CN107765246A - A kind of effective target recognition methods based on the detection of millimeter wave dual radars - Google Patents

Abstract

The invention discloses an effective target recognition method based on millimeter-wave dual radar detection, which belongs to the technical field of driving safety and comprises the steps of: 1) obtaining front target information through dual radars; 2) radar DSP determines the target area by analyzing the target information; 3) Carry out coordinate conversion for targets in different target areas; 4) Radar DSP determines whether the target after coordinate conversion is a valid target; 5) Radar DSP processes the effective target information acquired by the radar to determine whether the target can be regarded as is an obstacle, so whether to prompt the driver to take measures. The invention adopts dual radar detection, and compared with the existing single radar, the detection range is wider, and the effective target recognition method based on the millimeter wave radar detection of the present invention enables the radar to detect the front target more accurately.

Description

An Effective Target Recognition Method Based on Millimeter Wave Dual Radar Detection

technical field

The invention belongs to the technical field of driving safety, and specifically discloses an effective target recognition method based on millimeter wave dual radar detection.

Background technique

With the frequent occurrence of traffic accidents, the driving safety of automobiles has attracted the attention of major automobile manufacturers. In recent years, with the improvement of science and technology and economic level, the number of automobiles in my country has continued to increase, followed by frequent traffic accidents. According to the statistics of the traffic management bureau of the Ministry of Public Security of my country, more than 65% of the collisions belong to rear-end collisions, and the losses caused are also the largest. It can be seen that the development of a safety anti-collision warning system that avoids longitudinal collisions of vehicles is very important to ensure the driving safety of drivers. significance. With the development of various sensing technologies, information fusion processing technologies, and computer communication technologies, the anti-collision warning system no longer relies on a single information source to judge danger, but analyzes and integrates the information of the vehicle itself and the surrounding environment through intelligent algorithms. To comprehensively judge the collision risk.

The active safety system based on millimeter wave radar is getting more and more attention, but the active safety system on the market is realized by one radar. This invention proposes a dual radar target recognition algorithm, which can confirm the target more accurately , improve the active safety performance of the car.

Chinese patent (CN105137423A) discloses a method for real-time detection and separation of multiple moving targets by through-wall radar. This method can quickly realize the separation of moving targets in different areas, but does not take the next step for target information. Analysis; Chinese patent (CN103412291A) discloses a method based on secondary radar target multipath effect suppression technology. The radar detection area used in this method is limited, which cannot better reflect the judgment of the accuracy of target information.

Contents of the invention

Aiming at the problem of whether the target information detected by the automobile millimeter-wave radar is accurate, the present invention proposes a method for using dual radars to improve the accuracy of confirming the target information.

The present invention achieves the above-mentioned technical purpose through the following technical solutions.

An effective target recognition method based on millimeter-wave dual radar detection, characterized in that it comprises the following steps:

Step 1: Dual radars acquire target information in front of the vehicle;

Step 2: Radar DSP determines the target area by analyzing target information: target area B is the common detection area of radar 1 and radar 2, target area A is the detection area of radar 1 except target area B, and target area C is radar 2 except the target The detection area of area B;

Step 3: Perform coordinate transformation on the coordinate systems of the targets in the target areas A, B, and C respectively, and the targets in different areas have different coordinate conversion methods;

Step 4: Radar DSP determines whether the target after coordinate conversion is the same target within 5 consecutive cycles, if not, it is a false target, radar DSP ignores this target, if yes, it is a valid target;

Step 5: The radar DSP processes the effective target information acquired by the radar to obtain the relative distance D′ between the vehicle and the effective target and the angle α′ of the effective target relative to the zero coordinate point O of the vehicle, and at the same time, the radar DSP outlines The outline of the target, to determine whether the target can be considered as an obstacle, if not, the radar DSP ignores this target, if so, the radar transmits the information to the warning equipment, thus prompting the driver to take action.

Further, the step 1 specifically includes: using dual radars to acquire target information in front of the own vehicle, including the relative distance D between the own vehicle and the target and the angle α of the target relative to the zero coordinate point O of the own vehicle.

