CN109490870B - 使用相位的单散射体测试 - Google Patents
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Abstract
使用相位的单散射体测试。一种确定目标物体是单散射体的程度的基于车辆的方法,所述车辆包括雷达***,该雷达***包括适于向所述目标物体发送雷达信号的雷达发射元件,以及适于接收从所述目标物体反射的雷达信号的天线接收元件,所述方法包括:a)从所述雷达发射元件向所述目标物体发射雷达信号;b)在所述接收器元件处接收在步骤a)中发射的信号从目标物体反射的信号;c)对所接收到的信号进行处理,以提供频域中的相位数据;d)确定频率之间相位变化的测量;e)基于步骤d)的结果确定目标物体是否是单散射体。
Description
技术领域
本发明涉及一种使用雷达技术检测并随后表征物体,并且尤其是确定物体是否是单散射体的方法。该方法可用于确定用于为了确定主车辆位置而进行的地理映射的合适地标。
背景技术
自定位(即确定主车辆的精确位置)是用于精确自动驾驶或诸如防撞***的驾驶员辅助方案的最重要的功能之一。当前的汽车导航***通常使用GPS导航***来估计车辆位置。但是,由于诸如由建筑物引起的反射和来自卫星的GPS信号的遮挡的影响,这种GPS导航***不足以实现道路车辆的精确自定位。为了克服这个问题,过去已经详细阐述了许多基于地标的自我定位方法。
众所周知的是为车辆配备雷达***/模块。这种雷达***能够检测来自附近物体的雷达反射(即,雷达检测)并且处理关于所述雷达反射的数据。通常,当前自定位和映射(SLAM)过程所需的信息是从由雷达模块通过多次连续扫描提供的这种(反射/检测)数据中收集的,以识别例如固定的地标。该映射信息随时间更新,并且执行各个基于雷达的地图与GPS地图的精确叠加。以这种方式,例如,由GPS确定的地理位置通过来自雷达返回的这种本地数据而被精确地改进。
因此,为了减少由非精确叠加引入的误差的累积,那些雷达图像的基于地标的对准是优选的解决方案。在基于地标的SLAM过程中,关键任务是确定环境中(即在可以作为用于各个地图的精确叠加的适当且高质量的位置参考(锚)的车辆附近)的一个或更多个合适的地标(即,物体)。
可用的地标确定方法基于例如信杂比、点扩散函数匹配、图像分析(例如,通过梯度分析、或模板匹配等)、似然比测试、距离区间方差分析、或差分干涉图方法。但是,那些方法不适用于汽车环境。先前已经通过从特定视角的单个扫描观察检查了地标。由于汽车环境的复杂性,那些方法通常不够稳健。
确定物体是否是单散射体可以有助于确定地标是否合适,因此目标是确定被测散射体(SUT)是(源自单个散射中心的)单散射体的程度。例如,脉冲多普勒雷达信号处理可用于将反射的信号分离成多个“峰值”,其出现在2-D谱域中(称为距离-多普勒映射)。从多个雷达接收器通道收集的该谱数据用于执行这里提出的单散射体测试。
已知多种现有技术,可用于确定目标响应是否源自单散射体(例如,共同未决申请EP 16188715)。分析目标响应是否源自单散射体的一种方法涉及所测量的雷达响应与相应的所谓***相关的点扩散函数(PSF)之间的(复值)互相关。也就是说,雷达***的PSF描述了其对理想单散射体目标的响应。如果相关系数低于(例如,预定的)阈值,则认为目标是非单散射体。
互相关涉及计算复杂性。附加地,这种方法不是很灵敏。本申请涉及一种确定所识别的目标物体是否是单散射体的改进方法。
本发明的一个目的是克服这些问题。一个目的是提供一种确定作为参考的地标的适合性的方法。所提出的方法的目标是确定被测散射体(SUT)是(源自单个散射中心的)单散射体的程度。
发明内容
在一方面,提供了一种确定目标物体是单散射体的程度的基于车辆的方法,所述车辆包括雷达***,该雷达***包括适于向所述目标物体发送雷达信号的雷达发射元件,以及适于接收从所述目标物体反射的雷达信号的天线接收元件,所述方法包括:
a)从所述雷达发射元件向所述目标物体发射雷达信号;
b)在所述接收元件处接收在步骤a)中发射的信号从目标物体反射的信号;
c)对所接收到的信号进行处理,以提供频域中与包括频率范围的离散区间相关的相位数据;
d)确定至少两个区间之间的相位变化;
e)基于步骤d)的结果确定目标物体是否是单散射体,其中,如果从一个频率区间到相邻频率区间的相位变化高于阈值,则认为目标物体是非单散射体。
在步骤c)中,可以将信号数据从基础时域转换到距离多普勒域。
步骤c)可以包括依据距离-多普勒域提供距离-多普勒映射。
步骤c)可以包括依据距离-多普勒频率区间提供相位数据。
步骤d)可以包括确定区间到区间相位变化。
在步骤e)中,如果两个频率或频率区间之间的相位变化高于阈值,则目标物体被认为是非单散射体。
步骤d)和步骤e)可以仅对来自所接收到的雷达点扩散函数的主瓣1-D区域或2-D区域的区间执行。
在步骤c)中,仅针对幅度或功率超过阈值或具有最小信噪比的频率或区间提取来自距离-多普勒域中的2-D测量数据的相位信息。
步骤d)可以包括测量在距离-多普勒域中评估的跨测量的2-D点扩散函数的区间到区间相位变化。
附图说明
现在参照附图以举例的方式来描述本发明,在附图中:
图1示出了根据一个示例的基本方法的流程图;
