CN116184383A - Vehicle positioning method and system based on millimeter wave recognition technology - Google Patents

Vehicle positioning method and system based on millimeter wave recognition technology Download PDF

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Publication number
CN116184383A
CN116184383A CN202310082307.XA CN202310082307A CN116184383A CN 116184383 A CN116184383 A CN 116184383A CN 202310082307 A CN202310082307 A CN 202310082307A CN 116184383 A CN116184383 A CN 116184383A
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tag
vehicle
millimeter wave
signal
radar
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陈睿
宋文飞
龙汶轩
惠一龙
胡晓鹏
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Guangzhou Infohand Technology Co ltd
Guangzhou Institute of Technology of Xidian University
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Guangzhou Infohand Technology Co ltd
Guangzhou Institute of Technology of Xidian University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G01S7/411—Identification of targets based on measurements of radar reflectivity
    • 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
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

Abstract

The invention discloses a vehicle positioning method and a system based on millimeter wave recognition technology, wherein the system comprises a vehicle-mounted millimeter wave radar carried on a vehicle to be positioned and a plurality of millimeter wave tags arranged on a road side; the vehicle-mounted millimeter wave radar comprises a transmitter, a receiver and a signal processing module; the transmitter is used for periodically transmitting the linear frequency modulation continuous wave signal to the surrounding environment; the millimeter wave tag is used for receiving and modulating the linear frequency modulation continuous wave signal so as to generate a tag signal and reflect the tag signal; the receiver is used for receiving radar echo signals comprising tag signals reflected by millimeter wave tags and other environment echo signals; the signal processing module is used for processing a plurality of tag signals identified from the radar echo signals so as to obtain the real position information of the vehicle to be positioned. The system can realize accurate positioning of the vehicle, and has lower cost and higher positioning precision compared with the existing positioning system.

Description

Vehicle positioning method and system based on millimeter wave recognition technology
Technical Field
The invention belongs to the technical field of vehicle positioning, and particularly relates to a vehicle positioning method and system based on millimeter wave identification technology.
Background
The intelligent transportation system (Intelligent Traffic System, ITS) is used as a transportation and management system with wide-range and omnibearing coverage, and by means of the rapid development of the Internet of things in recent years, advanced control, sensing, communication, information technology and computer technology are combined efficiently and comprehensively applied to the whole traffic management system. The traffic jam is greatly relieved, traffic accidents are effectively reduced, the safety of a traffic system is improved, and environmental pollution is reduced, so that the traffic jam is the most representative application in the field of the Internet of things.
Realizing real-time accurate vehicle positioning is an important ring in intelligent traffic systems. So far, GPS (Global Positioning System ) is still the most widely used technology in the field of vehicle positioning, which can provide real-time three-dimensional positioning, speed and time information for vehicles.
However, all GPS-based solutions exhibit significant performance loss in dense urban driving environments, as the infrastructure can prevent direct reception of GPS signals and create multipath interference or non-line-of-sight reception. In addition, camera, lidar or roadside unit based positioning systems are often limited in terms of positioning accuracy and installation costs. Therefore, there is an urgent need for an effective solution to achieve high-precision vehicle positioning.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a vehicle positioning method and system based on millimeter wave identification technology. The technical problems to be solved by the invention are realized by the following technical scheme:
in a first aspect, the present invention provides a vehicle positioning method based on millimeter wave recognition technology, including:
periodically transmitting a linear frequency modulation continuous wave signal to the surrounding environment by using a vehicle millimeter wave radar carried on a vehicle to be positioned;
receiving and modulating the linear frequency modulation continuous wave signal by utilizing a millimeter wave tag arranged at a road side to generate a tag signal and reflecting the tag signal;
receiving radar echo signals by using a vehicle-mounted millimeter wave radar; wherein the radar echo signals comprise tag signals reflected from millimeter wave tags and other environmental echo signals;
and identifying the received radar echo signals to obtain a plurality of tag signals reflected by different millimeter wave tags, and processing the plurality of tag signals to obtain the real position information of the vehicle to be positioned.
In one embodiment of the present invention, the chirped continuous wave signal is a quadrature waveform signal generated using a time domain multiplexing technique.
