CN109901151B - Cyclic transformation detection method based on composite radar - Google Patents
Cyclic transformation detection method based on composite radar Download PDFInfo
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- CN109901151B CN109901151B CN201910217944.7A CN201910217944A CN109901151B CN 109901151 B CN109901151 B CN 109901151B CN 201910217944 A CN201910217944 A CN 201910217944A CN 109901151 B CN109901151 B CN 109901151B
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Abstract
The invention discloses a cyclic conversion detection method based on a composite radar, which is mainly applied to an expressway and comprises two detection modes: a speed detection mode and a position detection mode. In the speed detection mode, applying Doppler effect and calculating the running speed of the vehicle according to Doppler frequency shift; in the position detection mode, the distance between the vehicle and the radar installation point is calculated by detecting the time difference between the transmission signal and the reception signal, and it is determined whether the vehicle is in a stopped state by comparing the distance values several times before and after. And under the condition that the composite radar normally operates, automatically switching the modes in a speed detection mode and a position detection mode at intervals. By comparing the distance values measured in the position detection mode, if the distance values are equal or the difference is within a small range, it is considered that there is a vehicle that is stationary. When a stationary vehicle is determined, the position of the stationary vehicle can be determined by a corresponding program, and the stationary vehicle stops in which lane.
Description
[ technical field ] A method for producing a semiconductor device
The invention belongs to the technical field of radar detection, and relates to a cyclic transformation detection method based on a composite radar.
[ background of the invention ]
Most of the existing detection radars have only one function, and can only carry out speed detection or distance detection. The speed detection radar can only detect the speed of a moving target object, and can not detect a static object, so that vehicles stopped on a highway due to unexpected parking or braking can not be detected, and driving and traffic safety are seriously affected. The distance detection radar cannot detect the speed of the vehicle, and a single distance detection radar cannot judge the position of a stationary object.
[ summary of the invention ]
The present invention is directed to overcoming the above-mentioned drawbacks of the prior art and providing a circular conversion detection method based on a composite radar, which can not only be applied to a rainy and foggy expressway for speed detection of a moving vehicle, but also for presence and position detection of a stationary vehicle parked on the expressway due to an unexpected stop.
In order to achieve the purpose, the invention adopts the following technical scheme to realize the purpose:
a cyclic transformation detection method based on composite radar comprises the following steps:
step 1: the composite radar is electrified and initialized, and the counting value is set to zero;
step 2: the composite radar works in a speed detection mode and only acquires speed data;
and step 3: the composite radar transmits the speed data detected at the installation point and the corresponding composite radar serial number information to a remote control center;
and 4, step 4: when the remote control center receives the speed data, sending an instruction to enable the composite radar to work in a distance detection mode and collecting distance information;
and 5: the composite radar transmits the distance data detected at the installation point and the corresponding composite radar serial number information to a remote control center;
step 6: the remote control center compares the acquired distance data of two adjacent times, if the acquired distance data of two adjacent times are equal, the counting value is added by 1, and the step 7 is executed; if not, judging whether the distance difference value is smaller than a preset value, if so, adding 1 to the count value, and executing the step 7; otherwise, the counting is reset, and the step 2 is returned;
and 7: after the count value is added with 1, judging whether the count value is equal to 5, if so, determining that a static vehicle exists, calculating the position information of the static vehicle in a program, sending the state and the position of the static vehicle to a remote control center, and clearing the count value; if not equal to 5, return to step 4.
The invention further improves the following steps:
the composite radar is a microwave radar, and the transmitting frequency is 24 GHz; the composite radar is arranged on two sides and a middle isolation belt of the highway; the composite radars at two sides are installed one by one every 40 meters and are numbered as N-1, and the composite radars at the middle are installed one by one every 20 meters and are numbered as N-2.
The speed data in the step 3 is acquired by adopting the following method:
vehicle running speed v:
wherein f isdIs Doppler shift, f0The radar transmitting frequency, the light speed and the alpha are included angles between the vehicle running direction and a connecting line between the vehicle and the radar.
The method for determining the existence of the stationary vehicle in the step 7 is as follows:
and setting delta t as the time difference between the transmitting signal and the received reflected signal of the composite radar, and calculating the distance R between the target vehicle and the radar mounting point according to the time difference delta t:
if the distances R are equal in adjacent times or the difference is within a preset range, the target vehicle which stops in the radar coverage area is considered to exist.
