CN103809163B - A kind of Radar for vehicle object detection method based on local maximum - Google Patents

A kind of Radar for vehicle object detection method based on local maximum Download PDF

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CN103809163B
CN103809163B CN201410015049.4A CN201410015049A CN103809163B CN 103809163 B CN103809163 B CN 103809163B CN 201410015049 A CN201410015049 A CN 201410015049A CN 103809163 B CN103809163 B CN 103809163B
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echo
point
radar
thresholding
track
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CN103809163A (en
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商凯
姜黎
曹新星
何昇浍
徐学发
吴贝贝
叶玲
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CETC 28 Research Institute
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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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G01S7/411—Identification of targets based on measurements of radar reflectivity
    • G01S7/412—Identification of targets based on measurements of radar reflectivity based on a comparison between measured values and known or stored values
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/04—Systems determining presence of a target
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • 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
    • G01S13/91—Radar or analogous systems specially adapted for specific applications for traffic control

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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)

Abstract

The invention discloses a kind of Radar for vehicle object detection method based on local maximum, comprise the following steps: the microwave detection equipment on step 1, road surface uploads to the echo collecting in host computer by serial ports, observe Ground Penetrating Radar echo distribution situation by host computer, and divide radar echoing area; Step 2, resolution ratio according to fmcw radar in distance and the width information in track, calculate the scope of search window; All echo points under the track of extracting in step 3, traversal step 1, the search window for each echo point at its neighborhood setting steps 2, then compares other echo point in this echo point and search window; Step 4, to the Local modulus maxima searching, judge whether the echo strength value of this point is greater than the echo thresholding of setting, judge that if be greater than this point is impact point, otherwise still think and belong to non-impact point; Step 5, impact point mark, be converted into binary signal by echo-signal, completes the detection of target.