In one embodiment of the present invention, receiving and modulating the chirped continuous wave signal with a millimeter wave tag disposed at a roadside to generate a tag signal and reflect, includes:
the millimeter wave tag reflects the linear frequency modulation continuous wave signal in a back scattering mode, and modulates own position information on the reflected signal to generate a tag signal and reflect the tag signal.
In one embodiment of the present invention, processing a plurality of the tag signals to obtain real position information of a vehicle to be positioned includes:
processing a plurality of tag signals to respectively obtain corresponding tag position information and distance, relative speed and azimuth angle information of the tag and a vehicle to be positioned currently;
based on the least square method, calculating the real position information of the vehicle to be positioned by utilizing the position information of a plurality of labels and the distance and azimuth angle information of the labels and the vehicle to be positioned currently.
In a second aspect, the invention provides a vehicle positioning system based on millimeter wave recognition technology, which comprises a vehicle-mounted millimeter wave radar carried on a vehicle to be positioned and a plurality of millimeter wave tags arranged on a road side; the vehicle-mounted millimeter wave radar comprises a transmitter, a receiver and a signal processing module;
the transmitter is used for periodically transmitting the linear frequency modulation continuous wave signal to the surrounding environment;
the millimeter wave tag is used for receiving and modulating the linear frequency modulation continuous wave signal so as to generate a tag signal and reflect the tag signal;
the receiver is used for receiving radar echo signals; wherein the radar echo signals comprise tag signals reflected from millimeter wave tags and other environmental echo signals;
the signal processing module is used for identifying the received radar echo signals to obtain a plurality of tag signals reflected by different millimeter wave tags, and processing the plurality of tag signals to obtain the real position information of the vehicle to be positioned.
In one embodiment of the invention, the transmitter generates a quadrature waveform signal, in particular using a time-domain multiplexing technique, to obtain a chirped continuous wave signal and transmit.
In one embodiment of the invention, the millimeter wave tag reflects the chirped continuous wave signal, particularly by back scattering, while modulating its own position information onto the reflected signal.
In one embodiment of the present invention, the signal processing module includes an information extraction unit and a calculation unit; wherein, the liquid crystal display device comprises a liquid crystal display device,
the information extraction unit is used for processing the plurality of tag signals to respectively obtain corresponding tag position information and distance, relative speed and azimuth angle information of the tag and a vehicle to be positioned currently;
the calculating unit is used for calculating the real position information of the vehicle to be positioned by utilizing the position information of the plurality of labels and the distance and azimuth angle information of the labels and the vehicle to be positioned currently based on the least square method.
The invention has the beneficial effects that:
1. the vehicle positioning system based on the millimeter wave recognition technology provided by the invention utilizes a vehicle-mounted millimeter wave radar on a vehicle to be positioned to communicate with millimeter wave tags deployed on a road side, obtains tag signals reflected by a plurality of tags, and then obtains distance, relative speed and azimuth information of the plurality of tags and the vehicle to be positioned by recognizing and extracting back scattering signals of the tags; obtaining the position information of the vehicle to be positioned through calculation; under the scene of poor GPS positioning effect, the method still can realize accurate positioning of the vehicle, and has lower cost and higher positioning precision compared with positioning systems based on cameras, laser radars, road side units and the like;
2. the vehicle positioning system based on the millimeter wave recognition technology fully utilizes the existing vehicle-mounted millimeter wave radar as a reader to communicate with the millimeter wave tag, does not need to install other hardware equipment on the vehicle, and saves the installation cost.
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Drawings
Fig. 1 is a schematic flow chart of a vehicle positioning method based on millimeter wave recognition technology according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a scenario in which a vehicle-mounted millimeter wave radar according to an embodiment of the present invention communicates with a millimeter wave tag deployed on a road and other targets;
FIG. 3 is a schematic block diagram of MIMO radar identification provided by an embodiment of the present invention;
fig. 4 is a schematic diagram of a time division multiplexing scheme provided by an embodiment of the present invention;
fig. 5 is a schematic diagram of a MIMO radar virtual receiving array configuration provided in an embodiment of the present invention;
fig. 6 is a block diagram of a vehicle positioning system based on millimeter wave recognition technology according to an embodiment of the present invention;
fig. 7 is a CDF plot of positioning errors in straight and curved road scenarios provided by an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to specific examples, but embodiments of the present invention are not limited thereto.
