CN104007441B - A kind of vehicle-mounted panoramic radar monitoring method - Google Patents
A kind of vehicle-mounted panoramic radar monitoring method Download PDFInfo
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- CN104007441B CN104007441B CN201410198940.6A CN201410198940A CN104007441B CN 104007441 B CN104007441 B CN 104007441B CN 201410198940 A CN201410198940 A CN 201410198940A CN 104007441 B CN104007441 B CN 104007441B
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- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000012544 monitoring process Methods 0.000 title claims abstract description 24
- 230000003044 adaptive effect Effects 0.000 claims abstract description 5
- 230000005540 biological transmission Effects 0.000 claims abstract description 5
- 238000001514 detection method Methods 0.000 claims description 36
- 230000007613 environmental effect Effects 0.000 claims description 3
- 230000004888 barrier function Effects 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 abstract description 2
- 239000000203 mixture Substances 0.000 abstract description 2
- 238000002604 ultrasonography Methods 0.000 description 3
- 241000726128 Aeshna Species 0.000 description 2
- 150000001875 compounds Chemical class 0.000 description 2
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- 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
- G01S7/415—Identification of targets based on measurements of movement associated with the 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9314—Parking operations
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a kind of vehicle-mounted panoramic radar monitoring method。Computer controls the multiple subarrays in array antenna, and each subarray is by multiple transmitting-receiving T/R module compositions；Transmitting-receiving T/R module is launched radar wave and receives target information to be detected, through computer pretreatment, target area calibration is grouped, and adopts adaptive technique, calls default beam dispath strategy, and scheduling beam transmission signal, detects further to target successively；Control shape and the sensing of wave beam by formulating scheduling strategy, obtain the directional diagram of highest priority；Highest priority is adopted the collaborative process of multi-beam；The final location information of each target collected by computer, synthesizes total panoramic picture；Panoramic picture, in conjunction with real-time speed, object speed, default secure border, controls automatic parking, anti-collision driving system。Monitoring range of the present invention is broad, without dead angle, rate of failing to report is low, resolution is high, degree of accuracy is high, can panorama barrier image distribution around display automobile in real time。
Description
Technical field
The present invention relates to a kind of vehicle-mounted panoramic radar monitoring method, specifically a kind of vehicle active phased-array radar multiple target monitoring method。
Background technology
Along with the development of science and technology, and being skyrocketed through of automobile pollution, people are also more and more higher to the requirement of vehicle safety performance, and the Vehicular radar system being then able to detection vehicle-surroundings travel situations arises at the historic moment。
At present, common trailer-mounted radar has two kinds:
One is with radar for backing car for representative, and the afterbody at vehicle installs 2-4 piezoelectric-type ultrasonic wave launcher。Ultrasonic transmitter backward launched ultrasound wave, in the timing that starts simultaneously at of x time, ultrasound wave is encountered barrier and just is returned immediately, and ultrasonic receiver receives echo and just stops timing immediately。The aerial spread speed of ultrasound wave is 340m/s, the time difference t according to timer record, obtains the launch point distance s=340t/2 (m) from barrier。The reverse radar system difference according to distance, sends the acousto-optic hint signal of different tone or flicker frequency, moves storehouse, the reversing comparatively ideal safe warning function of offer for vehicle。
Also having some trailer-mounted radars is develop to form on the basis of radar for backing car, is installed on the front end even vehicle's surroundings of vehicle by radar。During work, on a display screen, by the distance between the camber line prompting barrier and the vehicle that change at any time, it is simultaneously emitted by the auditory tone cues signal of different tone, to provide safe running distance for driver and crew in vehicle travel process。
In the above prior art, for the application of trailer-mounted radar, being also limited only to the aspect of single distance monitoring, its monitoring speed is general, has the drawback that than more prominent:
