CN114646962B - Vehicle-mounted phased array radar intelligent detection system and method thereof - Google Patents
Vehicle-mounted phased array radar intelligent detection system and method thereof Download PDFInfo
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- CN114646962B CN114646962B CN202210337058.XA CN202210337058A CN114646962B CN 114646962 B CN114646962 B CN 114646962B CN 202210337058 A CN202210337058 A CN 202210337058A CN 114646962 B CN114646962 B CN 114646962B
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R11/02—Arrangements for holding or mounting articles, not otherwise provided for for radio sets, television sets, telephones, or the like; Arrangement of controls thereof
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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
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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
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Abstract
The invention discloses a vehicle-mounted multifunctional phased array radar intelligent detection system and a method thereof, wherein the system comprises a radar detector arranged on a motor vehicle, and is characterized in that the radar detector is provided with the intelligent detection system and comprises: the signal transceiver is used for establishing a transmitting channel and radiating the radio frequency signal of the transmitting channel to the space; and the detector is used for converting and filtering the signals of the transceiving channel. The invention provides a vehicle-mounted multifunctional phased array radar intelligent detection system and a method thereof, wherein the intelligent detection system is interconnected with a vehicle-mounted information system, and the intelligent detection system is interconnected with a survey information system; the phased array radar used by the vehicle mainly can establish a transmitting channel through the signal transceiver according to the radar detector to transmit radio frequency signals of the detector to the space, and detect the target object, so that echo signals generated when the target object is detected are obtained, and the echo signals generated by different objects are different.
Description
Technical Field
The invention relates to the technical field of phased array radars, in particular to an intelligent detection system and method for a vehicle-mounted phased array radar.
Background
Phased array radars, also known as phased array radars, are radars that change the direction of a beam by changing the phase of the radar wave, and are also known as electronically scanned radars because the beam is electronically steered rather than mechanically rotating the antenna surface as is conventional.
Phased array radars have a relatively dense array of antennas, and thousands of phased array antennas can be installed on the area of the conventional radar antenna surface, any one antenna can receive and transmit radar waves, and adjacent antennas have the function of one radar. During scanning, one block (a plurality of antenna units) or a plurality of blocks are selected to scan a single target or area, so that the whole radar can scan or track a plurality of targets or areas simultaneously, and has the functions of a plurality of radars. Because one radar can scan in different directions at the same time, and the scanning mode is electronic control and does not need to be mechanically rotated, the data updating rate is greatly increased, the data updating period of the mechanical scanning radar is in the order of seconds or ten seconds due to the limitation of the mechanical rotating frequency, and the data updating period of the electronic scanning radar is in the order of milliseconds or microseconds. It is therefore more suitable for dealing with highly mobile targets. In addition, the antenna can emit narrow beams, so that the antenna can also be used as an electronic antenna, such as electromagnetic interference, and even opposite-phase radar waves are emitted in the conception to counteract the detection electric waves. In current on-vehicle phased array radar, the position of the radar installation that needs to use is comparatively for the dispersion, and the function is comparatively single, has certain inconvenience in the in-service use of reality, is difficult to satisfy diversified user demand.
Disclosure of Invention
The invention aims to provide a vehicle-mounted phased array radar intelligent detection system and a method thereof, and aims to solve the problems that the radar is scattered in installation position, single in function and difficult to meet diversified use requirements.
In order to achieve the above purpose, the invention provides the following technical scheme: an intelligent detection system of a vehicle-mounted phased array radar comprises a radar detector arranged on a motor vehicle and is characterized in that,
be provided with intelligent detection system on the radar detection instrument, the radar detection instrument includes: the signal transceiver is used for establishing a transmitting channel and radiating a radio frequency signal of the transmitting channel to a space;
the detector is used for converting and filtering signals of the receiving and transmitting channel;
the information collecting box is used for receiving, storing, converting and transmitting information;
the intelligent detection system is arranged in the information collection box and connected with the information collection box, the signal transceiver is connected with the detector, and the information collection box is connected with the detector;
the intelligent detection system comprises:
the data transceiver module is used for receiving the radio frequency signal radiation of the signal transceiver and transmitting the received signal to the receiving channel from the space collection;
the data conversion module is used for converting the signals collected by the information collection box;
the data storage module is used for generating a target database for the radio frequency signal established by the detection target and storing the target database;
the information processor is used for carrying out data processing and distance measurement on the target data through the signal processor;
the display unit is used for displaying the data obtained by calculation in the final signal processor on a vehicle-mounted screen;
and the signal processor performs data processing on the target data and calculates the distance of the target object.
