CN117949951A - Radar self-adaptive adjusting system and adjusting method thereof - Google Patents
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Abstract
The invention relates to the technical field of vehicle radars, in particular to a radar self-adaptive adjusting system and an adjusting method thereof, wherein the system comprises the following components: the road surface monitoring module comprises cameras which are respectively arranged at the left side and the right side of the vehicle and used for acquiring road surface images; the radar detection module is used for detecting the motion parameters of the obstacle; the adjusting module is used for adjusting working parameters of the radar detection module according to the road surface image acquired by the road surface monitoring module; through the setting of road surface monitoring module and adjustment module, whether can confirm the protruding or sunken data acquisition to radar detection module of road surface through the road surface image and lead to the fact the influence to radar detection module's operating parameter adjusts in order to ensure the accuracy of data acquisition after confirming that there is the influence, and then effectively improved millimeter wave radar's road surface adaptability.
Description
Technical Field
The invention relates to the technical field of vehicle radars, in particular to a radar self-adaptive adjusting system and an adjusting method thereof.
Background
The millimeter wave radar can perform obstacle detection and distance measurement with high accuracy. By transmitting millimeter waves and analyzing echo signals, the system can accurately identify objects around and away from the vehicle, including vehicles, pedestrians, buildings, etc., and accurately measure their distance from the vehicle.
Chinese patent application No.: CN113484834a discloses a target detection method based on signal compression of millimeter wave radar, which belongs to the technical field of signal processing, and comprises the following steps: s1: acquiring radar echo data; s2: rearranging and compressing the target signal; s3: downsampling; s4: reconstructing the signal; s5: two-dimensional constant false alarm target detection based on a reconstructed signal; according to the invention, by compressing and reconstructing the echo signals, the calculated amount is greatly reduced when echo data is processed, and the method is more suitable for a two-dimensional constant false alarm detection technology; according to the invention, by compressing the frequency domain information, a large-value target echo signal is reserved, and meanwhile, a part of noise and clutter information is eliminated, so that the target detection performance is improved.
However, the above method has the following problems: no effective countermeasures are taken for the reduction of the radar detection direction and the accuracy caused by the position deviation and the jitter of the running vehicle due to the fluctuation of the road surface, and the false alarm is easy to interfere with a driving control system, so that the radar road surface has poor adaptability.
Disclosure of Invention
Therefore, the invention provides a radar self-adaptive adjusting system and an adjusting method thereof, which are used for solving the problems that in the prior art, no effective countermeasure is available for the reduction of the radar detection direction and accuracy caused by vehicle position deviation and jitter due to road surface fluctuation, and the false alarm is easy to interfere with a driving control system, so that the radar road surface adaptability is poor.
To achieve the above object, in one aspect, the present invention provides a radar adaptive adjustment system, including:
The road surface monitoring module comprises cameras which are respectively arranged at the left side and the right side of the vehicle and used for acquiring road surface images;
The radar detection module is connected with the pavement monitoring module and used for detecting the motion parameters of the obstacle;
The adjusting module is respectively connected with the pavement monitoring module and the radar detection module and is used for adjusting working parameters of the radar detection module according to the pavement image acquired by the pavement monitoring module;
the two cameras of the road surface monitoring module respectively acquire front side images of a left wheel set and a right wheel set of the vehicle, and the cameras acquire images in the same overlooking direction;
the working parameters comprise the output power of the radar detection module for outputting millimeter waves and the detection direction of the radar detection module.
Further, the adjusting module is provided with a working period of the radar detection module, and the single working period sequentially comprises an image early warning action, a fluctuation detection action and a radar adjusting action.
Further, the image early warning action set by the adjusting module is to determine the concave-convex distance of the front road surface of the wheel set through the front images of the left wheel set and the right wheel set of the vehicle, and respectively determine whether the road surface state is a rolling state or a stable state according to the concave-convex distance of the front road surface of the wheel set;
The concave-convex distance is the distance between the highest position of the bulge and the pavement plane in the bulge state of the pavement or the distance between the lowest position of the bulge and the pavement plane in the concave state of the pavement, the rolling state meets the condition that the distance difference between the corresponding pavement of the left wheel set and the right wheel set is larger than the preset distance, and the stable state meets the condition that the distance difference between the corresponding pavement of the left wheel set and the right wheel set is smaller than or equal to the preset distance.
Further, the fluctuation detection action set by the adjustment module comprises the step of determining that the running state of the vehicle is a flat state or a shaking state according to a plurality of images acquired in unit time after the vehicle runs to the corresponding road surface;
The flat state satisfies that the jitter degree of the vehicle determined according to each image is smaller than or equal to a preset magnitude, and the jitter state satisfies that the jitter degree of the vehicle is larger than the preset magnitude.
