CN113253273A - Detection method and detection system for long-distance vehicle - Google Patents
Detection method and detection system for long-distance vehicle Download PDFInfo
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Abstract
The application relates to a detection method and a detection system of a remote vehicle, which relate to the technical field of radar detection and are used for predicting collision with other vehicles based on interaction of chirp signals with preset frequency and the same frequency band, wherein the detection method comprises the following steps: mixing frequency according to a first chirp signal sent by the first chirp signal and a second chirp signal sent by another car to obtain a third chirp signal; obtaining an azimuth angle according to the phase difference between the first chirp signal and the second chirp signal; obtaining the relative speed with the other vehicle according to the frequency of the same frequency band of the third chirp signal; and judging whether collision hidden danger exists or not according to the relative speed and the azimuth angle. The method and the device have the advantages that the detection range of the conventional radar is doubled on the premise of not changing hardware of the conventional radar, and the cost is low.
Description
Technical Field
The present application relates to the field of radar detection technologies, and in particular, to a method and a system for detecting a vehicle in a long distance.
Background
With the rapid development of economy, the complexity of road traffic is improved, and the detection requirements of vehicles are continuously developed. At the present stage, most of vehicle detection is radar detection, however, the detection distance of the angle radar is within one hundred meters, and if the relative speed of the front vehicle and the rear vehicle is high, if sufficient reaction time does not exist, vehicle collision accidents are easy to generate.
The limit distance of the vehicle detection is enlarged, and the accident rate of the vehicle running on the road is favorably reduced. In the related art, in order to make the energy more concentrated to allow the radar to perform long-distance detection, a new antenna is used to make the beam narrower, or the transmission power is increased. The method of narrowing the beam needs to increase the antenna if the designed FOV is ensured, and causes the area of the antenna to be increased and the radar volume to be larger, and also causes the calculation amount, the radio frequency chip, the high-frequency plate material and the like to be promoted in all directions, and the production cost is increased.
In another related art, the transmitting power is increased to enable the radar to perform long-distance detection, such as phased array, MIMO (multiple-input multiple-output-in multiple-out), etc., however, too much transmitting power may cause energy waste and cost increase. For example, in the method of increasing the transmission power, if other conditions are not changed and the detection distance is doubled, the transmission power of the antenna needs to be increased by 16 times, which is very high in development cost if the technical effect is achieved for the vehicle-mounted radar, and thus mass production is difficult to achieve for the automobile market with a large number of user groups.
Based on this, how to realize the long-distance detection of the vehicle with low cost is the core direction of the research and development of the people.
Disclosure of Invention
The embodiment of the application provides a detection method and a detection system of a long-distance vehicle, so as to overcome the defect that the hardware structure of a radar needs to be changed or the cost is higher when the vehicle is detected in a long distance in the related technology.
In a first aspect, a method for detecting a remote vehicle to perform collision prediction with another vehicle based on interaction of chirp signals having a preset frequency and in the same frequency band is provided, which includes the following steps:
mixing frequency according to a first chirp signal sent by the first chirp signal and a second chirp signal sent by another car to obtain a third chirp signal;
obtaining an azimuth angle according to the phase difference between the first chirp signal and the second chirp signal;
obtaining the relative speed with the other vehicle according to the frequency of the same frequency band of the third chirp signal;
and judging whether collision hidden danger exists or not according to the relative speed and the azimuth angle.
In some embodiments, the step of mixing the first chirp signal sent by the third chirp signal and the second chirp signal sent by another car to obtain the third chirp signal includes:
and calculating the frequency difference between the received second chirp signal and the sent first chirp signal, wherein the frequency difference is the frequency of the second chirp signal.
In some embodiments, the specific step of obtaining the relative speed with another car according to the frequency of the same frequency band of the third chirp signal includes:
acquiring the frequency of the same frequency band of the third chirp signal;
and dividing the frequency of the same frequency band of the third chirp signal by the frequency of the same frequency band of the first chirp signal, and multiplying the frequency by the speed of light to obtain the relative speed with the other vehicle.
In some embodiments, the specific step of determining whether there is a collision risk according to the relative speed and the azimuth angle includes:
comparing the relative speed with a set speed threshold value, and judging whether the other vehicle is a fast moving target vehicle according to the comparison result;
and after the other vehicle is judged to be the target vehicle which moves rapidly, whether the potential collision hazard exists with the other vehicle in a remote detection mode is judged according to the azimuth angle.
