CN106569214B - The adaptive cruise trailer-mounted radar data processing method and system of navigation information - Google Patents
The adaptive cruise trailer-mounted radar data processing method and system of navigation information Download PDFInfo
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- CN106569214B CN106569214B CN201610930652.4A CN201610930652A CN106569214B CN 106569214 B CN106569214 B CN 106569214B CN 201610930652 A CN201610930652 A CN 201610930652A CN 106569214 B CN106569214 B CN 106569214B
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- data processing
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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
-
- 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
- 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
- G01S2013/9321—Velocity regulation, e.g. cruise control
-
- 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
- G01S2013/9322—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using additional data, e.g. driver condition, road state or weather data
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The present invention relates to a kind of adaptive cruise trailer-mounted radar data processing systems of navigation information, include: millimetre-wave radar, navigation module and data processing and control module, data processing scheme appropriate is selected according to the road data and target obstacle data.A kind of data processing method based on above system is also related to, most appropriate Filtering Model is selected according to the road information of vehicle present position, to obtain most accurate track.The present invention proposes that fusion navigation scenarios information applies corresponding processing model and parameter to the method for millimetre-wave radar data processing, and for different scenes, makes it possible to meet scene adaptive.And it can adapt to the tracking of multiple target under straight way, bend in conjunction with millimeter wave data processing after road data, and utilize radar velocity measurement information, improve the precision of tracking.
Description
Technical field
The present invention relates to adaptive cruise field, in particular to a kind of adaptive cruise trailer-mounted radar of navigation information
Data processing method and system.
Background technique
With the rapid growth of automobile consumption, automotive safety problem increasingly thirsts for high-tech by universal concern, people
Bring safety with it is convenient.Therefore, automobile ADAS system is widely used, and much more electronic systems is applied on automobile.
Since millimetre-wave radar can directly measure distance and velocity information, it is applied to self-adaption cruise system and pre-impact
There is natural advantage in system.Therefore, millimetre-wave radar is applied on automobile, and the solution of adaptive cruise most mainstream at present
Certainly scheme has huge market prospects.However, current self-adaption cruise system is the speed for only acquiring objects ahead mostly
Information and range information carry out self-adaptive processing, without the shape of traffic condition and present road in view of current road
State.When road traffic complex, road bumpiness bending, the difficulty and discrimination of millimetre-wave radar data processing will increase.
In the self-adaption cruise system of the prior art, especially by target obstacle current time near this vehicle of acquisition
Point mark, to form the track of target obstacle in a period of time, and to the motion state of the target obstacle future time into
Row prediction, to make corresponding movement in advance, such as braking or regulation speed, therefore the prediction to barrier motion state
It is most important for subsequent control, it is that self-adaption cruise system makes the premise correctly acted.In order to adapt to several scenes, need
The data processing mode for being suitble to different scenes is set, and can automatically be switched to the number of most suitable current scene according to scene
According to tupe.However the prior art does not obtain road scene using navigation system just with radar information, therefore not
Road scene can be fully understood, and then all road scenes can not be adapted to, therefore error can be brought to Trajectory Prediction, is in turn resulted in
Subsequent control does the movement to make mistake, and the personal safety for the passenger on vehicle brings harm.
Summary of the invention
In order to solve the above technical problems, The present invention provides a kind of adaptive cruise trailer-mounted radars of navigation information
Data processing method and system.
A kind of adaptive cruise trailer-mounted radar data processing system of navigation information, comprising:
Millimetre-wave radar, for obtaining the target obstacle data of vehicle periphery；
Navigation module, for obtaining the road data of vehicle present position；And
Data processing and control module, there are many data processing schemes for being used for adaptive cruise for storage, and according to described
Road data and target obstacle data select data processing scheme appropriate.
Further, the data processing scheme includes the Filtering Model and filtering parameter of the barrier data.
Further, the road data includes in the right and wrong situation of road, road grade situation and road track situation
It is one or more.
It further, further include for analyzing velocity information, range information and angle letter from target obstacle data
The Radar Signal Processing module of breath.
In addition, being used the present invention also provides a kind of adaptive cruise trailer-mounted radar data processing method of navigation information
The point mark of target obstacle forms track near according to vehicle, includes the following steps:
The millimetre-wave radar data of current vehicle are acquired in frames and form relevant to target obstacle mark；
According to Present navigation acquisition of information road data, and the filter analyzed described mark is loaded according to road data
Wave mode；
It substitutes into existing track according to Filtering Model and filtering parameter to be predicted, and according to prediction result to described mark
It is matched with track.
Further, further include the steps that establishing new track: when there are described mark not can matched track when, will
Starting point of the mark as new track.
Preferably, described mark includes the speed, distance and angle changing of target obstacle.
Preferably, the road data includes one of road grade, road curvature degree and road width or a variety of.
Preferably, the filter patterns include Filtering Model and filtering parameter.Wherein the Filtering Model includes bend
Filtering Model, straight way Filtering Model, upward slope Filtering Model, descending Filtering Model.