As preferred, the radar detection instrument still includes base and electric telescopic handle, the detector rotates to be installed the outer wall of the relative both sides of base, the upper end of base is rotated and is installed the revolving stage, electric telescopic handle's downside articulates the outer wall at the revolving stage upside, electric telescopic handle's one end is rotated and is connected signal transceiver downside outer wall, be provided with accurate rotating assembly in the revolving stage, the revolving stage upside is rotated and is installed the rotary disk, the outer wall symmetry of rotary disk upside is provided with the mount, be provided with alternating current power supply in the radar detection instrument, signal transceiver's downside articulates on the mount, signal transceiver with the detector is connected, electric telescopic handle is connected with the power.
As preferred, accurate rotating assembly includes the base station, extends platform, installing port, rotatory groove and the action wheel of detecting and follows the driving wheel, the upper end of base station extends to extend the inside of platform, the action wheel rotates to be installed the upper end of base station, and the downside is located in the installing port, rotatory groove that detects is located in the installing port, the outer wall of action wheel downside is provided with protruding highland, protruding highland movable mounting is in rotatory inslot that detects, extend the internal rotation of platform and install rotatory ring, the action wheel rotates to be installed rotatory ring is last, the action wheel with from the driving wheel meshing, extend bench fixed mounting have the internal gear, follow the driving wheel respectively with the internal gear meshing, rotary disk fixed connection be in the upper end from the driving wheel, the outer wall of internal gear upside is provided with the roof, be provided with rotatory calibrated scale on the roof.
Preferably, the rotating ring is in a ring shape, the rotating ring is sleeved on the outer wall of the base station and the outer wall of the lower side of the rotating ring is movably mounted on the inner wall of the lower side of the extending table, the outer wall of the rotating ring is provided with extending plates distributed in an arc array, the connecting rods are fixedly mounted on the outer wall of the upper sides of the extending plates, and the driven wheels are respectively rotatably mounted on the connecting rods;
the rotary table is characterized in that a connector is arranged at the axis of the outer wall of the upper side of the driven wheel, a plurality of connecting shaft rods distributed in an arc array are arranged on the outer wall of the lower side of the rotary table, the connecting shaft rods are fixedly connected with the connector respectively, a pointer is arranged on the rotary table, the pointer is fixedly installed on the outer wall of the lower side of the rotary table, and the pointer is located on the upper side of the rotary dial.
Preferably, a driving motor is arranged in the base station, a turn number counter is arranged in the rotation detection groove, and the turn number counter and the driving motor are both connected with the information processor.
Preferably, the intelligent detection system is interconnected with a vehicle-mounted information system.
Preferably, the intelligent detection system is interconnected with a survey information system.
Preferably, the detection method of the vehicle-mounted phased array radar intelligent detection system is characterized in that: the method comprises the following steps:
s1: performing radar detection on a target object to form an echo signal, and starting the radar detector to detect the target object through a signal transceiver so that the signal transceiver detects the target object to form radio frequency signal radiation;
s2: generating a target database according to the echo signals, carrying out data processing on the echo signals in the data conversion module, and supplementing data in the target database through the data storage module;
s3: filtering through a digital filter to generate a detection database, comparing the target database with the detection database, comparing the existing data with the existing data in the signal processor, if the new data is stored in the storage, and if the existing data is the target object is obtained according to the data;
s4: detecting the target object again, receiving the echo signal, forming the echo signal again for comparison, confirming the target object, and measuring and calculating the distance between the target object and the echo signal; the step of measuring and calculating the distance of the target object comprises the following steps:
when the target and the vehicle are in motion states, respectively
And
defining the relative motion state of the target and the vehicle as
The linear acceleration is:
and assuming that a model detected in the running process of the motor vehicle is a target model and is defined as a model I, the relative motion state equation is as follows:
wherein
Is the speed of the movement of the target,
as the speed of the movement of the vehicle,
is the speed of relative movement of the target and the vehicle,
is a constant;
in the formula:
in the formula (I), the compound is shown in the specification,
is a target value for the amount of time,
is a target value which is detected in a moving state,
is the angular velocity at the moment of the speed measurement point,
is the angular velocity at one time of the speed measurement point,
is a target value;
equation (1) describes a one-dimensional motion process of the target and the vehicle when moving, and then its three-dimensional state equation is:
in the formula:
wherein, the error of the motion speed is as follows:
。
preferably, in step S2, the database parameters include a distance to the target, a speed of the target, an angle of the target, and an echo of the target.
