CN113030885A - Millimeter wave radar detection system - Google Patents
Millimeter wave radar detection system Download PDFInfo
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- CN113030885A CN113030885A CN202110229676.8A CN202110229676A CN113030885A CN 113030885 A CN113030885 A CN 113030885A CN 202110229676 A CN202110229676 A CN 202110229676A CN 113030885 A CN113030885 A CN 113030885A
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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
- G01S7/40—Means for monitoring or calibrating
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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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W24/00—Supervisory, monitoring or testing arrangements
- H04W24/08—Testing, supervising or monitoring using real traffic
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Abstract
The invention discloses a millimeter wave radar detection system, and relates to the technical field of radars; the system comprises a target simulation module, an instruction input module, a processor, an abnormality testing module, a steady state analysis module, a database, a storage module, a data acquisition module and a data analysis module; before the automobile runs, the radar wave abnormity detection and abnormity processing capability of the millimeter wave radar is detected through an abnormity testing module; in the driving process of the automobile, the processor is used for verifying the communication state of the millimeter wave radar in real time, obtaining a communication evaluation coefficient of the millimeter wave radar, and comparing the communication evaluation coefficient with a communication evaluation coefficient threshold value to obtain an evaluation signal; the steady-state analysis module is used for comprehensively evaluating the evaluation signals with the time stamps stored in the database; the communication state between the millimeter wave radar and the processor can be judged according to the communication evaluation coefficient, and a user is reminded of processing in time, so that the detection efficiency of the millimeter wave radar is improved.
Description
Technical Field
The invention relates to the technical field of radars, in particular to a millimeter wave radar detection system.
Background
Radar is a device for detecting objects and identifying object information by emitting electromagnetic waves and receiving echoes, that is, finding objects and determining their positions in space by radio. Millimeter-wave radars are radars that operate to detect in the millimeter-wave band. The wavelength of the millimeter wave is between that of microwave and centimeter wave, so the millimeter wave radar has the advantages of both microwave radar and photoelectric radar. The millimeter wave radar has wide application in military fields such as radar detection, high-speed communication, missile guidance, satellite remote sensing, electronic countermeasure and the like, and in recent years, with the improvement of the level of millimeter wave devices, related technologies such as circuit design technology, antenna technology and the like are increasingly developed and continuously mature, and the application of the vehicle-mounted millimeter wave radar is also greatly developed.
Whether the millimeter wave radar can stably, reliably and accurately detect a target object closely related to the safe driving of the automobile or not needs to comprehensively test the working stability, reliability and target detection accuracy of the millimeter wave radar; with the development of electronic products, more and more electronic products are used in automobiles, mutual interference exists between parts, and the millimeter wave radar controller in the automobiles also has the problem. In addition, in the actual driving environment of the automobile, the electromagnetic environment is very complex, and the radar wave abnormality detection and abnormality processing capability of the millimeter wave radar needs to be confirmed in the environments of airports, radar stations, launching towers and the like; meanwhile, the verification of the communication state is the basis for completing radar detection; the existing millimeter wave radar detection system has the problem that the communication state between the millimeter wave radar and the processor cannot be judged according to the communication evaluation coefficient, so that a user is reminded of processing in time.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a millimeter wave radar detection system.
The purpose of the invention can be realized by the following technical scheme: a millimeter wave radar detection system comprises a target simulation module, a command input module, a processor, an abnormality testing module, a steady state analysis module, a database, an alarm module, a display module, a storage module, a data acquisition module and a data analysis module;
the target simulation module is used for simulating radar detection targets and setting a target value of the radar detection targets;
before the automobile runs, a user inputs a test instruction through the instruction input module and transmits the test instruction to the processor, and the processor is used for receiving the test instruction and transmitting the test instruction to the abnormity test module; the anomaly testing module is used for detecting radar wave anomaly detection and anomaly handling capacity of the millimeter wave radar after receiving the testing instruction;
in the driving process of the automobile, the processor is used for verifying the communication state of the millimeter wave radar in real time and obtaining the communication evaluation coefficient of the millimeter wave radar; comparing the communication evaluation coefficient with a communication evaluation coefficient threshold value to obtain an evaluation signal; the millimeter wave radar is in communication connection with the signal transmission module;
the processor is used for stamping the evaluation signal and transmitting the evaluation signal to the database for real-time storage;
the steady state analysis module is used for comprehensively evaluating the evaluation signals with the time stamps stored in the database.