图2示出了示出对应于在空间/谱中彼此非常接近的两个散射中心的两个PSF的示意图;
图3示出了针对非单散射体目标的谱响应,所确定的相位相对于频率区间的结果(包括作为两个单独目标/响应的叠加)。
具体实施方式
所提出的方法的目标是确定被测散射体(SUT)是(源自单个散射中心的)单散射体的程度。例如,脉冲多普勒雷达信号处理可用于将反射的信号分离成多个“峰值”,这些“峰值”出现在2-D谱域中(称为距离-多普勒映射)。该谱数据用于执行这里提出的单散射体测试。
使用在距离-多普勒域中的2-D相位评估的有效方法来解决确定雷达反向散射返回是否源自单个散射中心的问题。
对2-D频域数据(距离-多普勒映射)进行分析。通常,按照一组频率范围或“区间”来排列数据。由于(就距离/多普勒频率而言)问题的关键是从彼此相对接近的散射中心反射的信号之间的干扰,因此可以在局部叠加信号频率区间的频域中直接评估信号之间的相对相位差。
在所提出的方法中,(仅考虑幅度分别超过某个阈值或具有最小SNR的那些区间)在峰值位置处提取来自(在距离-多普勒域中)的(2-D)测量的复数数据的相位信息。然后,在距离-多普勒域中评估跨(对应于检测到的目标)的(整个)测量的2-D PSF的区间到区间相位变化。相邻区间的数量不受限制。即使只有两个(提供所需的SNR的)相邻的区间,也可以执行测试。
该方法优选在来自(也称为“峰值”的)PSF的主瓣2-D区域的区间上执行。
在优选示例中,(为了更好的执行期性能)该方法可以简化为仅对在两个正交维度(距离和多普勒)中穿过(根据距离/多普勒频率)估计的幅度峰值位置的矢量进行相位分析。与分析2-D PSF的所有区间相比,这提供了区间的子集。
在该方法的细节中,如果绝对区间到区间相位变化(斜率)超过(对于PSF的不同区间可能不同的)某个已知阈值,则该目标被认为是非单散射体。
例如,当加窗函数是对称的时,属于理想单散射体PSF的主瓣的所有区间的相位将是相等的/“平的”,(通过例如傅立叶变换处理的)样本的数量是奇数,并且(如果需要补零),则应用所谓的零相位补零方法。
该方法适用于包括单个接收器通道(接收器元件)的***,但也适用于来自N个接收器(RX)通道的M个距离-多普勒响应(映射)。
示例
图1示出了根据一个方面的基本方法的流程图;
包括天线发射元件和具有至少一个接收元件的接收元件(或阵列)的(基于车辆的)雷达***发出雷达信号,并且因此接收的来自目标物体的反射信号被接收器元件接收并被处理。参照图1的流程图来描述对接收到的雷达信号的后续处理(即分析)。
在所提出的方法中,对2-D频域数据(距离-多普勒映射)进行分析。在步骤S1中,从幅度峰值位置处的2-D频域数据中提取信号的相位。通常,数据按照一组频率范围(所谓的多普勒“区间”)排列。由于问题的关键在于从空间中彼此相对接近的(和/或具有相似的多普勒频率的)散射中心反射的信号之间的干扰,因此在所得的“峰值”的位置处评估来自(距离-多普勒域中)(2-D)测量的复数数据的幅度谱信息,以确定所测量的响应是否源自单个散射中心。
在步骤S2中,确定频率(区间)到频率(区间)相位。
在步骤S3中,将从一个频率(区间)到相邻的一个频率(区间)的相位变化与阈值进行比较。如果(在相位解缠后的)该相位差在步骤S4中超过阈值,则将目标识别为非单散射体。
理论
考虑在(具有相同的多普勒频率的)空间中彼此非常接近的两个散射中心(称为目标1和目标2)的情况。然后,在接收器天线处,发生这两个散射的信号的叠加。在距离-多普勒映射中,来自例如(被命名为PSF1和PSF2的)非单散射体的两个目标的PSF(被称为PSF 1,A和PSF 2,A)可能彼此接近并且将会重叠–参见图2。因此,由于各个PSF的复杂叠加,复值PSF的幅度和相位对所产生的PSF有很大的影响(参见图2)。对于PSF1,A和PSF 2,A,分别在频率fR1,A和fR2,A处示出了峰值幅度。
示例性地,模拟1-D情况,其中,具有1.0频率区间的频率距离的两个PSF彼此靠近。第一PSF(PSF1)的幅度为1.0,并且相位为0度,第二PSF(PSF2)的幅度为0.9,并且相位为30度。
图3示出了仅针对第一PSF(附图标记1)、仅针对第二PSF(附图标记2)以及针对实际叠加信号(在现实中将被接收的信号)(附图标记3)的所确定的相位相对于频率区间的结果。
因此,图3示出了模拟的相位谱(例如,示出为1-D穿过2-D的频率映射的相位与频率区间)。可以看出,叠加后的所得峰值的相位不是平的。因此,被测峰值被确定为源自非单散射体。
与欧洲专利申请EP 16188715公开的方法相比,不需要考虑对称性。因此,这里提出的方法甚至可以在仅具有(提供所需的SNR的)两个相邻的区间而不是(在EP 16188715中需要的)三个的情况下来执行。
该方法非常灵敏,可以在(源自单个RX通道)的单个距离-多普勒映射上执行,并且具有低计算成本。
Claims (9)
1.一种确定目标物体是单散射体的程度的基于车辆的方法,所述车辆包括雷达***,所述雷达***包括雷达发射元件和天线接收元件,所述雷达发射元件向所述目标物体发送雷达信号,所述天线接收元件接收从所述目标物体反射的雷达信号,所述方法包括以下步骤:
a)从所述雷达发射元件向所述目标物体发射雷达信号;
b)在所述天线接收元件处接收在步骤a)中发射的信号从所述目标物体反射的信号;