Description

A kind of Radar for vehicle object detection method based on local maximum
Technical field
The present invention relates to a kind of method of Radar Targets'Detection, particularly a kind of Radar for vehicle order based on local maximumMark detection method.
Background technology
Under the overall background developing rapidly at intelligent transportation system and technology of Internet of things, realize highway and road, cityThe automation that road transport information is processed and controlled, the automated collection systems of transport information is indispensable in intelligent transportation systemFew part, needs a large amount of vehicle equipments to carry out transport information detection.
Vehicle equipment has polytype, comprises video, induction coil and microwave radar etc. Connect with linear frequency modulationContinuous ripple system FMCW(FrequencyModulatedContinuousWave) radar is sensor traffic detects skillArt relies on the advantages such as accuracy of detection is high, stability is high, round-the-clock property, receives increasing concern. Microwave radar is logicalCross FMCW principle, gather radar echo signal, can obtain the range information of detections of radar scope internal object, according toThe range information of target carries out vehicle discriminating, obtains the information that exists of vehicle; And then obtain surveyed area vehicle flowrate,The transport information such as occupation rate and average speed.
According to linear frequency modulation continuous wave principle, microwave signal is sampled, through Fourier transformation, just can obtainEach time be engraved in the reflection wave strength on each parasang. Fig. 2 is many groups fmcw radar signal warp of actual acquisitionCross the image of the reflection configuration composition that Fourier transformation obtains. Wherein the abscissa of image is time shaft, every on time shaftOne column data is the value of one group of Fourier transformation, and the echo of being put by different distance forms; Ordinate is distance axis, everyIndividual in distance a corresponding range unit; The brightness of figure mid point is quantized to calculate by corresponding points radar echo intensity.
Microwave vehicle detector is main still according to echo strength to the method for target detection in the market, and echo is strongThe height of degree, as the criterion that whether has target, is distinguished impact point and non-target by setting certain thresholdingPoint. But this method makes checkout equipment often occur " false-alarm " and " false dismissal " phenomenon, as large to bus, truck etc.The echo traction phenomenon that car brings, the echo of parallel running vehicle cannot be distinguished phenomenon etc., and conventional method is to these problemsSolve effect all undesirable, reduced the detection performance of equipment. And due to the otherness of radar antenna, different antennaeEcho strength difference to some extent, therefore adopt former with good grounds intensity to carry out vehicle target and sentence consistent to antenna of method for distinguishingProperty require can be very high, this also brings very large difficulty to batch production of product.
Summary of the invention
Goal of the invention: technical problem to be solved by this invention is for the deficiencies in the prior art, provides a kind of based on officeThe Radar for vehicle object detection method of portion's maximum.
In order to solve the problems of the technologies described above, the invention discloses a kind of Radar for vehicle target detection based on local maximumMethod, comprises the following steps:
Microwave detection equipment on step 1, road surface uploads to the echo collecting in host computer by serial ports, by upperPosition machine observation Ground Penetrating Radar echo distribution situation, and divide radar echoing area, set the affiliated echo area in track, road surfaceTerritory, is saved in the not erasable memory of microwave detection equipment, as later driveway partition foundation setting result;Microwave detection equipment extracts under track, road surface in the echo sequence collecting according to the echo area numeric field data in memoryThe echo point in region;
Step 2, resolution ratio according to fmcw radar in distance and the width information in track, calculate search windowScope;
All echo points under the track of extracting in step 3, traversal step 1, establish at its neighborhood for each echo pointPut the search window of step 2, then other echo point in this echo point and search window is compared, if this pointEcho strength is maximum, judges that so this point belongs to Local modulus maxima;
Step 4, to the Local modulus maxima searching, judge whether the echo strength value of this point is greater than the echo door of settingLimit, judges that if be greater than this point is impact point, otherwise still thinks and belong to non-impact point, and each range points has oneOne's own thresholding, the mode that the foundation of thresholding adopts accumulation to average;
Step 5, impact point mark, impact point is labeled as 255, and remaining point, for non-impact point, is labeled as 0, will returnRipple signal is converted into binary signal, completes the detection of target.
In step 2, calculating the concrete steps of searching plain window ranges is:
Step 2-1, employing FMCW distance-finding method, utilize modulating pulse cycle and modulation voltage amplitude parameter, calculatesThe resolution ratio L of radar in distance1, according to road surface lane width L2, calculate echo corresponding to the each track D' that counts outFor: D'=L2/L1; Can calculate modulating pulse slope by pulse period and modulation voltage according to FMCW principle,According to the difference frequency resolution ratio of antenna and then can calculate range resolution ratio, can bibliography: QIGQ.HighaccuracyrangeestimationofFMCWlevelradarbasedonthephaseofthezero-paddedFFT[C].IEEEICSP04Proceedings,Beijing,2004:2078-2081。
Step 2-2, search window D is set is greater than the D' calculating in step 2-1, i.e. D=D'+ Δ D, wherein Δ D is1 or 2 echo points.
The concrete steps that at each echo vertex neighborhood search window are set in step 3 of the present invention are:
Step 3-1, establish the scope of echo point in distance for [0, dmax], wherein 0 correspondence is nearest from radar detectorRange points, dmaxCorresponding to radar detector range points farthest; Establishing its place range points for each echo point is d,Its region of search is [d-Δ d1,d+Δd2]，Δd1+Δd2=D and Δ d1Than Δ d2Large 1 or 2;
Step 3-2, hunting zone are in scope [0, dmax] in, meet d-Δ d1>=0, and d+ Δ d2<=dmax。
The concrete steps of setting echo thresholding in step 4 of the present invention are:
The mode that the foundation of step 4-1, thresholding adopts long time integration to average: for each range points d, in the timeOn axle, accumulate the echo I (d, i) of this point, then adopt following mode to calculate the thresholding TH of this point:
TH ( d ) = K * &Sigma; i = 1 n I ( d , i ) / n ,
Wherein n represents total scan period number that thresholding is set up, and span is 2000～5000, each time scan periodFor 100ms, corresponding total time is 20s～50s, and i represents the current scan period, and K is proportionality coefficient, and span is1.5～3.0。