Furthermore, the abnormality testing module comprises a signal transmitting unit, a transmitting antenna, a signal receiving unit and a judging unit; the specific working steps of the abnormity testing module are as follows:
VV 1: after the abnormity testing module receives the testing instruction; the millimeter wave radar transmits a detection signal through the signal transmitting unit, and the transmitting antenna is used for transmitting an interference signal to perform electromagnetic wave interference on the detection signal;
VV 2: the signal receiving unit is used for receiving an echo reflection signal of the radar detection target for performing echo reflection on the detection signal and outputting an actual measurement value of the radar detection target according to the echo reflection signal;
VV 3: the judging unit is used for judging whether the measured value of the radar detection target is consistent with the target value; the method specifically comprises the following steps:
VV 31: acquiring an actual measurement value and a target value of a radar detection target; the target value comprises a target distance and a target speed of the radar detection target; the measured value comprises a measured distance and a measured speed of the radar detection target;
calculating the difference between the target distance and the measured distance to obtain an error distance, and marking the error distance as W1; calculating the difference between the target speed and the actual measurement speed to obtain an error speed, and marking the error speed as W2;
VV 32: using formulas
Obtaining an error coefficient WX; wherein d1 and d2 are coefficient factors;
VV 33: comparing the error coefficient WX to a corresponding error coefficient threshold;
if the error coefficient WX is less than or equal to the error coefficient threshold value, judging that the measured value is consistent with the target value; generating a normal signal;
if the error coefficient WX is larger than the error coefficient threshold value, judging that the measured value is inconsistent with the target value, and generating an interference signal;
the abnormal testing module is used for transmitting normal signals and interference signals to the processor, and the processor is used for automatically driving the alarm module to give an alarm when receiving the interference signals and automatically driving the display module to display that the millimeter wave radar signals are seriously interfered and are recommended to be processed.
Further, the method for obtaining the corresponding error coefficient threshold value is as follows:
DD 1: automatically acquiring the running value YX of the millimeter wave radar from the storage module;
DD 2: setting a plurality of error coefficient thresholds and marking the thresholds as Fx; x is 1, 2, …, 15; f1 is more than F2 is more than … is more than F15; each error coefficient threshold Fx corresponds to a preset operation value range; the concrete expression is as follows: the preset operation value range corresponding to F1 is (0, F1), the preset operation value range corresponding to F2 is (F1, F2), the preset operation value range corresponding to … and F15 is (F14, F15), wherein F1 is greater than 0 and F2 is greater than … and F15;
DD 3: and when YX belongs to (Fx-1, Fx), the error coefficient threshold corresponding to the preset operation value range is Fx.
Further, the processor is configured to verify a communication state of the millimeter wave radar in real time, and the specific verification step includes:
the method comprises the following steps: the processor sends a first verification signal to the signal transmission module according to a verification period corresponding to the millimeter wave radar, and the signal transmission module immediately sends the first verification signal to the millimeter wave radar after receiving the first verification signal;
step two: when the millimeter wave radar receives the first verification signal, a second verification signal is immediately sent, and the second verification signal is transmitted to the processor through the signal transmission module;
marking the moment when the processor sends the first verification signal to the signal transmission module as a signal sending moment, and marking the moment when the millimeter wave radar receives the first verification signal as a signal transfer moment; marking the moment when the processor receives the second verification signal again as the signal receiving moment;
step three: calculating the time difference between the signal sending time and the signal transferring time to obtain a first time difference, and marking the first time difference as L1;
calculating the time difference between the signal transfer time and the signal receiving time to obtain a second time difference, and marking the second time difference as L2;
obtaining a communication evaluation coefficient LS of the millimeter wave radar by using a formula LS (L1 × a1+ L2 × a2) × | L1-L2 |; wherein a1 and a2 are coefficient factors;
step four: comparing the communication evaluation coefficient LS with a communication evaluation coefficient threshold value to obtain an evaluation signal; the communication assessment coefficient threshold comprises Y1, Y2; wherein Y1 and Y2 are preset values; y1 < Y2;
if 0 < LS < Y1, the evaluation signal is a good signal;
if Y1 is less than or equal to LS < Y2, the evaluation signal is a general signal;
if LS ≧ Y2, the evaluation signal is a range signal.
Further, the method for acquiring the corresponding verification period includes:
s11: automatically acquiring the running value YX of the millimeter wave radar from the storage module;
s12: setting a plurality of verification periods and marking as Rm; m is 1, 2, …, 15; and R1 > R2 > … > R15; each verification period Rm corresponds to a preset operation value range; the concrete expression is as follows: the preset operation value range corresponding to R1 is (0, R1), the preset operation value range corresponding to R2 is (R1, R2), …, the preset operation value range corresponding to R15 is (R14, R15; wherein R1 is more than 0 and R2 is more than … is more than R15, and the larger the operation value is, the smaller the corresponding verification period is;
s13: and when YX belongs to (Rm-1, Rm), the verification period corresponding to the preset operation value range is Rm.
Further, the steady-state analysis module is configured to perform comprehensive evaluation on the evaluation signal with the timestamp stored in the database, and the specific evaluation method includes:
s1: acquiring the number of times of the evaluation signal in the current driving process of the automobile according to the timestamp;
s2: acquiring the times of good signals, general signals and range signals and the ratio of the times of the good signals, the general signals and the range signals to the evaluation signals in the current driving process of the automobile, and sequentially marking the ratio as Zb1, Zb2 and Zb 3;
s3: calculating a communication evaluation score Wp; the specific calculation formula is Wp ═ Zb1+2 × Zb2+3 × Zb 3;
s4: comparing the communication rating Wp with a rating threshold;
when Wp is larger than the evaluation threshold value, generating an early warning signal;
the steady state analysis module is used for transmitting the early warning signal to the processor, and the processor is used for automatically driving the alarm module to give an alarm when receiving the early warning signal transmitted by the steady state analysis module, and automatically driving the display module to display that the communication problem of the millimeter wave radar is serious and the processing is recommended.