In some embodiments, the specific steps of comparing the relative speed with a set speed threshold and determining whether the other vehicle is a fast moving target vehicle according to the comparison result include:
and comparing whether the relative speed is less than a set speed threshold value, if so, judging that the vehicle has no hidden collision danger with the other vehicle, and otherwise, judging that the other vehicle is a target vehicle moving quickly.
In some embodiments, the specific step of determining whether there is a collision risk with another vehicle in the remote detection mode according to the azimuth after determining that the another vehicle is the fast moving target vehicle includes:
and after the other vehicle is judged to be a fast moving target vehicle, judging whether the other vehicle can be detected according to the frequency of the third chirp signal in the non-same frequency band, if so, switching to a short-distance detection mode, otherwise, comparing the azimuth angle with a set angle threshold value, and judging whether the other vehicle has collision hidden danger in a long-distance detection mode according to the comparison result.
In some embodiments, the step of comparing the azimuth angle with a set angle threshold and determining whether there is a collision risk with the other vehicle in the long-distance detection mode according to the comparison result includes:
comparing the azimuth angle with a set angle threshold;
if the azimuth exceeds the angle threshold, judging that no collision hidden danger exists between the vehicle and another vehicle in a remote detection mode;
and if the azimuth angle is below the angle threshold value, determining that the other vehicle is positioned in the same lane or an adjacent lane of the one vehicle according to the azimuth angle.
In a second aspect, a method for detecting a remote vehicle to perform collision prediction with another vehicle based on interaction of chirp signals of the same frequency band having a preset frequency is also provided, which includes the following steps:
the method comprises the steps that a first chirp signal is sent out by the vehicle, and a second chirp signal sent out by the other vehicle is received;
mixing frequency according to a first chirp signal sent by the first chirp signal and a second chirp signal sent by another car to obtain a third chirp signal;
obtaining an azimuth angle according to the phase difference between the first chirp signal and the second chirp signal;
obtaining the relative speed with the other vehicle according to the frequency of the same frequency band of the third chirp signal;
and judging whether collision hidden danger exists or not according to the relative speed and the azimuth angle.
In a third aspect, a detection system for a remote vehicle is provided, which includes a vehicle, a radar, another vehicle, and another radar;
the radar is installed on the one car and used for sending out a first chirp signal and carrying out collision prediction with the other car based on interaction of chirp signals of the same frequency band with preset frequency;
the other radar is arranged on the other vehicle and used for sending out a second chirp signal;
the radar is also used for mixing a first chirp signal sent by the radar and a second chirp signal sent by another car to obtain a third chirp signal; obtaining an azimuth angle according to the phase difference between the first chirp signal and the second chirp signal; obtaining the relative speed with the other vehicle according to the frequency of the same frequency band of the third chirp signal; and judging whether collision hidden danger exists or not according to the relative speed and the azimuth angle.
In some embodiments, the first chirp signal is the same as the second chirp signal.
The beneficial effect that technical scheme that this application provided brought includes: the conventional radar on one car is combined with the conventional radar on the other car, so that the detection range of the conventional radar is doubled on the premise of not additionally changing hardware of the conventional radar, and the cost is low.
The embodiment of the application provides a method for detecting a remote vehicle, wherein collision prediction is carried out on one vehicle and the other vehicle based on interaction of chirp signals with preset frequencies and the same frequency band, and the one vehicle carries out frequency mixing according to a first chirp signal sent by the one vehicle and a second chirp signal sent by the other vehicle to obtain a third chirp signal; obtaining an azimuth angle according to the phase difference between the first chirp signal and the second chirp signal; obtaining the relative speed with the other vehicle according to the frequency of the same frequency band of the third chirp signal; and judging whether collision hidden danger exists or not according to the relative speed and the azimuth angle. Therefore, in the embodiment of the application, the conventional radar on one car receives the chirp signal transmitted by the conventional radar on the other car, the received chirp signal is transmitted forwards all the time in the process, the detection range of the conventional radar is doubled within the equivalent detection range of the conventional radar, the long-distance detection of the radar on the car is more facilitated, the cost and the manufacturing cost are low on the premise of not additionally changing the hardware of the conventional radar, and the good market prospect is achieved.
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In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a block flow diagram of a method for detecting a remote vehicle according to an embodiment of the present disclosure;
fig. 2 is a block diagram of a detection system of a remote vehicle according to an embodiment of the present disclosure.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all 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 application.
The embodiment of the application provides a method for detecting a long-distance vehicle, a conventional radar on one vehicle is combined with a conventional radar on the other vehicle, hardware of the conventional radar is not additionally changed, the conventional radar on the one vehicle receives a chirp signal transmitted by the conventional radar on the other vehicle, the received chirp signal is always transmitted forwards in the process, and in the same detection range of the conventional radar, the detection range of the conventional radar is doubled, so that the method is more favorable for long-distance detection of the vehicle radar.