Further, the radar adjusting action set by the adjusting module comprises adjusting the detection direction of the radar detecting module and the output power of the radar detecting module;
The detection direction adjusted by the adjusting module meets the condition that an included angle between the detection direction of the radar and the original detection direction of the vehicle is smaller than 5 degrees when the radar reaches the position with the largest distance difference.
Further, when the adjusting module executes the radar adjusting action, the adjusted output power P of the radar detection module is determined by the formula (1);
(1)
Wherein S is the distance difference between the road surfaces corresponding to the left wheel set and the right wheel set, A is the jitter, S0 is the preset distance, A0 is the preset magnitude, P0 is the initial output power, and if the road surface state determined by the image early warning action in the corresponding working period is the stable state, wherein The term is 1, and if the running state determined by the fluctuation detection action in the corresponding working period is the flat state, the formula is/>The term is 1.
Further, the adjusting module determines the jitter degree of the vehicle according to a plurality of images acquired in unit time after the vehicle runs to the corresponding road surface;
The adjusting module calculates the moving distance of the characteristic points between every two frames of images, and calculates the standard deviation of each moving distance of the characteristic points between every two adjacent frames of images in unit time as the jitter of the vehicle;
the characteristic points are points on the road surface in front of the vehicle, the distance between the characteristic points and the vehicle is larger than the running distance of the vehicle in unit time, and each image acquired in the unit time comprises the image of the point.
Further, the radar detection module includes:
a transmitter including a first number of transmit channels for output of millimeter wave signals;
a receiver including a second number of receive channels for reception of millimeter wave signals;
And the antenna is used for outputting the millimeter wave signal output by the transmitter to a space and converting the received millimeter wave signal into an electric signal to be output to the receiver.
In another aspect, the present invention provides a radar adaptive adjustment method, including:
Determining the concave-convex distance of the front road surface of the wheel set through the front images of the left wheel set and the right wheel set of the vehicle, and respectively determining whether the road surface state is a rolling state or a stable state according to the concave-convex distance of the front road surface of the wheel set;
determining that the running state of the vehicle is a flat state or a shaking state according to a plurality of images acquired in unit time after the vehicle runs to the corresponding road surface;
And adjusting the detection direction of the radar detection module and the output power of the radar detection module according to the road surface state and the running state of the vehicle.
Further, when the detection direction adjusted by the radar detection module meets the condition that the distance difference between the concave-convex distances on two sides of the vehicle is the largest, the included angle between the detection direction of the radar detection module and the original detection direction of the radar detection module is smaller than 5 degrees.
Compared with the prior art, the method has the beneficial effects that through the arrangement of the pavement monitoring module and the adjusting module, whether the protrusion or the depression of the pavement influences the data acquisition of the radar detection module or not can be determined through the pavement image, and the working parameters of the radar detection module are adjusted after the influence is determined to be existed so as to ensure the accuracy of the acquired data, so that the pavement adaptability of the millimeter wave radar is effectively improved.
Furthermore, the cooperative work of the radar detection module and the road surface monitoring module can accurately identify the road surface state and the vehicle running state in real time, provide a basis for the parameter adjustment of the subsequent radar detection module, and further improve the road surface adaptability of the millimeter wave radar.
Furthermore, the adjusting module of the invention can intelligently adjust the detection direction of the radar detection module according to the road surface and the vehicle state, can adapt to the change condition in time, ensures that the radar beam can more accurately capture the target, is beneficial to improving the detection accuracy, and further improves the road surface adaptability of the millimeter wave radar.
Furthermore, the invention dynamically adjusts the radar output power according to the road surface characteristics and the image characteristics, can provide millimeter wave output power which accords with the running state according to different conditions, saves energy consumption, ensures the detection quality and further improves the road surface adaptability of the millimeter wave radar.
Furthermore, the adjusting module quantitatively identifies the shaking degree of the vehicle by using the standard deviation of the characteristic point movement, is simple and accurate, is beneficial to subsequent parameter adjustment, and further improves the pavement adaptability of the millimeter wave radar.
Drawings
FIG. 1 is a block diagram of a radar adaptive adjustment system of the present invention;
FIG. 2 is a flow chart of a radar adaptive adjustment method according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a radar adaptive adjustment system according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of the distance difference according to the embodiment of the present invention;
In the figure: camera 1, radar detection module 2.
Detailed Description
In order that the objects and advantages of the invention will become more apparent, the invention will be further described with reference to the following examples; it should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are merely for explaining the technical principles of the present invention, and are not intended to limit the scope of the present invention.