Furthermore, the data acquisition module is used for acquiring the operation information of the millimeter wave radar and sending the operation information to the data analysis module; the data analysis module is used for receiving and analyzing the operation information of the millimeter wave radar; the method comprises the following specific steps:
v1: acquiring operation information of the millimeter wave radar, wherein the operation information comprises operation starting time, operation ending time and the type of the millimeter wave radar;
calculating the time difference between the operation starting time and the corresponding operation ending time to obtain the single operation duration of the millimeter wave radar; summing all single-time operation durations of the millimeter wave radar to obtain total operation duration, and marking the total operation duration as CT; setting the maintenance frequency of the millimeter wave radar as C2;
v2: sequencing all the operation starting moments and the operation ending moments of the millimeter wave radar according to the time sequence;
v3: calculating the time difference between the two sequenced adjacent operation ending moments and operation starting moments to obtain the single operation interval duration;
comparing the single-run interval duration to an interval duration threshold; if the single-time operation interval duration is not more than the interval duration threshold, marking the corresponding single-time operation interval duration as an influence interval duration; counting the number of times of occurrence of the impact interval duration and marking as C1;
v4: calculating the difference between the influence interval duration and the interval duration threshold to obtain a front interval value, and marking as Q1;
setting the coefficient of lead-out as Kc, c is 1, 2, … …, 20; wherein K1 is more than K2 is more than … … is more than K20; each front spacing coefficient Kc corresponds to a preset front spacing value range and is respectively (k1, k 2), (k2, k 3), …, (k20, k 21), k1 is more than k2, less than … is more than k20, and less than k 21;
when Q1 belongs to (Kc, Kc +1], the front spacing coefficient corresponding to the preset front spacing value range is Kc;
obtaining an influence value Q2 corresponding to the front interval value by using a formula Q2 (Q1 XKc), summing all the corresponding influence values of the front interval value to obtain a total front interval influence value, and marking the total front interval influence value as Q3;
obtaining an interval influence coefficient GQ by using a formula GQ of C1 × a3+ Q3 × a4, wherein a3 and a4 are coefficient factors;
v5: setting all models of the millimeter wave radar to have a corresponding model value; matching the model of the millimeter wave radar with all models of the millimeter wave radar to obtain a corresponding model value, and marking the model value as Q4;
v6: normalizing the total operation time, the maintenance times, the interval influence coefficient and the corresponding model value and taking the numerical values;
obtaining an operation value YX of the millimeter wave radar by using a formula YX (CT × b1+ GQ × b2)/(C2 × b3+ Q4 × b4), wherein b1, b2, b3 and b4 are coefficient factors;
the data analysis module is used for transmitting the running value YX of the millimeter wave radar to the processor, and the processor is used for sending the running value YX of the millimeter wave radar to the storage module for storage.
The invention has the beneficial effects that:
1. before the automobile runs, the radar wave abnormity detection and abnormity processing capability of the millimeter wave radar is detected through an abnormity testing module; the millimeter wave radar transmits a detection signal through the signal transmitting unit, and the transmitting antenna is used for transmitting an interference signal to perform electromagnetic wave interference on the detection signal; the signal receiving unit is used for receiving an echo reflection signal of the radar detection target for performing echo reflection on the detection signal and outputting an actual measurement value of the radar detection target according to the echo reflection signal; the judging unit is used for judging whether the measured value of the radar detection target is consistent with the target value; when the measured value is judged to be inconsistent with the target value, generating an interference signal; when the processor receives the interference signal, the alarm module is automatically driven to give an alarm, and the display module is automatically driven to display that the millimeter wave radar signal is seriously interfered and is recommended to be processed; thereby improving the detection efficiency of the millimeter wave radar;
2. in the driving process of the automobile, the processor is used for verifying the communication state of the millimeter wave radar in real time and obtaining a communication evaluation coefficient LS of the millimeter wave radar; comparing the communication evaluation coefficient LS with a communication evaluation coefficient threshold value to obtain an evaluation signal; the steady-state analysis module is used for comprehensively evaluating the evaluation signals with the time stamps stored in the database; calculating a communication evaluation score Wp, and if Wp is larger than an evaluation score threshold value, generating an early warning signal; the processor is used for automatically driving the alarm module to give an alarm when receiving the early warning signal transmitted by the steady-state analysis module, and automatically driving the display module to display that the communication problem of the millimeter wave radar is serious and the treatment is recommended; the verification of the communication state is the basis for completing the radar detection; the communication state between the millimeter wave radar and the processor can be judged according to the communication evaluation coefficient, and a user is reminded of processing in time, so that the detection efficiency of the millimeter wave radar is improved;
3. the data analysis module is used for receiving and analyzing the operation information of the millimeter wave radar, acquiring the operation value of the millimeter wave radar, and acquiring the error coefficient threshold value and the verification period corresponding to the millimeter wave radar according to the operation value; the error coefficient threshold value and the verification period are not fixed, and the intelligent degree is high by combining various factors; so that the obtained result has more reference value.
