CN115015844A - Detection threshold dynamic control system and method of radar sensor - Google Patents
Detection threshold dynamic control system and method of radar sensor Download PDFInfo
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- CN115015844A CN115015844A CN202210456772.0A CN202210456772A CN115015844A CN 115015844 A CN115015844 A CN 115015844A CN 202210456772 A CN202210456772 A CN 202210456772A CN 115015844 A CN115015844 A CN 115015844A
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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
- G01S7/35—Details of non-pulse 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
- G01S13/88—Radar or analogous systems specially adapted for specific applications
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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
- G01S7/36—Means for anti-jamming, e.g. ECCM, i.e. electronic counter-counter measures
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B20/00—Energy efficient lighting technologies, e.g. halogen lamps or gas discharge lamps
- Y02B20/40—Control techniques providing energy savings, e.g. smart controller or presence detection
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Abstract
The invention discloses a dynamic control system and a dynamic control method for a detection threshold of a radar sensor, wherein the system comprises a radar system module, an A/D acquisition module, a signal processing module and a serial port module, if a digital signal value is less than a noise value plus a threshold value, a moving target is considered to be not detected, T is accumulated for timing, and after a preset delay time, if T is more than or equal to a preset specified value, the system outputs a low level; and if the digital signal value is larger than or equal to the noise value plus the threshold value, the moving target is considered to be detected, T =1 and timing is repeated, the signal processing module reduces the detection threshold value of the radar, and after the preset delay time, if T is smaller than a preset specified value, the system outputs a high level. The invention adjusts the size of the radar threshold value according to the occurrence of the moving target, improves the induction precision of the radar when the moving target occurs in the preset range, accurately identifies the tiny action of the moving target, and controls the output of the level in real time according to the induction result; when no moving target exists in the preset range, the preset threshold value is kept, and the operation cost is reduced.
Description
Technical Field
The invention relates to the technical field of radar sensing, in particular to a detection threshold dynamic control system and method of a radar sensor.
Background
Radar sensing technology is more and more widely applied, and some radar sensing modules need to be used for simultaneously recognizing multiple scenes, for example, when recognizing the approaching action of a moving object, the small action of the object after approaching is also recognized. The technology can be applied to the switch of an induction lamp, but the traditional radar information system is mainly based on hardware platforms such as an FPGA (field programmable gate array) and a DSP (digital signal processor), the cost of developing products is high, the application algorithm is complex, an MCU (micro control unit) is required to have great computing power, the high technical cost is not suitable for common lighting products in the consumer market, and the radar induction technology is difficult to popularize into daily products.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides a detection threshold dynamic control system and method of a radar sensor.
The technical effect to be achieved by the invention is realized by the following technical scheme:
a detection threshold dynamic control system of a radar sensor comprises the following modules:
a radar system module: detecting a moving target existing in a preset range in real time through a fixed-frequency microstrip transmitting and receiving antenna, and outputting an intermediate frequency signal to perform AD (analog-to-digital) conversion;
the A/D acquisition module: performing AD (analog-to-digital) conversion on the intermediate frequency signal, and acquiring a digital signal value after the AD conversion;
the signal processing module: processing the digitized signal value, initializing a parameter timing variable T =0, if the digitized signal value is less than the noise value plus a threshold value, determining that a moving target is not detected, accumulating and timing T, and after a preset delay time, if T is more than or equal to a preset specified value, outputting a low level by the system; if the digital signal value is larger than or equal to the noise value plus the threshold value, the moving target is detected, T =1 and timing is repeated, the signal processing module reduces the detection threshold value of the radar, and after the preset delay time, if T is smaller than a preset specified value, the system outputs a high level;
a serial port module: and a serial port peripheral of the MCU is utilized, and the serial port module is used for setting detection parameters of the radar system module, wherein the parameters comprise the size of a detection threshold value, a preset range and delay time.
Preferably, the radar system comprises an MCU processing module in communication connection with the radar system module, wherein the MCU processing module comprises the A/D acquisition module and the signal processing module.
Preferably, the T accumulated timing and the T =1 trigger timing, and the MCU performs numerical judgment on the T after reaching the preset delay time; if T is less than a preset designated value, the MCU triggers the system to output a high level; if T is larger than or equal to a preset designated value, the MCU resets T and recovers the detection threshold of the intermediate frequency signal, and a low level is output; the preset specified value is > 1.
Preferably, the continuity of the digitized signal value acquisition is determined by integrating the digitized signal value for N times by the signal processing module to obtain an average value of the dc voltage value and an average value of the signal amplitude integral value, performing dc voltage value filtering and signal amplitude integral value filtering on the average value of the dc voltage value and the average value of the signal amplitude integral value respectively during the T accumulation timing, calculating an adaptive noise value, and determining whether a moving target appears currently.
