CN115201820A - Intermontane road environment perception system based on 4D millimeter wave radar imaging - Google Patents
Intermontane road environment perception system based on 4D millimeter wave radar imaging Download PDFInfo
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- CN115201820A CN115201820A CN202210635088.9A CN202210635088A CN115201820A CN 115201820 A CN115201820 A CN 115201820A CN 202210635088 A CN202210635088 A CN 202210635088A CN 115201820 A CN115201820 A CN 115201820A
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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
- G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
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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
- G01S13/91—Radar or analogous systems specially adapted for specific applications for traffic control
Abstract
A intermontane road environment perception system based on 4D millimeter wave radar imaging comprises: the system comprises a radar sensor unit, an antenna array unit, a beam emission mode and direction control unit, an imaging unit and a decision and early warning unit; the radar sensor unit scans and obtains sensing data of the surrounding environment of the detected mountainous road and transmits the sensing data to the imaging unit; the antenna array unit realizes that electromagnetic waves are transmitted and received in a beam shape with wide pitching and narrow directions; the beam transmitting mode and direction control unit configures an antenna transmitting and receiving mode and an antenna beam direction to acquire high-precision three-dimensional data; the imaging unit receives basic data sent by the radar sensor, performs data processing, draws a three-dimensional point cloud picture, and outputs the image to the decision and early warning unit; the decision unit carries out template matching and threshold value judgment on the image, judges whether abnormal conditions occur or not, transmits the judgment result to the early warning unit, and the early warning unit carries out warning prompt on road vehicles and management departments.
Description
Technical Field
The invention belongs to the technical field of radar sensor signal processing, radar imaging and the like, and particularly relates to a 4D millimeter wave radar imaging system for sensing the environment of a mountain road and realizing detection of abnormal conditions such as road foreign matters, landslide and the like.
Background
Accidents such as landslide, foreign body obstruction, road collapse and the like bring difficulties to mountain construction and great hidden dangers to mountain traffic safety. Therefore, the research has important significance in monitoring the mountain road environment and the mountain body, providing real-time effective early warning information for vehicles and relevant departments to drive and ensuring the smoothness of the road and the life safety of drivers.
The currently applied mountain and inter-mountain road monitoring means mainly comprise videos, satellite remote sensing images and synthetic aperture radars. The camera has the capability of acquiring rich and visual environment image information, but cannot sense the slight change of a mountain in time, and cannot give early warning to abnormal conditions due to the complex information processing technology; the satellite remote sensing image detection has the functions of high visual point, wide visual field and dynamic detection, but has poor timeliness, large data transmission quantity and high cost; the synthetic aperture radar can obtain high-resolution imaging, but the technical requirement is high, and the synthetic aperture radar does not have large-range popularization conditions. The millimeter wave radar as a novel environment perception sensor has the characteristics of strong environment perception capability, strong timeliness, high-resolution imaging, easiness in operation and the like, but the conventional millimeter wave radar cannot show the three-dimensional shape of a mountain and lacks the prediction capability of abnormal conditions of the mountain.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide a mountainous road environment sensing system based on 4D millimeter wave radar imaging, which establishes a three-dimensional sensing system with higher accuracy and stronger real-time performance through a special antenna array, a beam emission mode, direction control, an imaging algorithm and a decision and early warning unit.
In order to achieve the purpose, the invention adopts the technical scheme that:
the radar sensor unit adopts a 4D millimeter wave radar, is arranged to realize full coverage of the monitored inter-mountain road environment and is used for acquiring environment perception data of the monitored inter-mountain road;
the antenna array unit is used for transmitting electromagnetic waves of the radar sensor unit in a wide-pitch and narrow-direction beam shape with a pitch dimension of +/-60 degrees and a direction dimension of 1 degree, and receiving echo signals of static targets and dynamic targets such as mountains, passing vehicles, falling rocks, foreign matters and the like in an interstation road environment;
the beam transmitting mode and direction control unit is used for configuring an antenna transmitting and receiving mode and an antenna beam direction and realizing high-precision three-dimensional data acquisition of the inter-mountain road environment;
the imaging unit is used for processing the received target echo signals, realizing the perception and imaging of the inter-mountain road environment and presenting the detected data information of static targets and dynamic targets such as mountains, passing vehicles, falling rocks, foreign matters and the like in a three-dimensional point cloud picture mode;
and the decision and early warning unit is used for matching the image output by the imaging unit with the template, executing threshold judgment to judge the abnormal condition of the inter-mountain road environment and sending out early warning.