What the adaptive cruise trailer-mounted radar data processing method and system of navigation information of the invention were played has
Beneficial effect includes:
1. present invention proposition fusion navigation scenarios information is directed to difference to the method for millimetre-wave radar data processing
Scenario Design corresponding processing method and parameter, make it possible to meet scene adaptive.
2. after combining road data, millimeter wave data processing can adapt to the tracking of multiple target under straight way, bend, and benefit
With radar velocity measurement information, the precision of tracking is improved.
Detailed description of the invention
Fig. 1 is system structure diagram of the invention.
Fig. 2 is the method flow diagram in the embodiment of the present invention one.
Fig. 3 is the method flow diagram in the embodiment of the present invention two.
Specific embodiment
The preferred embodiments of the present invention will be described in detail with reference to the accompanying drawing, so that advantages and features of the invention are more
It is easily readily appreciated by one skilled in the art, to make apparent define to protection scope of the present invention.
Embodiment 1:
As shown in Figure 1, the adaptive cruise trailer-mounted radar data processing system of navigation information of the invention is mainly wrapped
Include millimetre-wave radar, navigation module and data processing and control module.Specifically, the four of this vehicle body are arranged in millimetre-wave radar
At circumferential edges, for detecting the target obstacle at vehicle front, side either rear.In the present invention, target obstacle refers to
Be can reflect the object of millimetre-wave radar detectable signal, such as driving, pedestrian either static-obstacle thing, simultaneously because milli
The self-characteristic of metre wave radar can detect multiple target obstacles in its investigative range simultaneously.And navigation module
Then for obtaining the road information of current vehicle position, such as the straight curved, gradient of road and width information.Under normal conditions, it is
Simplified system, navigation module can be vehicle mounted guidance terminal, send road information to system by agreements such as CAN bus.Separately
Outside, data processing and control module then store that there are many data processing schemes for being used for adaptive cruise, and according to road data
And target obstacle data select data processing scheme appropriate, so that adaptive cruise is gone out according to Trajectory Prediction most accurate
Point mark.
Simultaneously in order to cooperate the system in the present embodiment, the present embodiment also provides a kind of adaptively patrolling for navigation information
Airline carries radar data processing method.It selects to load at different types of signal by the road data in navigation information
Model is managed, finally makes the prediction of track more accurate, and then the reaction of adaptive cruise is more accurate.It is specific as follows:
Firstly, the millimetre-wave radar data of current vehicle are acquired in frames, are identified and felt according to the data of millimetre-wave radar
Multiple target obstacles in range are answered, and form relevant to target obstacle mark.It should be noted that of the present invention
Target obstacle refer to hinder the object of vehicle conduct, can with but be not limited only to other vehicles, pedestrian, road barrier, its
His sundries etc..The mark point includes at least the information such as distance, speed, angle change.And Plot coherence is carried out to these information, is rejected
Outlier processing.It provides foundation for matching track.
Again, track is required according to once being predicted the characteristics of its own in each frame, and predictive content is under
The motion state of track when one frame.Matched, be filtered with predicted value and point mark simultaneously, complete target obstacle track with
Track.Most appropriate movement is made convenient for control module.Therefore the order of accuarcy of prediction will determine the standard of adaptive cruise movement
True degree, in order to keep adaptive cruise more accurate, this embodiment introduces the road datas in navigation information, and according to road
Data load the filter patterns analyzed described mark.Wherein road data can with but be not limited only to include road grade,
One of road curvature degree and road width are a variety of.
Due to joined road data, self-adaption cruise system can be more accurate to the prediction of track, specifically according to filter
Wave pattern and filtering parameter substitute into existing track and are predicted, and are matched to mark with track according to prediction result.It protects
The accuracy for demonstrate,proving Trajectory Prediction, provides accurate foundation for the decision of self-adaption cruise system.
Embodiment 2:
The present embodiment the difference from embodiment 1 is that: the adaptive cruise of the navigation information in the present embodiment is vehicle-mounted
Radar data processing method further includes the steps that establishing new track:
As shown in figure 3, detecting whether that there are also the point marks not being matched after matching movement is completed, if so, then determining should
Point mark is new target obstacle, and implements to track to it, using the mark as the starting point of new track.
Meanwhile the present embodiment provides track termination schemes, i.e., it ought be continuously interior for a period of time all without point mark and the track
Match, then judges that track terminates, delete the track.
Embodiment 3:
As the supplement of embodiment 1, the present embodiment the difference from embodiment 1 is that: present embodiments provide a variety of filtering
Model and filtering parameter:
It, will be using conventional once linear when combination road data, which determines current vehicle, to be in the environment of straight way
Equation predicts target obstacle.Using at the uniform velocity model when scene filters when the straight way of the present embodiment are as follows:
In above formula, x refers to the value predicted, such as speed, apart from angle.K refers to current time.
When combination road data, which determines current vehicle, to be in the environment of bend, prediction model will introduce acceleration
Parameter target obstacle predicted.The complex scenes such as bend filter when, then using adaptive interaction formula multi-model with
Track algorithm.Interacting multiple algorithm includes multiple filters, and multi-model tracks the motion of automobile of target by reciprocation.