Preferably, the lowest value of the detection threshold is a critical value which cannot be triggered by the radar system module by mistake when no moving target exists in a preset range; and the highest value of the detection threshold is a numerical value corresponding to the maximum amplitude of the radar intermediate frequency signal.
Preferably, the radar system module adopts a 9.85GHz X-band radar chip.
Preferably, the signal processing module is connected with a timer, and the timer is provided with the timing variable T.
The invention relates to a detection threshold dynamic control method of a radar sensor, which comprises the following steps:
s1, detecting a moving target existing in a preset range in real time by using a radar system module;
s2, performing AD (analog-to-digital) conversion on the intermediate frequency signal by using an A/D (analog-to-digital) acquisition module, and acquiring a digital signal value after the D/A conversion;
s3, processing the digitized signal value by using a signal processing module, initializing a parameter timing variable T =0, if the digitized signal value is less than a noise value plus a threshold value, determining that a moving target is not detected, accumulating and timing T, and after a preset delay time, if T is more than or equal to a preset designated value, outputting a low level by the system; and if the digital signal value is larger than or equal to the noise value plus the threshold value, the moving target is considered to be detected, T =1 and timing is repeated, the signal processing module reduces the detection threshold value of the radar, and after the preset delay time, if T is smaller than a preset specified value, the system outputs a high level.
Preferably, the lowest value of the detection threshold is a critical value that the radar system module does not trigger by mistake when no moving target exists in a preset range.
Preferably, the radar system module triggers timing of a detection period when recognizing the moving target, and the MCU performs numerical determination on T after the detection period is reached.
Compared with the prior art, the invention has the beneficial effects that:
when the radar system module senses a moving target in a preset range, the system reduces a detection threshold value of the radar, continuously detects the moving target in a detection period, and outputs a high level if the moving target is detected to continuously exist; if the moving target is interrupted in a certain detection period, clearing the timing parameter and recovering the set threshold value of the radar, and outputting a low level.
The invention adjusts the size of the radar threshold value according to the occurrence of the moving target, improves the induction precision of the radar in the scene that the moving target such as people may occur in the preset range such as the walkway, thereby accurately identifying the micro action of the moving target and controlling the system to react in real time according to the induction result; in a scene without moving targets in a preset range, a preset threshold value of the radar is kept, and the operation cost of the radar is reduced.
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 embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic diagram of a dynamic detection threshold control system for a radar sensor according to the present invention;
fig. 2 is a flowchart of a method for dynamically controlling a detection threshold of a radar sensor according to the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made with reference to the accompanying drawings. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Referring to fig. 1, a detection threshold dynamic control system of a radar sensor according to the present invention includes the following modules:
a radar system module: detecting a moving target existing in a preset range in real time through a fixed-frequency microstrip transmitting and receiving antenna, and outputting an intermediate frequency signal to perform AD (analog-to-digital) conversion;
the A/D acquisition module: performing AD (analog-to-digital) conversion on the intermediate frequency signal, and acquiring a digital signal value after the AD conversion;
the A/D acquisition module: performing AD (analog-to-digital) conversion on the intermediate frequency signal, and acquiring a digital signal value after the AD conversion;
the signal processing module: processing the digitized signal value, initializing a parameter timing variable T =0, if the digitized signal value is less than the noise value plus a threshold value, determining that a moving target is not detected, accumulating and timing T, and after a preset delay time, if T is more than or equal to a preset specified value, outputting a low level by the system; if the digital signal value is larger than or equal to the noise value plus the threshold value, the moving target is detected, T =1 and timing is repeated, the signal processing module reduces the detection threshold value of the radar, and after the preset delay time, if T is smaller than a preset specified value, the system outputs a high level;
a serial port module: and a serial port peripheral of the MCU is utilized, and the serial port module is used for setting detection parameters of the radar system module, wherein the parameters comprise the size of a detection threshold value, a preset range and delay time.
It is supplementary noted that, when the lowest value of the detection threshold is a critical value within a preset range without a moving target, the radar system module does not trigger by mistake; the highest value of the detection threshold is a numerical value corresponding to the maximum amplitude of the radar intermediate frequency signal. The signal processing module should regulate the threshold value within the above range.
The radar system comprises a radar system module, an MCU processing module and a timer, wherein the MCU processing module is in communication connection with the radar system module and comprises an A/D acquisition module and a signal processing module, the signal processing module is connected with the timer, and the timer is provided with a timing variable T.