The radar sensor unit comprises a transceiver unit, a baseband processing unit, a signal and data processing unit and an output unit. The receiving and transmitting device unit is used for transmitting electromagnetic waves and receiving echo signals of the static target and the dynamic target so as to provide a data source for the radar; the baseband processing unit is used for converting the obtained echo signal into a digital signal from an analog signal; the signal and data processing unit is used for storing the digital signals output by the baseband processing unit and executing a digital signal processing program, including algorithms such as frequency domain transformation, digital filtering, identification, synthesis and the like, so as to obtain useful information such as distance, angle, height, speed and the like of static targets and dynamic targets such as mountains, passing vehicles, falling rocks, foreign matters and the like; the output unit is used for outputting various useful information such as the distance, angle, height, speed and the like of static targets and dynamic targets such as mountains, passing vehicles, falling rocks, foreign matters and the like after digital signal processing.
The antenna array unit comprises a transmitting antenna unit and a receiving antenna unit. The transmitting antenna unit consists of 12 pitching antenna arrays, each pitching antenna array comprises 30 direction dimensional array elements, and a transmitting beam with a direction dimensional main lobe width of 1 degree and a pitching dimensional main lobe width of 120 degrees is formed; the receiving antenna unit consists of 16 directional antenna arrays, and each directional antenna array comprises 8 pitching dimensional array elements.
The beam transmitting mode and direction control unit comprises a beam transmitting mode control unit and a beam direction control unit. The beam transmitting mode control unit realizes a radar pitch dimension Multiple Input Multiple Output (MIMO) mode based on a time division multiplexing transmitting mode; the beam direction control unit realizes the direction dimension 1-degree narrow beam scanning in a mechanical rotation mode, and the scanning range is +/-60 degrees.
The imaging unit comprises a data receiving unit, a calibration unit, a preprocessing unit and a data processing and image drawing unit. The data receiving unit is used for collecting the inter-mountain road environment perception data collected by the radar sensor unit and integrating the data, namely, synthesizing all received echo signal data into a new data set; the calibration unit is used for carrying out calibration processing on the collected and integrated data, removing direct current components generated by the antenna and calibrating errors generated by the antenna process; the preprocessing unit obtains a set of Range-Doppler Matrix (RDM) containing information of distance, angle, speed and height of static targets and dynamic targets such as mountain bodies, vehicles running on roads, falling rocks and foreign matters by using 2-dimensional fast Fourier transform, namely distance-dimensional fast Fourier transform and speed-dimensional fast Fourier transform; and the data processing and image drawing unit is used for acquiring the distance, height and angle information of the static target and the distance, height, angle and speed information of the dynamic target from the distance-Doppler matrix set output by the preprocessing unit and drawing the data information of the static target and the dynamic target into a three-dimensional point cloud picture.
The data processing and image drawing unit comprises a data processing unit and an image drawing unit. Specifically, the data processing unit performs zero doppler data extraction and non-zero doppler data extraction on the set of the preprocessed distance-doppler matrix to obtain information data of a static target and a dynamic target; carrying out square law detection, windowing, noise suppression and height dimension FFT on static target information data to obtain distance, height and angle information of a static target; and obtaining the distance, height, angle and speed information of the dynamic target by using a constant false alarm detection algorithm, angle of arrival estimation and coordinate conversion on the information data of the dynamic target. And the image drawing unit performs three-dimensional point cloud imaging on the data information processed by the data processing unit.
The decision and early warning unit comprises a decision unit and an early warning unit. The decision unit carries out template matching on the image output by the imaging unit, and carries out threshold judgment on a matching result to realize the judgment on the abnormal condition of the inter-mountain road environment; the early warning unit gives an alarm and prompts to vehicles on the road and management departments.
Compared with the prior art, the invention has the beneficial effects that:
1) The special antenna array and the beam mode direction control unit realize the control of the beam emission shape, mode and direction.
2) The mountain road environment can be presented in the form of a three-dimensional point cloud picture.
3) Can give early warning to the running vehicles and relevant departments in time.
4) Low use cost and strong feasibility of implementation.
Drawings
FIG. 1 is a system architecture diagram of the present invention.
FIG. 2 is a schematic diagram of the system of the invention.
Fig. 3 is a schematic diagram of the radar sensor unit target detection of the present invention.
Fig. 4 is a schematic diagram of an antenna array unit according to the present invention.
