CN214473933U - Vehicle with a steering wheel - Google Patents
Vehicle with a steering wheel Download PDFInfo
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- CN214473933U CN214473933U CN202021975638.4U CN202021975638U CN214473933U CN 214473933 U CN214473933 U CN 214473933U CN 202021975638 U CN202021975638 U CN 202021975638U CN 214473933 U CN214473933 U CN 214473933U
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- millimeter wave
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- wave radar
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Abstract
The present application provides a vehicle. The vehicle includes: a vehicle body including a housing including a front enclosure and a roof; at least one first millimeter wave radar located on the front surround; and at least one second millimeter wave radar located on the roof of the vehicle. This vehicle is through installing first millimeter wave radar and second millimeter wave radar in the different positions of vehicle, just can the multi-angle and observe the target simultaneously, can reduce the target and lose, can also restrain the false target that multi-path effect produced to can also restrain clutter interference, and reduced the false retrieval rate of aerial target, and then improved the rate of accuracy that millimeter wave radar target observed.
Description
Technical Field
The application relates to the field of automatic driving, in particular to a vehicle.
Background
At present, the main problems of detection of a vehicle-mounted millimeter wave radar are scattering clutter interference and false detection of an aerial target. Specifically, when the electromagnetic wave emitted by the vehicle-mounted millimeter wave radar irradiates the surface of the target object, the electromagnetic wave signal is scattered on the surface of the object, and a part of the electromagnetic wave signal is scattered back along the original direction and is received by the radar antenna. By processing the received scattered echo signals, the vehicle-mounted millimeter wave radar can realize the functions of distance measurement (distance between the target and the millimeter wave radar, namely slant distance), speed measurement (relative radial speed of the target and the millimeter wave radar), angle measurement (azimuth angle of the target under a radar coordinate system), and further realize the capability of sensing information around the automatic driving vehicle.
However, in practical applications, the relative attitude between the millimeter wave radar and the target may change in real time due to the motion of the autonomous vehicle and even the vibration of the millimeter wave radar, which may cause the incident angle of the electromagnetic wave to change. The change of the incident angle of the electromagnetic wave can cause the change of the RCS and the multipath result of the target, thereby causing inaccurate detection and easily causing the problem of traffic safety.
The above information disclosed in this background section is only for enhancement of understanding of the background of the technology described herein and, therefore, certain information may be included in the background that does not form the prior art that is already known in this country to a person of ordinary skill in the art.
SUMMERY OF THE UTILITY MODEL
The main aim at of this application provides a vehicle to there is scattering clutter to disturb and the problem of the false retrieval of aerial target when solving among the prior art on-vehicle millimeter wave radar detection.
According to an aspect of the embodiments of the present invention, there is provided a vehicle, including: a vehicle body including a housing including a front enclosure and a roof; at least one first millimeter wave radar located on the front enclosure; at least one second millimeter wave radar located on the roof.
Optionally, the number of the second millimeter wave radars is multiple, the roof includes two boundary regions, a length extending direction of the two boundary regions is the same as a length extending direction of a central axis of the vehicle body, the two boundary regions are located on two sides of the central axis respectively, and the number of the second millimeter wave radars is located in the two boundary regions respectively.
Optionally, the plurality of second millimeter wave radars are divided into two radar groups, the two radar groups are respectively located in the two boundary areas, and each radar group includes at least one second millimeter wave radar.
Optionally, the number of the second millimeter wave radars in the two radar groups is equal.
Optionally, each radar group includes a plurality of second millimeter wave radars.
Optionally, a projection of at least one second millimeter wave radar in one radar group on a predetermined line segment is located between two end points of the predetermined line segment, where the predetermined line segment is a connection line of center points of two adjacent second millimeter wave radars in another radar group.
Optionally, the operating frequency bands of the first millimeter wave radar and the second millimeter wave radar are different.
Optionally, there are a plurality of the first millimeter wave radars, and the operating frequency bands of the plurality of the first millimeter wave radars are different.
Optionally, there are a plurality of the second millimeter wave radars, and the operating frequency bands of the plurality of the second millimeter wave radars are different.
Optionally, the first millimeter wave radar has a plurality of operating frequency ranges, the plurality of first millimeter wave radars have different operating frequency ranges, the second millimeter wave radar has a plurality of operating frequency ranges, and the plurality of second millimeter wave radars have different operating frequency ranges.
The embodiment of the utility model provides an in, surround in the front of vehicle casing and install at least one first millimeter wave radar, install at least one second millimeter wave radar on vehicle casing's roof, through installing first millimeter wave radar and second millimeter wave radar in the different positions of vehicle, just can the target be observed to multi-angle and simultaneously, can reduce the target and lose, the false target that can also restrain the multipath effect and produce, and can also restrain clutter interference, and reduced the false retrieval rate of aerial target, and then improved the rate of accuracy that millimeter wave radar target was surveyd.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application. In the drawings:
FIG. 1 shows a schematic view of a vehicle according to an embodiment of the present application; and
fig. 2 shows a schematic diagram of a second millimeter wave radar profile according to an embodiment of the present application.