Further, there is a transformation relationship between the coordinate system of the target in the target areas A, B, and C and the zero point coordinate system of the own vehicle.

Furthermore, the conversion relationship is specifically: the marked point P1 in the target area A, the marked points P2 and P3 in the target area B, and the marked point P4 in the target area C, and the coordinates of the marked points P1, P2, P3, and P4 are converted into Coordinates in the zero point coordinate system: P1(x,y):X ₀₁ ＝X ₁ +L, Y ₀₁ ＝Y ₁ -L/2, P2(x,y):X ₀₂ ＝X ₁ +L＝X ₂ + L, Y ₀₂ ＝Y ₁ -L/2＝Y ₂ +L/2, P3(x,y):X ₀₃ ＝X ₁ +L＝X ₂ +L, Y ₀₃ ＝Y ₁ -L/2＝Y ₂ +L/2, P4(x,y): X ₀₄ ＝X ₂ +L, Y ₀₄ ＝Y ₂ +L/2, where the distance between radar 1 and 2 is set as L, and the zero coordinate of the vehicle Point O is on the vertical line of the line between the two radars, and the distance from the line of the two radars is L.

The beneficial effects of the present invention are:

The present invention proposes an effective target recognition method based on millimeter-wave radar detection, through the installation position of the dual radars and the characteristics of the radar's own detection area, it can detect targets in a wider range during vehicle driving; the targets detected by the dual radars are more accurate Accurately identify whether it is a valid target and further confirm whether it is an obstacle, and then prompt the driver to take action.

Description of drawings

Fig. 1 is the contrast diagram of double radar installation position, detection area and single radar of the present invention;

Fig. 2 is a schematic diagram of the coordinate conversion relationship;

Fig. 3 is a flow chart of the identification method of the present invention.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings and embodiments, but the protection scope of the present invention is not limited thereto.

The present invention provides an effective target recognition method based on millimeter-wave dual radar detection, as shown in Figure 3, including the following steps:

Step 1: Use dual radars to obtain target information in front of the vehicle, including the relative distance D between the vehicle and the target and the angle α of the target relative to the zero coordinate point O of the vehicle; as shown in Figure 1, the installation positions of the two radars are opposite Symmetrical to the central axis of the car, compared with the traditional one radar installed on the central axis of the car, the detection range of the two radars is wider.

Step 2: The radar DSP determines the target area by analyzing the target information, the target area B is the common detection area of radar 1 and radar 2, the target area A is the detection area of radar 1 except the target area B, and the target area C is the detection area of radar 2 except the target The detection area of area B; as shown in Figure 2, the areas detected by the two radars are divided, including the common detection area and the additional area detected by a single radar.

Step 3: Perform coordinate transformation on the coordinate systems of the targets in the target areas A, B, and C respectively, and the targets in different areas have different coordinate conversion methods; the coordinate systems of the targets in the target areas A, B, and C are different from the There is a conversion relationship between the zero point coordinate system of the car: mark point P1 in target area A, mark point P2, P3 in target area B, mark point P4 in target area C, transform the coordinates of mark points P1, P2, P3, P4 It is the coordinates in the zero point coordinate system: P1(x,y):X ₀₁ ＝X ₁ +L, Y ₀₁ ＝Y ₁ -L/2, P2(x,y):X ₀₂ ＝X ₁ +L＝X ₂ +L, Y ₀₂ ＝Y ₁ -L/2＝Y ₂ +L/2, P3(x,y):X ₀₃ ＝X ₁ +L＝X ₂ +L, Y ₀₃ ＝Y ₁ -L/2＝ Y ₂ +L/2, P4(x,y): X ₀₄ ＝X ₂ +L, Y ₀₄ ＝Y ₂ +L/2, where the distance between radar 1 and 2 is set to L, and the vehicle zero The coordinate point O is on the vertical line of the dual-radar line, and the distance from the dual-radar line is L, as shown in Figure 2.

Step 4: Radar DSP determines whether the target after coordinate conversion is the same target within 5 consecutive cycles, if not, it is a false target, radar DSP ignores this target, if yes, it is a valid target.