It, will be in original Filtering Model when combination road data, which determines current vehicle, to be in the environment of up/down slope
On the basis of introduce up/down habenaria linguella lindl number.Uniformly accelerated motion model is used when the climb and fall scene filtering of the present embodiment are as follows:
In above formula, x refers to the value predicted, such as speed, apart from angle.K refers to current time.
Embodiments of the present invention are explained in detail above in conjunction with attached drawing, but the present invention is not limited to above-mentioned implementations
Mode within the knowledge of a person skilled in the art can also be without departing from the purpose of the present invention
Various changes can be made.
Claims (10)
1. a kind of adaptive cruise trailer-mounted radar data processing system of navigation information, it is characterised in that: include:
Millimetre-wave radar, for obtaining the target obstacle data of vehicle periphery and forming relevant mark of target obstacle；
Navigation module, for obtain vehicle present position road data and according to road data load to described mark into
The filter patterns of row analysis；And
Data processing and control module, there are many data processing schemes for being used for adaptive cruise for storage, and according to the road
Data and target obstacle data select data processing scheme appropriate, substitute into specific reference to Filtering Model and filtering parameter
Existing track is predicted, and is matched to described mark with track according to prediction result.
2. the adaptive cruise trailer-mounted radar data processing system of navigation information according to claim 1, feature
It is, the data processing scheme includes the Filtering Model and filtering parameter of the barrier data.
3. the adaptive cruise trailer-mounted radar data processing system of navigation information according to claim 1, feature
It is, the road data includes one of the right and wrong situation of road, road grade situation and road track situation or a variety of.
4. the adaptive cruise trailer-mounted radar data processing system of navigation information according to claim 1, feature
It is, further includes the radar signal for analyzing velocity information, range information and angle information from target obstacle data
Processing module.
5. the adaptive cruise trailer-mounted radar data processing method of a kind of navigation information, according to target obstacle near vehicle
Point mark formed track, which comprises the steps of:
The millimetre-wave radar data of current vehicle are acquired in frames and form relevant mark of target obstacle；
According to Present navigation acquisition of information road data, and the filtering mould analyzed described mark is loaded according to road data
Formula；
It substitutes into existing track according to Filtering Model and filtering parameter to be predicted, and according to prediction result to described mark and boat
Mark is matched.
6. the adaptive cruise trailer-mounted radar data processing method of navigation information according to claim 5, feature
It is, further includes the steps that establishing new track:
When there are described mark not can matched track when, using the mark as the starting point of new track.
7. the adaptive cruise trailer-mounted radar data processing method of navigation information according to claim 5, feature
It is, described mark includes the speed, distance and angle changing of target obstacle.
8. the adaptive cruise trailer-mounted radar data processing method of navigation information according to claim 5, feature
It is, the road data includes one of road grade, road curvature degree and road width or a variety of.
9. the adaptive cruise trailer-mounted radar data processing method of navigation information according to claim 5, feature
It is, the filter patterns include Filtering Model and filtering parameter.
10. the adaptive cruise trailer-mounted radar data processing method of navigation information according to claim 9, feature
It is, the Filtering Model includes bend Filtering Model, straight way Filtering Model, upward slope Filtering Model, descending Filtering Model.
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| CN108009508B (en) * | 2017-12-11 | 2021-10-08 | 惠州市德赛西威汽车电子股份有限公司 | Depth-of-field estimation-based moving object visual detection method and system |
| CN108828527B (en) * | 2018-06-19 | 2021-04-16 | 驭势（上海）汽车科技有限公司 | Multi-sensor data fusion method and device, vehicle-mounted equipment and storage medium |
| CN110320518B (en) * | 2019-05-31 | 2023-01-24 | 惠州市德赛西威汽车电子股份有限公司 | Automatic calibration method for mounting position of vehicle-mounted BSD millimeter wave radar |
| CN110422173B (en) * | 2019-07-11 | 2021-01-15 | 惠州市德赛西威智能交通技术研究院有限公司 | Driving environment identification method |
| CN110780288A (en) * | 2019-09-29 | 2020-02-11 | 深圳市元征科技股份有限公司 | Road danger prompting method and device, vehicle-mounted equipment and storage medium |
| CN112606649B (en) * | 2020-12-08 | 2022-11-01 | 东风汽车集团有限公司 | Vehicle and vehicle body balance control method and control system thereof |
| CN113791414B (en) * | 2021-08-25 | 2023-12-29 | 南京市德赛西威汽车电子有限公司 | Scene recognition method based on millimeter wave vehicle-mounted radar view |
| CN114488065A (en) * | 2022-01-27 | 2022-05-13 | 中国第一汽车股份有限公司 | Track data processing method, device, vehicle and medium |
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Effective date of registration: 20191212 Address after: Room 1002, building 4, Zijin R & D and entrepreneurship center, No. 89 Shengli Road, Jiangning District, Nanjing, Jiangsu Province Patentee after: Nanjing Desai Xiwei Automobile Electronics Co., Ltd Address before: 516006 Guangdong province Huizhou City Zhongkai high tech Zone and five West Road No. 103 Patentee before: HUIZHOU DESAY SV AUTOMOTIVE CO., LTD. |
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