1, the effective scope of detection of each ultrasonic transmitter is confined in the angle that front is very narrow, and between several ultrasonic transmitters and outside all exists substantial amounts of detection dead angle, very easily fails to report alert phenomenon, and crashes。
2, for the object of small volume and cylinder, because echo is less, almost detect less than, accuracy rate is extremely low。
Therefore current Vehicular radar system is also unable to reach the degree making User Satisfaction。
Summary of the invention
For above-mentioned prior art Problems existing, the present invention provides a kind of vehicle-mounted panoramic radar monitoring method, and monitoring range is wide, without dead angle, and rate of failing to report is low, resolution is high, degree of accuracy is high, it is possible to the panorama barrier image distribution around real-time display automobile。
To achieve these goals, what this vehicle-mounted panoramic radar monitoring method adopted specifically comprises the following steps that
A. vehicle is under transport condition, and the computer of radar and transmitting-receiving T/R module are in cruise mode, and computer controls the transmitting-receiving T/R module of each subarray in array antenna, by launching millimeter wave, and detect whether there is echo-signal, and the environmental aspect of monitoring vehicle-surroundings, detecting obstacles thing；
B. once transmitting-receiving T/R module finds echo-signal, through computer pretreatment, the feature of suspicious object is tentatively judged；When the information receiving and dispatching the offer of T/R module is not enough to distinguish target characteristic, or adjacent twice result of detection be not when meeting the possible characteristics of motion of suspicious object, what judge detection be sure of that degree is low, and therefore the discrimination of target is grouped, and this time detection is low discrimination；
C. adopting the adaptive technique of computer software, when certain result of detection is low discrimination, computer, by one or several adjacent transmitting-receiving T/R module, is combined by dynamically arranging of computer sub-array；Meanwhile, by being respectively provided with different beam shapes, as the compound eye of Aeschna melanictera, from different perspectives, same suspicious object is separately detected；According to this result of detection, one or several adjacent transmitting-receiving T/R module can be combined or be grouped again；Until detection thing is believed to find, it is determined that discrimination be in or high；
D. the region according to pre-detection, utilizes the beam dispath principle of phased-array radar, and shape and the sensing of planning wave beam regulate implementation, to obtain required detection direction figure；
E. computer stored has the radar beam scheduling strategy catalog that different discrimination group is corresponding, the beam dispath strategy that during work, call area calibration group is corresponding, the beam signal of scheduled transmission, and target carries out the deep layer detection of successive approximation；Meanwhile, the highest priority that the harmful grade in safety shut-down distance range is high, taking over more transmitting-receiving T/R module for use, adopting the collaborative process of multi-beam, multi-faceted common participation detection, thus being finally completed the identification to target, locking；
F. computer is according to real-time speed, object speed, calculates safety shut-down distance, draws out the safe edge boundary line of vehicle periphery；
G. the real-time positioning information of each target collected by computer, synthesizes total panoramic picture and shows；
H. panoramic picture in conjunction with real-time speed, object speed, vehicle periphery safe edge boundary line, control automated parking system, anti-collision driving system by computer。
Certain described transmitting-receiving T/R module does not affect the detection of other transmitting-receiving T/R module, location work, it is possible to achieve to a part of range searching, to its speed of a part of target following and direction, another part target is positioned simultaneously while target is identified。
Compared with prior art, this vehicle-mounted panoramic radar monitoring method controls the multiple subarrays in array antenna by computer, and each subarray is by multiple transmitting-receiving T/R module compositions；Transmitting-receiving T/R module launches radar wave, and receives target information to be detected, through computer pretreatment, target area calibration is grouped, adopts adaptive technique, call default beam dispath strategy, dispatch the beam transmission signal of each transmitting-receiving T/R module successively, target is detected further；Control shape and the sensing of wave beam by formulating scheduling strategy, obtain the directional diagram of highest priority；Highest priority is adopted the collaborative process of multi-beam；The final location information of each target collected by computer, synthesizes total panoramic picture；Panoramic picture, in conjunction with real-time speed, object speed, default secure border, controls the automatic parking of periphery, anti-collision driving system。