Drawings
In order to facilitate understanding for those skilled in the art, the present invention will be further described with reference to the accompanying drawings.
FIG. 1 is a block diagram of the system of the present invention.
Detailed Description
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, and not all of the embodiments. 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.
As shown in fig. 1, a millimeter wave radar detection system includes a target simulation module, an instruction input module, a processor, an anomaly testing module, a steady state analysis module, a database, an alarm module, a display module, a storage module, a data acquisition module, and a data analysis module;
the target simulation module is used for simulating radar detection targets and setting a target value of the radar detection target;
before the automobile runs, a user inputs a test instruction through the instruction input module and transmits the test instruction to the processor, and the processor is used for receiving the test instruction and transmitting the test instruction to the abnormity test module; the anomaly testing module is used for detecting radar wave anomaly detection and anomaly handling capacity of the millimeter wave radar after receiving the testing instruction; the abnormity testing module comprises a signal transmitting unit, a transmitting antenna, a signal receiving unit and a judging unit; the specific working steps of the abnormity testing module are as follows:
VV 1: after the abnormity testing module receives the testing instruction; the millimeter wave radar transmits a detection signal through the signal transmitting unit, and the transmitting antenna is used for transmitting an interference signal to perform electromagnetic wave interference on the detection signal;
VV 2: the signal receiving unit is used for receiving an echo reflection signal of the radar detection target for performing echo reflection on the detection signal and outputting an actual measurement value of the radar detection target according to the echo reflection signal;
VV 3: the judging unit is used for judging whether the measured value of the radar detection target is consistent with the target value; the method specifically comprises the following steps:
VV 31: acquiring an actual measurement value and a target value of a radar detection target; the target value comprises a target distance and a target speed of a radar detection target; the measured value comprises the measured distance and the measured speed of the radar detection target;
calculating the difference between the target distance and the measured distance to obtain an error distance, and marking the error distance as W1; calculating the difference between the target speed and the actual measurement speed to obtain an error speed, and marking the error speed as W2;
VV 32: using formulas
Obtaining an error coefficient WX; wherein d1 and d2 are coefficient factors; for example, d1 takes on a value of 0.55, d2 takes on a value of 2.35;
VV 33: comparing the error coefficient WX to a corresponding error coefficient threshold;
if the error coefficient WX is less than or equal to the error coefficient threshold value, judging that the measured value is consistent with the target value and the anti-interference capability of the millimeter wave radar is normal; generating a normal signal;
if the error coefficient WX is larger than the error coefficient threshold value, judging that the measured value is inconsistent with the target value, and the anti-interference capability of the millimeter wave radar is abnormal to generate an interference signal;
the abnormal testing module is used for transmitting normal signals and interference signals to the processor, and the processor is used for automatically driving the alarm module to give an alarm when receiving the interference signals and automatically driving the display module to display 'millimeter wave radar signals are seriously interfered and recommended to be processed';
the method for acquiring the corresponding error coefficient threshold value comprises the following steps:
DD 1: automatically acquiring the running value YX of the millimeter wave radar from the storage module;
DD 2: setting a plurality of error coefficient thresholds and marking the thresholds as Fx; x is 1, 2, …, 15; f1 is more than F2 is more than … is more than F15; each error coefficient threshold Fx corresponds to a preset operation value range; the concrete expression is as follows: the preset operation value range corresponding to F1 is (0, F1), the preset operation value range corresponding to F2 is (F1, F2), the preset operation value range corresponding to … and F15 is (F14, F15), wherein F1 is greater than 0 and F2 is greater than … is greater than F15, and the larger the operation value is, the larger the corresponding error coefficient threshold value is;
DD 3: when YX belongs to (Fx-1, Fx), the error coefficient threshold corresponding to the preset operation value range is Fx;
in the driving process of the automobile, the processor is used for verifying the communication state of the millimeter wave radar in real time, and the millimeter wave radar is in communication connection with the signal transmission module; the specific verification steps are as follows:
the method comprises the following steps: the processor sends a first verification signal to the signal transmission module according to a verification period corresponding to the millimeter wave radar, and the signal transmission module immediately sends the first verification signal to the millimeter wave radar after receiving the first verification signal; the corresponding verification period obtaining method comprises the following steps:
s11: automatically acquiring the running value YX of the millimeter wave radar from the storage module;
s12: setting a plurality of verification periods and marking as Rm; m is 1, 2, …, 15; and R1 > R2 > … > R15; each verification period Rm corresponds to a preset operation value range; the concrete expression is as follows: the preset operation value range corresponding to R1 is (0, R1), the preset operation value range corresponding to R2 is (R1, R2), …, the preset operation value range corresponding to R15 is (R14, R15; wherein R1 is more than 0 and R2 is more than … is more than R15, and the larger the operation value is, the smaller the corresponding verification period is;
