CN114994654A - Method for suppressing false target-caused false alarm and suppression system thereof - Google Patents
Method for suppressing false target-caused false alarm and suppression system thereof Download PDFInfo
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- 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
- G01S13/52—Discriminating between fixed and moving objects or between objects moving at different speeds
- G01S13/536—Discriminating between fixed and moving objects or between objects moving at different speeds using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves
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Abstract
The invention provides a method for inhibiting false target from causing false alarm, which comprises the following steps: the speed of the target vehicle relative to the vehicle body is within the speed interval of the vehicle body, when no other target vehicle is in front of the target vehicle, the mass of the target vehicle is greater than or equal to a mass set value, the absolute speed of the target vehicle is smaller than a speed set value, and the distance of the target vehicle relative to the vehicle body is greater than or equal to a distance set value, a first alarm suppression time is set. A system for suppressing false target-induced false alarms is also provided. By adding the judgment conditions that some target vehicles are false targets, the false targets can be identified more frequently, and the accuracy of judging the false targets is improved.
Description
Technical Field
The application relates to the technical field of vehicles, in particular to a method for inhibiting false alarm caused by false target and a system for inhibiting false alarm.
Background
The current alarm method for inhibiting false target from causing error comprises the following steps: the vehicle is provided with the millimeter wave radar which transmits and receives the reflected electromagnetic waves, the speed and the mass of the target vehicle are calculated through the control unit, according to the working principle of the millimeter wave radar, false targets can be generated due to fuzzy distance, and when the relative speed of the target vehicle relative to the vehicle body is usually equal to or close to the speed of the vehicle body, the target vehicle is judged to be the false targets, so that possible false targets can be identified according to the relative speed of the target vehicle relative to the vehicle body. In order to improve the reliability of identifying the false target, whether the target vehicle is the false target is further confirmed according to the mass of the target vehicle on the basis of the speed of the target vehicle, and when the mass of the target vehicle is lower than a set value, the target vehicle is judged to be the false target. And aiming at the false target judged by the speed and the quality of the target vehicle, when the false target appears in the adjacent lane of the self vehicle and meets the alarm condition of the speed change auxiliary function, the alarm system sets corresponding alarm suppression time to suppress the false target to cause wrong lane change auxiliary function alarm.
However, the false target cannot be completely judged only by identifying the possible false target according to the speed of the target vehicle relative to the vehicle body and the mass of the target vehicle, for example, the speed of the target vehicle relative to the vehicle body is equal to or close to the speed of the vehicle body, and the mass of the target vehicle is equal to or close to the mass of the vehicle body.
Disclosure of Invention
The application provides a method for inhibiting false targets from causing false alarms and an inhibiting system thereof, which are used for solving the problem of judging a target vehicle as a possible false target when the speed of the target vehicle relative to a vehicle body is equal to or close to the speed of the vehicle body and the mass of the target vehicle is equal to or close to the mass of the vehicle body.
In one aspect, an embodiment of the present application provides a method for suppressing false target-induced false alarm, including:
the speed of the target vehicle relative to the vehicle body is within the speed range of the vehicle body,
when no other target vehicle exists in front of the target vehicle, the mass of the target vehicle is greater than or equal to a mass set value, the absolute speed of the target vehicle is smaller than a speed set value, and the distance between the target vehicle and the vehicle body is greater than or equal to a distance set value, first alarm suppression time is set.
Further, the speed of the target vehicle relative to the vehicle body is within the speed interval of the vehicle body, and when other target vehicles exist between the target vehicle and the vehicle body and are located in the same lane of the target vehicle, second alarm suppression time is set.
Further, the speed of the target vehicle relative to the vehicle body is within the speed interval of the vehicle body, and when no other target vehicle exists in front of the target vehicle and the mass of the target vehicle is smaller than the mass set value, a third alarm suppression time is set.
Further, the vehicle speed of the target vehicle relative to the vehicle body is within the vehicle speed section of the vehicle body, and when no other target vehicle exists in front of the target vehicle, the mass of the target vehicle is greater than or equal to the mass set value, and the absolute speed of the target vehicle is greater than or equal to the speed set value, a fourth alarm suppression time is set.