Example 1
Referring to fig. 1, fig. 1 is a schematic flow chart of a vehicle positioning method based on millimeter wave recognition technology according to an embodiment of the present invention, which includes:
step 1: and periodically transmitting the linear frequency modulation continuous wave signal to the surrounding environment by using a vehicle millimeter wave radar mounted on the vehicle to be positioned.
Specifically, during the running process of the vehicle, each vehicle-mounted millimeter wave radar transmitter periodically transmits a linear frequency modulation continuous wave outwards, and the signal is incident on various targets in the surrounding environment to form echo signals.
In this embodiment, the chirped continuous wave signal is a quadrature waveform signal generated using a time-domain multiplexing technique.
In order to support a plurality of channels, the time domain multiplexing technology which is simple and widely used in the automotive radar is selected to generate orthogonal waveforms, so that the automotive millimeter wave radar can be helped to separate signals from different transmitter channels.
Step 2: the chirped continuous wave signal is received and modulated with a millimeter wave tag disposed at the roadside to generate a tag signal and reflected.
Specifically, when the millimeter wave tag arranged at the road side receives the linear frequency modulation continuous wave signal emitted by the vehicle-mounted millimeter wave radar, backscatter modulation is carried out on the signal. The millimeter wave tag reflects the linear frequency modulation continuous wave signal in a backscattering mode, and modulates the position information of the millimeter wave tag onto the reflected signal to generate a tag signal and reflect the tag signal. Referring to fig. 2, fig. 2 is a schematic diagram of a scenario in which a vehicle-mounted millimeter wave radar according to an embodiment of the present invention communicates with a millimeter wave tag deployed on a road and other targets.
It should be noted that, the specific implementation manner of the millimeter wave tag and the signal modulation method may refer to the existing related art, and this embodiment is not described in detail herein.
Step 3: receiving radar echo signals by using a vehicle-mounted millimeter wave radar; wherein the radar echo signals include tag signals from millimeter wave tag reflections and other environmental echo signals.
Specifically, the vehicle millimeter wave radar receives echo reflection from a tag and other targets in the radar detection range, wherein the tag carries out backscatter modulation on a received radar incident signal and transmits self position information to a radar receiver.
Step 4: and identifying the received radar echo signals to obtain a plurality of tag signals reflected by different millimeter wave tags, and processing the plurality of tag signals to obtain the real position information of the vehicle to be positioned.
After the tag signals are identified, the tag signals are processed to obtain corresponding tag position information and distance, relative speed and azimuth angle information of the tag and the vehicle to be positioned currently.
Specifically, first, all receiving antennas receive radar echo signals from a tag, and the receiving signals and the transmitting signals are mixed and sampled to obtain intermediate frequency signals. Second, the radar collects multiple scans of the waveform on each linear phased array antenna unit. These collected scans form a data cube, which is stored in a buffer. Once a certain number of scans fill the buffer, the scans will be sequentially FFT-computed along the fast and slow time dimensions of the data cube, resulting in a range-doppler plot containing the tag relative velocity and range information. Finally, performing a third FFT along the spatial dimension using the phase difference between the receive antennas generates an angular spectrum, resulting in a tag azimuth.
In order to describe in detail the process of the vehicle-mounted millimeter wave radar for identifying the tag, the tag distance, the relative speed and the azimuth angle from the echo signal, the above process will be described in detail by taking a vehicle-mounted MIMO (multiple-input multiple-output) millimeter wave radar as an example.
Referring to FIG. 3, FIG. 3 is a diagram of the present inventionEmbodiments provide a functional block diagram based on MIMO radar identification. Wherein the MIMO radar comprises M t Transmitting antennas with element spacing d t Is provided with M r Multiple receiving antennas with element spacing d r Is provided.
At the MIMO radar transmitting end, a signal synthesizer generates a chirped continuous wave by controlling the output frequency of a voltage controlled oscillator, and then the generated chirped continuous wave signal is amplified by a power amplifier and transmitted by a transmitter antenna, and a part of the generated signal is fed into a receiver for mixing with a received signal to generate a baseband signal.