s13: when YX belongs to (Rm-1, Rm), the verification period corresponding to the preset operation value range is Rm;
step two: when the millimeter wave radar receives the first verification signal, a second verification signal is immediately sent, and the second verification signal is transmitted to the processor through the signal transmission module;
marking the moment when the processor sends the first verification signal to the signal transmission module as a signal sending moment, and marking the moment when the millimeter wave radar receives the first verification signal as a signal transfer moment; marking the moment when the processor receives the second verification signal again as the signal receiving moment;
step three: calculating the time difference between the signal sending time and the signal transferring time to obtain a first time difference, and marking the first time difference as L1;
calculating the time difference between the signal transfer time and the signal receiving time to obtain a second time difference, and marking the second time difference as L2;
obtaining a communication evaluation coefficient LS of the millimeter wave radar by using a formula LS (L1 × a1+ L2 × a2) × | L1-L2 |; wherein a1 and a2 are coefficient factors, for example, a1 takes 1.21, and a2 takes 0.98;
step four: comparing the communication evaluation coefficient LS with a communication evaluation coefficient threshold value to obtain an evaluation signal; the communication assessment coefficient thresholds include Y1, Y2; wherein Y1 and Y2 are preset values; y1 < Y2;
if LS is more than 0 and less than Y1, the communication state among the processor, the signal transmission module and the millimeter wave radar is judged to be good; the evaluation signal is a good signal at this time;
if LS is more than or equal to Y1 and less than Y2, the communication state among the processor, the signal transmission module and the millimeter wave radar is judged to be general; the evaluation signal is a general signal;
if LS is larger than or equal to Y2, the communication state between the processor, the signal transmission module and the millimeter wave radar is judged to be extremely poor; the evaluation signal is a range signal;
the processor is used for stamping the evaluation signal and transmitting the evaluation signal to the database for real-time storage;
the steady-state analysis module is used for comprehensively evaluating the evaluation signals with the time stamps stored in the database, and the specific evaluation method comprises the following steps:
s1: acquiring the number of times of the evaluation signal in the current driving process of the automobile according to the timestamp;
s2: acquiring the times of good signals, general signals and range signals and the ratio of the times of the good signals, the general signals and the range signals to the evaluation signals in the current driving process of the automobile, and sequentially marking the ratio as Zb1, Zb2 and Zb 3;
s3: calculating a communication evaluation score Wp; the specific calculation formula is Wp ═ Zb1+2 × Zb2+3 × Zb 3;
s4: comparing the communication rating Wp with a rating threshold;
when Wp is larger than the evaluation threshold value, generating an early warning signal;
the steady-state analysis module is used for transmitting the early warning signal to the processor, and the processor is used for automatically driving the alarm module to give an alarm when receiving the early warning signal transmitted by the steady-state analysis module and automatically driving the display module to display that the communication problem of the millimeter wave radar is serious and the millimeter wave radar is recommended to be processed;
the data acquisition module is used for acquiring the operation information of the millimeter wave radar and sending the operation information to the data analysis module; the data analysis module is used for receiving and analyzing the operation information of the millimeter wave radar; the method comprises the following specific steps:
v1: acquiring operation information of the millimeter wave radar, wherein the operation information comprises operation starting time, operation ending time and the type of the millimeter wave radar;
calculating the time difference between the operation starting time and the corresponding operation ending time to obtain the single operation duration of the millimeter wave radar; summing all single-time operation durations of the millimeter wave radar to obtain total operation duration, and marking the total operation duration as CT; setting the maintenance frequency of the millimeter wave radar as C2;
v2: sequencing all the operation starting moments and the operation ending moments of the millimeter wave radar according to a time sequence, and respectively marking the operation starting moments and the operation ending moments of the sequenced millimeter wave radar as Ti1 and Ti 2; wherein i is 1, 2, … …, n; n is a positive integer; t11 denotes the operation start time of the top of the sequence, T12 denotes the operation end time of the top of the sequence, T21 denotes the operation start time of the next sequence, T22 denotes the operation end time of the next sequence, and so on;
v3: calculating the time difference between the two sequenced adjacent operation ending moments and operation starting moments to obtain the single operation interval duration; the method specifically comprises the following steps: the time duration of the first single access interval is T12-T21, the time duration of the second single access interval is T22-T31, and so on;
comparing the single-run interval duration to an interval duration threshold; if the single-time operation interval duration is not more than the interval duration threshold, marking the corresponding single-time operation interval duration as an influence interval duration; counting the number of times of occurrence of the impact interval duration and marking as C1;