Wherein the figures include the following reference numerals:
1. a housing; 2. a front surround; 3. a vehicle roof; 4. a first millimeter wave radar; 5. a second millimeter wave radar; 6. a boundary region.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It will be understood that when an element such as a layer, film, region, or substrate is referred to as being "on" another element, it can be directly on the other element or intervening elements may also be present. Also, in the specification and claims, when an element is described as being "connected" to another element, the element may be "directly connected" to the other element or "connected" to the other element through a third element.
As mentioned in the background, in the prior art, in the detection of the vehicle-mounted millimeter wave radar, there are scattering clutter interference and false detection of an aerial target, and in order to solve the above problems, in an exemplary embodiment of the present application, a vehicle is provided.
According to an embodiment of the present application, there is provided a vehicle, fig. 1 is a schematic structural diagram of the vehicle according to the embodiment of the present application, and as shown in fig. 1, the vehicle includes:
a vehicle body comprising a housing 1, said housing 1 comprising a front enclosure 2 and a roof 3;
at least one first millimeter wave radar 4 located on the front surround 2;
at least one second millimeter-wave radar 5 is located on the vehicle roof 3.
In the vehicle, at least one first millimeter wave radar 4 is arranged on the front surrounding 2 of the vehicle shell 1, at least one second millimeter wave radar 5 is arranged on the roof 3 of the vehicle shell 1, the first millimeter wave radar 4 and the second millimeter wave radar 5 are arranged at different positions of the vehicle, targets can be observed at multiple angles and at the same time, target loss can be reduced, false targets generated by multipath effects can be inhibited, clutter interference can be inhibited, the false detection rate of the aerial targets is reduced, and the accuracy of millimeter wave radar target observation is improved.
In a specific embodiment of the present application, when the millimeter wave radar emits an electromagnetic wave to irradiate the surface of a target object, an electromagnetic wave signal is scattered on the surface of the object, when a vehicle moves or the millimeter wave radar vibrates, the incident angle of the electromagnetic wave changes, and thus the electromagnetic scattering also changes, when the same target is observed from different angles, the scattering behavior of a scatterer sensitive to the change of the incident angle changes significantly, the greater the angle difference is, the greater the scattering behavior difference is, if the millimeter wave radar is installed at different positions of the vehicle, there are different incident angles of the electromagnetic wave, and at this time, the target is observed, if the scattering echo of the target to a certain millimeter wave radar is weak, the multipath scattering echo of the other millimeter wave radars may be strong, and when the target scatters in a certain millimeter wave radar to cause measurement deviation, the condition of measurement deviation probably can not appear in other millimeter wave radars, or the deviation is less, consequently, install at least one first millimeter wave radar in preceding encirclement, install at least one second millimeter wave radar on the roof, just can the multi-angle observation target, can reduce the condition that the target loses, can also restrain the scattering interference.
In one embodiment of the present application, the roof includes two boundary regions, a length extending direction of the two boundary regions is the same as a length extending direction of a central axis of the vehicle body, the two boundary regions are located on both sides of the central axis, and the plurality of second millimeter wave radars are located in the two boundary regions. When the target vehicles of the adjacent lanes are observed, the millimeter wave radars at different positions in the horizontal direction observe the same target, the horizontal electromagnetic wave incident angles are different, the smaller the incident angle is, the stronger the electromagnetic scattering is, a plurality of second millimeter wave radars are respectively installed in the boundary areas of the two roofs, the echo scattering of the target close to one side of the second millimeter wave radar can be enhanced, the target can be further ensured to be observed by the observed millimeter wave radars, and the target loss condition is further reduced.
In still another embodiment of the present application, as shown in fig. 2, there are a plurality of the second millimeter wave radars, and the plurality of the second millimeter wave radars are divided into two radar groups, and the two radar groups are respectively located in two of the boundary regions 6, that is, one radar group is located in one boundary region 6, and each of the radar groups includes at least one second millimeter wave radar 5, so that it is further ensured that when observing target vehicles in two adjacent lanes, substantially all target vehicles in the two adjacent lanes can be observed.
The second millimeter wave radar in each radar group can be one, also can be a plurality of, can select the second millimeter wave radar of suitable quantity to form a corresponding radar group according to actual conditions, and in another embodiment of this application, the quantity of above-mentioned second millimeter wave radar in two above-mentioned radar groups equals, and is convenient for like this to arrange.
In another embodiment of the present application, in order to further ensure the monitoring accuracy, each of the radar groups includes a plurality of the second millimeter wave radars.
In order to obtain more effective and comprehensive monitoring data, in another embodiment of the present application, as shown in fig. 2, a projection of at least one of the second millimeter wave radars 5 in one of the radar groups on a predetermined line segment is located between two end points of the predetermined line segment, where the predetermined line segment is a connection line of center points of two adjacent second millimeter radar waves in another radar group, that is, the second millimeter wave radars 5 in the two radar groups are arranged in a staggered manner.