In a MIMO radar in a time division multiplexing mode, only one transmit antenna is scheduled for transmission per slot. Orthogonality of the transmitted frequency modulated continuous waves is reflected in time, each time slot corresponding to M t One of the transmit channels in a transmit antenna, the transmit and receive channels are switched continuously among all possible channels to ensure that only one set of channels is active at a time, as shown in fig. 4.
Assuming that the first frequency modulation period of a certain transmitting antenna is taken as an example, the instantaneous frequency of a transmitting signal at any time T (T is more than or equal to 0 and less than or equal to T) is given by the following formula:
Figure BDA0004067798020000071
wherein f 0 For the starting frequency of the chirp,
Figure BDA0004067798020000072
is the scan slope, T is the scan period, and B is the transmission bandwidth. Thus, during tag response, mth t Transmission signal of individual channels->
Figure BDA0004067798020000073
Can be modeled as a function of time t:
Figure BDA0004067798020000074
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure BDA0004067798020000075
is the amplitude of the transmitted signal, m t ＝1,2,...M t . The millimeter wave tag backscatters the incident signal from the radar and uses a frequency f mod Is used for modulating radar cross section of the tag. This results in a backscattered signal for the millimeter wave tag given by:
Figure BDA0004067798020000076
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure BDA0004067798020000077
is the signal from the mth t Time taken for the positions of the transmitting antennas to propagate to the positions of the millimeter wave tags and ω 1,mt And (t) is additive white gaussian noise with zero mean and variance. Modulated signal s mod (t) may be approximated as a rectangular waveform with a 50% duty cycle, causing the radar cross section of the tag to change between two states according to the modulation frequency. Due to s mod (T) is a period T mod ＝1/f mod And thus can be expanded with a fourier series as:
Figure BDA0004067798020000078
wherein c k Is a fourier coefficient.
At M r In a channel configured as a receiver, the received signal decays due to propagation distance and delays the round trip time τ 2,mr Then the mth of the array is received by the radar r The tag backscatter signal at the baseband received by the individual elements is written as:
Figure BDA0004067798020000081
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure BDA0004067798020000082
is the received signal amplitude, related to radar cross section, path loss, antenna gain, etc. of the tag, and +.>
Figure BDA0004067798020000083
Is additive white gaussian noise with zero mean and variance.
Thereafter, by M of radar receiver r The signals received by the individual elements are amplified by a low noise amplifier and mixed with the transmitted signal. The intermediate frequency signal thus produced can be modeled in the following way:
Figure BDA0004067798020000084
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure BDA0004067798020000085
representing the amplitude of the intermediate frequency signal>
Figure BDA0004067798020000086
From m-th depending on the position of the signal passing through the MMID tag t The position of the transmitting antenna is propagated to the mth r Time taken for the position of the individual receiving antennas, < >>
Figure BDA0004067798020000087
Is noise.
For the above-mentioned vehicle-mounted MIMO radar, it is assumed that the spacing of the transmitting array elements satisfies:
d t ＝M r ·d r
the MIMO radar using the time division multiplexing scheme can synthesize a virtual receive array, which can be equivalent to having M t ×M r The individual elements and the spacing are d r As shown in fig. 5.
Let m be t ·d t And m r ·d r The abscissa corresponding to each transmitter antenna and receiver antenna position, respectively. Let { (R) i ,θ i ) I=1, 2,..q } is the position of the i-th tag in the spherical coordinates, at a speed v relative to the radar i And (5) moving. Q is the maximum number of tags observed by the vehicle radar at a certain time, then for the ith tag, the round trip time delay is re-modeled as:
Figure BDA0004067798020000091
wherein, l=1, 2. L is the number of frequency modulation cycles. m=m r ×m t +m r ，m＝1,2,...,M t ×M r Representing the mth antenna in the virtual receive array, c is the speed of light.
Since the period of the frequency modulation is small, typically on the order of microseconds, the relative speed between the tag and the vehicle can be considered constant over the L pulse times. Meanwhile, in the radar system based on the digital receiver, the intermediate frequency signal at the output end of the mixer passes through the low-pass filter and is sampled and converted into a digital signal by the analog-to-digital converter, and for Q labels, the intermediate frequency signal received by the m antenna channel can be expressed as
Figure BDA0004067798020000092
Wherein n=1, 2,.. s -1，N s Is the number of samples.