In the technical scheme, the invention has the following beneficial effects:
1. when the radar works, the rotating disc can be driven to rotate by an accurate rotating assembly arranged in the rotating table, specifically, a driving wheel is driven to rotate by a driving motor, a driven wheel meshed with the driving wheel is driven to rotate, and the rotating ring is driven to synchronously rotate at the same time, the rotating ring is in a state that the driven wheel always keeps synchronous and equidistant rotation, and is meshed with an internal gear by the driving wheel, and the internal gear is fixed on an extension table, so that when the driven wheel is driven to rotate by the driving wheel, a rotating track can be kept by the internal gear, and the rotating disc rotates more stably; the phased array radar used by the vehicle can mainly achieve the purposes of establishing a transmitting channel according to a radar detector through a signal transceiver to transmit radio frequency signals of a detector to a space, detecting a target object, obtaining echo signals generated when the target object is detected, wherein the echo signals generated by different objects are different, so that the signals can be transmitted to an information collection box through the difference of the echo signals, an intelligent detection system arranged in the information collection box is used for converting, comparing and the like the signals, timely making avoidance or other response reactions, and finally putting the avoidance or other response reactions on a vehicle-mounted screen through a display unit for displaying;
2. after measurement and calculation, the data can be received by the data transceiver module, data conversion is carried out on signals by the data conversion module, finally, a numerical value of the actual proper distance from the target object is obtained after data processing is carried out by the signal processor, and finally, the numerical value is displayed by the display, specifically: comparing whether the data of radar detection carried out on the target is preset target data in the data storage module: the data in the database is existing data, when comparison is carried out, each first sub-target in the target data is compared with each target of the existing data one by one, matching is carried out, if the range value of each first sub-target in the target data is matched with the range value of the target corresponding to the existing data, namely the target data is in a preset difference range with the corresponding existing data, the target data and the existing data can be considered to be successfully matched, an existing preset value is obtained, the detected target is known, and otherwise, matching fails; when the target is a new target object, a new comparison catalog is established in the information processor, and the method specifically comprises the following steps: after the target data of the target data is matched with the existing data of the existing data, if the target data of the target data is successfully matched with the existing data of the existing data, the existing data can be artificially marked as an accurate mark and the accurate mark is processed, otherwise, the existing data is marked as an error mark, the error mark is processed, further optimized and updated, and a final detection target is output for subsequent use.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
This document provides an overview of various implementations or examples of the technology described in this disclosure, and is not a comprehensive disclosure of the full scope or all features of the disclosed technology.
Drawings
In order to more clearly illustrate the embodiments of the present application or technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings can be obtained by those skilled in the art according to the drawings.
Fig. 1 is a schematic diagram of an intelligent detection system of a phased array radar according to an embodiment of the present invention;
fig. 2 is a schematic diagram of an operation method of an intelligent detection system of a phased array radar according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a radar detector according to an embodiment of the present invention;
FIG. 4 is a schematic view of a mounting structure of a precision rotation assembly according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of an exploded view of a precision rotating assembly according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a precision rotation assembly according to an embodiment of the present invention.
Description of the reference numerals:
1. a radar detector; 2. an intelligent detection system; 10. a base; 11. a signal transceiver; 12. an electric telescopic rod; 13. a detector; 14. an information collection box; 15. a fixed mount; 16. a rotating table; 161. rotating the disc; 17. a precision rotation assembly; 170. a base station; 171. an extension stage; 172. an installation port; 173. rotating the detection tank; 174. a top wall; 175. a rotating ring; 176. a connecting rod; 177. a driving wheel; 178. a driven wheel; 18. rotating the dial; 19. an internal gear; 21. a data transceiver module; 22. a data conversion module; 23. an information processor; 24. a data storage module; 25. a display unit; 26. and (6) a vehicle-mounted screen.
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present invention, the present invention will be further described in detail with reference to the accompanying drawings.