Further, the mass of the target vehicle is a signal-to-noise ratio value of the target vehicle.
In another aspect, an embodiment of the present invention provides a system for suppressing false target-induced false alarm, including:
a radar transceiver unit outputting an intermediate frequency signal;
the processor unit is used for processing the intermediate frequency signal, calculating the speed of a target vehicle, the distance between the target vehicle and a vehicle body and the mass of the target vehicle, and setting alarm suppression time according to the calculation result;
and the communication control unit is used for sending the alarm state information to the outside.
In the false target-caused-error-suppression alarm system, the quality of the target vehicle is the signal-to-noise ratio of the target vehicle, the power P of received electromagnetic waves is calculated according to the amplitude of an intermediate frequency signal, the power value Pn generated by noise is set, and the signal-to-noise ratio SNR of the target vehicle is calculated, wherein the SNR is P/Pn.
Finally, the present invention also provides a vehicle including a false target-causing false alarm system.
The technical scheme of the invention at least comprises the following advantages: the method for suppressing false target-caused false alarm provided by the embodiment of the invention is characterized in that the judgment is carried out according to the vehicle speed of the target vehicle relative to the vehicle body and the mass of the target vehicle, and the judgment is carried out according to the absolute speed of the target vehicle and the distance between the target vehicle and the vehicle body, when the vehicle speed of the target vehicle relative to the vehicle body is equal to or close to the vehicle speed of the vehicle body, even if the mass of the target vehicle is close to or equal to the mass of the real target, if the absolute speed of the target vehicle is very high and deviates from the actual situation, a higher alarm suppression time can be set, and if the distance between the target vehicle and the vehicle body is very far, a higher alarm suppression time can be set. In addition, if the speed of the target vehicle relative to the vehicle body is equal to or close to the speed of the target vehicle, but there is another target vehicle in front of the target vehicle, the warning of the lane change assisting function caused by the target vehicle can still be suppressed, the above judging condition is added, and the target vehicle cannot be judged as a false target completely and accurately, but if there is another target vehicle in front of the false target and between the vehicle body, the false target does not cause danger to the lane change of the vehicle body, so that a very high warning suppression time can be set, even the warning of the lane change assisting function caused by the false target can be completely suppressed, if the absolute speed of the false target is far higher than a speed limit value (the speed allowed by traffic regulations), the possibility of the false target is higher, and a higher warning suppression time can be set for the false target, if the distance between the false target and the vehicle body is very far, even if the collision time of the false target and the vehicle body meets the alarm condition of the lane change auxiliary function, the system can still set higher alarm suppression time so as to increase the accuracy of judging the false target.
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In order to more clearly illustrate the detailed description of the present application or the technical solutions in the prior art, the drawings needed to be used in the detailed description of the present application or the prior art description will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic view showing road conditions when a target vehicle is a real target;
FIG. 2 is a flowchart illustrating steps of a method for suppressing false alarms caused by false targets according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a radar transceiver unit according to an embodiment of the present invention;
fig. 4 is a schematic frequency diagram of a frequency modulated continuous wave according to an embodiment of the present invention;
FIG. 5 is a schematic diagram illustrating a comparison of waveforms of a transmitted frequency modulated continuous wave, a received frequency modulated continuous wave, and an intermediate frequency signal continuous wave generated by a mixer according to an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of electromagnetic waves reflected from a target vehicle to two receiving antennas according to an embodiment of the present invention;
fig. 7 is a schematic road condition display diagram according to a first embodiment of the present invention.
Detailed Description
The technical solutions in the present application will be described clearly and completely with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present application. 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 application.
In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present application, it should be noted that, unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, a fixed connection, a detachable connection, or an integral connection; the connection can be mechanical connection or electrical connection; the two elements may be directly connected or indirectly connected through an intermediate medium, or may be communicated with each other inside the two elements, or may be wirelessly connected or wired connected. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
In the following description, suffixes such as "module", "part", or "unit" used to indicate elements are used only for facilitating the description of the present invention, and do not have a specific meaning per se. Thus, "module" and "component" may be used in a mixture.