This vehicle-mounted panoramic radar monitoring method monitoring range is broad, without dead angle, rate of failing to report is low, resolution is high, degree of accuracy is high, it is possible to the panorama barrier image distribution around real-time display automobile。
Accompanying drawing explanation
Fig. 1 is principles of the invention flow chart；
Fig. 2 is the structural representation of the present invention。
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention will be further described。
As it is shown in figure 1, this vehicle-mounted panoramic radar monitoring method adopt specifically comprise the following steps that
A. vehicle is under transport condition, and the computer of radar and transmitting-receiving T/R module are in cruise mode, and computer controls the transmitting-receiving T/R module of each subarray in array antenna, by launching millimeter wave, and detect whether there is echo-signal, and the environmental aspect of monitoring vehicle-surroundings, detecting obstacles thing；
B. once transmitting-receiving T/R module finds echo-signal, through computer pretreatment, the feature of suspicious object is tentatively judged；When the information receiving and dispatching the offer of T/R module is not enough to distinguish target characteristic, or adjacent twice result of detection be not when meeting the possible characteristics of motion of suspicious object, what judge detection be sure of that degree is low, and therefore the discrimination of target is grouped, and this time detection is low discrimination；
C. adopting the adaptive technique of computer software, when certain result of detection is low discrimination, computer, by one or several adjacent transmitting-receiving T/R module, is combined by dynamically arranging of computer sub-array；Meanwhile, by being respectively provided with different beam shapes, as the compound eye of Aeschna melanictera, from different perspectives, same suspicious object is separately detected；According to this result of detection, one or several adjacent transmitting-receiving T/R module can be combined or be grouped again；Until detection thing is believed to find, it is determined that discrimination be in or high；
D. the region according to pre-detection, utilizes the beam dispath principle of phased-array radar, and shape and the sensing of planning wave beam regulate implementation, to obtain required detection direction figure；
E. computer stored has the radar beam scheduling strategy catalog that different discrimination group is corresponding, the beam dispath strategy that during work, call area calibration group is corresponding, the beam signal of scheduled transmission, and target carries out the deep layer detection of successive approximation；Meanwhile, the highest priority that the harmful grade in safety shut-down distance range is high, taking over more transmitting-receiving T/R module for use, adopting the collaborative process of multi-beam, multi-faceted common participation detection, thus being finally completed the identification to target, locking；
F. computer is according to real-time speed, object speed, calculates safety shut-down distance, draws out the safe edge boundary line of vehicle periphery；
G. the real-time positioning information of each target collected by computer, synthesizes total panoramic picture and shows；
H. panoramic picture in conjunction with real-time speed, object speed, vehicle periphery safe edge boundary line, control automated parking system, anti-collision driving system by computer。
Certain described transmitting-receiving T/R module does not affect the detection of other transmitting-receiving T/R module, location work, it is possible to achieve to a part of range searching, to its speed of a part of target following and direction, another part target is positioned simultaneously while target is identified。Monitoring range, resolution and degree of accuracy can be significantly improved。
This vehicle-mounted panoramic radar monitoring method and system monitoring range is broad, without dead angle, rate of failing to report is low, resolution is high, degree of accuracy is high, can panorama barrier image distribution around display automobile in real time。
Claims (2)
1. a vehicle-mounted panoramic radar monitoring method, it is characterised in that specifically comprising the following steps that of described monitoring method
A. vehicle is under transport condition, and the computer of radar and transmitting-receiving T/R module are in cruise mode, and computer controls the transmitting-receiving T/R module of each subarray in array antenna, by launching millimeter wave, and detect whether there is echo-signal, and the environmental aspect of monitoring vehicle-surroundings, detecting obstacles thing；
