CN114167406B - System for reducing false alarm of radar through fusion - Google Patents
System for reducing false alarm of radar through fusion Download PDFInfo
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- CN114167406B CN114167406B CN202111403062.3A CN202111403062A CN114167406B CN 114167406 B CN114167406 B CN 114167406B CN 202111403062 A CN202111403062 A CN 202111403062A CN 114167406 B CN114167406 B CN 114167406B
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- 230000004927 fusion Effects 0.000 title claims abstract description 12
- 238000012545 processing Methods 0.000 claims abstract description 11
- 238000007781 pre-processing Methods 0.000 claims abstract description 5
- 238000005259 measurement Methods 0.000 claims description 37
- 230000001960 triggered effect Effects 0.000 claims description 20
- 238000001514 detection method Methods 0.000 claims description 6
- 230000003068 static effect Effects 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 3
- 230000001681 protective effect Effects 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 6
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Classifications
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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
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
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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
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/415—Identification of targets based on measurements of movement associated with the target
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a system for reducing radar false alarm through fusion, which has the technical scheme that the system comprises a processor, a camera shooting identification system, a radar identification system and a display system, wherein the display system comprises a display arranged on a vehicle center console, the camera shooting identification system is used for shooting and comparing the periphery of a vehicle in real time to generate a basic model for display of the display, the radar identification system is used for generating a vehicle model, vehicle speed information and transverse distance, an analysis strategy is configured in the camera shooting identification system, whether a symmetrical target is generated or not is judged through the analysis strategy, the processor comprises a preprocessing unit, the processing unit is used for judging whether the symmetrical target is a true target or not and generating a final display image, and the display calls the final display image and displays the final display image on the display. The system for reducing the false alarm of the radar through fusion has the effects of accurately detecting the surrounding environment, avoiding the false alarm of the radar and improving the driving safety.
Description
Technical Field
The invention relates to the technical field of radar detection and identification, in particular to a system for reducing false alarm of a radar through fusion.
Background
Along with the rapid development of economy and science and technology, intelligent improvement is made in many traditional industries, wherein the intelligent improvement is also made to the automobile industry which is particularly important in daily life, and in the development of the automobile industry, elements for intelligent driving are continuously integrated, so that the driving safety of a vehicle is improved.
The radar detection technology plays an important role in the application of automobiles, and the millimeter wave radar detection principle is that radio waves (millimeter waves) are emitted out and then echoes are received, the position data and the relative distance of a target are measured according to the time difference of receiving and transmitting, and the speed measurement is carried out based on the Doppler effect.
However, in the existing detection, the false alarm condition of the radar image can occur, and generally the false alarm of the radar image occurs in a large-area wall body, such as a sound insulation board on a viaduct, a wall body, a large truck and the like, and a false target appears on the display after the radar is reflected for many times, so that the false alarm is caused, the judgment of a driver on the road condition is often affected when the false alarm is performed, the safety accident can be caused, the safety driving is not facilitated, and therefore, the false alarm is particularly important for the accurate detection and display of the radar on the surrounding conditions.
Disclosure of Invention
Aiming at the defects existing in the prior art, the invention aims to provide a system for reducing false alarms of a radar through fusion, which has the effects of accurately detecting the surrounding environment, avoiding the false alarms of the radar and improving the driving safety.