It should be noted that, in the description of the present invention, terms such as "upper," "lower," "left," "right," "inner," "outer," and the like indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, which are merely for convenience of description, but do not indicate or imply that the apparatus or element must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, it should be noted that, in the description of the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those skilled in the art according to the specific circumstances.
Referring to fig. 1, which is a block diagram of a radar adaptive adjustment system according to the present invention, a radar adaptive adjustment system includes;
The road surface monitoring module comprises cameras which are respectively arranged at the left side and the right side of the vehicle and used for acquiring road surface images;
the radar detection module is connected with the pavement monitoring module and used for detecting the motion parameters of the obstacle;
the adjusting module is respectively connected with the pavement monitoring module and the radar detection module and is used for adjusting working parameters of the radar detection module according to the pavement image acquired by the pavement monitoring module;
The two cameras of the road surface monitoring module respectively acquire front side images of a left wheel set and a right wheel set of the vehicle, and the cameras acquire images in the same overlooking direction;
the working parameters comprise the output power of the millimeter wave output by the radar detection module and the detection direction of the radar detection module, and the motion parameters comprise the position, the speed and the acceleration of the obstacle in front of the vehicle.
Referring to fig. 3, two cameras 1 of the road surface monitoring module respectively collect front images of a left wheel set and a right wheel set, and the cameras 1 collect images in a top view direction; alternatively, the radar detection modules 2 are provided in two, respectively disposed on the left and right sides of the vehicle. The camera only carries out image acquisition to unilateral road surface, can acquire clearer and more reliable road surface image, improves image analysis speed, reduces the response time of adjusting module, and then improves the operational safety.
Specifically, the present invention is not limited to the specific structure of the adjustment module, and in this embodiment, may be constituted by a logic component or a combination of logic components.
Specifically, the adjustment module is provided with a working period of the radar detection module, and a single working period sequentially comprises an image early warning action, a fluctuation detection action and a radar adjustment action.
Specifically, the image early warning action set by the adjusting module is used for determining the concave-convex distance of the front road surface of the wheel set through the front images of the left wheel set and the right wheel set of the vehicle, and respectively determining whether the road surface state is a rolling state or a stable state according to the concave-convex distance of the front road surface of the wheel set;
The concave-convex distance is the distance between the highest position of the bulge and the plane of the pavement in the bulge state of the pavement or the distance between the lowest position of the bulge and the plane of the pavement in the concave state of the pavement, the distance difference between the corresponding pavement of the left wheel set and the right wheel set is larger than the preset distance in the rolling state, and the distance difference between the corresponding pavement of the left wheel set and the right wheel set is smaller than or equal to the preset distance in the steady state. Referring to fig. 4, it can be understood that the distance difference is the elevation distance between the highest position on the two sides of the road surface of the vehicle and the lowest position on the other side of the road surface, i.e. the distance difference S in the figure, and the dotted line is the center line of the vehicle.
In the above embodiment, through the setting of road surface monitoring module and adjustment module, whether can confirm the protruding or sunken data acquisition that causes the influence to radar detection module of road surface through the road surface image to and adjust the operating parameter to the radar detection module after confirming that there is the influence in order to ensure the accuracy of data acquisition, and then effectively improved millimeter wave radar's road surface adaptability. And the cooperative work of the radar detection module and the road surface monitoring module can accurately identify the road surface state and the vehicle running state in real time, provide a basis for the parameter adjustment of the subsequent radar detection module, and further improve the road surface adaptability of the millimeter wave radar.
In implementation, the determination of the road surface concave-convex distance through the feature analysis of the image is in the prior art, and in some embodiments, the feature detection of the road surface image concave-convex distance can be performed through a SIFT algorithm, which is not described herein. The relief distance can also be used for monitoring the driving state.
Specifically, the fluctuation detection action set by the adjustment module comprises the steps of determining that the running state of the vehicle is a flat state or a shaking state according to a plurality of images acquired in unit time after the vehicle runs to a corresponding road surface;
The flat state satisfies that the jitter degree of the vehicle determined according to each image is smaller than or equal to a preset magnitude, and the jitter state satisfies that the jitter degree of the vehicle is larger than the preset magnitude.
In practice, the degree of shake may be output to the driver in a shake state to make the driver aware of the road surface state of the driving blind area.
Specifically, the radar adjusting action set by the adjusting module comprises adjusting the detection direction of the radar detecting module and the output power of the radar detecting module;
the detection direction adjusted by the adjusting module meets the condition that an included angle between the detection direction of the radar and the original detection direction of the vehicle is smaller than 5 degrees when the detection direction reaches the position with the largest distance difference.