v4: calculating the difference between the influence interval duration and the interval duration threshold to obtain a front interval value, and marking as Q1; wherein the larger the front interval value Q1 is, the smaller the duration of the influence interval is;
setting the coefficient of lead-out as Kc, c is 1, 2, … …, 20; wherein K1 is more than K2 is more than … … is more than K20; each front spacing coefficient Kc corresponds to a preset front spacing value range and is respectively (k1, k 2), (k2, k 3), …, (k20, k 21), k1 is more than k2 and less than … is more than k20 and less than k21, namely, the larger the front spacing value is, the larger the corresponding front spacing coefficient is;
when Q1 belongs to (Kc, Kc +1], the front spacing coefficient corresponding to the preset front spacing value range is Kc;
obtaining an influence value Q2 corresponding to the front interval value by using a formula Q2 (Q1 XKc), summing all the corresponding influence values of the front interval value to obtain a total front interval influence value, and marking the total front interval influence value as Q3;
obtaining an interval influence coefficient GQ by using a formula GQ of C1 × a3+ Q3 × a4, wherein a3 and a4 are both coefficient factors, for example, a3 takes the value of 0.25, and a4 takes the value of 0.18;
v5: setting all models of the millimeter wave radar to have a corresponding model value; matching the model of the millimeter wave radar with all models of the millimeter wave radar to obtain a corresponding model value, and marking the model value as Q4;
v6: normalizing the total operation time, the maintenance times, the interval influence coefficient and the corresponding model value and taking the numerical values;
obtaining an operation value YX of the millimeter wave radar by using a formula YX (CT × b1+ GQ × b2)/(C2 × b3+ Q4 × b4), wherein b1, b2, b3 and b4 are coefficient factors; for example, b1 takes the value of 0.11, b2 takes the value of 0.23, b3 takes the value of 0.17, and b4 takes the value of 0.38;
the data analysis module is used for transmitting the running value YX of the millimeter wave radar to the processor, and the processor is used for sending the running value YX of the millimeter wave radar to the storage module for storage.
The working principle of the invention is as follows:
a millimeter wave radar detection system works, firstly, a radar detection target is simulated through a target simulation module, and a target value of the radar detection target is set; before the automobile runs, radar wave abnormality detection and abnormality processing capabilities of the millimeter wave radar are detected through an abnormality testing module; the millimeter wave radar transmits a detection signal through the signal transmitting unit, and the transmitting antenna is used for transmitting an interference signal to perform electromagnetic wave interference on the detection signal; the signal receiving unit is used for receiving an echo reflection signal of the radar detection target for performing echo reflection on the detection signal and outputting an actual measurement value of the radar detection target according to the echo reflection signal; the judging unit is used for judging whether the measured value of the radar detection target is consistent with the target value; when the measured value is judged to be inconsistent with the target value, generating an interference signal; when the processor receives the interference signal, the alarm module is automatically driven to give an alarm, and the display module is automatically driven to display that the millimeter wave radar signal is seriously interfered and is recommended to be processed;
in the driving process of the automobile, the processor is used for verifying the communication state of the millimeter wave radar in real time, the processor sends a first verification signal to the signal transmission module according to a verification period corresponding to the millimeter wave radar, and the signal transmission module immediately sends the first verification signal to the millimeter wave radar after receiving the first verification signal; when the millimeter wave radar receives the first verification signal, a second verification signal is immediately sent, and the second verification signal is transmitted to the processor through the signal transmission module; obtaining the first time difference and the second time difference, and obtaining a communication evaluation coefficient LS of the millimeter wave radar by using a formula LS (L1 × a1+ L2 × a2) × | L1-L2 |; comparing the communication evaluation coefficient LS with a communication evaluation coefficient threshold value to obtain an evaluation signal; the steady-state analysis module is used for comprehensively evaluating the evaluation signals with the time stamps stored in the database; acquiring the number of times of the evaluation signal in the current driving process of the automobile according to the timestamp; acquiring the times of good signals, general signals and range signals and the ratio of the times of the good signals, the general signals and the range signals to the times of the evaluation signals in the current driving process of the automobile, calculating a communication evaluation score Wp, and generating an early warning signal if Wp is greater than an evaluation score threshold; the processor is used for automatically driving the alarm module to give an alarm when receiving the early warning signal transmitted by the steady-state analysis module, and automatically driving the display module to display that the communication problem of the millimeter wave radar is serious and the treatment is recommended;
the data analysis module is used for receiving and analyzing the operation information of the millimeter wave radar, acquiring the operation value of the millimeter wave radar, and acquiring the error coefficient threshold value and the verification period corresponding to the millimeter wave radar according to the operation value; the error coefficient threshold value and the verification period are not fixed, and the intelligent degree is high by combining various factors; so that the obtained result has more reference value.