In order to achieve the above purpose, the present invention provides the following technical solutions:
The system for reducing radar false alarm through fusion comprises a processor, a camera recognition system, a radar recognition system and a display system, wherein the camera recognition system comprises a camera module, an initial model module and a real-time comparison module, the camera module is used for shooting the periphery of a vehicle in real time and generating a real-time scene image, a basic model and a scene library are configured in the initial module, a preset basic scene is configured in the scene library, the display system comprises a display arranged on a central console of the vehicle, and the display system calls the basic model and displays the basic model on the display;
the radar identification system comprises a radar measurement module, wherein a measurement strategy is configured in the radar measurement module, the measurement strategy comprises the steps of displaying a vehicle model on a basic model, acquiring the running speed of the vehicle to generate vehicle speed information, calling the scene image or the basic scene, acquiring the distance between the position of the vehicle and an obstacle in the scene image or the basic scene to generate a transverse distance, the vehicle speed information represents the real-time speed of the vehicle, and the transverse distance represents the transverse distance value between the vehicle and the obstacle;
The real-time comparison module is internally provided with a comparison strategy and an analysis strategy, the comparison strategy comprises the steps of comparing a calling scene image with a preset basic scene in a scene library, calling the basic scene covering scene image if the scene image is consistent with the basic scene, calling the scene image if the scene image is not consistent with the basic scene, overlapping a vehicle model into the scene image or the basic scene to form a display image, judging whether a symmetrical target appears in the scene image or the basic scene according to the vehicle speed information and the transverse distance, and generating a rejection signal if the symmetrical target appears, wherein the symmetrical target represents the vehicle model additionally generated by the radar measurement module;
The processor comprises a preprocessing unit, a rejection strategy is configured in the processing unit, the rejection strategy is triggered when the rejection signal appears, the rejection strategy comprises the steps of calling a scene image, comparing the scene image with a display image, judging the symmetrical target as a true target and reserving the symmetrical target if a vehicle appears at the symmetrical target, judging the symmetrical target as a false target and rejecting the symmetrical target if the vehicle does not appear at the virtual target, generating a final display image, the final display image is selected from the scene image or a basic scene, and the display calls the final display image and displays the final display image on the display.
As a further improvement of the invention, the basic scene comprises a road side scene, a driving scene and a protection scene, wherein the road side scene represents that images of a plurality of vehicles which are arranged in a static way along the driving direction of the vehicle model exist on one side of the vehicle model, the driving scene represents that images of driving vehicles exist on the periphery of the vehicle model, and the protection scene represents that a long-distance protection guardrail exists on one side of the vehicle.
As a further improvement of the invention, the analysis strategy is specifically:
when the basic scene is called to overlap with the vehicle model, if a symmetrical target appears along the symmetrical position of the vehicle or the protective guard rail in the basic scene, the distance between the symmetrical target and the vehicle model is twice the transverse distance, the speed information of the symmetrical target is consistent with the speed information of the vehicle model, and the symmetrical target is a false target to be removed;
When the basic scene or the scene image is called to be overlapped with the vehicle model, if the speed information of the symmetrical targets is inconsistent with the speed information of the vehicle model or the distance between the symmetrical targets and the vehicle model is not equal to two times, the symmetrical targets are true targets which need to be reserved.
As a further improvement of the present invention, the analysis strategy further includes determining that the moving target is a false target and directly rejecting the moving target when the moving target moving along the driving direction of the vehicle model appears in the vehicles arranged stationary in the roadside scene when the displayed final display image is the roadside scene in the basic scene.
As a further improvement of the present invention, the measurement strategy further includes measuring the distance between the symmetrical object determined to be the true object and the vehicle model to generate an actual distance value, and the display acquires the lateral distance and the actual distance value and displays the same therein, and also acquires the symmetrical object and displays the same in the display.
As a further improvement of the present invention, the processor further includes an expansion processing unit, an expansion policy is configured in the expansion processing unit, when the final display image is selected as a basic scene, and the basic scene is a road edge scene, the expansion unit is triggered, the expansion policy is executed when the expansion unit is triggered, and a parking policy is preset in the radar measurement module, where the expansion policy specifically is:
the method comprises the steps that when an extension unit is triggered, a measurement signal is generated and sent to a radar measurement module, the radar measurement module measures the distance between vehicles which are arranged in a static mode in a basic scene and generates a parking interval, when the length of the parking interval is larger than that of a vehicle model, a parking strategy is triggered, and the parking strategy comprises judging whether the parking interval meets parking requirements or not according to comparison of the parking interval and the length of the vehicle model.
As a further improvement of the present invention, a movement threshold is preset in the extension unit, and the processor further includes a guiding unit, where a guiding policy is configured in the guiding unit, and the parking policy specifically is:
If the length of the parking interval is greater than or equal to the length of the vehicle model plus twice the movement threshold value, judging that the parking interval meets the parking requirement;
If the length of the parking interval is smaller than or equal to the length of the vehicle model plus twice of the movement threshold value, judging that the parking interval does not meet the parking requirement;
and generating a guiding signal when the parking interval meets the parking requirement, and guiding the vehicle to park in the parking interval by the guiding unit according to the guiding strategy.