The T accumulated timing and the T =1 trigger timing, and the MCU judges the value of T after reaching the preset delay time; if T is less than a preset designated value, the MCU triggers the system to output a high level; if T is larger than or equal to a preset designated value, the MCU resets T and recovers the detection threshold of the intermediate frequency signal, and a low level is output; the preset assigned value is > 1.
The detection period refers to a determination time interval for determining whether a moving target exists at each time, for example: the detection period is 300ms, which means that whether a moving target exists or not is judged every 300ms, and the judgment period is determined according to factors such as the power supply condition of a system, the applied product shell, the use environment and the like and needs to be debugged according to an actual scene.
The radar system module needs to continuously detect whether a moving target exists in a detection period, if the moving target is interrupted, T starts to accumulate for timing, therefore, in a preset delay time, T is likely to exceed a preset specified value, and after the delay time, if T is larger than the preset specified value, a low level is output. In the process of continuously detecting the moving target, filtering and denoising processing needs to be performed on the digitized signal value to ensure the detection accuracy. Specifically, the signal processing module performs N-time integration on the digitized signal value to obtain an average value of the direct current voltage value and an average value of the signal amplitude integral value, continuously performs filtering on the average value of the direct current voltage value and the average value of the signal amplitude integral value respectively in the process of performing accumulation timing on the T, calculates an adaptive noise value, and judges whether a moving target appears at present.
The average Value of the signal amplitude integral values = N × Value _ b, where Value _ b is the signal amplitude detected each time, and Value _ b = | Value _ a-average |; and N is the integration times.
The filtering of the direct voltage value comprises: defining a filter coefficient P, and performing recursive arithmetic mean processing on the direct current voltage value.
The signal amplitude integrated value filtering includes: defining a noise fluctuation range Value M, wherein M is a variable, and M = Value _ c > > 3; defining the filter coefficients as N, the value of N depending on the filter coefficients R and S; and carrying out amplitude limiting filtering on the average value of the signal amplitude integral values and the average value of the signal amplitude integral values of the previous T times, wherein the amplitude is a noise fluctuation range value M, and then carrying out recursive average filtering processing according to the filter coefficient N.
The calculating the adaptive noise value comprises:
when the current low potential/lamp is turned off, dividing the noise coefficient into Q levels according to the difference value of the noise value and the signal amplitude integral value, wherein each level corresponds to a different filter coefficient R, and when N is greater than R, taking the signal amplitude integral value as a new noise value and performing recursive average filtering;
when high potential/lamp is on, dividing the noise coefficient into T levels according to the difference value between the noise value and the signal amplitude integral value, wherein each level corresponds to a different filter coefficient S, and when S is less than N, the signal amplitude integral value is taken as a new noise value to carry out recursive average filtering on the noise value;
and defining a threshold value H, if the signal amplitude integral value is larger than the noise value plus the threshold value H, outputting a high level to indicate that a moving target exists in the induction range, otherwise, outputting a low level to indicate that no moving target exists.
Referring to fig. 2, the control method provided by the present invention includes the following steps:
s1, detecting a moving target existing in a preset range in real time by using a radar system module;
s2, performing AD (analog-to-digital) conversion on the intermediate frequency signal by using an A/D (analog-to-digital) acquisition module, and acquiring a digital signal value after the D/A conversion;
s3, processing the digitized signal value by using a signal processing module, initializing a parameter timing variable T =0, processing the digitized signal value by using the signal processing module, initializing the parameter timing variable T =0, if the digitized signal value is less than a noise value plus a threshold value, determining that a moving target is not detected, accumulating and timing T, and after a preset delay time, if T is more than or equal to a preset specified value, outputting a low level by a system; and if the digital signal value is larger than or equal to the noise value plus the threshold value, the moving target is considered to be detected, T =1 and timing is repeated, the signal processing module reduces the detection threshold value of the radar, and after the preset delay time, if T is smaller than a preset specified value, the system outputs a high level.
The radar system module of the invention adopts a 9.85GHz X-band radar chip, and based on Doppler effect, the invention adopts fixed-frequency, directional transmitting and receiving antennas to detect a moving target, and the X-band radar chip is formed by combining a chip integration technology and a microwave antenna, and has the characteristics of small volume, long sensing distance, no wall penetration, high stability and the like.
The invention adjusts the size of the radar threshold value according to the occurrence frequency of the moving target, and improves the sensing precision of the radar in the scene that the moving target such as people may appear in the preset range such as the walkway, thereby accurately identifying the tiny action of the moving target and controlling the system to react in real time according to the sensing result; in a scene without moving targets in a preset range, a preset threshold value of the radar is kept, and the operation cost of the radar is reduced.