The present invention greatly reduces the often probability of " false-alarm " and " false dismissal " of appearance of fmcw radar vehicle detection process,Such as the echo traction problem that the cart such as bus, truck brings, the travel echo that brings of parallel vehicles cannot be distinguished and asksTopic etc., improves Equipment Inspection performance. Make full use of the characteristic distributions of fmcw radar echo in distance simultaneously, fallThe low requirement to echo strength in testing process, makes detection method have better adaptability and robustness.
Compared with prior art, its remarkable advantage is this method: (1) takes full advantage of fmcw radar echo in distanceCharacteristic distributions on axle, extracts the substantive characteristics of impact point, has effectively removed the interference that clutter, noise bring. (2)The judgement mode that adopts local maximum, can reduce " false-alarm ", such as weeding out the cart such as public transport, truck fortuneIn moving process on other track traction echo out, even if the echo strength that traction goes out is also more intense, but due toBe less than the echo strength of vehicle physical location, still think and do not belong to real target point. (3) adopt this method, canReduce " false dismissal ", such as in vehicle parallel running problem, adopt the processing method of local maximum, effectively districtSeparate the middle echo of two cars, two cars is made a distinction, prevent because two cars echo point mixes,It is a car that two cars detects. (4) reduced the requirement to echo strength in testing process, because become real echoThe most important condition of point is local maximum, but not returns intensity of wave. So just make detection algorithm have good adaptationProperty, even if the echo strength of different radar antennas difference is to some extent also very little for the detection impact of vehicle target, improveStability and the robustness of product.
Brief description of the drawings
Below in conjunction with the drawings and specific embodiments, the present invention is done further and is illustrated, of the present invention above-mentioned and/Or otherwise advantage will become apparent.
Fig. 1 is the flow chart that the present invention is based on the vehicle target detection method of local maximum.
Fig. 2 is that image data of the present invention is processed back echo signal two dimension view example.
Fig. 3 is the schematic diagram of employing window maximum searching of the present invention.
Fig. 4 be in the invention process example one bus through out-of-date echo X-Y scheme.
Fig. 5 adopts traditional technique in measuring target simulator result in the invention process example one.
Fig. 6 is the vehicle target detection side based on local maximum who adopts the present invention to propose in the invention process example oneThe simulation result of method.
Fig. 7 be in the invention process example two parallel vehicles simultaneously through out-of-date echo X-Y scheme.
Fig. 8 adopts traditional technique in measuring target simulator result in the invention process example two.
Fig. 9 is the vehicle target detection side based on local maximum who adopts the present invention to propose in the invention process example twoThe simulation result of method.
Figure 10 be in the invention process example three many vehicles through out-of-date echo X-Y scheme.
Figure 11 adopts traditional technique in measuring target simulator result in the invention process example three.
Figure 12 is the vehicle target detection side based on local maximum who adopts the present invention to propose in the invention process example threeThe simulation result of method.
Detailed description of the invention
In conjunction with Fig. 1, Fig. 2, a kind of vehicle target detection method based on local maximum the invention provides, comprisesFollowing steps:
The first step, each scan period, microwave signal is sampled, through Fourier transformation, just can obtain eachWhen individual, be engraved in the reflection wave strength on each parasang. Fig. 2 is many groups fmcw radar signal process of actual acquisitionThe image of the reflection configuration composition that Fourier transformation obtains, can be considered that a reference axis is distance, when a reference axis isBetween the 2D signal of (scan period), be designated as I (d, i), wherein d is parasang, i is time (scan period)Unit. In actual use, in order to add up information of vehicle flowrate corresponding to each track on road surface, need by calculatingThe mode of method analytical calculation or artificial boundary division is set range points scope corresponding to track on road surface, concrete operations asUnder: microwave detection equipment uploads to the echo collecting in host computer by serial ports, observes road surface thunder by host computerReach echo distribution situation, and divide radar echoing area, set affiliated echo region, track, road surface, will set resultBe saved in the not erasable memory of microwave detection equipment, as later driveway partition foundation; Microwave detection equipmentIn the echo sequence collecting, extract the echo point of track, road surface affiliated area according to the echo area numeric field data in memory.
Second step, the resolution ratio according to fmcw radar in distance and the width information in track, calculating search windowScope. The detection method of the local maximum that this method adopts is in certain window ranges of its neighborhood, to be according to echoNo is maximum, and then judges whether it is impact point, and " part " is the scope corresponding to window. The model of windowEnclosing is to determine according to the relativeness between the resolution ratio of radar and lane width, determines the distance that each track occupiesFrom the number of point. According to fmcw radar parameter, calculate the resolution ratio L of radar in distance1, simultaneously according to road surface carRoad situation is obtained lane width L2, echo corresponding to each track counted out as D'=L2/L1. Consider that echo is loosePenetrate, the situations such as echo traction, search window D should be more bigger than the D' of above-mentioned calculating, D=D'+ Δ D. Actual answeringGenerally be made as 1 or 2 echo points with middle Δ D.
The 3rd step, judges whether echo point belongs to local maximum, and each scan period is calculated according to the first stepDifferent distance point on echo, adopt the processing mode of sliding window from top to bottom. If echo point is in distance in Fig. 2Scope be [0, dmax], wherein 0 correspondence the range points nearest from detector, and dmaxCorresponding range points farthest.For in each echo point I (d0, i), centered by it, on range direction, determine a search window[d0-Δd1,d0+Δd2], wherein window size is the window size D that second step calculates, i.e. D=Δ d1+Δd2，Schematic diagram as shown in Figure 3. According to field trial result, the phenomenon such as echo scattering and echo traction of target is at it in additionClosely go up even more serious, therefore in order better to eliminate the closely impact of echo of impact point, Δ d1Than Δ d2Large 1Or 2. Whether the echo strength that then judges this point is the maximum of echo in window, if this point is designated as maximumPoint THTP(d, i), shown in following formula.