As shown in fig. 1, 4, 5, 6, a vehicle-mounted phased array radar intelligent detection system, including installing radar detection instrument 1 on the motor vehicle, be provided with intelligent detection system 2 on the radar detection instrument 1, radar detection instrument 1 includes: the signal transceiver 11 is used for establishing a transmitting channel and radiating a radio frequency signal of the transmitting channel to a space;
a detector 13 for converting and filtering signals of the transceiving channels;
an information collection box 14 for receiving, storing, converting and transmitting information;
the intelligent detection system 2 is arranged in the information collection box 14 and is connected with the information collection box 14, the signal transceiver 11 is connected with the detector 13, and the information collection box 14 is connected with the detector 13;
the intelligent detection system 2 comprises:
a data transceiver module 21, configured to receive radio frequency signal radiation from the signal transceiver 11, and collect and send received signals from space to a receiving channel;
a data conversion module 22 for converting the signals collected by the information collection box 14;
the data storage module 24 is used for generating a target database for the radio frequency signals established by the detection targets and storing the target database;
an information processor 23 for performing data processing and distance measurement on the target data by the information processor 23;
a display unit 25, wherein the data calculated by the final information processor 23 is displayed on a vehicle-mounted screen 26 through the display unit 25;
the information processor 23 performs data processing on the target data and measures and calculates the distance of the target object;
referring to fig. 3, the radar detector 1 further includes a base 10 and an electric telescopic rod 12, the detector 13 is rotatably mounted on outer walls of two opposite sides of the base 10, a rotating table 16 is rotatably mounted on an upper end of the base 10, a lower side of the electric telescopic rod 12 is hinged to an outer wall of an upper side of the rotating table 16, one end of the electric telescopic rod 12 is rotatably connected to an outer wall of a lower side of the signal transceiver 11, fixing frames 15 are symmetrically arranged on an upper side of the rotating table 16, an alternating current power supply is arranged in the radar detector 1, a lower side of the signal transceiver 11 is hinged to the fixing frame 15, the signal transceiver 11 is connected with the detector 13, and the electric telescopic rod 12 is connected with the power supply; the precise rotation assembly 17 includes a base 170, an extension table 171, a mounting opening 172, a rotation detection groove 173, a driving wheel 177 and a driven wheel 178, the upper end of the base 170 extends into the extension table 171, the driving wheel 177 is rotatably mounted at the upper end of the base 170, the lower side of the driving wheel is located in the mounting opening 172, the rotation detection groove 173 is located in the mounting opening 172, a raised plateau is arranged on the outer wall of the lower side of the driving wheel 177, the raised plateau is movably mounted in the rotation detection groove 173, a rotation ring 175 is rotatably mounted in the extension table 171, the driving wheel 177 is rotatably mounted on the rotation ring 175, the driving wheel 177 is engaged with the driven wheel 178, an internal gear 19 is fixedly mounted on the extension table 171, the driven wheel 178 is respectively engaged with the internal gear 19, the rotation disc 161 is fixedly connected to the upper end of the driven wheel 178, a top wall 174 is arranged on the outer wall of the upper side of the internal gear 19, and a rotation dial 18 is arranged on the top wall 174; the rotating ring 175 is in a ring shape, the rotating ring 175 is sleeved on the outer wall of the base 170, the outer wall of the lower side of the rotating ring 175 is movably mounted on the inner wall of the lower side of the extension table 171, the outer wall of the rotating ring 175 is provided with extension plates distributed in an arc array, the connecting rods 176 are fixedly mounted on the outer wall of the upper side of the extension plates, and the driven wheels 178 are respectively rotatably mounted on the connecting rods 176; a connector is arranged at the axis of the outer wall of the upper side of the driven wheel 178, a plurality of connecting shaft rods distributed in an arc array are arranged on the outer wall of the lower side of the rotating disc 161, the connecting shaft rods are respectively and fixedly connected with the connector, a pointer is arranged on the rotating disc 161, the pointer is fixedly arranged on the outer wall of the lower side of the rotating disc 161, and the pointer is positioned on the upper side of the rotating dial 18; a driving motor is arranged in the base station 170, a turn number counter is arranged in the rotation detection groove 173, and the turn number counter and the driving motor are both connected with the information processor 23.