In the embodiment, the adjusting module intelligently adjusts the detection direction of the radar detection module according to the road surface and the vehicle state, so that the change condition can be adapted in time, the radar beam can more accurately capture the target, the detection accuracy is improved, and the road surface adaptability of the millimeter wave radar is further improved.
Specifically, when the adjusting module executes radar adjusting action, the output power P of the adjusted radar detection module is determined by the formula (1);
(1)
Wherein S is the distance difference between the road surfaces corresponding to the left wheel set and the right wheel set, A is the jitter, S0 is the preset distance, A0 is the preset magnitude, P0 is the initial output power, and if the road surface state determined by the image early warning action in the corresponding working period is a stable state, wherein The term is 1, where/>, if the running state determined by the fluctuation detection operation in the corresponding duty cycle is a flat stateThe term is 1.
In implementation, the preset distance and the preset value can be set to other values or to a plurality of changeable determined values according to actual working conditions and scenes, and only the determination requirements can be met, which is not repeated here. It should be appreciated that the adjustment module restores the output power of the radar detection module to the initial output power and the detection direction to the initial detection orientation at the beginning of the next duty cycle.
In the embodiment, the radar output power is dynamically adjusted according to the road surface characteristics and the image characteristics, so that the millimeter wave output power which is more in line with the running state can be provided for different conditions, the energy consumption is saved, the detection quality is ensured, and the road surface adaptability of the millimeter wave radar is further improved.
Specifically, the adjusting module determines the jitter degree of the vehicle according to a plurality of images acquired in unit time after the vehicle runs to the corresponding road surface;
the adjusting module calculates the moving distance of the characteristic points between every two frames of images, and calculates the standard deviation of each moving distance of the characteristic points between every two adjacent frames of images in unit time as the jitter of the vehicle;
the characteristic points are points on the road surface in front of the vehicle, the distance between the points and the vehicle is larger than the running distance of the vehicle in unit time, and each image acquired in unit time comprises the image of the point.
In the embodiment, the adjustment module uses the standard deviation of the characteristic point movement to quantitatively identify the shaking degree of the vehicle, so that the follow-up parameter adjustment is facilitated, and the pavement adaptability of the millimeter wave radar is further improved.
Specifically, the radar detection module includes:
a transmitter including a first number of transmit channels for output of millimeter wave signals;
a receiver including a second number of receive channels for reception of millimeter wave signals;
and the antenna is used for outputting the millimeter wave signal output by the transmitter to the space and converting the received millimeter wave signal into an electric signal to be output to the receiver.
In practice, the first number of preferred values is 12 and the second number of preferred values is 16.
Referring to fig. 2, a flowchart of a radar adaptive adjustment method according to an embodiment of the invention is shown, and the radar adaptive adjustment method includes: determining the concave-convex distance of the front road surface of the wheel set through the front images of the left wheel set and the right wheel set of the vehicle, and respectively determining whether the road surface state is a rolling state or a stable state according to the concave-convex distance of the front road surface of the wheel set;
determining that the running state of the vehicle is a flat state or a shaking state according to a plurality of images acquired in unit time after the vehicle runs to the corresponding road surface;
And adjusting the detection direction of the radar detection module and the output power of the radar detection module according to the road surface state and the running state of the vehicle.
Specifically, when the detection direction regulated by the radar detection module meets the condition that the distance difference between the concave-convex distances on two sides of the vehicle is the largest, the included angle between the detection direction of the radar detection module and the original detection direction of the radar detection module is smaller than 5 degrees.
Thus far, the technical solution of the present invention has been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of protection of the present invention is not limited to these specific embodiments. Equivalent modifications and substitutions for related technical features may be made by those skilled in the art without departing from the principles of the present invention, and such modifications and substitutions will be within the scope of the present invention.
The foregoing is merely a preferred embodiment of the present invention and is not intended to limit the present invention; various modifications and variations of the present invention will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A radar adaptive adjustment system, comprising:
The road surface monitoring module comprises cameras which are respectively arranged at the left side and the right side of the vehicle and used for acquiring road surface images;
The radar detection module is connected with the pavement monitoring module and used for detecting the motion parameters of the obstacle;
The adjusting module is respectively connected with the pavement monitoring module and the radar detection module and is used for adjusting working parameters of the radar detection module according to the pavement image acquired by the pavement monitoring module;
the two cameras of the road surface monitoring module respectively acquire front side images of a left wheel set and a right wheel set of the vehicle, and the cameras acquire images in the same overlooking direction;
the working parameters comprise the output power of the radar detection module for outputting millimeter waves and the detection direction of the radar detection module.