As a further improvement of the present invention, a parking side distance, a parking longitudinal distance and a parking track are preset in the expansion unit, the clear side distance and the parking longitudinal distance are both interval values, and the guiding strategy specifically comprises:
and guiding the vehicle model to move to the outer side of the parking interval, parking the vehicle model according to the parking side distance and the parking longitudinal distance, and parking the vehicle model into the parking interval according to the parking track.
As a further improvement of the invention, the processor further comprises a lane change warning unit and a broadcasting unit, the vehicle model triggers the lane change warning unit when lane change, a lane change warning strategy and a preset warning interval are configured in the lane change warning unit, the lane change warning strategy comprises real-time display of a transverse distance and an actual distance when lane change, and the broadcasting unit is triggered to conduct voice warning broadcasting when the actual distance value is smaller than the warning interval.
The invention has the beneficial effects that: the method comprises the steps of shooting, identifying and forming a scene image on the periphery of a vehicle through a shooting module, configuring a basic model and a scene library in an initial module so as to enable the scene image to be compared with the image in the scene library, acquiring speed information and transverse distance of the vehicle under the action of a measurement strategy configured in a radar measurement module, analyzing symmetrical targets near the vehicle after radar measurement under the action of an analysis strategy, judging true and false conditions of the symmetrical targets, eliminating the symmetrical targets which are false targets, and reserving the symmetrical targets which are true, thereby realizing the effect of accurately detecting the vicinity of the vehicle, reducing the false alarm condition of the radar and improving the driving safety.
Drawings
Fig. 1 is a flow chart of a system embodying the present invention.
Reference numerals: 1. a processor; 11. a preprocessing unit; 12. an expansion processing unit; 13. a guide unit; 14. a lane change warning unit; 15. a broadcasting unit; 2. a camera identification system; 21. a camera module; 22. an initial model module; 23. a real-time comparison module; 3. a radar identification system; 31. a radar measurement module; 4. and a display system.
Detailed Description
The invention will now be described in further detail with reference to the drawings and examples. Wherein like parts are designated by like reference numerals. It should be noted that the words "front", "back", "left", "right", "upper" and "lower" used in the following description refer to directions in the drawings, and the words "bottom" and "top", "inner" and "outer" refer to directions toward or away from, respectively, the geometric center of a particular component.
Referring to fig. 1, a specific implementation mode of a system for reducing radar false alarm through fusion according to the present invention includes a processor 1, a camera recognition system, a radar recognition system 3 and a display system 4, where the camera recognition system includes a camera module 21, an initial model module 22 and a real-time comparison module 23, the camera module 21 is used for shooting the periphery of a vehicle in real time and generating a real-time scene image, a basic model and a scene library are configured in the initial module, a preset basic scene is configured in the scene library, the display system 4 includes a display disposed on a console in the vehicle, and the display system 4 calls the basic model and displays on the display;
The radar identification system 3 comprises a radar measurement module 31, wherein a measurement strategy is configured in the radar measurement module 31, the measurement strategy comprises the steps of displaying a vehicle model on a basic model, acquiring the running speed of the vehicle to generate vehicle speed information, calling a scene image or a basic scene, acquiring the distance between the position of the vehicle and an obstacle in the scene image or the basic scene to generate a transverse distance, the vehicle speed information represents the real-time speed of the vehicle, and the transverse distance represents the transverse distance value between the vehicle and the obstacle;
The real-time comparison module 23 is internally provided with a comparison strategy and an analysis strategy, the comparison strategy comprises comparing a calling scene image with a preset basic scene in a scene library according to the calling scene image, calling a basic scene covering scene image if the scene image is consistent with the basic scene, calling the scene image if the scene image is not consistent with the basic scene, the analysis strategy comprises overlapping a vehicle model into the scene image or the basic scene to form a display image, judging whether a symmetrical target appears in the scene image or the basic scene according to the vehicle speed information and the transverse distance, generating a rejection signal if the symmetrical target appears, and the symmetrical target represents the vehicle model additionally generated by the radar measurement module 31;
The processor 1 comprises a preprocessing unit 11, a rejection strategy is configured in the processing unit, the rejection strategy is triggered when a rejection signal appears, the rejection strategy comprises the steps of calling a scene image, carrying out the overlapping comparison on the scene image and a display image, judging the symmetrical target as a true target and retaining the symmetrical target if a vehicle appears at the symmetrical target, judging the symmetrical target as a false target and rejecting the symmetrical target if the vehicle does not appear at the virtual target, generating a final display image, selecting the scene image or a basic scene for the final display image, and calling the final display image by the display and displaying the final display image on the display.