During the operation of the radar, the rotation disc 161 can be driven to rotate by the precise rotation assembly 17 disposed in the rotation table 16, specifically, the driving wheel 177 is driven to rotate by the driving motor, and the driven wheel 178 engaged with the driving wheel is driven to rotate, and simultaneously the rotation ring 175 is driven to synchronously rotate, the rotation ring 175 keeps the driven wheel in a state of always keeping synchronous and equidistant rotation, and in addition, the driving wheel 177 is engaged with the internal gear 19, and the internal gear 19 is fixed on the extension table 171, therefore, when the driven wheel 178 is driven to rotate by the driving wheel 177, the rotation track can be kept by the internal gear 19, so that the rotation disc 161 can more stably rotate, and when the driving wheel 177 rotates, in order to further ensure the accuracy of the rotation of the driving wheel 177, the raised tableland is disposed under the driving wheel 177, the number of rotations of the signal transceiver 11 can be known by the number of turns of the raised tablelands moving in the rotation detection groove 173 through the number counter, while the angle and range of the rotation are detected, when the radar meets the detected target signal, the target signal will be recorded in the information processor 23, and the echo signal processor will form the echo signal processing system for forming the precise echo detection and forming the echo signal processing system for forming the echo detection.
As can be seen with reference to fig. 1 and 2, the intelligent detection system 2 is interconnected with the vehicle-mounted information system, and the intelligent detection system 2 is interconnected with the survey information system; the phased array radar that the vehicle used mainly can play and establish the radio frequency signal radiation of transmission channel emission detector 13 to the space through signal transceiver 11 according to radar detection instrument 1, detect target object, thereby the echo signal that produces when obtaining the detection target object, the produced echo signal of different objects is different, therefore accessible echo signal's difference is with signal transmission to information collection casket 14, intelligent detection system 2 that sets up in the information collection casket 14 carries out processing such as conversion, comparison to the signal, specifically do: the data transceiver module 21 collects the signals transmitted from the detector 13 to the information collecting box 14, then the signals are converted by the data conversion module 22 to form specific data recognizable by the information processor 23, then the data are calculated and processed by the information processor 23, and are stored by the data storage module 24, and finally are displayed by the vehicle-mounted screen 26 to obtain specific objects, and then avoidance or other response is made in time, and finally the specific objects are put on the vehicle-mounted screen through the display unit 25 to be displayed.
The detection method comprises the following steps:
s1: radar detection is carried out on a target object, an echo signal is formed, the radar detector 1 starts detection on the target object through the signal transceiver 11, and radio frequency signal radiation is formed by detection of the signal transceiver 11 on the target object;
s2: generating a target database according to the echo signals, performing data processing on the echo signals in the data conversion module 22, and supplementing data in the target database through the data storage module 24;
s3: filtering through a digital filter to generate a detection database, comparing the target database with the detection database, comparing the existing data with the existing data in the signal processor 23, if the existing data is new data, storing the new data in a storage, and if the existing data is the existing data, obtaining a target object according to the data;
s4: detecting the target object again, receiving the echo signal, forming the echo signal again for comparison, confirming the target object, and measuring and calculating the distance between the target object and the echo signal; the step of measuring and calculating the distance of the target object comprises the following steps:
when the target and the vehicle are in motion states, respectively
And
defining the relative motion state of the target and the vehicle as
The linear acceleration is:
and assuming that the model detected in the running process of the motor vehicle is a target model and is defined as a first model, the relative motion state equation is as follows:
wherein
Is the speed of the movement of the target,
as the speed of the movement of the vehicle,
is the speed of relative movement of the target and the vehicle,
is a constant;
in the formula:
in the formula (I), the compound is shown in the specification,
is a target value for the amount of time,
is a target value to be detected in a moving state,
is the angular velocity at the moment of the speed measurement point,
is the angular velocity at one time of the speed measurement point,
is a target value;
equation (1) describes a one-dimensional motion process of the target and the vehicle during motion, and then the three-dimensional state equation is:
in the formula:
wherein, the error of the motion speed is as follows:
。
after measurement and calculation, the data can be received by the data transceiver module 21, the data conversion is performed on the signal by the data conversion module 22, finally, the data is processed by the signal processor 23 to obtain the actual numerical value of the proper distance from the target object, and finally, the numerical value is displayed by the display, specifically:
comparing whether the data of the radar detection performed by the target is the preset target data in the data storage module 24:
1, when comparison is carried out, comparing each first sub-target in the target data with each target of the existing data one by one, and matching, wherein if the range value of each first sub-target in the target data is matched with the range value of the target corresponding to the existing data, namely the target data is in a preset difference range with the corresponding existing data, the target data and the existing data can be considered to be successfully matched, an existing preset value is obtained, the detected target is known, and otherwise, the matching fails;
2> when the object is a new object, a new comparison list is established in the information processor 23, specifically: after the target data of the target data is matched with the existing data of the existing data, if the target data of the target data is successfully matched with the existing data of the existing data, the existing data can be manually determined to be marked as an accurate mark and the accurate mark is processed, otherwise, the existing data is marked as an error mark and the error mark is processed.