Fig. 5 shows a beam transmission pattern and direction control unit.
Fig. 6 is a flow chart of the imaging unit.
Fig. 7 is a cloud decision and warning diagram.
Detailed Description
The embodiments of the present invention will be described in detail below with reference to the drawings and examples.
In order to make up for the problems and the defects existing in the existing inter-mountain road monitoring means, the invention provides an inter-mountain road environment sensing system based on 4D millimeter wave radar imaging, which adopts a 4D millimeter wave radar and utilizes an antenna array to emit wide pitching and narrow azimuth beams to implement pitching detection of a target; based on a beam transmitting mode and a direction control beam direction of time-sharing MIMO, high-precision data of an inter-mountain road environment and a mountain body are obtained; executing a high-precision imaging algorithm on the acquired data, and presenting a three-dimensional point cloud picture of the road environment and the target between mountains; finally, template matching and threshold value comparison are carried out on the three-dimensional point cloud picture, subtle changes of mountains are monitored and judged, whether abnormal conditions occur on roads is judged, and early warning is carried out on relevant departments and running vehicles in time.
Specifically, referring to fig. 1, the present invention mainly includes a radar sensor unit, an antenna array unit, a beam emission mode and direction control unit, an imaging unit, and a decision and early warning unit.
The radar sensor unit is used for effectively acquiring environment sensing data of a monitored intermodal road, the 4D millimeter wave radar (with the working frequency of 76-81 GHz) is adopted and is installed and distributed along the monitored intermodal road, for example, on a mountain or street lamps around the road, and the installation quantity, the installation positions, the installation intervals and the like of the radar sensor unit need to meet the requirement of full coverage of the environment of the monitored intermodal road.
The antenna array unit is used for transmitting electromagnetic waves of the radar sensor unit in a wide-pitch and narrow-direction beam shape with a pitch dimension of +/-60 degrees and a direction dimension of 1 degree, receiving echo signals of a static target and a dynamic target in a mountain road environment, obtaining height information of a detected object and realizing high-precision three-dimensional information acquisition. It is easily understood that the static object in the present invention generally refers to a road, a mountain, a rockfall on a road, a foreign object, an obstacle, etc. The dynamic object generally refers to a running vehicle, a pedestrian and the like.
The beam transmitting mode and direction control unit is used for configuring an antenna transmitting and receiving mode and an antenna beam direction, forming beams with a pitching dimension of +/-60 degrees and a direction dimension of 1 degree by controlling the radar antenna, and enabling the beams to scan in the direction set in the direction control unit, so that high-precision three-dimensional data acquisition of the mountain road environment is realized.
The imaging unit is used for processing target echo signals such as mountains, passing vehicles, falling rocks and foreign matters, sensing and imaging of the inter-mountain road environment are achieved, and sensing data information is presented in a three-dimensional point cloud picture mode.
The decision and early warning unit is used for matching the image output by the imaging unit with the template, executing threshold judgment to judge the abnormal condition of the mountain road environment and sending out early warning.
Referring to fig. 2, as a specific application embodiment of the system of the present invention, a plurality of 4D millimeter wave radar imaging detection systems are assembled on a street lamp beside an inter-mountain road to form a radar networking. The radar realizes the coverage scanning of targets such as mountains, passing vehicles, falling rocks, foreign matters and the like by emitting beams with the direction dimension of 1 degree and the pitch dimension of +/-60 degrees. And the radar sensor transmits the obtained sensing data of the interstation road environment to the imaging unit, and the three-dimensional point cloud picture is formed after the processing of the imaging unit. All three-dimensional point cloud picture data are uploaded to a decision and early warning unit through a network, so that the judgment of abnormal conditions such as road foreign matters, mountain landslides and the like is realized, and early warning is timely sent to road vehicles and management departments.
Referring to fig. 1 and 3, in the embodiment of the present invention, the radar sensor unit mainly includes a transceiver unit, a baseband processing unit, a signal and data processing unit, and an output unit.
The receiving and transmitting device unit transmits electromagnetic waves, namely beams with the direction dimension of 1 degree and the pitch dimension of +/-60 degrees formed by the antenna array unit. Meanwhile, target echo signals of mountains, passing vehicles, falling rocks, foreign matters and the like are also finished by the transceiver unit, so that a data source is provided for the radar.
The target echo signal received by the transceiver unit is an analog signal, and is converted into a digital signal through the baseband processing unit so as to facilitate subsequent processing.