Referring to fig. 1, the basic scene includes a road side scene, a driving scene, and a protection scene, wherein the road side scene represents an image that a plurality of vehicles are statically arranged along a driving direction of the vehicle model on one side of the vehicle model, the driving scene represents an image that driving vehicles are arranged around the vehicle model, and the protection scene represents a protection guardrail with a long distance on one side of the vehicle.
Referring to fig. 1, the analysis strategy is specifically:
When the basic scene is called to overlap with the vehicle model, if a symmetrical target appears along the symmetrical position of the vehicle or the guard rail in the basic scene, the distance between the symmetrical target and the vehicle model is twice the transverse distance, the speed information of the symmetrical target is consistent with the speed information of the vehicle model, and the symmetrical target is a false target to be removed;
When the basic scene or the scene image is called to be overlapped with the vehicle model, if the speed information of the symmetrical targets is inconsistent with the speed information of the vehicle model or the distance between the symmetrical targets and the vehicle model is not equal to two times, the symmetrical targets are true targets which need to be reserved;
the analysis strategy further comprises the steps of judging that the moving target is a false target and directly eliminating the moving target when the moving target moving along the running direction of the vehicle model appears in vehicles in static arrangement in the road side scene when the displayed final display image is the road side scene in the basic scene.
The measurement strategy further comprises the steps of measuring the distance between the symmetrical target judged to be the true target and the vehicle model to generate an actual distance value, and the display obtains the transverse distance and the actual distance value and displays the transverse distance and the actual distance value in the display, and also obtains the symmetrical target and displays the symmetrical target and the actual distance value in the display.
The processor 1 further includes an expansion processing unit 12, an expansion policy is configured in the expansion processing unit 12, when the final display image is selected as a basic scene, and the basic scene is a road edge scene, the expansion unit is triggered, the expansion policy is executed when the expansion unit is triggered, and a parking policy is preset in the radar measurement module 31, where the expansion policy specifically is:
when the extension unit is triggered, a measurement signal is generated and sent to the radar measurement module 31, the radar measurement module 31 measures the spacing between vehicles which are arranged in a static manner in a basic scene and generates a parking interval, when the length of the parking interval is greater than that of a vehicle model, the parking strategy is triggered, and the parking strategy comprises judging whether the parking interval meets the parking requirement according to the comparison of the parking interval and the length of the vehicle model.
The expansion unit is also preset with a movement threshold, the processor 1 further comprises a guiding unit 13, and the guiding unit 13 is internally provided with a guiding strategy, namely:
If the length of the parking interval is greater than or equal to the length of the vehicle model plus twice the movement threshold value, judging that the parking interval meets the parking requirement;
If the length of the parking interval is less than or equal to the length of the vehicle model plus twice the movement threshold value, judging that the parking interval does not meet the parking requirement;
the guiding unit 13 generates a guiding signal when the parking interval satisfies the parking demand, and guides the vehicle to park into the parking interval according to the guiding strategy.
The extension unit is internally preset with a parking side distance, a parking longitudinal distance and a parking track, wherein the parking side distance and the parking longitudinal distance are all interval values, and the guiding strategy specifically comprises the following steps:
And guiding the vehicle model to move to the outer side of the parking interval, parking the vehicle model according to the parking side distance and the parking longitudinal distance, and parking the vehicle model into the parking interval according to the parking track.