Step 5: The radar DSP processes the effective target information acquired by the radar to obtain the relative distance D′ between the vehicle and the effective target and the angle α′ of the effective target relative to the zero coordinate point O of the vehicle, and at the same time, the radar DSP outlines The outline of the target, to determine whether the target can be considered as an obstacle, if not, the radar DSP ignores this target, if so, the radar transmits the information to the warning equipment, thus prompting the driver to take action.

The method can enable the car to obtain a larger range and more accurate target information in detecting the target, thereby providing more accurate information for the car to judge whether the target is an obstacle, and can effectively improve the driving safety of the car.

An effective target recognition method based on millimeter-wave radar detection provided by the present invention has been described above in detail. This paper uses specific examples to illustrate the principle and implementation of the present invention. What is to be explained is that the above The above are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims (7)

1. an effective target recognition method based on millimeter wave dual radar detection, is characterized in that, comprises the steps: Step 1: Dual radars acquire target information in front of the vehicle; Step 2: Radar DSP determines the target area by analyzing target information: target area B is the common detection area of radar 1 and radar 2, target area A is the detection area of radar 1 except target area B, and target area C is radar 2 except the target The detection area of area B; Step 3: Perform coordinate transformation on the coordinate systems of the targets in the target areas A, B, and C respectively, and the targets in different areas have different coordinate conversion methods; Step 4: Radar DSP determines whether the target after coordinate conversion is the same target within 5 consecutive cycles, if not, it is a false target, radar DSP ignores this target, if yes, it is a valid target; Step 5: The radar DSP processes the effective target information acquired by the radar to obtain the relative distance D′ between the vehicle and the effective target and the angle α′ of the effective target relative to the zero coordinate point O of the vehicle, and at the same time, the radar DSP outlines The outline of the target, to determine whether the target can be considered as an obstacle, if not, the radar DSP ignores this target, if so, the radar transmits the information to the warning equipment, thus prompting the driver to take action. 2. A method for determining an effective target based on millimeter-wave dual radar detection according to claim 1, wherein said step 1 is specifically: using dual radars to obtain target information in front of the vehicle, including the vehicle and the target The relative distance D between and the angle α of the target relative to the zero coordinate point O of the ego vehicle. 3. A method for determining an effective target based on millimeter-wave dual radar detection according to claim 1, wherein the coordinate system of the target in the target area A, B, and C is the same as the zero point coordinate system of the vehicle There is a conversion relationship between them. 4. A method for determining an effective target based on millimeter-wave dual radar detection according to claim 3, wherein the conversion relationship is specifically: the marked point P1 in the target area A, and the marked point P2 in the target area B , P3, mark point P4 in the target area C, transform the coordinates of the mark points P1, P2, P3, P4 into coordinates in the zero point coordinate system, where the distance between radar 1 and 2 is L, and the zero coordinate point of the ego vehicle O is on the vertical line of the double radar line, and the distance from the double radar line is L. 5. a kind of method based on the effective target determination of millimeter-wave dual radar detection according to claim 4, is characterized in that, the coordinate conversion of mark point P1 is the coordinate in zero point coordinate system: P1 (x, y): X ₀₁ =X ₁ +L, Y ₀₁ =Y ₁ -L/2. 6. A method for determining an effective target based on millimeter-wave dual radar detection according to claim 4, wherein the coordinates of the marker points P2 and P3 are converted into coordinates in the zero point coordinate system: P2(x, y ):X ₀₂ ＝X ₁ +L＝X ₂ +L, Y ₀₂ ＝Y ₁ -L/2＝Y ₂ +L/2, P3(x,y):X ₀₃ ＝X ₁ +L＝X ₂ + L, Y ₀₃ =Y ₁ −L/2=Y ₂ +L/2. 7. a kind of method based on the effective target determination of millimeter-wave dual radar detection according to claim 4, is characterized in that, the coordinate conversion of marker point P4 is the coordinate in zero point coordinate system: P4 (x, y): X ₀₄ =X ₂ +L, Y ₀₄ =Y ₂ +L/2.