Wherein processing the alignment mark comprises: and carrying out artificial interpolation optimization of corresponding parameters on the accurate marks and the target data, further optimizing and updating the data, and outputting a final detection target for subsequent use.
The working principle is as follows: during the operation of the radar, the rotation disc 161 can be driven to rotate by the precise rotation assembly 17 disposed in the rotation table 16, specifically, the driving wheel 177 is driven to rotate by the driving motor, and further the driven wheel 178 engaged with the driving wheel is driven to rotate, and simultaneously the rotation ring 175 is driven to synchronously rotate, the rotation ring 175 keeps the driven wheel in a state of synchronous and equidistant rotation, and in addition, the driving wheel 177 is engaged with the internal gear 19, and the internal gear 19 is fixed on the extension table 171, therefore, when the driven wheel 178 is driven to rotate by the driving wheel 177, the rotation track can be kept by the internal gear 19, so that the rotation disc 161 can more stably rotate, and when the driving wheel 177 rotates, in order to further ensure the accuracy of the rotation of the driving wheel 177, a bump table is disposed under the driving wheel 177, the number of revolutions of the signal transceiver 11 can be known by the number of revolutions counter, while the rotation dial 18 disposed on the top wall 174 will cooperate with the pointer disposed on the rotation disc 161, and the range of the rotation table is detected, when the radar meets the detected target signal, the target signal processor 23, the echo detection system can form the intelligent detection system and can be used for forming the echo detection system 2 for the accurate detection and the formation of the echo detection system for the detection and the following detection of the echo formation of the echo detection system for the detection of the echo formation of the echo detection system for the echo detection system; the phased array radar that the vehicle used mainly can play and establish the radio frequency signal radiation of transmission channel emission detector 13 to the space through signal transceiver 11 according to radar detection instrument 1, detect the target object, thereby the echo signal that produces when obtaining the detection target object, the produced echo signal of different objects is different, therefore the difference of accessible echo signal, with signal transmission to information collection casket 14, intelligent detection system 2 that sets up in the information collection casket 14 carries out processing such as conversion, comparison to the signal, specifically be: the data transceiver module 21 collects the signals transmitted from the detector 13 to the information collecting box 14, then the signals are converted by the data conversion module 22 to form specific data recognizable by the information processor 23, then the information processor 23 calculates and processes the data, and stores the data by the data storage module 24, and finally displays the data by the vehicle-mounted screen 26 to obtain a specific object, avoidance or other corresponding reactions are made in time, and finally the vehicle-mounted screen is thrown to the display unit 25 to be displayed, so that different reactions can be made according to different actual conditions when the vehicle-mounted screen is used, the shape and the attribute of a specific object can be accurately known through the similarity and difference of feedback signals obtained by the detector 13, the specific object is obtained, a driver can make avoidance reactions in time, and the use efficiency and the use convenience are enhanced; after measurement and calculation, the data can be received by the data transceiver module 21, the data conversion is performed on signals by the data conversion module 22, finally, the data is processed by the information processor 23 to obtain a numerical value of an actual proper distance from a target object, and finally, the numerical value is displayed by the display, specifically: comparing whether the data of the radar detection performed by the target is the preset target data in the data storage module 24: the data in the database is existing data, when comparison is carried out, each first sub-target in the target data is compared with each target of the existing data one by one, and matching is carried out, if the range value of each first sub-target in the target data is matched with the range value of the target corresponding to the existing data, namely the target data is in a preset difference range with the corresponding existing data, the target data and the existing data can be considered to be successfully matched, an existing preset value is obtained, the detected target is known, and otherwise matching fails; when the target is a new target object, a new comparison list is established in the information processor 23, specifically: after the target data of the target data is matched with the existing data of the existing data, if the target data of the target data is successfully matched with the existing data of the existing data, the existing data can be artificially marked as an accurate mark and the accurate mark is processed, otherwise, the existing data is marked as an error mark and the error mark is processed. Wherein processing the alignment mark comprises: and (4) performing artificial interpolation optimization of corresponding parameters on the accurate marks and the target data, further optimizing and updating the data, and outputting a final detection target for subsequent use.