c)对所接收到的信号进行处理,以提供频域中与包括频率范围的离散区间相关的源自单个天线接收元件的相位数据;
d)确定两个或更多个区间之间的相位差;
e)基于步骤d)的结果确定所述目标物体是否是单散射体,其中,如果针对所述单个天线接收元件,从一个频率区间到一个相邻频率区间的相位变化高于阈值,则认为所述目标物体是非单散射体。
2.根据权利要求1所述的方法,其中,在步骤c)中,把信号数据从基础时域转换到距离-多普勒域。
3.根据权利要求1或2所述的方法,其中,步骤c)包括依据距离-多普勒域提供距离-多普勒映射。
4.根据权利要求1所述的方法,其中,步骤c)包括依据距离-多普勒频率区间提供相位数据。
5.根据权利要求1所述的方法,其中,步骤d)包括确定区间到区间相位变化。
6.根据权利要求1所述的方法,其中,如果绝对区间到区间相位变化或相位变化相对于相应频率的斜率超过阈值,则所述目标物体被认为是非单散射体。
7.根据权利要求1所述的方法,其中,仅针对接收到的雷达点扩散函数的主瓣区域中的区间执行步骤d)和步骤e)。
8.根据权利要求1所述的方法,其中,在步骤c)中,针对幅度或功率超过阈值或具有最小信噪比的频率或区间仅提取来自距离-多普勒域中的2-D测量数据的相位信息。
9.根据权利要求1所述的方法,其中,步骤d)包括测量在距离-多普勒域中评估的测量2-D点扩散函数上的区间到区间相位变化。
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EP3546978B1 (en) | 2018-03-29 | 2021-12-08 | Aptiv Technologies Limited | Method for testing a target object as single point scattering center |
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EP3999875B1 (fr) * | 2019-07-17 | 2024-02-14 | Vitesco Technologies GmbH | Procede d'ouverture d'un ouvrant de vehicule automobile par detection de mouvement, utilisant un radar doppler et dispositif de detection associe |
CN114442080B (zh) * | 2022-01-29 | 2023-10-20 | 南京隼眼电子科技有限公司 | 运动目标速度解模糊方法、装置、电子设备及存储介质 |
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US4203113A (en) * | 1975-02-24 | 1980-05-13 | Baghdady Elie J | Radar method and apparatus |
EP0583418B1 (en) * | 1991-05-06 | 2002-08-28 | Ivhs Technologies, Inc. | Multi-frequency automotive radar system |
US5606324A (en) * | 1995-12-07 | 1997-02-25 | Raytheon Company | Radar system |
US7064702B1 (en) * | 2005-03-01 | 2006-06-20 | The Boeing Company | System, method and computer program product for reducing quadratic phase errors in synthetic aperture radar signals |
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US9470777B2 (en) * | 2014-09-19 | 2016-10-18 | Delphi Technologies, Inc. | Radar system for automated vehicle with phase change based target catagorization |
US9784820B2 (en) * | 2014-09-19 | 2017-10-10 | Delphi Technologies, Inc. | Radar system with phase based multi-target detection |
EP3144696A1 (en) * | 2015-09-15 | 2017-03-22 | Delphi Technologies, Inc. | Radar system for automated vehicle with phase change based target categorization |
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