The method of calculating the stationary vehicle position information in step 7 is as follows:
according to distance data measured by composite radars arranged at two sides of the highway and the distance measured by a radar arranged in the middle, the mounting positions of the two composite radars are taken as the circle centers, the measured distance is taken as the radius, the circles of the coverage areas of the two composite radars are obtained, and the intersection point of the two circles is the target position;
and if the distance is smaller than the preset value, when two intersection points appear, the distance of the third composite radar needs to be measured, then the installation position of the third composite radar is taken as the circle center, the distance measured by the third composite radar is taken as the radius to make a circle, and the intersection point of the three circles is the position of the target vehicle.
Compared with the prior art, the invention has the following beneficial effects:
when the vehicle normally runs on the highway, the invention can detect the speed of the vehicle, and when the vehicle stops on the highway due to accident, the invention can detect the existence state and the position information of the vehicle, and send the state that the radar covers the road section and the static vehicle exists to the remote control center. The remote control center controls the front or the rear radar to execute corresponding operation according to the information transmitted by the radar, completes the speed detection of vehicles on the highway and the detection of whether static vehicles exist, and conducts traffic guidance to ensure that the traffic on the highway is safer.
[ description of the drawings ]
FIG. 1 is a flow chart of the composite radar detection according to the present invention;
FIG. 2 is a schematic view of the installation of the composite radar of the present invention on a highway;
FIG. 3 is a schematic diagram a of position detection of the composite radar of the present invention;
fig. 4 is a schematic diagram b of position detection of the composite radar according to the present invention.
[ detailed description ] embodiments
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments, and are not intended to limit the scope of the present disclosure. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present disclosure. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Various structural schematics according to the disclosed embodiments of the invention are shown in the drawings. The figures are not drawn to scale, wherein certain details are exaggerated and possibly omitted for clarity of presentation. The shapes of various regions, layers and their relative sizes and positional relationships shown in the drawings are merely exemplary, and deviations may occur in practice due to manufacturing tolerances or technical limitations, and a person skilled in the art may additionally design regions/layers having different shapes, sizes, relative positions, according to actual needs.
In the context of the present disclosure, when a layer/element is referred to as being "on" another layer/element, it can be directly on the other layer/element or intervening layers/elements may be present. In addition, if a layer/element is "on" another layer/element in one orientation, then that layer/element may be "under" the other layer/element when the orientation is reversed.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The invention is described in further detail below with reference to the accompanying drawings:
referring to the figure, the circular transformation detection method based on the composite radar comprises the following steps:
step 1: the composite radar is electrified and initialized, and the counting value is set to zero;
step 2: the composite radar works in a speed detection mode and only acquires speed data;
and step 3: transmitting the speed data detected at the corresponding composite radar mounting point and the corresponding composite radar serial number information to a remote control center, and delaying for a certain time;
and 4, step 4: the radar works in a distance detection mode and collects distance information;
and 5: transmitting the distance data detected at the corresponding composite radar mounting point and the corresponding composite radar serial number information to a remote control center;
step 6: comparing the collected two adjacent distance data, and if the two adjacent distance data are equal, adding 1 to the counting value; if not, judging whether the distance difference value is smaller than a certain value (can be set), if so, adding 1 to the count value, otherwise, resetting the count value, and returning to the speed detection mode;
and 7: after the count value is added with 1, judging whether the count value is equal to 5, if so, determining that a static vehicle exists, (calculating the position information of the static vehicle in a program, and sending the state and the position of the static vehicle to a remote control center), and clearing the count value; if not, returning to the distance detection mode to continue detecting the distance.
The principle of the invention is as follows:
the composite radar with circularly transformed detection modes comprises two detection modes: a speed detection mode and a position detection mode. The composite radar is a microwave radar, and the transmitting frequency is 24 GHz. The composite radars are arranged at two sides and the middle of the highway, one is arranged at the interval of 40 meters on the left side and the right side, the number is N-1, one is arranged at the interval of 20 meters in the middle, the number is N-2, and the composite radars are shown in figure 1. The left side and the right side are installed by a support frame for the composite radar, the ground clearance is 1 meter, and the radar transmitting antenna and the receiving antenna are parallel to the driving direction of the vehicle. The composite radar in the middle is installed by a gantry cross bar, the gantry cross bar is 4 meters away from the ground, and a radar transmitting antenna and a receiving antenna surface are vertical to the driving direction of the vehicle, as shown in figure 2.
The basic principle of the velocity detection mode is to measure velocity based on the doppler effect. When there is relative movement between the target vehicle and the radar, the transmitting frequency and the receiving frequency of the radar are different, and there is a difference, which is the Doppler shift fd. According to the formula
Obtaining the running speed and the Doppler frequency shift f of the vehicledRadar transmission frequency f0Light speed c and vehicleThe relation between the vehicle running direction and the included angle alpha between the vehicle and the radar connecting line is as follows:
therefore, the traveling speed of the target vehicle can be measured by measuring the doppler shift.