While certain exemplary embodiments of the present invention have been described above by way of illustration only, it will be apparent to those of ordinary skill in the art that the described embodiments may be modified in various different ways without departing from the spirit and scope of the invention. Accordingly, the drawings and description are illustrative in nature and should not be construed as limiting the scope of the invention.
Claims (5)
1. An intelligent detection system of a vehicle-mounted phased array radar comprises a radar detector (1) arranged on a motor vehicle and is characterized in that,
the radar detector (1) is provided with an intelligent detection system (2), the intelligent detection system (2) is interconnected with a vehicle-mounted information system and a surveying information system,
the radar detection instrument (1) comprises: the signal transceiver (11) is used for establishing a transmitting channel and radiating a radio frequency signal of the transmitting channel to a space;
a detector (13) for converting and filtering the signals of the transmit-receive channel;
an information collection box (14) for receiving, storing, converting and transmitting information;
the intelligent detection system (2) is arranged in the information collection box (14) and is connected with the information collection box (14), the signal transceiver (11) is connected with the detector (13), and the information collection box (14) is connected with the detector (13);
the intelligent detection system (2) comprises:
the data transceiver module (21) is used for receiving the radio frequency signal radiation of the signal transceiver (11) and sending the received signal to a receiving channel from the space;
a data conversion module (22) for converting the signals collected by the information collection box (14);
the data storage module (24) is used for generating a target database for the radio frequency signal established by the detection target and storing the target database;
an information processor (23) for performing data processing and distance measurement on the target data by the information processor (23);
a display unit (25), wherein the data calculated by the final information processor (23) is displayed on a vehicle-mounted screen (26) through the display unit (25);
the information processor (23) performs data processing on the target data and measures and calculates the distance of the target object;
when the radar detector (1) detects a detected target signal, recording is carried out in an information processor (23), the information processor (23) records and calculates an angle generated by an echo signal to form an accurate rotation angle and supports signal processing of an intelligent detection system (2), the radar detector (1) establishes a transmission channel through a signal transceiver (11) to transmit a radio frequency signal of a detector (13) to a space, detects a target object to obtain the echo signal generated by the target object, the echo signals generated by different target objects are different and are transmitted to an information collection box (14) according to different echo signals, the intelligent detection system (2) arranged in the information collection box (14) converts and compares different echo signals, the signal transmitted to the information collection box (14) by the detector (13) is collected through a data transceiver module (21), the signal is converted through a data conversion module (22) to form specific data which can be identified by the information processor (23), and after the specific data is calculated and processed by the information processor (23), the specific data is calculated and processed through a data storage module (24) and finally displayed through a vehicle-mounted screen (26);
radar detection instrument (1) still includes base (10) and electric telescopic handle (12), detector (13) rotate to be installed the outer wall of the relative both sides of base (10), the upper end of base (10) is rotated and is installed revolving stage (16), the downside of electric telescopic handle (12) articulates the outer wall at revolving stage (16) upside, the one end of electric telescopic handle (12) is rotated and is connected signal transceiver (11) downside outer wall, be provided with accurate rotating assembly (17) in revolving stage (16), revolving stage (16) upside is rotated and is installed rotary disk (161), the outer wall symmetry of rotary disk (161) upside is provided with mount (15), be provided with alternating current power supply in radar detection instrument (1), the downside of signal transceiver (11) articulates on mount (15), signal transceiver (11) with detector (13) are connected, electric telescopic handle (12) are connected with the power, accurate rotating assembly (17) include base station (170), extend platform (171), installing mouth (172), rotatory detection groove (173) and action wheel (177), extend platform (177) and install on base station (170) and extend base station (177) the action wheel (171) the rotation platform (177) the rotation of base station (171) is held to the action wheel (177), base station (177) the base station (171) is installed on base station (177) the base station (170) the base station (171) the base station (177) the rotation end (171) is connected to the base station (177) the base station (171), and the downside is located in installing port (172), rotatory groove (173) of detecting is located in installing port (172), the outer wall of action wheel (177) downside is provided with protruding tableland, protruding tableland movable mounting be in rotatory groove (173) of detecting, the internal rotation that extends platform (171) installs rotatory ring (175), action wheel (177) rotate to be installed rotatory ring (175) is last, action wheel (177) with from the meshing of driving wheel (178), extend and go up fixed mounting of platform (171) have internal gear (19), from driving wheel (178) respectively with internal gear (19) mesh, rotary disk (161) fixed connection be in the upper end from driving wheel (178), the outer wall of internal gear (19) upside is provided with roof (174), be provided with rotatory calibrated scale (18) on internal gear roof (174).