In addition, the technical features mentioned in the different embodiments of the present application described below may be combined with each other as long as they do not conflict with each other.
Fig. 1 is a schematic view showing road conditions when a target vehicle is a real target. Referring to fig. 1, a radar receiver unit is mounted on a vehicle body 11, and after a target vehicle 12 is detected, when the target vehicle 12 is a real target, a lateral distance L1 of the target vehicle 12 from the vehicle body 11, a longitudinal distance L2 of the target vehicle 12 from the vehicle body 11, and a speed V of the target vehicle 12 relative to the vehicle body 11 are calculated. The processor unit calculates a collision time T of L2/V, and when the target vehicle 12 is in the right and left adjacent lanes of the vehicle body 11 and T is smaller than the warning threshold value, the processor unit sends a warning signal of the driving assistance function to the warning lamp driving unit, which drives the warning lamp device to give a light warning to the driver. In the embodiment of the present invention, the warning signal may also be sent to other control modules of the vehicle body 11 through the communication control unit, and the warning lamp is finally turned on.
Because the vehicle body is in a complex environment, electromagnetic waves transmitted by the radar receiver unit have various reflection paths to form false targets, after the electromagnetic waves are finally received by a receiving antenna of the radar receiver unit, because the distances of the false targets are fuzzy due to multipath reflection of the electromagnetic waves, the vehicle speed of the false targets calculated in the processor unit is equal to or close to the vehicle speed of the vehicle body relative to the vehicle speed of the vehicle body, and when the false targets meet the alarm condition of the lane changing auxiliary function, the processor unit sends alarm signals to the alarm lamp driving unit or the communication control unit, so that the alarm lamp is turned on wrongly finally, and false alarm is formed.
Therefore, a method for suppressing false targets from causing false alarms is proposed, which calculates a corresponding alarm suppression time based on a processor unit, even if the false target satisfies an alarm condition of a lane change assist function, the processor unit delays sending an alarm signal, and finally a warning lamp driving unit or a communication control unit does not send a signal for turning on a warning lamp to a warning lamp device until the alarm suppression time is over.
Fig. 2 is a flowchart illustrating steps of a method for suppressing false target-induced false alarm according to an embodiment of the present invention. Referring to fig. 2, a method of suppressing false targets from causing false alarms includes:
the speed of the target vehicle relative to the vehicle body is within the speed range of the vehicle body,
when no other target vehicle is arranged right ahead of the target vehicle, the mass of the target vehicle is greater than or equal to a mass set value, the absolute speed of the target vehicle is smaller than a speed set value, and the distance between the target vehicle and the vehicle body is greater than or equal to a distance set value, first alarm suppression time is set.
In the embodiment of the invention, the vehicle speed interval refers to the addition and subtraction of a smaller vehicle speed floating amplitude value on the vehicle speed of the vehicle body, for example, the vehicle body runs at 75km/h, the vehicle speed floating amplitude value is 5km/h, then the vehicle speed interval of the vehicle body is [70km/h,80km/h ], the quality set value is the signal-to-noise ratio of the target vehicle, and the higher the signal-to-noise ratio value is, the higher the quality of the target vehicle is; the speed set value usually refers to a high-speed limit of 120km/h, and can also be set to be 140 km/h; for a very distant target vehicle whose collision against the vehicle body is safer, the distance setting value may be set to 60 meters.
The speed of the target vehicle relative to the vehicle body is in the speed interval of the vehicle body, and when other target vehicles exist between the target vehicle and the vehicle body and are located in the same lane of the target vehicle, second alarm suppression time is set.
And when no other target vehicle exists in front of the target vehicle and the mass of the target vehicle is less than the mass set value, setting a third alarm suppression time.
And when no other target vehicle exists in front of the target vehicle, the mass of the target vehicle is greater than or equal to a mass set value, and the absolute speed of the target vehicle is greater than or equal to a speed set value, setting fourth alarm suppression time.