The converted digital signals are stored in a signal and data processing unit, useful information such as distance, angle, direction, speed and the like of targets such as mountains, passing vehicles, falling rocks, foreign matters and the like is obtained through digital signal processing, and the actual positions and speeds of the targets such as the mountains, the passing vehicles, the falling rocks, the foreign matters and the like can be obtained by combining the positions of the sensors. The obtained various useful information is finally output to the next unit by the output unit.
Referring to fig. 4, an antenna array includes a transmitting antenna unit and a receiving antenna unit. In one embodiment, the transmitting antenna unit is composed of 12 pitching antenna arrays, each pitching antenna array comprises 30 direction dimension array elements, and forms a transmitting beam with a direction dimension main lobe width of 1 ° and a pitching dimension main lobe width of 120 °, as shown in the right diagram of fig. 4. The receiving antenna unit is composed of 16 directional antenna arrays, and each directional antenna array comprises 8 pitching dimensional array elements.
Referring to fig. 5, the beam transmission mode and direction controlling unit of the present invention includes a beam transmission mode controlling unit and a beam direction controlling unit. The beam transmitting mode control unit controls the antenna to transmit beams based on a time division multiplexing mode, and a radar pitch dimension Multiple Input Multiple Output (MIMO) mode is realized; the beam direction control unit controls the beam scanning direction in a mechanical rotation mode to realize the narrow beam scanning with the direction dimension of 1 degree, and the scanning range is +/-60 degrees.
Referring to fig. 6, the imaging unit of the present invention mainly includes a data receiving unit, a calibration unit, a preprocessing unit, and a data processing and image rendering unit.
Each radar sensor unit transmits the inter-mountain road environment sensing data in the detection area to the data receiving unit through a network; the data receiving unit integrates all received original data into a data set and transmits the original data to the calibration unit, and the calibration unit performs calibration processing on the integrated data, mainly removes direct current components generated by the antenna and calibrates errors generated by the antenna process; sending the data obtained after calibration into a preprocessing unit, and performing 2-dimensional fast Fourier transform, namely distance dimensional fast Fourier transform and speed dimensional fast Fourier transform, to obtain a distance-Doppler matrix (RDM) data set containing speed, position and angle information of mountains, vehicles running on roads, rockfall, road foreign matters and other targets; the data processing and image drawing unit acquires the distance, height and angle information of static targets and the distance, height, angle and speed information of dynamic targets from the targets such as mountains, passing vehicles, falling rocks and foreign matters from the RDM matrix output by the preprocessing unit, and draws the distance, angle, speed and height information of the static targets and the dynamic targets into a three-dimensional point cloud picture.
Specifically, the data processing and image rendering unit respectively performs zero doppler extraction and non-zero doppler data extraction on the RDM dataset to realize the extraction of the static target and the dynamic target, and the method includes:
1) And extracting zero Doppler data in the RDM data set to obtain information data of the static target, and performing square law detection, windowing, noise suppression and height dimension FFT on the data to obtain information of the height and the like of the static target. And further obtaining the distance, height and angle information of the static target of the mountain road environment.
2) And performing non-zero Doppler data extraction on the RDM data set, extracting dynamic target data, and obtaining speed and position information by using a constant false alarm detection algorithm, angle of arrival estimation and coordinate conversion.
And finally, summarizing the information of the distance, the height, the angle, the speed and the like of the static target and the dynamic target in the targets such as the mountain, the running vehicle, the falling rocks, the foreign matters on the road and the like into a three-dimensional point cloud picture and outputting the three-dimensional point cloud picture.
Referring to fig. 7, the decision and early warning unit includes a decision unit and an early warning unit, and performs template matching on the presented image in the decision unit, analyzes the matching result, performs threshold value judgment, and sends an alarm (in the form of sound, light, network, or the like) to the road vehicle and the management department through the early warning unit if it is judged that there are abnormal situations such as road foreign matter, landslide, or the like.