2. The on-vehicle phased-array radar intelligent detection system according to claim 1, wherein the rotating ring (175) is annular, the rotating ring (175) is sleeved on the outer wall of the base station (170), the outer wall of the lower side of the rotating ring (175) is movably mounted on the inner wall of the lower side of the extension table (171), the outer wall of the rotating ring (175) is provided with extension plates distributed in an arc array, the connecting rods (176) are fixedly mounted on the outer wall of the upper side of the extension plates, and the driven wheels (178) are respectively rotatably mounted on the connecting rods (176);
a connector is arranged at the axis of the outer wall of the upper side of the driven wheel (178), a plurality of connecting shaft rods distributed in an arc array are arranged on the outer wall of the lower side of the rotating disc (161), the connecting shaft rods are fixedly connected with the connector respectively, a pointer is arranged on the rotating disc (161), the pointer is fixedly mounted on the outer wall of the lower side of the rotating disc (161), and the pointer is located on the upper side of the rotating dial (18).
3. The vehicle-mounted phased array radar intelligent detection system according to claim 1, wherein a driving motor is arranged in the base station (170), a turn number counter is arranged in the rotation detection groove (173), and the turn number counter and the driving motor are both connected with the information processor (23).
4. The detection method of the intelligent detection system for the vehicle-mounted phased array radar according to claim 1, characterized in that: the method comprises the following steps:
s1: radar detection is carried out on a target object, an echo signal is formed, the radar detector (1) detects and starts the target object through the signal transceiver (11), and the signal transceiver (11) detects the target object to form radio frequency signal radiation;
s2: generating a target database according to the echo signals, performing data processing on the echo signals in a data conversion module (22), and supplementing data in the target database through a data storage module (24);
s3: filtering through a digital filter to generate a detection database, comparing the target database with the detection database, comparing the existing data with the existing data in the information processor (23), if the new data is stored in a storage, and if the existing data is the target object is obtained according to the data;
s4: detecting the target object again, receiving the echo signal, forming the echo signal again for comparison, confirming the target object, and measuring and calculating the distance between the target object and the echo signal; the step of measuring and calculating the distance of the target object comprises the following steps:
when the target and the vehicle are in motion, respectively
And
defining the relative motion state of the target and the vehicle as
The linear acceleration is:
and assuming that the model detected in the running process of the motor vehicle is a target model and is defined as a first model, the relative motion state equation is as follows:
wherein
Is the speed of the movement of the target,
as the speed of the movement of the vehicle,
is the speed of relative movement of the target and the vehicle,
is a constant;
in the formula:
in the formula (I), the compound is shown in the specification,
in order to achieve the target value,
is a target value which is detected in a moving state,
is the angular velocity at the moment of the speed measurement point,
is the angular velocity at one time of the speed measurement point,
is a target value;
equation (1) describes a one-dimensional motion process of the target and the vehicle during motion, and then the three-dimensional state equation is:
in the formula:
wherein, the error of the motion speed is as follows:
。
5. the method for using the intelligent detection system of the on-vehicle phased array radar as claimed in claim 4, wherein in step S2, the database parameters include a distance to the target, a speed of the target, an angle of the target, and an echo of the target.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US5467072A (en) * | 1994-03-11 | 1995-11-14 | Piccard Enterprises, Inc. | Phased array based radar system for vehicular collision avoidance |
| JP5320340B2 (en) * | 2010-05-07 | 2013-10-23 | 三菱重工業株式会社 | Phased array radar device and vehicle equipped with the same |
| WO2012098437A1 (en) * | 2011-01-21 | 2012-07-26 | Freescale Semiconductor, Inc. | Phased-array receiver, radar system and vehicle |
| KR102516365B1 (en) * | 2018-05-25 | 2023-03-31 | 삼성전자주식회사 | Method and apparatus for controlling radar of vehicle |
| KR102279302B1 (en) * | 2019-11-07 | 2021-07-20 | 현대모비스 주식회사 | Apparatus for vehicle radar and control method the same |
| CN111913151B (en) * | 2020-08-17 | 2023-08-15 | 中国人民解放军陆军工程大学 | Vehicle-mounted active phased array radar |
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