According to the low-energy-consumption operation characteristic of the invention, an 8-bit singlechip can be used as the MCU, so that the system can be more suitable for the use cost requirements of common daily necessities such as illumination products, and is beneficial to solving the bottleneck that a millimeter wave radar signal processing system is difficult to popularize to the daily necessities.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. It will be apparent to those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, and the scope of protection is still within the scope of the invention.
Claims (10)
1. A detection threshold dynamic control system of a radar sensor is characterized by comprising the following modules:
a radar system module: detecting a moving target existing in a preset range in real time through a fixed-frequency microstrip transmitting and receiving antenna, and outputting an intermediate frequency signal to perform AD (analog-to-digital) conversion;
the A/D acquisition module: performing AD (analog-to-digital) conversion on the intermediate frequency signal, and acquiring a digital signal value after the AD conversion;
the signal processing module: processing the digitized signal value, initializing a parameter timing variable T =0, if the digitized signal value is less than the noise value plus a threshold value, determining that a moving target is not detected, accumulating and timing T, and after a preset delay time, if T is more than or equal to a preset specified value, outputting a low level by the system; if the digital signal value is larger than or equal to the noise value plus the threshold value, the moving target is detected, T =1 and timing is repeated, the signal processing module reduces the detection threshold value of the radar, and after the preset delay time, if T is smaller than a preset specified value, the system outputs a high level;
a serial port module: and a serial port peripheral of the MCU is utilized, and the serial port module is used for setting detection parameters of the radar system module, wherein the parameters comprise the size of a detection threshold value, a preset range and delay time.
2. The system of claim 1, comprising an MCU processing module in communication with the radar system module, wherein the MCU processing module comprises the a/D acquisition module and the signal processing module.
3. The dynamic detection threshold control system for the radar sensor according to claim 2, wherein both T cumulative timing and T =1 trigger timing, and the MCU performs a numerical determination on T after a preset delay time is reached; if T is less than a preset designated value, outputting a high level; if T is larger than or equal to a preset designated value, the MCU resets T and recovers the detection threshold of the intermediate frequency signal, and a low level is output; the preset specified value is > 1.
4. The dynamic detection threshold control system of claim 1, wherein the signal processing module performs N-time integration on the digitized signal value to obtain an average value of the dc voltage value and an average value of the signal amplitude integral value, performs dc voltage value filtering and signal amplitude integral value filtering on the average value of the dc voltage value and the average value of the signal amplitude integral value respectively during T-time accumulation, calculates an adaptive noise value, and determines whether a moving target is present.
5. The dynamic detection threshold control system of the radar sensor according to claim 1, wherein the lowest value of the detection threshold is a critical value at which the radar system module does not trigger by mistake when no moving target exists in a preset range; and the highest value of the detection threshold is a numerical value corresponding to the maximum amplitude of the radar intermediate frequency signal.
6. The dynamic detection threshold control system of a radar sensor according to claim 1, wherein the radar system module employs an X-band radar chip of 9.85 GHz.
7. The system of claim 1, wherein a timer is connected to the signal processing module, and the timer is provided with the timing variable T.
8. A method for dynamically controlling detection threshold of radar sensor, based on the system for dynamically controlling detection threshold of radar sensor as claimed in claims 1-7, comprising the steps of:
s1, detecting a moving target existing in a preset range in real time by using a radar system module;
s2, performing AD (analog-to-digital) conversion on the intermediate frequency signal by using an A/D (analog-to-digital) acquisition module, and acquiring a digital signal value after the D/A conversion;
s3, processing the digitized signal value by using a signal processing module, initializing a parameter timing variable T =0, if the digitized signal value is less than the noise value plus a threshold value, and if a moving target is not detected, accumulating T for timing, and after a preset delay time, if T is more than or equal to a preset specified value, outputting a low level by the system; and if the digital signal value is larger than or equal to the noise value plus the threshold value, the moving target is considered to be detected, T =1 and timing is repeated, the signal processing module reduces the detection threshold value of the radar, and after the preset delay time, if T is smaller than a preset specified value, the system outputs a high level.
9. The method of claim 8, wherein the lowest value of the detection threshold is a critical value that the radar system module will not trigger by mistake if no moving target exists within a preset range.
10. The dynamic control method of detection threshold of radar sensor as claimed in claim 8, wherein said radar system module triggers the timing of detection period when it recognizes moving target, and MCU makes a numerical decision on T after reaching detection period.
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