The formula and the coefficient factor are both obtained by acquiring a large amount of data to perform software simulation and performing parameter setting processing by corresponding experts, and the formula and the coefficient factor which are consistent with a real result are obtained.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise forms disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (7)
1. A millimeter wave radar detection system is characterized by comprising a target simulation module, an instruction input module, a processor, an abnormality testing module, a steady state analysis module, a database, an alarm module, a display module, a storage module, a data acquisition module and a data analysis module;
the target simulation module is used for simulating radar detection targets and setting a target value of the radar detection targets;
before the automobile runs, a user inputs a test instruction through the instruction input module and transmits the test instruction to the processor, and the processor is used for receiving the test instruction and transmitting the test instruction to the abnormity test module; the anomaly testing module is used for detecting radar wave anomaly detection and anomaly handling capacity of the millimeter wave radar after receiving the testing instruction;
in the driving process of the automobile, the processor is used for verifying the communication state of the millimeter wave radar in real time and obtaining the communication evaluation coefficient of the millimeter wave radar; comparing the communication evaluation coefficient with a communication evaluation coefficient threshold value to obtain an evaluation signal; the millimeter wave radar is in communication connection with the signal transmission module;
the processor is used for stamping the evaluation signal and transmitting the evaluation signal to the database for real-time storage;
the steady state analysis module is used for comprehensively evaluating the evaluation signals with the time stamps stored in the database.
2. The millimeter wave radar detection system according to claim 1, wherein the anomaly testing module comprises a signal transmitting unit, a transmitting antenna, a signal receiving unit and a judging unit; the specific working steps of the abnormity testing module are as follows:
VV 1: after the abnormity testing module receives the testing instruction; the millimeter wave radar transmits a detection signal through the signal transmitting unit, and the transmitting antenna is used for transmitting an interference signal to perform electromagnetic wave interference on the detection signal;
VV 2: the signal receiving unit is used for receiving an echo reflection signal of the radar detection target for performing echo reflection on the detection signal and outputting an actual measurement value of the radar detection target according to the echo reflection signal;
VV 3: the judging unit is used for judging whether the measured value of the radar detection target is consistent with the target value; the method specifically comprises the following steps:
VV 31: acquiring an actual measurement value and a target value of a radar detection target; the target value comprises a target distance and a target speed of the radar detection target; the measured value comprises a measured distance and a measured speed of the radar detection target;
calculating the difference between the target distance and the measured distance to obtain an error distance, and marking the error distance as W1; calculating the difference between the target speed and the actual measurement speed to obtain an error speed, and marking the error speed as W2;
VV 32: using formulas
Obtaining an error coefficient WX; wherein d1 and d2 are coefficient factors;
VV 33: comparing the error coefficient WX to a corresponding error coefficient threshold;
if the error coefficient WX is less than or equal to the error coefficient threshold value, judging that the measured value is consistent with the target value; generating a normal signal;
if the error coefficient WX is larger than the error coefficient threshold value, judging that the measured value is inconsistent with the target value, and generating an interference signal;
the abnormal testing module is used for transmitting normal signals and interference signals to the processor, and the processor is used for automatically driving the alarm module to give an alarm when receiving the interference signals and automatically driving the display module to display that the millimeter wave radar signals are seriously interfered and are recommended to be processed.
3. The millimeter wave radar detection system according to claim 2, wherein the corresponding error coefficient threshold is obtained by:
DD 1: automatically acquiring the running value YX of the millimeter wave radar from the storage module;
DD 2: setting a plurality of error coefficient thresholds and marking the thresholds as Fx; x is 1, 2, …, 15; f1 is more than F2 is more than … is more than F15; each error coefficient threshold Fx corresponds to a preset operation value range; the concrete expression is as follows: the preset operation value range corresponding to F1 is (0, F1), the preset operation value range corresponding to F2 is (F1, F2), the preset operation value range corresponding to … and F15 is (F14, F15), wherein F1 is greater than 0 and F2 is greater than … and F15;
DD 3: and when YX belongs to (Fx-1, Fx), the error coefficient threshold corresponding to the preset operation value range is Fx.
4. The millimeter wave radar detection system according to claim 1, wherein the processor is configured to verify the communication status of the millimeter wave radar in real time, and the specific verification steps include:
the method comprises the following steps: the processor sends a first verification signal to the signal transmission module according to a verification period corresponding to the millimeter wave radar, and the signal transmission module immediately sends the first verification signal to the millimeter wave radar after receiving the first verification signal;
step two: when the millimeter wave radar receives the first verification signal, a second verification signal is immediately sent, and the second verification signal is transmitted to the processor through the signal transmission module;
marking the moment when the processor sends the first verification signal to the signal transmission module as a signal sending moment, and marking the moment when the millimeter wave radar receives the first verification signal as a signal transfer moment; marking the moment when the processor receives the second verification signal again as the signal receiving moment;
step three: calculating the time difference between the signal sending time and the signal transferring time to obtain a first time difference, and marking the first time difference as L1;
calculating the time difference between the signal transfer time and the signal receiving time to obtain a second time difference, and marking the second time difference as L2;
obtaining a communication evaluation coefficient LS of the millimeter wave radar by using a formula LS (L1 × a1+ L2 × a2) × | L1-L2 |; wherein a1 and a2 are coefficient factors;
step four: comparing the communication evaluation coefficient LS with a communication evaluation coefficient threshold value to obtain an evaluation signal; the communication assessment coefficient threshold comprises Y1, Y2; wherein Y1 and Y2 are preset values; y1 < Y2;
if 0 < LS < Y1, the evaluation signal is a good signal;
if Y1 is less than or equal to LS < Y2, the evaluation signal is a general signal;
if LS ≧ Y2, the evaluation signal is a range signal.