When the speed of the target vehicle relative to the vehicle body is not within the speed interval of the vehicle body, alarm suppression time is not set; the speed of a target vehicle relative to a vehicle body is in the speed interval of the vehicle body, when no other target vehicle is arranged right ahead of the target vehicle, the mass of the target vehicle is greater than or equal to a mass set value, the absolute speed of the target vehicle is smaller than a speed set value, and the distance between the target vehicle and the vehicle body is smaller than a distance set value, no alarm suppression time is set.
When the target vehicle meets the alarm condition of the lane change auxiliary function of the vehicle body, the alarm inhibiting time is adopted, and if the alarm inhibiting time is not set, the output value is zero.
The method for suppressing false target-caused false alarm provided by the embodiment of the invention is characterized in that the judgment is carried out according to the vehicle speed of the target vehicle relative to the vehicle body and the mass of the target vehicle, and the judgment is carried out according to the absolute speed of the target vehicle and the distance between the target vehicle and the vehicle body, when the vehicle speed of the target vehicle relative to the vehicle body is equal to or close to the vehicle speed of the vehicle body, even if the mass of the target vehicle is close to or equal to the mass of the real target, if the absolute speed of the target vehicle is very high and deviates from the actual situation, a higher alarm suppression time can be set, and if the distance between the target vehicle and the vehicle body is very far, a higher alarm suppression time can be set. In addition, if the speed of the target vehicle relative to the vehicle body is equal to or close to the speed of the target vehicle, but there are other target vehicles in front of the target vehicle, the warning of the lane change assisting function caused by the target vehicle can still be inhibited, the above judgment condition is added, the target vehicle cannot be completely and accurately judged as the false target, but if there are other target vehicles in front of the false target and between the vehicle body, the false target does not cause danger to the lane change of the vehicle body, so that a high warning inhibition time can be set, even the warning of the lane change assisting function caused by the false target can be completely inhibited, if the absolute speed of the false target is far higher than a speed limit value (the speed allowed by traffic regulations), the possibility of the false target is higher, and a higher warning inhibition time can be set for the false target, if the distance between the false target and the vehicle body is very far, even if the collision time of the false target and the vehicle body meets the alarm condition of the lane change auxiliary function, the system can still set higher alarm suppression time so as to increase the accuracy of judging the false target.
According to the method for inhibiting false alarm caused by the false target, provided by the embodiment of the invention, the false target can be identified more frequently by adding the judgment conditions that some target vehicles are false targets, and meanwhile, the accuracy of judging the false target is also improved.
The invention provides a system for inhibiting false target error alarm, which comprises a radar transceiver unit, a signal processing unit and a signal processing unit, wherein the radar transceiver unit outputs an intermediate frequency signal; the processor unit is used for processing the intermediate frequency signal, calculating the speed of a target vehicle, the distance between the target vehicle and a vehicle body and the mass of the target vehicle, and setting alarm suppression time according to the calculation result; and the communication control unit is used for sending the alarm state information to the outside.
Fig. 3 is a schematic structural diagram of a radar transceiver unit according to an embodiment of the present invention. Referring to fig. 3, the radar transceiver unit includes a transmitting antenna 31, a receiving antenna 32, a mixer 33, and a synthesizer unit 34, the synthesizer unit 34 generates a frequency modulated continuous wave, the transmitting antenna 31 transmits the frequency modulated continuous wave to the surrounding environment, the receiving antenna 32 receives an electromagnetic wave reflected from a target vehicle, and the mixer 33 combines the transmitted electromagnetic wave and the received electromagnetic wave to generate an intermediate frequency signal. The radar transceiver unit is controlled by the processor unit, controls parameters of the electromagnetic waves transmitted by the radar transceiver unit, and inputs the intermediate frequency signals output by the mixer to the processor unit.
First, the radar transceiver unit transmits a frequency modulated continuous wave directly in front of the radar through the transmitting antenna, the frequency of the frequency modulated continuous wave being proportional to time. Fig. 4 is a schematic frequency diagram of a frequency modulated continuous wave according to an embodiment of the present invention. Referring to fig. 4, fc is the starting frequency of the frequency modulated continuous wave, S is the slope of the frequency rise, B is the frequency value of the frequency modulated continuous wave from fc, i.e. the bandwidth, and T is the duration of the frequency modulated continuous wave.