Figure BDA0004067798020000093
Is the doppler shift generated between the vehicle motion and the ith tag, which is inversely proportional to the wavelength λ, and is either positive or negative in sign, depending on whether the tag is close to or far from the radar.
The intermediate frequency signal is first recorded and a fast fourier transform is performed in the frequency domain to detect the tag signal. When the tag is not modulated, the tag signal cannot be detected because it is masked by strong reflections, clutter and phase noise interference from other objects. However, when the tag turns on modulation, two distinct peaks appear in the spectrum of the intermediate frequency signal around the modulation frequency. The dominant multipath reflections from other surrounding objects (e.g., road signs or nearby cars) can then be eliminated using the non-modulated received signal as a background subtracted reference. Due to the backscatter modulation of the tag, the tag signal will be retained after background subtraction and allow identification of the tag according to different radar scattering sections.
Obviously, the above intermediate frequency signal s IF (n, l, m) is still a chirp signal and the frequency and phase of this signal are closely related to the distance and speed information of the tag. Therefore, the frequency and phase of the intermediate frequency signal corresponding to the i-th tag can be obtained as:
Figure BDA0004067798020000101
Figure BDA0004067798020000102
it should be noted that, due to the fast decrease of the Fourier coefficient with the harmonic index k, the higher harmonics (k|>1) Typically below the noise background, is not detected. Thus, according to the above equation, the modulation frequency at the ith tag can be easily found
Figure BDA0004067798020000103
The frequency offset and phase offset for the center are:
Figure BDA0004067798020000104
Figure BDA0004067798020000105
then, the distance and relative speed of the ith tag is:
Figure BDA0004067798020000106
Figure BDA0004067798020000107
in addition, the phase difference between the receiving antennas can also be used to identify the tag in the azimuth plane. In a virtual receive array, the phase difference between adjacent receive channels can be expressed as:
Figure BDA0004067798020000108
so that the direction angle of the ith label can be resolved as follows:
Figure BDA0004067798020000109
through the above operation, the tag position information and the distance, relative speed and azimuth information of the tag from the vehicle to be positioned currently can be identified from the echo signal of the radar.
And finally, calculating the real position information of the vehicle to be positioned by utilizing the position information of the plurality of labels and the distance and azimuth angle information of the labels and the vehicle to be positioned currently based on a least square method.
Alternatively, as an implementation manner, the present embodiment calculates the position information of the vehicle to be positioned using the related information of the three tag signals. Specifically, after the distance and azimuth information and the real position information of at least three tags are obtained, the position coordinates of the vehicle to be positioned can be calculated by using a least square algorithm, so that the square sum of errors between the finally obtained vehicle position coordinates and the real vehicle position coordinates can be minimized.
Regarding the specific implementation procedure of the least square method, reference may be made to the related art, which will not be described in detail in this embodiment.
The method provided by the embodiment utilizes the vehicle-mounted millimeter wave radar on the vehicle to be positioned to communicate with the millimeter wave tag arranged on the road side, obtains tag signals reflected by a plurality of tags, and then obtains distance, relative speed and azimuth information of the plurality of tags and the vehicle to be positioned by identifying and extracting the backscattering signals of the tags; obtaining the position information of the vehicle to be positioned through calculation; under the scene of poor GPS positioning effect, the method still can realize accurate positioning of the vehicle, and has lower cost and higher positioning precision compared with a positioning system based on cameras, laser radars, road side units and the like. In addition, the method is realized without installing other hardware equipment on the vehicle, so that the installation cost is saved.
Example two
The present embodiment provides a vehicle positioning system based on millimeter wave recognition technology, so as to implement the method provided in the first embodiment. Referring to fig. 6, fig. 6 is a block diagram of a vehicle positioning system based on millimeter wave recognition technology according to an embodiment of the present invention, which includes:
a vehicle-mounted millimeter wave radar carried on a vehicle to be positioned and a plurality of millimeter wave tags arranged on a road side; the vehicle-mounted millimeter wave radar comprises a transmitter, a receiver and a signal processing module;
the transmitter is used for periodically transmitting the linear frequency modulation continuous wave signal to the surrounding environment;
the millimeter wave tag is used for receiving and modulating the linear frequency modulation continuous wave signal so as to generate a tag signal and reflect the tag signal;
the receiver is used for receiving radar echo signals; the radar echo signals comprise tag signals reflected by millimeter wave tags and other environment echo signals;
the signal processing module is used for identifying the received radar echo signals to obtain a plurality of tag signals reflected by different millimeter wave tags, and processing the plurality of tag signals to obtain the real position information of the vehicle to be positioned.