The basic principle of the position detection mode is that after the radar transmits signals to the periphery, if a target vehicle exists in the coverage area, the signals are reflected, a time difference delta t exists between the radar transmitting signals and the received reflected signals, and the distance between the target vehicle and a radar installation point can be calculated according to the time difference:
if the distances measured by the radar are equal in adjacent times or the difference is within a small range, the target vehicle which is stopped in the coverage area of the radar is considered to be present. According to the distance measured by the radars installed at the two sides of the highway and the distance measured by the radar installed in the middle, the installation positions of the two radars are taken as the circle centers, the measured distance is taken as the radius, circles of the coverage areas of the two radars are drawn, and the intersection point of the two circles is the target position, as shown in fig. 3. If the distance is less than a certain value, two intersection points may occur, and the distance of the third radar needs to be measured, and then the installation position of the third radar is taken as the center of a circle, the distance measured by the third radar is taken as the radius to draw a circle, and the intersection point of the three circles is the position of the target vehicle, as shown in fig. 4. The position at which the target vehicle stops is calculated in the program, which lane and which radar covered area it is located in.
And in the cyclic conversion mode, the mode is switched between the speed measurement mode and the position measurement mode at intervals, and the time interval is adjustable.
The above-mentioned contents are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modification made on the basis of the technical idea of the present invention falls within the protection scope of the claims of the present invention.
Claims (1)
1. A cyclic transformation detection method based on a composite radar is characterized by comprising the following steps:
step 1: the composite radar is electrified and initialized, and the counting value is set to zero; the composite radar is a microwave radar, and the transmitting frequency is 24 GHz; the composite radar is arranged on two sides and a middle isolation belt of the highway; the composite radars at two sides are arranged one by one every 40 meters and are numbered as N-1, and the composite radars at the middle are arranged one by one every 20 meters and are numbered as N-2;
step 2: the composite radar works in a speed detection mode and only acquires speed data;
and step 3: the composite radar transmits the speed data detected at the installation point and the corresponding composite radar serial number information to a remote control center; the speed data is collected by the following method:
vehicle running speed v:
wherein f isdIs Doppler shift, f0The radar transmitting frequency, the light speed and the alpha are included angles between the vehicle running direction and a connecting line between the vehicle and the radar;
and 4, step 4: when the remote control center receives the speed data, sending an instruction to enable the composite radar to work in a distance detection mode and collecting distance information;
and 5: the composite radar transmits the distance data detected at the installation point and the corresponding composite radar serial number information to a remote control center;
step 6: the remote control center compares the acquired distance data of two adjacent times, if the acquired distance data of two adjacent times are equal, the counting value is added by 1, and the step 7 is executed; if not, judging whether the distance difference value is smaller than a preset value, if so, adding 1 to the count value, and executing the step 7; otherwise, the counting is reset, and the step 2 is returned;
and 7: after the count value is added with 1, judging whether the count value is equal to 5, if so, determining that a static vehicle exists, calculating the position information of the static vehicle in a program, sending the state and the position of the static vehicle to a remote control center, and clearing the count value; if not equal to 5, returning to the step 4;
the method of determining the presence of a stationary vehicle is as follows:
and setting delta t as the time difference between the transmitting signal and the received reflected signal of the composite radar, and calculating the distance R between the target vehicle and the radar mounting point according to the time difference delta t:
if the distances R are equal in adjacent times or the difference value is within a preset range, considering that a stopped target vehicle exists in the coverage area of the radar;
the method of calculating the stationary vehicle position information is as follows:
according to distance data measured by composite radars arranged at two sides of the highway and the distance measured by a radar arranged in the middle, the mounting positions of the two composite radars are taken as the circle centers, the measured distance is taken as the radius, the circles of the coverage areas of the two composite radars are obtained, and the intersection point of the two circles is the target position;
and if the distance is smaller than the preset value, when two intersection points appear, the distance of the third composite radar needs to be measured, then the installation position of the third composite radar is taken as the circle center, the distance measured by the third composite radar is taken as the radius to make a circle, and the intersection point of the three circles is the position of the target vehicle.
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| CN112017446B (en) * | 2020-08-07 | 2021-09-14 | 北京川速微波科技有限公司 | Radar measurement data and vehicle track association method, device, medium and electronic device |
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| EP1536247A1 (en) * | 2003-11-28 | 2005-06-01 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Interferometric microwave radar method |
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