset threshold value, dividing the maximum value of the average value queue by the minimum value of the average value queue to obtain a ratio, and comparing the ratio with a preset weight value; when the ratio is smaller than a preset weight value, judging that no vehicle exists in the parking space;
s33, when the ratio is larger than or equal to the preset weight value, calculating the fluctuation value of the distance queue, and comparing the fluctuation value with the preset value; when the fluctuation value is smaller than a preset value, judging that a vehicle is in the parking space; and when the fluctuation value is greater than or equal to the preset value, judging that no vehicle exists in the parking space.
4. The radar parking space detection method according to any one of claims 1 to 3, wherein in step S10, a background noise signal of the radar is obtained through a leakage subtraction calculation,
the calculation formula is as follows:
A=max(min(X(d ls ),d ml )-d bg ,0)；
Y(d)=max(X(d)-A*(max(d le -d,0)/(d le -d ls )),0)；
wherein d is ls Linear reduction of envelope data acquired for radar in leakage region, d ml Is the maximum leakage value, d bg As a background value, d le To cut off the leakage value, d ls 、d ml 、d bg And d le Are acquired by radar sampling.
5. The radar parking space detection method according to claim 4, wherein in step S30, the average weight value and the target average distance of the signal are calculated by the following formulas:
by the formula Z (d) = f (Y (d)/X bg -1)max(Y(d)-X bg 0) calculating a smooth filtering amplitude of the radar envelope data, and setting W (d) = Z (d) × d;
wherein, the average weight value of the echo signal is:
(ii) a The target average distance is:
。
6. the radar parking space detection method according to claim 5, wherein in step S30,
when the conditions are simultaneously satisfied: if Wmin is more than or equal to Wth, Wmax/Wmin is less than or equal to Q, and Dmax-Dmin is less than or equal to S, judging that a vehicle exists in the parking space, otherwise, judging that no vehicle exists in the parking space;
wherein Wmin is the minimum value of the average value queue, Wmax is the maximum value of the average value queue, and Dmax-Dmin is the fluctuation value of the distance queue; wth is a preset threshold, Q is a preset weight value, and S is a preset value.
7. The radar parking space detection method according to claim 1, wherein the radar is a microwave radar in a 60GHZ band.
8. A radar space detection device for performing the radar space detection method according to any one of claims 1 to 7, comprising:
a radar module: collecting a background noise signal of a radar; transmitting a signal through a radar, and acquiring an echo signal;
a processing module: processing a background noise signal of the radar, and calculating the signal weight and the target distance of an echo signal;
a comparison module: and processing the signal weight and the target distance of the echo signal, comparing the signal weight and the target distance with a preset value, and judging the parking space state according to a comparison result.
9. A computer readable storage medium having stored thereon computer instructions, wherein the computer instructions when executed perform the steps of the radar space detection method according to any one of claims 1 to 7.
10. A radar space detection device comprising a memory and a processor, wherein the memory stores computer instructions, and the processor executes the steps of the radar space detection method according to any one of claims 1 to 7 when the computer instructions are executed.
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| CN115410408B (en) * | 2022-08-31 | 2024-05-24 | 南京慧尔视智能科技有限公司 | Parking space state change detection method, device, equipment and medium |
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