Alternatively, as an implementation manner, the transmitter specifically uses a time-domain multiplexing technology to generate a quadrature waveform signal, so as to obtain a chirped continuous wave signal and transmit the chirped continuous wave signal.
In this embodiment, a group of millimeter wave tags are regularly distributed and widely deployed along lane dividing lines and road boundary lines. Each millimeter wave tag reflects the linear frequency modulated continuous wave signal in particular by back scattering, while modulating its own position information onto the reflected signal.
Further, the signal processing module comprises an information extraction unit and a calculation unit; wherein, the liquid crystal display device comprises a liquid crystal display device,
the information extraction unit is used for processing the plurality of tag signals to respectively obtain corresponding tag position information and distance, relative speed and azimuth angle information of the tag and the vehicle to be positioned currently;
the calculating unit is used for calculating the real position information of the vehicle to be positioned by utilizing the position information of the plurality of labels and the distance and azimuth angle information of the labels and the vehicle to be positioned currently based on the least square method.
The system provided in this embodiment may implement the method provided in the first embodiment, and the specific implementation process may refer to the first embodiment, which is not described herein.
Therefore, the vehicle positioning system based on the millimeter wave recognition technology provided by the embodiment still can realize accurate positioning of the vehicle under the scene of poor GPS positioning effect, and has lower cost and higher positioning precision compared with the positioning systems based on cameras, laser radars, road side units and the like; the system fully utilizes the existing vehicle-mounted millimeter wave radar as a reader to communicate with the millimeter wave tag, and other hardware equipment is not required to be installed on the vehicle, so that the installation cost is saved.
Example III
The beneficial effects of the invention are further illustrated by experiments below.
Specifically, modeling is performed on vehicle movement and road scenes, in a straight road scene, 16 groups of millimeter wave tags are uniformly and alternately arranged on two sides of a horizontal road with the length of 500m and the width of 3.35m, and the distance between the tags on the same side is 30m. The target vehicle runs forward at a constant speed in the horizontal direction, and the vehicle-mounted millimeter wave radar is installed at the front of the vehicle to detect and identify the millimeter wave tag at the road side with a maximum detection range of 200 m. Similarly, in a curve scene, 12 groups of millimeter wave tags are deployed on an S-shaped curve with a length 377m and a width 3.35m, so as to provide support for accurate positioning of vehicles.
Referring to fig. 7, fig. 7 shows a CDF curve of a positioning error in a straight and curved road scene, and the embodiment of the present invention can implement positioning of a vehicle in cm. In addition, the result shows that the positioning performance of the curve scene is slightly lower than that of the straight-path scene, and the result is that the detection performance of the radar is reduced in the curve scene, the initial estimation error of the vehicle is increased, and the subsequent detection and identification of the road side label are influenced in the road section with larger curvature, so that the estimation performance of the vehicle position is reduced.
In the vehicle positioning system based on the millimeter wave recognition technology, a vehicle to be positioned communicates with millimeter wave tags deployed on road sides through a vehicle-mounted millimeter wave radar, and position information of a plurality of tags is obtained; then, the distance, the relative speed and the azimuth angle information of a plurality of tags and the vehicle to be positioned are obtained by identifying and extracting the back scattering signals of the tags; and finally, according to the distance and azimuth information of the tag and the real position information, realizing high-precision positioning of the vehicle to be positioned. The invention fully utilizes the existing vehicle-mounted millimeter wave radar as a reader to communicate with the millimeter wave tag without installing other hardware equipment on the vehicle. In addition, the invention can still realize accurate positioning of the vehicle under the scene of poor GPS positioning effect, and has lower cost and higher positioning precision compared with a positioning system based on cameras, laser radars, road side units and the like.