5. The millimeter wave radar detection system according to claim 4, wherein the corresponding verification period is obtained by:
s11: automatically acquiring the running value YX of the millimeter wave radar from the storage module;
s12: setting a plurality of verification periods and marking as Rm; m is 1, 2, …, 15; and R1 > R2 > … > R15; each verification period Rm corresponds to a preset operation value range; the concrete expression is as follows: the preset operation value range corresponding to R1 is (0, R1), the preset operation value range corresponding to R2 is (R1, R2), …, the preset operation value range corresponding to R15 is (R14, R15; wherein R1 is more than 0 and R2 is more than … is more than R15, and the larger the operation value is, the smaller the corresponding verification period is;
s13: and when YX belongs to (Rm-1, Rm), the verification period corresponding to the preset operation value range is Rm.
6. The millimeter wave radar detection system according to claim 1, wherein the steady state analysis module is configured to perform comprehensive evaluation on the evaluation signal with the timestamp stored in the database, and the specific evaluation method is as follows:
s1: acquiring the number of times of the evaluation signal in the current driving process of the automobile according to the timestamp;
s2: acquiring the times of good signals, general signals and range signals and the ratio of the times of the good signals, the general signals and the range signals to the evaluation signals in the current driving process of the automobile, and sequentially marking the ratio as Zb1, Zb2 and Zb 3;
s3: calculating a communication evaluation score Wp; the specific calculation formula is Wp ═ Zb1+2 × Zb2+3 × Zb 3;
s4: comparing the communication rating Wp with a rating threshold;
when Wp is larger than the evaluation threshold value, generating an early warning signal;
the steady state analysis module is used for transmitting the early warning signal to the processor, and the processor is used for automatically driving the alarm module to give an alarm when receiving the early warning signal transmitted by the steady state analysis module, and automatically driving the display module to display that the communication problem of the millimeter wave radar is serious and the processing is recommended.
7. The millimeter wave radar detection system according to claim 1, wherein the data collection module is configured to collect operation information of the millimeter wave radar and send the operation information to the data analysis module; the data analysis module is used for receiving and analyzing the operation information of the millimeter wave radar; the method comprises the following specific steps:
v1: acquiring operation information of the millimeter wave radar, wherein the operation information comprises operation starting time, operation ending time and the type of the millimeter wave radar;
calculating the time difference between the operation starting time and the corresponding operation ending time to obtain the single operation duration of the millimeter wave radar; summing all single-time operation durations of the millimeter wave radar to obtain total operation duration, and marking the total operation duration as CT; setting the maintenance frequency of the millimeter wave radar as C2;
v2: sequencing all the operation starting moments and the operation ending moments of the millimeter wave radar according to the time sequence;
v3: calculating the time difference between the two sequenced adjacent operation ending moments and operation starting moments to obtain the single operation interval duration;
comparing the single-run interval duration to an interval duration threshold; if the single-time operation interval duration is not more than the interval duration threshold, marking the corresponding single-time operation interval duration as an influence interval duration; counting the number of times of occurrence of the impact interval duration and marking as C1;
v4: calculating the difference between the influence interval duration and the interval duration threshold to obtain a front interval value, and marking as Q1;
setting the coefficient of lead-out as Kc, c is 1, 2, … …, 20; wherein K1 is more than K2 is more than … … is more than K20;
each front spacing coefficient Kc corresponds to a preset front spacing value range and is respectively (k1, k 2), (k2, k 3), …, (k20, k 21), k1 is more than k2, less than … is more than k20, and less than k 21;
when Q1 belongs to (Kc, Kc +1], the front spacing coefficient corresponding to the preset front spacing value range is Kc;
obtaining an influence value Q2 corresponding to the front interval value by using a formula Q2 (Q1 XKc), summing all the corresponding influence values of the front interval value to obtain a total front interval influence value, and marking the total front interval influence value as Q3;
obtaining an interval influence coefficient GQ by using a formula GQ of C1 × a3+ Q3 × a4, wherein a3 and a4 are coefficient factors;
v5: setting all models of the millimeter wave radar to have a corresponding model value; matching the model of the millimeter wave radar with all models of the millimeter wave radar to obtain a corresponding model value, and marking the model value as Q4;
v6: normalizing the total operation time, the maintenance times, the interval influence coefficient and the corresponding model value and taking the numerical values;
obtaining an operation value YX of the millimeter wave radar by using a formula YX (CT × b1+ GQ × b2)/(C2 × b3+ Q4 × b4), wherein b1, b2, b3 and b4 are coefficient factors;
the data analysis module is used for transmitting the running value YX of the millimeter wave radar to the processor, and the processor is used for sending the running value YX of the millimeter wave radar to the storage module for storage.
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