The processor 1 further comprises a lane change warning unit 14 and a broadcasting unit 15, the lane change warning unit 14 is triggered when the lane change is carried out by the vehicle model, a lane change warning strategy and a preset warning interval are configured in the lane change warning unit 14, the lane change warning strategy comprises real-time display of a transverse distance and an actual distance when the lane change is carried out, and the broadcasting unit 15 is triggered to carry out voice warning broadcasting when the actual distance value is smaller than the warning interval.
Working principle and effect:
The camera module 21 shoots and identifies the periphery of the vehicle and forms a scene image, a basic model and a scene library are configured in an initial module so that the scene image can be compared with the image in the scene library, under the action of a measurement strategy configured in the radar measurement module 31, the speed information and the transverse distance of the vehicle are acquired, under the action of an analysis strategy, symmetrical targets near the radar measured vehicle are analyzed, the true and false conditions of the symmetrical targets are judged, the symmetrical targets which are false targets are removed, and the true symmetrical targets are reserved, so that the effect of accurately detecting the vicinity of the vehicle is realized, the false condition of the radar is reduced, and the driving safety is improved.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above examples, and all technical solutions belonging to the concept of the present invention belong to the protection scope of the present invention. It should be noted that modifications and adaptations to the present invention may occur to one skilled in the art without departing from the principles of the present invention and are intended to be within the scope of the present invention.
Claims (9)
1. A system for reducing false alarms of a radar by fusion, characterized by: the system comprises a processor (1), a camera recognition system, a radar recognition system (3) and a display system (4), wherein the camera recognition system comprises a camera module (21), an initial model module (22) and a real-time comparison module (23), the camera module (21) is used for shooting the periphery of a vehicle in real time and generating a real-time scene image, a basic model and a scene library are configured in the initial module, a preset basic scene is configured in the scene library, the display system (4) comprises a display arranged on a console in the vehicle, and the display system (4) calls the basic model and displays the basic model on the display;
The radar identification system (3) comprises a radar measurement module (31), wherein a measurement strategy is configured in the radar measurement module (31), the measurement strategy comprises the steps of displaying a vehicle model on a basic model, acquiring the running speed of the vehicle to generate vehicle speed information, calling the scene image or the basic scene, acquiring the distance between the position of the vehicle and an obstacle in the scene image or the basic scene to generate a transverse distance, and the vehicle speed information represents the real-time speed of the vehicle, and the transverse distance represents the transverse distance value between the vehicle and the obstacle;
A comparison strategy and an analysis strategy are configured in the real-time comparison module (23), the comparison strategy comprises comparing a calling scene image with a preset basic scene in a scene library, calling the basic scene covering scene image if the scene image is consistent with the basic scene, calling the scene image if the scene image is not consistent with the basic scene, the analysis strategy comprises overlapping a vehicle model into the scene image or the basic scene to form a display image, judging whether a symmetrical target appears in the scene image or the basic scene according to vehicle speed information and a transverse distance, generating a rejection signal if the symmetrical target appears, and the symmetrical target represents the vehicle model additionally generated by the radar measurement module (31) detection;
The processor (1) comprises a preprocessing unit (11), wherein a rejection strategy is configured in the processing unit, when the rejection signal appears, the rejection strategy is triggered, the rejection strategy comprises the steps of calling a scene image, comparing the scene image with a display image in a combined mode, judging the symmetrical target to be a true target and reserving the symmetrical target if a vehicle appears at the symmetrical target, judging the symmetrical target to be a false target and rejecting the symmetrical target if the vehicle does not appear at the virtual target, generating a final display image, wherein the final display image is selected from the scene image or a basic scene, and calling the final display image and displaying the final display image on the display.
2. A system for reducing false alarms of radar by fusion according to claim 1, characterized in that: the basic scene comprises a road side scene, a driving scene and a protection scene, wherein the road side scene represents images of a plurality of vehicles which are statically arranged along the driving direction of the vehicle model on one side of the vehicle model, the driving scene represents images of driving vehicles on the periphery of the vehicle model, and the protection scene represents a long-distance protection guardrail on one side of the vehicle.