The foregoing is a further detailed description of the invention in connection with the preferred embodiments, and it is not intended that the invention be limited to the specific embodiments described. It will be apparent to those skilled in the art that several simple deductions or substitutions may be made without departing from the spirit of the invention, and these should be considered to be within the scope of the invention.

Claims (8)

1. A vehicle positioning method based on millimeter wave recognition technology, characterized by comprising:
periodically transmitting a linear frequency modulation continuous wave signal to the surrounding environment by using a vehicle millimeter wave radar carried on a vehicle to be positioned;
receiving and modulating the linear frequency modulation continuous wave signal by utilizing a millimeter wave tag arranged at a road side to generate a tag signal and reflecting the tag signal;
receiving radar echo signals by using a vehicle-mounted millimeter wave radar; wherein the radar echo signals comprise tag signals reflected from millimeter wave tags and other environmental echo signals;
and identifying the received radar echo signals to obtain a plurality of tag signals reflected by different millimeter wave tags, and processing the plurality of tag signals to obtain the real position information of the vehicle to be positioned.
2. The vehicle positioning method based on millimeter wave identification technology according to claim 1, wherein the chirped continuous wave signal is a quadrature waveform signal generated by using a time domain multiplexing technology.
3. The vehicle positioning method based on the millimeter wave identification technology according to claim 1, characterized in that receiving and modulating the chirped continuous wave signal with a millimeter wave tag provided at a roadside to generate a tag signal and reflect, comprising:
the millimeter wave tag reflects the linear frequency modulation continuous wave signal in a back scattering mode, and modulates own position information on the reflected signal to generate a tag signal and reflect the tag signal.
4. The vehicle locating method based on the millimeter wave identification technology according to claim 1, wherein processing a plurality of the tag signals to obtain true position information of a vehicle to be located includes:
processing a plurality of tag signals to respectively obtain corresponding tag position information and distance, relative speed and azimuth angle information of the tag and a vehicle to be positioned currently;
based on the least square method, calculating the real position information of the vehicle to be positioned by utilizing the position information of a plurality of labels and the distance and azimuth angle information of the labels and the vehicle to be positioned currently.
5. The vehicle positioning system based on the millimeter wave recognition technology is characterized by comprising a vehicle-mounted millimeter wave radar carried on a vehicle to be positioned and a plurality of millimeter wave tags arranged on a road side; the vehicle-mounted millimeter wave radar comprises a transmitter, a receiver and a signal processing module;
the transmitter is used for periodically transmitting the linear frequency modulation continuous wave signal to the surrounding environment;
the millimeter wave tag is used for receiving and modulating the linear frequency modulation continuous wave signal so as to generate a tag signal and reflect the tag signal;
the receiver is used for receiving radar echo signals; wherein the radar echo signals comprise tag signals reflected from millimeter wave tags and other environmental echo signals;
the signal processing module is used for identifying the received radar echo signals to obtain a plurality of tag signals reflected by different millimeter wave tags, and processing the plurality of tag signals to obtain the real position information of the vehicle to be positioned.
6. The millimeter wave identification technology-based vehicle positioning system according to claim 5, wherein the transmitter specifically generates a quadrature waveform signal using a time domain multiplexing technology to obtain a chirped continuous wave signal and transmit the chirped continuous wave signal.
7. The vehicle locating system based on millimeter wave identification technology of claim 5, wherein the millimeter wave tag reflects the chirped continuous wave signal, in particular by back scattering, while modulating its own location information onto the reflected signal.
8. The millimeter wave identification technology-based vehicle positioning system according to claim 5, wherein the signal processing module includes an information extraction unit and a calculation unit; wherein, the liquid crystal display device comprises a liquid crystal display device,
the information extraction unit is used for processing the plurality of tag signals to respectively obtain corresponding tag position information and distance, relative speed and azimuth angle information of the tag and a vehicle to be positioned currently;
the calculating unit is used for calculating the real position information of the vehicle to be positioned by utilizing the position information of the plurality of labels and the distance and azimuth angle information of the labels and the vehicle to be positioned currently based on the least square method.
CN202310082307.XA 2023-01-18 2023-01-18 Vehicle positioning method and system based on millimeter wave recognition technology Pending CN116184383A (en)

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