As shown in fig. 1, an embodiment of the present application provides a method for detecting a remote vehicle, which performs collision prediction with another vehicle based on interaction of chirp signals of the same frequency band having a preset frequency, and includes the following steps:
s1: mixing frequency according to a first chirp signal sent by the first chirp signal and a second chirp signal sent by another car to obtain a third chirp signal;
s2: obtaining an azimuth angle according to the phase difference between the first chirp signal and the second chirp signal;
s3: obtaining the relative speed with the other vehicle according to the frequency of the same frequency band of the third chirp signal;
s4: and judging whether collision hidden danger exists or not according to the relative speed and the azimuth angle.
The embodiment of the application provides a method for detecting a long-distance vehicle, which is implemented by a processor or a processor in a radar on one vehicle, wherein the radar on one vehicle sends out a first chirp signal, the radar on the other vehicle sends out a second chirp signal, and after the radar on one vehicle receives the second chirp signal sent out by the radar on the other vehicle, the processor carries out frequency mixing according to the first chirp signal sent out by the processor and the second chirp signal sent out by the other vehicle, so as to obtain a third chirp signal; obtaining an azimuth angle according to the phase difference between the first chirp signal and the second chirp signal; obtaining the relative speed with the other vehicle according to the frequency of the same frequency band of the third chirp signal; and judging whether collision hidden danger exists or not according to the relative speed and the azimuth angle.
In the detection method, chirp signals are sent forward, reflected chirp signals are not considered temporarily, the coverage range of the chirp signals with the same energy is expanded by one time, meanwhile, a part of the chirp signals are in different frequency bands, and the other part of the chirp signals are in the same frequency band.
Therefore, in the embodiment of the application, the conventional radar on one car receives the chirp signal transmitted by the conventional radar on the other car, the received chirp signal is transmitted forwards all the time in the process, and the detection range of the conventional radar is doubled within the equivalent detection range of the conventional radar, so that the remote detection of the car radar is facilitated.
Further, the specific step of step S1 includes:
and calculating the frequency difference between the received second chirp signal and the sent first chirp signal, wherein the frequency difference is the frequency of the second chirp signal.
In this embodiment, although the frequencies of the same frequency bands of the first chirp signal and the second chirp signal are the same, since the vehicle travels on the road at a certain speed, the vehicle may be close to or far from another vehicle, and based on the doppler effect, we know that the received second chirp signal and the sent second chirp signal are not necessarily equal, and we can determine whether the two vehicles are close to or far from each other according to the frequency difference between the second chirp signal and the first chirp signal.
Further, the specific step of obtaining the relative speed with the other vehicle according to the frequency of the same frequency band of the third chirp signal includes:
acquiring the frequency of the same frequency band of the third chirp signal;
and dividing the frequency of the same frequency band of the third chirp signal by the frequency of the same frequency band of the first chirp signal, and multiplying the frequency by the speed of light to obtain the relative speed with the other vehicle.
In this embodiment, the calculation formula for obtaining the relative speed V of the other vehicle is:
V＝(F/F1)·c，
wherein F is the frequency of the same frequency band of the third chirp signal, the frequency of the first chirp signal emitted by one car of F1, c is the speed of light, and V is the relative speed of the other car.
Wherein F is also equal to the frequency of the first chirp signal sent by one car minus the received second chirp signal sent by another car.
Further, the specific step of judging whether there is a collision hidden danger according to the relative speed and the azimuth angle includes:
comparing the relative speed with a set speed threshold value, and judging whether the other vehicle is a fast moving target vehicle according to the comparison result;
and after the other vehicle is judged to be the target vehicle which moves rapidly, whether the potential collision hazard exists with the other vehicle in a remote detection mode is judged according to the azimuth angle.
Further, the specific steps of comparing the relative speed with a set speed threshold and determining whether the other vehicle is a fast moving target vehicle according to the comparison result include:
and comparing whether the relative speed is less than a set speed threshold value, if so, judging that the vehicle has no hidden collision danger with the other vehicle, and otherwise, judging that the other vehicle is a target vehicle moving quickly.
Further, after the other vehicle is judged to be the fast moving target vehicle, the specific step of judging whether the other vehicle has the collision hidden danger in the remote detection mode according to the azimuth angle comprises the following steps:
and after the other vehicle is judged to be a fast moving target vehicle, judging whether the other vehicle can be detected according to the frequency of the third chirp signal in the non-same frequency band, if so, switching to a short-distance detection mode, otherwise, comparing the azimuth angle with a set angle threshold value, and judging whether the other vehicle has collision hidden danger in a long-distance detection mode according to the comparison result.