B. once transmitting-receiving T/R module finds echo-signal, through computer pretreatment, the feature of suspicious object is tentatively judged；When the information receiving and dispatching the offer of T/R module is not enough to distinguish target characteristic, or adjacent twice result of detection be not when meeting the possible characteristics of motion of suspicious object, what judge detection be sure of that degree is low, and therefore the discrimination of target is grouped, and this time detection is low discrimination；
C. adopting the adaptive technique of computer software, when certain result of detection is low discrimination, computer, by one or several adjacent transmitting-receiving T/R module, is combined by dynamically arranging of computer sub-array；Meanwhile, by being respectively provided with different beam shapes, from different perspectives, same suspicious object is separately detected；According to this result of detection, one or several adjacent transmitting-receiving T/R module can be combined or be grouped again；Until detection thing is believed to find, it is determined that discrimination be in or high；
D. the region according to pre-detection, utilizes the beam dispath principle of phased-array radar, and shape and the sensing of planning wave beam regulate implementation, to obtain required detection direction figure；
E. computer stored has the radar beam scheduling strategy catalog that different discrimination group is corresponding, the beam dispath strategy that during work, call area calibration group is corresponding, the beam signal of scheduled transmission, and target carries out the deep layer detection of successive approximation；Meanwhile, the highest priority that the harmful grade in safety shut-down distance range is high, taking over more transmitting-receiving T/R module for use, adopting the collaborative process of multi-beam, multi-faceted common participation detection, thus being finally completed the identification to target, locking；
F. computer is according to real-time speed, object speed, calculates safety shut-down distance, draws out the safe edge boundary line of vehicle periphery；
G. the real-time positioning information of each target collected by computer, synthesizes total panoramic picture and shows；
H. panoramic picture in conjunction with real-time speed, object speed, vehicle periphery safe edge boundary line, control automated parking system, anti-collision driving system by computer。
2. a kind of vehicle-mounted panoramic radar monitoring method according to claim 1, it is characterized in that, while target is identified by one transmitting-receiving T/R module, do not affect the detection of other transmitting-receiving T/R module, location work, to a part of range searching, to its speed of a part of target following and direction, another part target is positioned simultaneously。
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| CN104330800A (en) * | 2014-09-30 | 2015-02-04 | 广为通讯技术（福建）有限公司 | Vehicle-mounted mobile radar interface reconstruction situation system based on acquisition card |
| WO2018045577A1 (en) | 2016-09-09 | 2018-03-15 | 深圳市大疆创新科技有限公司 | Method and system for displaying obstacle detection of unmanned aerial vehicle |
| CN110476077B (en) * | 2017-04-01 | 2022-12-13 | 华为技术有限公司 | Scanning method and device of vehicle radar and system for controlling vehicle |
| CN107765237B (en) * | 2017-04-20 | 2020-01-31 | 丁贤根 | phased array identification method and system |
| CN109747522A (en) * | 2018-12-20 | 2019-05-14 | 浙江科技学院 | A vehicle light adjustment and meeting vehicle monitoring system |
| CN111198377B (en) * | 2020-01-13 | 2023-09-15 | 江苏恒旺数字科技有限责任公司 | Mining dump truck open-air mining area anti-collision detection device and method |
| CN113866763A (en) * | 2020-06-30 | 2021-12-31 | 华为技术有限公司 | Imaging method and device of distributed microwave radar |
| CN115184911A (en) * | 2022-08-16 | 2022-10-14 | 燕山大学 | A vehicle-mounted ultrasonic phased array radar and radar detection system |
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| CN101488290B (en) * | 2009-02-27 | 2011-01-05 | 清华大学 | Pre-alarm method and system for preventing rear-end collision by following car |
| CN101833092B (en) * | 2010-04-27 | 2012-07-04 | 成都捌零科技有限公司 | 360-degree dead-angle-free obstacle intelligent detection and early warning method for vehicle |
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Denomination of invention: Vehicle-mounted panoramic radar monitoring method and system Effective date of registration: 20190107 Granted publication date: 20160622 Pledgee: Xuzhou Huaichang Investment Co., Ltd. Pledgor: Gloria Digital Technology LLC Registration number: 2019320000016 |
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