A millimeter wave traffic radar detection method and system for radar-vision integrated machine

Abstract

The present invention relates to a millimeter-wave traffic radar detection method and system for a radar-vision integrated machine, and belongs to the technical field of traffic radar. The method comprises: a long-range antenna board detection process: receiving a long-range start signal, performing a long-range continuous wave frequency modulation signal transceiver cycle, and after the end, sending the long-range start signal, and repeating the above steps. After receiving the long-range continuous wave frequency modulation signal, the signal is parsed to obtain the long-range radar detection data. A near-medium-range antenna board detection process: receiving the short-range start signal and the medium-range start signal in time-sharing, entering the transceiver cycle of the short-range continuous wave frequency modulation signal and the medium-range continuous wave frequency modulation signal in time-sharing, and repeating the near-medium-range continuous wave frequency modulation signal transceiver cycle steps. After receiving the continuous wave frequency modulation signal and performing signal parsing, data fusion is performed to obtain the near-medium-range radar detection data. The sensitivity of detecting small targets at a long distance is enhanced, the utilization rate of the frequency band is improved, and the volume of the radar is reduced by using fewer antenna boards.

Description

Technical Field

[0001] The present invention belongs to the technical field of traffic radars, and in particular relates to a millimeter wave traffic radar detection method and system for a radar-vision integrated machine. Background Art

[0002] Millimeter-wave radar has high detection accuracy, provides rich information, has high system reliability and stability, strong anti-interference ability, works around the clock, and is easy and quick to install and maintain, which has led to its large-scale and extensive application in the field of intelligent transportation, and its application is still being expanded. The application of millimeter-wave radar has led to the birth of the integrated radar and vision fusion machine, which is an intelligent sensor designed specifically for vehicle-road collaboration in the 5G era. It is a traffic sensor that integrates a camera, millimeter-wave radar, and a high-performance processor.

[0003] At present, 76GHz~81GHz long-range traffic radar is the mainstream of millimeter wave radar. This radar includes long-range antenna boards, medium-range antenna boards, and short-range antenna boards to achieve a long-range radar coverage range of 25m~550m. Among them, the short-range antenna board has an irradiation range of 25 meters to 120 meters, the medium-range antenna board has an irradiation range of 100 meters to 220 meters, and the long-range antenna board has an irradiation range of 200 meters to 550 meters, thereby achieving a long-range radar coverage range of 25 meters to 550 meters. However, a large number of boards will cause the radar to become larger, the total radar transmission power will be relatively high, and the cost will also be relatively high. Using a short-range, medium-range and long-range antenna board, the long-range, medium-range and short-range antenna boards work in time, resulting in low sensitivity in detecting small targets at a long distance and low frequency band utilization. Summary of the invention

[0004] In order to solve the above problems existing in the prior art, in the first aspect, the present invention provides a millimeter wave traffic radar detection method for a radar-vision integrated machine, the method comprising a long-distance antenna board detection process and a near-medium-distance antenna board detection process, the long-distance antenna board detection process and the near-medium-distance antenna board detection process are performed simultaneously, and the method of the present invention can be implemented by the following technical steps:

[0005] The long-distance antenna card detection process includes the following detection steps:

[0006] S1: The remote antenna board receives the remote start signal;

[0007] S2: the remote antenna board performs a remote continuous wave frequency modulation signal transceiving cycle. After the remote continuous wave frequency modulation signal transceiving cycle ends, the remote antenna board sends the remote start signal to the remote antenna board, and steps S1 and S2 are repeated;

[0008] S3: The main control board receives the long-range continuous wave frequency modulation signal sent in the long-range continuous wave frequency modulation signal receiving and transmitting period, and performs signal analysis on the long-range continuous wave frequency modulation signal to obtain the long-range radar detection data.

[0009] The near-mid-range antenna board detection process includes the following detection steps:

[0010] A1: The near-mid-range antenna board receives the near-range start signal;

[0011] A2: the near-medium-range antenna card enters the transceiver cycle of the near-range continuous wave frequency modulation signal. After the transceiver cycle of the near-range continuous wave frequency modulation signal ends, the near-medium-range antenna card sends a medium-range start signal to the near-medium-range antenna card;

[0012] A3: the near-medium-range antenna board receives the medium-range start signal, and the near-medium-range antenna board enters the transceiver cycle of the medium-range continuous wave frequency modulation signal. After the transceiver cycle of the medium-range continuous wave frequency modulation signal ends, the near-range start signal is sent to the near-medium-range antenna board, and A1, A2, and A3 are repeated;

[0013] A4: The main control board receives the short-range continuous wave frequency modulation signal and the medium-range continuous wave frequency modulation signal, performs signal analysis on the short-range continuous wave frequency modulation signal and the medium-range continuous wave frequency modulation signal to obtain the short-range radar detection data and the medium-range radar detection data, and performs data fusion on the short-range radar detection data and the medium-range radar detection data to obtain the near- and medium-range radar detection data.

