A method for identifying ground cliffs based on millimeter wave reversing radar
A technology of millimeter-wave radar and reversing radar, which is applied in the direction of radio wave reflection/reradiation, radio wave measurement system, instruments, etc., can solve the problems of vehicle falling, safety, hidden danger, etc., and achieve the effect of ensuring the safety of reversing
Active Publication Date: 2021-02-02
HUIZHOU DESAY SV INTELLIGENT TRANSPORTATION TECH INST CO LTD
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Problems solved by technology
[0002] As we all know, the traditional reversing radar uses the principle of ultrasonic distance measurement to detect obstacles. Limited by the principle of this detection method, the ultrasonic reversing radar cannot detect road cliffs or potholes. In real life, the vehicle falls into it when reversing. Occurs from time to time, therefore, there are potential safety hazards in the process of reversing with traditional reversing radar
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Embodiment 1
[0038] A millimeter-wave-based reversing radar ground cliff recognition method, such as figure 1 shown, including the following steps:
[0039] S10. Receive the echo data of the millimeter wave radar, and calculate the echo intensity of all detected targets in the irradiation area of the millimeter wave radar in combination with the radar system parameters.
[0040] In this step, the echo intensity of the detection target received by the millimeter-wave radar is calculated by the following formula:
[0041] ;
[0042] in, Indicates the echo power, that is, the echo intensity, Indicates the transmitting power of the radar antenna, is the radar antenna gain, Indicates the detection target distance; Indicates the detection target scattering cross-section, Indicates the radar electromagnetic wave wavelength.
[0043] From the above formula, it can be seen that the echo intensity of the detection target received by the millimeter-wave radar is proportional to t...
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The invention relates to a ground cliff recognition method based on millimeter wave radar, which includes receiving millimeter wave radar echo data and calculating the echo intensity of all detection targets in the millimeter wave radar irradiation area in combination with radar system parameters; The value is processed and calculated to determine whether there is a cliff or a pothole; when it is determined that there is a cliff or a pothole, determine the front edge and the rear edge of the cliff or pothole to calculate the width of the cliff or pothole; the width of the cliff or pothole Compared with the second threshold, when the width of the cliff or pothole is greater than the second threshold, it is judged that the cliff or pothole is a valid cliff or pothole. The invention judges whether there are cliffs or potholes on the ground during the reversing process through the echo intensity received by the millimeter-wave radar, solves the problem that the traditional reversing radar cannot identify the cliffs or potholes on the ground, and ensures the safety of reversing.
Description
technical field [0001] The invention relates to the technical field of reversing warning or braking, in particular to a millimeter-wave-based reversing radar ground cliff recognition method. Background technique [0002] As we all know, the traditional reversing radar uses the principle of ultrasonic distance measurement to detect obstacles. Limited by the principle of this detection method, the ultrasonic reversing radar cannot detect road cliffs or potholes. In real life, the vehicle falls into it when reversing. Happen from time to time, therefore, adopt traditional reversing radar to have potential safety hazard in reversing process. Contents of the invention [0003] In order to overcome the disadvantages of the above-mentioned prior art, the present invention provides a radar pit detection method based on an automatic parking system. [0004] In order to solve the problems of the technologies described above, the technical solution of the present invention is as fol...
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IPC IPC(8): G01S13/931G01S7/41
CPCG01S7/41G01S13/931G01S2013/9317
Inventor 曾迪
Owner HUIZHOU DESAY SV INTELLIGENT TRANSPORTATION TECH INST CO LTD