2. The radar adaptive adjustment system according to claim 1, wherein the adjustment module is provided with a duty cycle of the radar detection module, the single duty cycle comprising an image pre-warning action, a wave detection action and a radar adjustment action in sequence.
3. The radar self-adaptive adjusting system according to claim 2, wherein the image early warning action set by the adjusting module is to determine the concave-convex distance of the road surface at the front side of the wheel set through the front images of the left wheel set and the right wheel set of the vehicle, and determine whether the road surface is in a rolling state or a stable state according to the concave-convex distance of the road surface at the front side of the wheel set;
The concave-convex distance is the distance between the highest position of the bulge and the pavement plane in the bulge state of the pavement or the distance between the lowest position of the bulge and the pavement plane in the concave state of the pavement, the rolling state meets the condition that the distance difference between the corresponding pavement of the left wheel set and the right wheel set is larger than the preset distance, and the stable state meets the condition that the distance difference between the corresponding pavement of the left wheel set and the right wheel set is smaller than or equal to the preset distance.
4. The radar adaptive adjustment system according to claim 3, wherein the fluctuation detection action set by the adjustment module includes determining that an operation state of the vehicle is a flat state or a shake state from a plurality of images acquired per unit time after the vehicle is operated to a corresponding road surface;
The flat state satisfies that the jitter degree of the vehicle determined according to each image is smaller than or equal to a preset magnitude, and the jitter state satisfies that the jitter degree of the vehicle is larger than the preset magnitude.
5. The radar adaptive adjustment system of claim 4, wherein the radar adjustment action provided by the adjustment module includes adjusting a detection direction of a radar detection module and an output power of the radar detection module;
The detection direction adjusted by the adjusting module meets the condition that an included angle between the detection direction of the radar and the original detection direction of the vehicle is smaller than 5 degrees when the radar reaches the position with the largest distance difference.
6. The radar adaptive adjustment system according to claim 5, wherein the adjustment module, when performing the radar adjustment action, determines the adjusted output power P of the radar detection module by formula (1);
(1)
Wherein S is the distance difference between the road surfaces corresponding to the left wheel set and the right wheel set, A is the jitter, S0 is the preset distance, A0 is the preset magnitude, P0 is the initial output power, and if the road surface state determined by the image early warning action in the corresponding working period is the stable state, wherein The term is 1, and if the running state determined by the fluctuation detection action in the corresponding working period is the flat state, the formula is/>The term is 1.
7. The radar adaptive adjustment system of claim 6, wherein the adjustment module determines the vehicle's degree of shake from a number of images acquired per unit time after the vehicle has been operated to a corresponding road surface;
The adjusting module calculates the moving distance of the characteristic points between every two frames of images, and calculates the standard deviation of each moving distance of the characteristic points between every two adjacent frames of images in unit time as the jitter of the vehicle;
the characteristic points are points on the road surface in front of the vehicle, the distance between the characteristic points and the vehicle is larger than the running distance of the vehicle in unit time, and each image acquired in the unit time comprises the image of the point.
8. The radar adaptive adjustment system of claim 1, wherein the radar detection module comprises:
a transmitter including a first number of transmit channels for output of millimeter wave signals;
a receiver including a second number of receive channels for reception of millimeter wave signals;
And the antenna is used for outputting the millimeter wave signal output by the transmitter to a space and converting the received millimeter wave signal into an electric signal to be output to the receiver.
9. An adjustment method for the radar adaptive adjustment system according to any one of claims 1to 8, characterized by comprising:
Determining the concave-convex distance of the front road surface of the wheel set through the front images of the left wheel set and the right wheel set of the vehicle, and respectively determining whether the road surface state is a rolling state or a stable state according to the concave-convex distance of the front road surface of the wheel set;
determining that the running state of the vehicle is a flat state or a shaking state according to a plurality of images acquired in unit time after the vehicle runs to the corresponding road surface;
And adjusting the detection direction of the radar detection module and the output power of the radar detection module according to the road surface state and the running state of the vehicle.
10. The adjustment method according to claim 9, wherein an angle between the detection direction of the radar detection module and the original detection direction of the radar detection module is smaller than 5 ° when the detection direction adjusted by the radar detection module satisfies a position where a distance difference between the concave-convex distances on both sides of the vehicle is maximum.
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| 刘立人: "双曲波前差自扫描直视合成孔径激光成像雷达原理", 光学学报, vol. 35, no. 01, 31 January 2015 (2015-01-31), pages 403 - 412 * |
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