Still further, the specific step of comparing the azimuth angle with a set angle threshold value and determining whether there is a collision hidden danger with the other vehicle in a remote detection mode according to the comparison result comprises:
comparing the azimuth angle with a set angle threshold;
if the azimuth exceeds the angle threshold, judging that no collision hidden danger exists between the vehicle and another vehicle in a remote detection mode;
and if the azimuth angle is below the angle threshold value, determining that the other vehicle is positioned in the same lane or an adjacent lane of the one vehicle according to the azimuth angle.
In this embodiment, after obtaining the relative speed, the relative speed is compared with a set speed threshold, the speed threshold is determined by combining the radar design distance and the actual functional requirement, and may also be understood as an empirical value, when the relative speed is lower than the speed threshold, it indicates that there is no collision risk, and the other vehicle is abandoned as the target vehicle for detection, otherwise, the other vehicle is identified as the fast moving target vehicle, and the long-distance vehicle detection is continued.
In the process of continuing the remote vehicle detection, if the other vehicle can be detected according to the non-same frequency band of the third chirp signal, it indicates that the other vehicle is within the general detection range of the conventional radar, the detection of the remote vehicle is stopped, and the short-distance detection mode is switched to the short-distance detection mode, so in this embodiment, the short-distance detection mode refers to the conventional radar detection, and the long-distance detection mode refers to the detection method of the embodiment of the present application; if the other vehicle cannot be detected in the non-same frequency band, the subsequent steps of the embodiment are continuously executed, the azimuth angle is compared with the set angle threshold value, if the azimuth angle exceeds the angle threshold value, the situation that the lanes where the other vehicle and the one vehicle are located are not adjacent is shown, no collision hidden danger exists, otherwise, the other vehicle may be located in the same lane or the adjacent lane of the one vehicle, and then the lane where the other vehicle is located is determined according to the specific indication of the azimuth angle.
The embodiment of the application also provides a method for detecting a remote vehicle, which performs collision prediction with other vehicles based on interaction of chirp signals with preset frequency and the same frequency band, and comprises the following steps:
the method comprises the steps that a first chirp signal is sent out by the vehicle, and a second chirp signal sent out by the other vehicle is received;
mixing frequency according to a first chirp signal sent by the first chirp signal and a second chirp signal sent by another car to obtain a third chirp signal;
obtaining an azimuth angle according to the phase difference between the first chirp signal and the second chirp signal;
obtaining the relative speed with the other vehicle according to the frequency of the same frequency band of the third chirp signal;
and judging whether collision hidden danger exists or not according to the relative speed and the azimuth angle.
In this embodiment, when the computing power of the radar is sufficient, the detection method of the embodiment of the present application can be implemented by using a processor of the radar itself. Specific embodiments have been described in the above embodiments, and detailed description thereof is omitted.
The embodiment of the application also provides a detection system of a long-distance vehicle, which comprises a vehicle, a radar, another vehicle and another radar;
the radar is installed on the one car and used for sending out a first chirp signal and carrying out collision prediction with the other car based on interaction of chirp signals of the same frequency band with preset frequency;
the other radar is arranged on the other vehicle and used for sending out a second chirp signal;
the radar is also used for mixing a first chirp signal sent by the radar and a second chirp signal sent by another car to obtain a third chirp signal; obtaining an azimuth angle according to the phase difference between the first chirp signal and the second chirp signal; obtaining the relative speed with the other vehicle according to the frequency of the same frequency band of the third chirp signal; according to the relative speed and the azimuth
Specifically, the first chirp signal is the same as the second chirp signal.
In this embodiment, as shown in fig. 2, the detection system includes a first vehicle, a first radar, a second vehicle, and a second radar, wherein the first radar is installed on the first vehicle, the second radar is installed on the second vehicle, and a first chirp signal sent by the first radar interacts with a second chirp signal sent by the second radar to predict a collision.
In the description of the present application, it should be noted that the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are only for convenience in describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and operate, and thus, should not be construed as limiting the present application. Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
It is noted that, in the present application, relational terms such as "first" and "second", and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above description is merely exemplary of the present application and is presented to enable those skilled in the art to understand and practice the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A method for detecting a remote vehicle, which is characterized in that collision prediction is performed with other vehicles based on interaction of chirp signals of the same frequency band with a preset frequency, comprises the following steps:
mixing frequency according to a first chirp signal sent by the first chirp signal and a second chirp signal sent by another car to obtain a third chirp signal;
obtaining an azimuth angle according to the phase difference between the first chirp signal and the second chirp signal;
obtaining the relative speed with the other vehicle according to the frequency of the same frequency band of the third chirp signal;
and judging whether collision hidden danger exists or not according to the relative speed and the azimuth angle.