TH TP ( d , i ) = arc max d 0 - &Delta; d 1 < d < d 0 + &Delta; d 2 ( I ( d , i ) )
In adopting slide window processing, inevitably there will be border issue, this method adopts dwindles window at boundaryWhether the mode of mouthful scope is processed, and prevents that hunting zone from crossing the border, therefore need the echo point that judges index at echo modelEnclose [0, dmax] in, should meet d0-Δd1>=0, and d0+Δd2<=dmax。
The 4th step, arranges basic thresholding, removes the interference that background dot brings. Because the method for local maximum is at windowMaximizing in mouthful, if this window, in background area, even if certain point is maximum so, but still belongs to the back of the bodySight spot, therefore needs to arrange a basic thresholding and is used for distinguishing background. Consider the background intensity that each range points is correspondingBe discrepant, therefore in this method, adopt the method that each range points long time integration echo is averaged to set up basisThresholding. For each range points d, on time shaft, accumulate the echo I (d, i) of this point, then adopt following modeCalculate the thresholding TH of this point:
TH ( d ) = K * &Sigma; i = 1 n I ( d , i ) / n
Wherein n represents total scan period number that thresholding is set up, and span is 2000～5000, each time scan periodFor 100ms, corresponding total time is 20s～50s, and i represents the current scan period, and K is proportionality coefficient, and span is1.5～3.0。
For each Local modulus maxima, if the basic thresholding that its echo strength is greater than on respective distances point is just judged to beImpact point, otherwise be non-impact point.
The 5th step, carries out mark to impact point. Impact point is labeled as 255, and remaining point, for non-impact point, is labeled as 0.So just as follows echo-signal I (d, i) is converted into binary signal IBIO(d, i), completes the detection of target.
Below in conjunction with Fig. 4 to Figure 12, further illustrate this by embodiment and the effect assessment thereof of three groups of emulation experimentsInvention. Data in three groups of embodiment are all the real vehicles echo datas gathering in test site below, on-the-spot road surfaceSituation is two-way 6 tracks.
Embodiment 1
The reflectogram producing while in the embodiment 1 of Fig. 4 being a bus process detector. Wherein abscissa is the timeAxle, each point is corresponding 1 scan period 100ms in time, and this figure was made up of 350 scan periods; OrdinateDistance axis, each in distance corresponding 1 range unit, this figure is made up of 20 range points, each track accounts forAccording to 3 range points, totally 6 tracks; In figure, the brightness of each point is quantized to calculate by corresponding points radar echo intensity.As can be seen from the figure the echo scope that bus produces distributes very wide, adjacent track a lot of echoes that are also pulled out,And the echo strength being pulled out not a little less than, if just adopt traditional method that judges impact point according to echo strengthCar can on adjacent lane, be detected, and because bus is long through the detector time, likely appear at phaseThe situation of many cars on adjacent track, detected.
Fig. 5 adopts conventional method to carry out the simulation result of target detection, wherein often detects that a car all can stamp oneIndividual vertical bar mark. 5 cars on the adjacent track of bus, detected as we can see from the figure, false-alarm is very high.
Fig. 6 adopts the method based on local maximum of the present invention's proposition to carry out the simulation result of target detection. Due toThe point that must meet local maximum could be impact point, and the echo that therefore traction goes out on adjacent lane is due to busThe echo strength of itself is low, is still judged as non-impact point, and as can be seen from the figure the method has successfully been eliminated tractionThe impact bringing, testing result is correct.
Embodiment 2
The reflectogram producing when to be that two cars is parallel in the embodiment 2 of Fig. 7 cross detector simultaneously, this figure is at time shaftFormed the same Fig. 4 of distance axis distribution situation by 300 scan periods. As can be seen from the figure due to two cars from comparisonClosely, two cars gap cannot obviously be distinguished.
Fig. 8 is the simulation result that adopts traditional technique in measuring, and two cars is judged to be to a car process, occurs false dismissal.
When Fig. 9, adopt the method based on local maximum that the present invention proposes to carry out the simulation result of target detection, canRight area separates vehicle.
Embodiment 3
The embodiment 3 of Figure 10 produces while being many cars (be three cars in figure, have a car for stopping) process detectorReflectogram, this figure is made up of 350 scan periods on time shaft, the same Fig. 4 of distance axis distribution situation. Can from figureTo see that echo scattering phenomenon appears in vehicle in the process of moving sometimes, many cars also there will be when process togetherEcho " multipath " phenomenon. This has increased difficulty to target detection, if adopt traditional detection side based on echo strengthMethod will inevitably produce many false-alarms,
Figure 11 is the simulation result of traditional technique in measuring. And the detection method based on local maximum that the present invention proposes,Owing to having added the constraint of window extreme value, can eliminate the echo that scattering and " multipath " bring, even if there is a small amount of echoDo not dispose, in follow-up morphology processing and vehicle discriminating, also can avoid being mistaken for a car.
Figure 12 adopts this method to carry out the simulation result of target detection, and as can be seen from the figure testing result is correct, hasEffect has been eliminated the impact of echo scattering and " multipath ".
Through checking on the spot, the vehicle target detection method based on local maximum that adopts the present invention to propose, microwave inspectionThe detection correctness of measurement equipment under high-speed road conditions reaches 99%, and the detection correctness under the busy road conditions in urban district reaches95%。
The invention provides a kind of Radar for vehicle object detection method based on local maximum, this technical side of specific implementationMethod and the approach of case are a lot, and the above is only the preferred embodiment of the present invention, it should be pointed out that for this technologyThe those of ordinary skill in field, under the premise without departing from the principles of the invention, can also make some improvement and profitDecorations, these improvements and modifications also should be considered as protection scope of the present invention. Each part not clear and definite in the present embodiment is equalAvailable prior art is realized.