The intermediate frequency signal may be represented by an expression a × sin (2 × pi × f × t + phi), where a is an amplitude of the intermediate frequency signal, f is a frequency of the intermediate frequency signal, and phi is an initial phase of the intermediate frequency signal;
in the processor unit, a calculation of the distance between the target vehicle and the vehicle body is carried out, wherein the point-to-point distance between the target vehicle and the vehicle body is calculated as
Wherein c is the speed of light, R is the point-to-point distance from the target vehicle to the vehicle body, f is the frequency of the intermediate frequency signal, and S is the slope of the frequency rise.
Next, the target vehicle speed is calculated as follows, and fig. 5 is a schematic comparison diagram of waveform diagrams of the transmitted frequency-modulated continuous wave, the received frequency-modulated continuous wave, and the intermediate-frequency signal continuous wave generated by the mixer according to the embodiment of the present invention. Referring to fig. 5, the times a to D, B to E, C to F are Δ τ, τ is the time delay of the received frequency-modulated continuous wave relative to the emitted frequency-modulated continuous wave, and the phase difference between a to D (i.e., the phase difference between C and F) is Δ τ
For two adjacent intermediate frequency signals from the same object, the phase difference is ω,
wherein v is the velocity of the target object, T is the time interval of two adjacent intermediate frequency signals, and is also the duration of a single frequency modulated continuous wave, and the last calculated velocity of the target vehicle is:
finally, the angle of the target vehicle needs to be calculated from the electromagnetic waves received by two or more receiving antennas. Fig. 6 is a schematic structural diagram of electromagnetic waves reflected from a target vehicle to two receiving antennas according to an embodiment of the present invention. Referring to fig. 6, the distance between the left antenna 61 and the target vehicle 62 is d, the distance between the right antenna 63 and the target vehicle 62 is d + Δ d, the angle of the target vehicle with respect to the vehicle body is θ, the distance between the two antennas is Y, and the expression is satisfied:
calculating an angle of the target object with respect to the vehicle body as
According to the angle theta of the target object relative to the vehicle body and the point-to-point distance R from the target vehicle to the vehicle body, the transverse distance D from the target vehicle to the vehicle body can be obtained 1 The longitudinal distance D of the target vehicle from the vehicle body, Rcos θ 2 ＝Rsinθ。
In the processor unit, a power value P of the electromagnetic wave received by the receiving antenna can be calculated according to the amplitude of the intermediate frequency signal, a power value Pn generated by noise such as ground clutter is set, and a signal-to-noise ratio SNR can be calculated according to P and Pn, wherein the signal-to-noise ratio represents the quality of the target vehicle, and the higher the signal-to-noise ratio, the higher the quality of the target vehicle.
The invention also provides a computer device, which is executed by a processor unit through a computer program, so that the computer device executes the method for restraining false target caused false alarm or the functions of each module of the false target caused false alarm restraining system.
According to the method for suppressing false target-caused false alarm and the suppressing system thereof provided by the present invention, the situation of the false target which may occur is explained by the following several embodiments.
Example one
Fig. 7 is a schematic road condition display diagram according to a first embodiment of the present invention. Referring to FIG. 7, the vehicle body 71 travels at 80km/h, and the radar transceiver unit detects that there is a target vehicle B in the right adjacent lane of the vehicle body 71, and the speed of the target vehicle B relative to the vehicle body is 82km/h, i.e., the absolute speed of the target vehicle B is 162 km/h. In the first embodiment of the invention, the vehicle speed floating amplitude value of the vehicle body is 5km/h, the vehicle speed interval of the vehicle body is [75km/h,85km/h ], the vehicle speed of the target vehicle B relative to the vehicle body is 82km/h, and the vehicle speed is within the vehicle speed interval [75km/h,85km/h ] of the vehicle body.
And then, a target vehicle A is arranged between the target vehicle B and the vehicle body, the target vehicle A is positioned in the same lane of the target vehicle B, the probability that the target vehicle B is a false target is high, and the alarm suppression time is set to be 10 seconds. If the target vehicle B satisfies the warning condition of the lane change assist function, the warning will be delayed by 10 seconds according to the method for suppressing false target-induced false warning provided by the present invention.