2. The method according to claim 1, wherein the step of mixing the first chirp signal sent by the third car with the second chirp signal sent by another car to obtain the third chirp signal comprises:
and calculating the frequency difference between the received second chirp signal and the sent first chirp signal, wherein the frequency difference is the frequency of the second chirp signal.
3. The method as claimed in claim 1, wherein the step of obtaining the relative velocity with another vehicle according to the frequency of the same frequency band as the third chirp signal comprises:
acquiring the frequency of the same frequency band of the third chirp signal;
and dividing the frequency of the same frequency band of the third chirp signal by the frequency of the same frequency band of the first chirp signal, and multiplying the frequency by the speed of light to obtain the relative speed with the other vehicle.
4. A method for detecting a remote vehicle as claimed in claim 1, wherein said step of determining whether there is a potential collision based on said relative velocity and said azimuth comprises:
comparing the relative speed with a set speed threshold value, and judging whether the other vehicle is a fast moving target vehicle according to the comparison result;
and after the other vehicle is judged to be the target vehicle which moves rapidly, whether the potential collision hazard exists with the other vehicle in a remote detection mode is judged according to the azimuth angle.
5. The method as claimed in claim 4, wherein the step of comparing the relative speed with a set speed threshold and determining whether the other vehicle is a fast moving target vehicle according to the comparison result comprises:
and comparing whether the relative speed is less than a set speed threshold value, if so, judging that the vehicle has no hidden collision danger with the other vehicle, and otherwise, judging that the other vehicle is a target vehicle moving quickly.
6. The method according to claim 4, wherein said step of determining whether there is a collision risk with the other vehicle in the long-range detection mode according to the azimuth after determining that the other vehicle is the fast moving target vehicle comprises:
and after the other vehicle is judged to be a fast moving target vehicle, judging whether the other vehicle can be detected according to the frequency of the third chirp signal in the non-same frequency band, if so, switching to a short-distance detection mode, otherwise, comparing the azimuth angle with a set angle threshold value, and judging whether the other vehicle has collision hidden danger in a long-distance detection mode according to the comparison result.
7. The method of claim 6, wherein the step of comparing the azimuth angle with a predetermined angle threshold and determining whether there is a collision risk with the other vehicle in the long-range detection mode according to the comparison result comprises:
comparing the azimuth angle with a set angle threshold;
if the azimuth exceeds the angle threshold, judging that no collision hidden danger exists between the vehicle and another vehicle in a remote detection mode;
and if the azimuth angle is below the angle threshold value, determining that the other vehicle is positioned in the same lane or an adjacent lane of the one vehicle according to the azimuth angle.
8. A method for detecting a remote vehicle, which is characterized in that collision prediction is performed with other vehicles based on interaction of chirp signals of the same frequency band with a preset frequency, comprises the following steps:
the method comprises the steps that a first chirp signal is sent out by the vehicle, and a second chirp signal sent out by the other vehicle is received;
mixing frequency according to a first chirp signal sent by the first chirp signal and a second chirp signal sent by another car to obtain a third chirp signal;
obtaining an azimuth angle according to the phase difference between the first chirp signal and the second chirp signal;
obtaining the relative speed with the other vehicle according to the frequency of the same frequency band of the third chirp signal;
and judging whether collision hidden danger exists or not according to the relative speed and the azimuth angle.
9. A detection system for a remote vehicle, comprising a vehicle, a radar, a further vehicle and a further radar;
the radar is installed on the one car and used for sending out a first chirp signal and carrying out collision prediction with the other car based on interaction of chirp signals of the same frequency band with preset frequency;
the other radar is arranged on the other vehicle and used for sending out a second chirp signal;
the radar is also used for mixing a first chirp signal sent by the radar and a second chirp signal sent by another car to obtain a third chirp signal; obtaining an azimuth angle according to the phase difference between the first chirp signal and the second chirp signal; obtaining the relative speed with the other vehicle according to the frequency of the same frequency band of the third chirp signal; and judging whether collision hidden danger exists or not according to the relative speed and the azimuth angle.
10. The remote vehicle detection system of claim 1, wherein the first chirp signal is the same as the second chirp signal.
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