Claims (1)

1. the Radar for vehicle object detection method based on local maximum, is characterized in that, comprises the following steps:
Microwave detection equipment on step 1, road surface uploads to the echo collecting in host computer by serial ports, observe Ground Penetrating Radar echo distribution situation by host computer, and divide radar echoing area, set affiliated echo region, track, road surface, be saved in the not erasable memory of microwave detection equipment, as later driveway partition foundation setting result; Microwave detection equipment extracts the echo point of track, road surface affiliated area in the echo sequence collecting according to the echo area numeric field data in memory;
Step 2, resolution ratio according to fmcw radar in distance and the width information in track, calculate the scope of search window;
All echo points under the track of extracting in step 3, traversal step 1, search window for each echo point at its neighborhood setting steps 2, then other echo point in this echo point and search window is compared, if the echo strength of this point is maximum, judge that so this point belongs to Local modulus maxima;
Step 4, to the Local modulus maxima searching, judge whether the echo strength value of this point is greater than the echo thresholding of setting, judge that if be greater than this point is impact point, otherwise still think and belong to non-impact point, each range points has an one's own thresholding, the mode that the foundation of thresholding adopts accumulation to average;
Step 5, impact point mark, impact point is labeled as 255, and remaining point, for non-impact point, is labeled as 0, and echo-signal is converted into binary signal, completes the detection of target;
The concrete steps of calculating search window scope in step 2 are:
Step 2-1, employing FMCW distance-finding method, utilize modulating pulse cycle and modulation voltage amplitude parameter, calculates the resolution ratio L of radar in distance1, according to road surface lane width L2, calculate echo corresponding to the each track D' that counts out and be: D'=L2/L1；
Step 2-2, search window D is set is greater than the D' calculating in step 2-1, i.e. D=D'+ Δ D, wherein Δ D is 1 or 2 echo points;
The concrete steps that at each echo vertex neighborhood search window are set in step 3 are:
Step 3-1, establish the scope of echo point in distance for [0, dmax], wherein 0 correspondence is from the nearest range points of radar detector, dmaxCorresponding to radar detector range points farthest; Establishing its place range points for each echo point is d, and its region of search is [d-Δ d1,d+Δd2]，Δd1+Δd2=D and Δ d1Than Δ d2Large 1 or 2;
Step 3-2, hunting zone are in scope [0, dmax] in, meet d-Δ d1>=0, and d+ Δ d2＜＝dmax；
The concrete steps of setting echo thresholding in step 4 are:
The mode that the foundation of step 4-1, thresholding adopts long time integration to average: for each range points d, accumulate the echo I (d, i) of this point on time shaft, then adopt following mode to calculate the thresholding TH of this point:
Wherein n represents total scan period number that thresholding is set up, and span is 2000～5000, and each time scan period is 100ms, and corresponding total time is 20s～50s, and i represents the current scan period, and K is proportionality coefficient, and span is 1.5～3.0.
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