Claims (8)
1. Intermontane road environment perception system based on 4D millimeter wave radar imaging, its characterized in that includes:
the radar sensor unit adopts a 4D millimeter wave radar, is distributed to realize full coverage of the environment of the monitored intermodal road, and is used for acquiring environment perception data of the monitored intermodal road;
the antenna array unit is used for transmitting the electromagnetic waves of the radar sensor unit in a wide pitch and narrow direction wave beam shape with a pitch dimension of +/-60 degrees and a direction dimension of 1 degree and receiving echo signals of a static target and a dynamic target in a mountain road environment;
the beam transmitting mode and direction control unit is used for configuring an antenna transmitting and receiving mode and an antenna beam direction and realizing high-precision three-dimensional data acquisition of the inter-mountain road environment;
the imaging unit is used for processing the received target echo signal, realizing the perception and imaging of the inter-mountain road environment and presenting the detected data information of the static target and the dynamic target in a three-dimensional point cloud picture form;
and the decision and early warning unit is used for matching the image output by the imaging unit with the template, executing threshold judgment to judge the abnormal condition of the inter-mountain road environment and sending out early warning.
2. The mountainside road environment sensing system based on 4D millimeter wave radar imaging according to claim 1, wherein the radar sensor unit includes:
a transceiver unit for transmitting electromagnetic waves and receiving the echo signals, thereby providing a data source for the radar;
the baseband processing unit is used for converting the echo signal received by the transceiver unit from an analog signal to a digital signal;
the signal and data processing unit is used for storing the digital signal output by the baseband processing unit and executing a digital signal processing program to acquire useful information;
and the output unit is used for outputting various useful information obtained after the digital signal is processed.
3. The system as claimed in claim 2, wherein the digital signal processing program comprises frequency domain transformation, digital filtering, recognition and synthesis algorithms, and the useful information comprises distance, angle, height information of static targets and distance, angle, height, speed information of dynamic targets.
4. The mountainside road environment sensing system based on 4D millimeter wave radar imaging according to claim 1, wherein the antenna array unit comprises:
the transmitting antenna unit consists of 12 pitching antenna arrays, each pitching antenna array comprises 30 direction dimensional array elements, and a transmitting beam with a direction dimensional main lobe width of 1 degree and a pitching dimensional main lobe width of 120 degrees is formed;
and the receiving antenna unit consists of 16 directional antenna arrays, and each directional antenna array comprises 8 pitching dimensional array elements.
5. The system for sensing the environment of the mountainous road based on 4D millimeter wave radar imaging according to claim 1, wherein the beam transmitting mode and direction control unit comprises:
the beam transmitting mode control unit is used for realizing a radar pitch dimension multi-input multi-output mode based on a time-sharing multiplexing transmitting mode;
the beam direction control unit realizes the narrow beam scanning of the direction dimension of 1 degree by adopting a mechanical rotation mode, and the scanning range is +/-60 degrees.
6. The mountainous road environment sensing system based on 4D millimeter wave radar imaging according to claim 1, wherein the imaging unit includes:
the data receiving unit is used for collecting the mountainous road environment perception data collected by the radar sensor unit and integrating the data, namely synthesizing all received echo signal data into a new data set;
the calibration unit is used for carrying out calibration processing on the collected and integrated data, removing direct current components generated by the antenna and calibrating errors generated by the antenna process;
a preprocessing unit, which obtains a set of Range-Doppler matrices (RDM) containing distance, angle, altitude information of static targets and distance, angle, altitude, and speed information of dynamic targets by using 2-dimensional fast fourier transform, i.e., distance-dimensional fast fourier transform and speed-dimensional fast fourier transform;
and the data processing and image drawing unit is used for acquiring the distance, height and angle information of the static target and the distance, height, angle and speed information of the dynamic target from the distance-Doppler matrix set output by the preprocessing unit and drawing the data information of the static target and the dynamic target into a three-dimensional point cloud picture.
7. The system as claimed in claim 6, wherein the data processing and image rendering unit comprises:
the data processing unit is used for performing zero Doppler data extraction and non-zero Doppler data extraction on the preprocessed distance-Doppler matrix set to obtain information data of a static target and a dynamic target; carrying out square law detection, windowing, noise suppression and height dimension FFT on static target information data to obtain distance, height and angle information of the static target information data; obtaining distance, height, angle and speed information of the dynamic target by using a constant false alarm detection algorithm, arrival angle estimation and coordinate conversion on the information data of the dynamic target;
and the image drawing unit is used for carrying out three-dimensional point cloud imaging on the data information processed by the data processing unit.
8. The mountainside road environment sensing system based on 4D millimeter wave radar imaging according to claim 1, wherein the decision and early warning unit comprises:
the decision unit is used for carrying out template matching on the image output by the imaging unit and carrying out threshold judgment on a matching result so as to realize the judgment on the abnormal condition of the inter-mountain road environment;
and the early warning unit is used for giving an alarm and prompting to vehicles on the road and management departments.
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