Example two
The vehicle body runs at 80km/h, and the radar transceiver unit detects that a target vehicle B exists in the right adjacent lane of the vehicle body, and the speed of the target vehicle B relative to the vehicle body is 82km/h, namely the absolute speed of the target vehicle B is 162 km/h. In the second embodiment of the present invention, the vehicle speed floating amplitude value of the vehicle body is 5km/h, the vehicle speed interval of the vehicle body is [75km/h,85km/h ], and the vehicle speed of the target vehicle B relative to the vehicle body is 82km/h, and the vehicle speed is within the vehicle speed interval [75km/h,85km/h ] of the vehicle body.
And then, in front of the same lane of the target vehicle B, no other target vehicles exist, the signal-to-noise ratio of the target vehicle B is calculated to be 15dB and lower than the quality set value by 20dB through a radar transceiver unit, the probability that the target vehicle B is a false target is high, the alarm suppression time is set to be 1 second, and if the target vehicle B meets the alarm condition of the lane change auxiliary function, the alarm is delayed for 1 second according to the method for suppressing false alarm caused by the false target provided by the invention.
EXAMPLE III
The vehicle body runs at 80km/h, and the radar transceiver unit detects that a target vehicle B exists in the right adjacent lane of the vehicle body, and the speed of the target vehicle B relative to the vehicle body is 82km/h, namely the absolute speed of the target vehicle B is 162 km/h. In the second embodiment of the present invention, the vehicle speed floating amplitude value of the vehicle body is 5km/h, the vehicle speed interval of the vehicle body is [75km/h,85km/h ], and the vehicle speed of the target vehicle B relative to the vehicle body is 82km/h, and the vehicle speed is within the vehicle speed interval [75km/h,85km/h ] of the vehicle body.
And then, in front of the same lane of the target vehicle B, no other target vehicles exist, the signal-to-noise ratio of the target vehicle B is calculated to be 25dB and higher than the quality set value by 20dB through a radar transceiver unit, the probability that the target vehicle B is a false target is high because the absolute speed of the target vehicle B is 162km/h and is higher than the speed set value by 140km/h, the alarm suppression time is set to be 2 seconds, and if the target vehicle B meets the alarm condition of the lane change assisting function, the alarm is delayed for 2 seconds according to the method for suppressing false target to cause false alarm provided by the invention.
Example four
The vehicle body runs at 55km/h, and the radar transceiver unit detects that a target vehicle B exists in the right adjacent lane of the vehicle body, and the speed of the target vehicle B relative to the vehicle body is 52km/h, namely the absolute speed of the target vehicle B is 107 km/h. In the second embodiment of the present invention, the vehicle speed floating amplitude value of the vehicle body is 5km/h, the vehicle speed range of the vehicle body is [50km/h,60km/h ], and the vehicle speed of the target vehicle B relative to the vehicle body is 52km/h, and the vehicle speed is within the vehicle speed range of the vehicle body [50km/h,60km/h ].
And then, in front of the same lane of the target vehicle B, no other target vehicles exist, the signal-to-noise ratio of the target vehicle B is calculated to be 25dB and 20dB higher than the quality set value through a radar transceiver unit, the absolute speed of the target vehicle B is 107km/h and is smaller than the speed set value 140km/h, the distance between the target vehicle B and the vehicle body is 70 meters and is 60 meters greater than the distance set value, the possibility that the target vehicle B is a false target is high, the alarm suppression time is set to be 2 seconds, and if the target vehicle B meets the alarm condition of the lane change assisting function, the alarm is delayed for 2 seconds according to the method for suppressing false target to cause false alarm.
The embodiment of the invention also provides a vehicle which comprises the false target caused error alarm inhibiting system.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications of this invention are intended to be covered by the scope of the invention as expressed herein.
Claims (9)
1. A method of suppressing false targets from causing false alarms, comprising:
the speed of the target vehicle relative to the vehicle body is within the speed range of the vehicle body,
when no other target vehicle exists in front of the target vehicle, the mass of the target vehicle is greater than or equal to a mass set value, the absolute speed of the target vehicle is smaller than a speed set value, and the distance between the target vehicle and the vehicle body is greater than or equal to a distance set value, first alarm suppression time is set.