3. A system for reducing false alarms of radar by fusion according to claim 2, characterized in that: the analysis strategy specifically comprises the following steps:
when the basic scene is called to overlap with the vehicle model, if a symmetrical target appears along the symmetrical position of the vehicle or the protective guard rail in the basic scene, the distance between the symmetrical target and the vehicle model is twice the transverse distance, the speed information of the symmetrical target is consistent with the speed information of the vehicle model, and the symmetrical target is a false target to be removed;
When the basic scene or the scene image is called to be overlapped with the vehicle model, if the speed information of the symmetrical targets is inconsistent with the speed information of the vehicle model or the distance between the symmetrical targets and the vehicle model is not equal to two times, the symmetrical targets are true targets which need to be reserved.
4. A system for reducing false alarms of a radar by fusion according to claim 3, characterized in that: and the analysis strategy further comprises the steps of judging that the moving target is a false target and directly eliminating the moving target when the moving target moving along the running direction of the vehicle model appears in vehicles in static arrangement in the road side scene when the displayed final display image is the road side scene in the basic scene.
5. A system for reducing false alarms of radar by fusing according to claim 4, wherein: the measurement strategy further comprises the step of measuring the distance between the symmetrical object which is judged to be the true object and the vehicle model to generate an actual distance value, wherein the display obtains the transverse distance and the actual distance value and displays the transverse distance and the actual distance value in the display, and the display also obtains the symmetrical object and displays the symmetrical object in the display.
6. A system for reducing false alarms of radar by fusing according to claim 5, wherein: the processor (1) further comprises an expansion processing unit (12), an expansion strategy is configured in the expansion processing unit (12), when the final display image is selected as a basic scene, the expansion unit is triggered when the basic scene is a road side scene, the expansion strategy is executed when the expansion unit is triggered, a parking strategy is further preset in the radar measurement module (31), and the expansion strategy is specifically as follows:
The method comprises the steps that a measurement signal is generated when the expansion unit is triggered and sent to a radar measurement module (31), the radar measurement module (31) measures the distance between vehicles which are arranged in a static mode in a basic scene and generates a parking interval, when the length of the parking interval is larger than that of a vehicle model, the parking strategy is triggered, and the parking strategy comprises the step of judging whether the parking interval meets parking requirements or not according to the comparison of the parking interval and the length of the vehicle model.
7. A system for reducing false alarms of radar by fusing according to claim 6, wherein: the mobile threshold value is preset in the expansion unit, the processor (1) further comprises a guiding unit (13), and a guiding strategy is configured in the guiding unit (13), wherein the parking strategy is specifically as follows:
If the length of the parking interval is greater than or equal to the length of the vehicle model plus twice the movement threshold value, judging that the parking interval meets the parking requirement;
If the length of the parking interval is smaller than or equal to the length of the vehicle model plus twice of the movement threshold value, judging that the parking interval does not meet the parking requirement;
And generating a guiding signal when the parking interval meets the parking requirement, wherein the guiding unit (13) guides the vehicle to park in the parking interval according to a guiding strategy.
8. A system for reducing false alarms of radar by fusing according to claim 7, wherein: the parking side distance, the parking longitudinal distance and the parking track are preset in the expansion unit, the parking side distance and the parking longitudinal distance are all interval values, and the guiding strategy specifically comprises:
and guiding the vehicle model to move to the outer side of the parking interval, parking the vehicle model according to the parking side distance and the parking longitudinal distance, and parking the vehicle model into the parking interval according to the parking track.
9. A system for reducing false alarms of radar by fusing according to claim 7, wherein: the processor (1) further comprises a lane change warning unit (14) and a broadcasting unit (15), the lane change warning unit (14) is triggered when a lane is changed by the vehicle model, a lane change warning strategy and a preset warning interval are configured in the lane change warning unit (14), the lane change warning strategy comprises real-time display of a transverse distance and an actual distance when the lane change is performed, and the broadcasting unit (15) is triggered to perform voice warning broadcasting when the actual distance value is smaller than the warning interval.
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| 汽车驾驶员驾驶特征的模糊评价方法;秦小虎, 柴毅, 黄席樾;公路交通科技;20040415(04);全文 * |
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