In yet another embodiment of the present application, the first millimeter wave radar and the second millimeter wave radar have different operating frequency ranges. The receiving bandwidth of millimeter wave radar receiving antenna is fixed, and the electromagnetic wave that is in millimeter wave radar receiving bandwidth scope all can be received by millimeter wave radar antenna, and the electromagnetic wave form of the millimeter wave radar transmission of same model is unanimous basically, sets up first millimeter wave radar and second millimeter wave radar at the work frequency channel of difference, can avoid first millimeter wave radar and second millimeter wave radar to be in the interference that same work frequency channel caused, has further improved the efficiency that first millimeter wave radar and second millimeter wave radar observed the target.
In another embodiment of the present application, the first millimeter wave radar has a plurality of first millimeter wave radars, and the plurality of first millimeter wave radars have different operating frequency bands. Therefore, interference caused by the fact that a plurality of first millimeter wave radars are located in the same working frequency band can be avoided, and the efficiency of observing the target by the first millimeter wave radars is further improved.
In yet another embodiment of the present application, there are a plurality of the second millimeter wave radars, and the operating frequency bands of the plurality of the second millimeter wave radars are different. Therefore, interference caused by the fact that a plurality of second millimeter wave radars are located in the same working frequency band can be avoided, and the efficiency of observing the target by the second millimeter wave radars is further improved.
In another embodiment of the present application, the first millimeter wave radar has a plurality of working frequency ranges, the plurality of first millimeter wave radars have different working frequency ranges, the second millimeter wave radar has a plurality of working frequency ranges, and the plurality of second millimeter wave radars have different working frequency ranges, so that the efficiency of observing the target by the first millimeter wave radar and the efficiency of observing the target by the second millimeter wave radar can be improved simultaneously.
From the above description, it can be seen that the above-described embodiments of the present application achieve the following technical effects:
the utility model provides a vehicle, surround in the front of vehicle casing and install at least one first millimeter wave radar, install at least one second millimeter wave radar on the roof of vehicle casing, through installing first millimeter wave radar and second millimeter wave radar in the different positions of vehicle, just can the multi-angle and observe the target simultaneously, can reduce the target and lose, can also restrain the false target that the multipath effect produced, and can also restrain clutter interference, and reduced the false retrieval rate of aerial target, and then improved the rate of accuracy that millimeter wave radar target was surveyd.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A vehicle, characterized by comprising:
a vehicle body including a housing including a front enclosure and a roof;
at least one first millimeter wave radar located on the front enclosure;
at least one second millimeter wave radar located on the roof.
2. The vehicle according to claim 1, wherein the plurality of second millimeter wave radars are provided, the roof includes two boundary regions, a length extending direction of the two boundary regions is the same as a length extending direction of a central axis of the vehicle body, the two boundary regions are respectively located on both sides of the central axis, and the plurality of second millimeter wave radars are respectively located in the two boundary regions.
3. The vehicle according to claim 2, characterized in that a plurality of the second millimeter wave radars are divided into two radar groups, the two radar groups being located in the two boundary areas, respectively, each of the radar groups including at least one of the second millimeter wave radars.
4. The vehicle according to claim 3, characterized in that the number of the second millimeter wave radars in the two radar groups is equal.
5. The vehicle of claim 3, characterized in that each of the radar groups includes a plurality of the second millimeter wave radars therein.
6. The vehicle according to claim 5, wherein a projection of at least one of the second millimeter wave radars in one of the radar groups on a predetermined line segment, which is a line connecting center points of two adjacent second millimeter radar waves in the other radar group, is located between two end points of the predetermined line segment.
7. The vehicle according to any one of claims 1 to 6, characterized in that the operating frequency band of the first millimeter wave radar is different from that of the second millimeter wave radar.
8. The vehicle according to any one of claims 1 to 6, characterized in that there are a plurality of the first millimeter wave radars, and the operating frequency bands of the plurality of the first millimeter wave radars are different.
9. The vehicle according to any one of claims 1 to 6, characterized in that, when there are a plurality of the second millimeter wave radars, the operating frequency bands of the plurality of the second millimeter wave radars are different.
10. The vehicle according to any one of claims 1 to 6, characterized in that there are a plurality of the first millimeter wave radars, and the operating frequency bands of the plurality of the first millimeter wave radars are different, and when there are a plurality of the second millimeter wave radars, the operating frequency bands of the plurality of the second millimeter wave radars are different.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021975638.4U CN214473933U (en) | 2020-09-10 | 2020-09-10 | Vehicle with a steering wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021975638.4U CN214473933U (en) | 2020-09-10 | 2020-09-10 | Vehicle with a steering wheel |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214473933U true CN214473933U (en) | 2021-10-22 |
Family
ID=78107506
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021975638.4U Active CN214473933U (en) | 2020-09-10 | 2020-09-10 | Vehicle with a steering wheel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214473933U (en) |
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2020
- 2020-09-10 CN CN202021975638.4U patent/CN214473933U/en active Active
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