2. The method of suppressing false targets from causing false alarms according to claim 1,
the speed of the target vehicle relative to the vehicle body is in the speed interval of the vehicle body, and when other target vehicles exist between the target vehicle and the vehicle body and are located in the same lane of the target vehicle, second alarm suppression time is set.
3. The method of suppressing false targets from causing false alarms according to claim 1,
and when no other target vehicle exists in front of the target vehicle and the mass of the target vehicle is less than the mass set value, setting a third alarm suppression time.
4. The method of suppressing false target-induced false alarms according to claim 1, wherein the speed of the target vehicle relative to the vehicle body is within a vehicle speed range of the vehicle body, and when there is no other target vehicle ahead of the target vehicle, the target vehicle has a mass equal to or greater than a mass set value, and the target vehicle has an absolute speed equal to or greater than a speed set value, a fourth alarm suppression time is set.
5. The method of suppressing false targets causing false alarms according to claim 1, wherein the quality of the target vehicle is a signal-to-noise value of the target vehicle.
6. A system for suppressing false target-induced false alarms, comprising:
a radar transceiver unit outputting an intermediate frequency signal;
the processor unit is used for processing the intermediate frequency signal, calculating the speed of a target vehicle, the distance between the target vehicle and a vehicle body and the mass of the target vehicle, and setting alarm suppression time according to the calculation result;
and the communication control unit is used for sending the alarm state information to the outside.
7. The false target suppression false target resulting false alarm system of claim 1,
the mass of the target vehicle is a signal-to-noise ratio value of the target vehicle.
8. The false target suppression false target resulting false alarm system of claim 7,
and calculating the power P of the received electromagnetic wave according to the amplitude of the intermediate frequency signal, setting a power value Pn generated by noise, and calculating the signal-to-noise ratio SNR of the target vehicle, wherein the SNR is P/Pn.
9. A vehicle comprising a false target suppression false alarm system according to any one of claims 6-8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210582516.6A CN114994654A (en) | 2022-05-26 | 2022-05-26 | Method for suppressing false target-caused false alarm and suppression system thereof |
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| CN202210582516.6A CN114994654A (en) | 2022-05-26 | 2022-05-26 | Method for suppressing false target-caused false alarm and suppression system thereof |
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| JPH08249599A (en) * | 1995-03-13 | 1996-09-27 | Fujitsu Ten Ltd | Alarm device for distance between vehicles |
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| US20190367048A1 (en) * | 2018-06-01 | 2019-12-05 | Mazda Motor Corporation | Alarm system for vehicle |
| CN110988881A (en) * | 2019-10-31 | 2020-04-10 | 惠州市德赛西威智能交通技术研究院有限公司 | Target detection method of vehicle-mounted millimeter wave radar and vehicle-mounted radar system thereof |
| US20210024076A1 (en) * | 2018-03-28 | 2021-01-28 | Mazda Motor Corporation | Vehicle alarm apparatus |
| CN112285716A (en) * | 2020-10-13 | 2021-01-29 | 安徽江淮汽车集团股份有限公司 | Blind spot monitoring system alarm time length adjusting method, device, equipment and storage medium |
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| JPH08249599A (en) * | 1995-03-13 | 1996-09-27 | Fujitsu Ten Ltd | Alarm device for distance between vehicles |
| DE10207465A1 (en) * | 2002-02-22 | 2003-09-11 | Eads Deutschland Gmbh | Method for reducing the false alarm rate in radar images |
| US20210024076A1 (en) * | 2018-03-28 | 2021-01-28 | Mazda Motor Corporation | Vehicle alarm apparatus |
| US20190367048A1 (en) * | 2018-06-01 | 2019-12-05 | Mazda Motor Corporation | Alarm system for vehicle |
| CN110988881A (en) * | 2019-10-31 | 2020-04-10 | 惠州市德赛西威智能交通技术研究院有限公司 | Target detection method of vehicle-mounted millimeter wave radar and vehicle-mounted radar system thereof |
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