[0014] Specifically, the long-range continuous wave frequency modulation signal, the short-range continuous wave frequency modulation signal, and the medium-range continuous wave frequency modulation signal are obtained by randomly modulating the corresponding long-range continuous wave signal, the short-range continuous wave signal, and the medium-range continuous wave signal, and the steps of the random modulation are:

[0015] Step 1: obtaining the RD spectrum of the continuous wave signal;

[0016] Step 2: extracting the characteristics of the RD spectrum to generate a random sequence code, and generating a random sequence number table according to the random sequence code;

[0017] Step 3: Obtain the sequence initial phase, starting pulse position, and starting frequency from the random sequence number table;

[0018] Step 4: Obtain a continuous wave frequency modulation signal according to the initial phase, the starting pulse position, and the starting frequency.

[0019] Specifically, the specific steps of the signal analysis are:

[0020] Step 1: sampling the intermediate frequency signal of the continuous wave frequency modulation signal to obtain a digital signal of the continuous wave frequency modulation signal, and performing fast Fourier transform processing on the digital signal to obtain the RD spectrum of the receiving channel of the main control module;

[0021] Step 2: traverse the target points on the RD spectrum to perform threshold detection, and obtain the target point that meets the threshold detection threshold, which is recorded as the detected target point;

[0022] Step 3: Send the detected target point to the OS-CFAR detector, select a column on the RD spectrum parallel to the distance axis as a reference unit, and the detected target point that meets the reference unit condition is the final detected target point;

[0023] Step 4: Perform DOA estimation on the final detected target point to obtain the relative angle between the final detected target point and the long-range millimeter-wave radar, and obtain radar detection data based on the relative angle.

[0024] Specifically, the specific steps of performing the data fusion on the short-range radar detection data and the medium-range radar detection data are as follows:

[0025] Step 1: predicting the close-range radar detection data according to the speed of the close-range moving target and updating the longitudinal position of the close-range moving target;

[0026] Step 2: traverse the short-range radar detection data and the medium-range radar detection data at the same time, and when there is a medium-range moving target in the medium-range radar detection data whose similarity with the short-range moving target is greater than a threshold, the short-range moving target and the medium-range moving target are the same moving target;

[0027] Step 3: Perform weighted averaging on the distance, speed, and angle information of the close-range moving target to obtain a close-range moving target value;

[0028] Step 4: assign the close-range moving target to the close-range detection target pool and mark it as matched, while deleting the medium-range moving target in the medium-range detection target pool.

[0029] Specifically, in the near- and medium-range antenna board detection process and the long-range antenna board detection process, the transceiver period of the long-range continuous wave frequency modulation signal in the long-range antenna board detection process and the transceiver period of the short-range continuous wave frequency modulation signal in the near- and medium-range antenna board detection process plus the transceiver period of the medium-range continuous wave frequency modulation signal are the same.

[0030] In a second aspect, the present invention provides a millimeter wave traffic radar system for a radar-vision integrated machine, comprising: a main control board, a long-range antenna board card, and a short-range and medium-range antenna board card;

[0031] The near-medium-range antenna board integrates a wide-beam transmitting antenna array and a narrow-beam transmitting antenna array working at the same frequency, as well as a wide-beam receiving antenna array and a narrow-beam receiving antenna array working at the same frequency;

[0032] The long-range antenna board is integrated with a narrow beam transmitting antenna array and a narrow beam receiving antenna array;

[0033] The main control board obtains the continuous wave frequency modulation signals corresponding to the long-range antenna board and the short-range and medium-range antenna board respectively.

[0034] Specifically, the installation angle of the long-range antenna board is parallel to the vertical line of the ground, covering a detection distance of 200m to 550m; the installation angle of the near-medium-range antenna board is 3° with the vertical line of the ground, covering a detection distance of 25m to 250m, and the feeder lengths of the transmitting antenna array and the receiving antenna array of the long-range antenna board and the near-medium-range antenna board are equal.

[0035] Specifically, the array spacing of the wide beam transmitting antenna array of the near-medium range antenna board is equal to the array spacing of the narrow beam transmitting antenna array, and the array spacing of the wide beam receiving antenna array of the near-medium range antenna board is not equal to the array spacing of the narrow beam receiving antenna array.

[0036] Specifically, the layout of the radiation array of the long-range antenna board is three narrow-beam transmitting antenna arrays and four narrow-beam receiving antenna arrays;

[0037] The transmitting antenna array and receiving antenna array layout of the long-range antenna board are both arranged at equal intervals, the spacing of the transmitting antenna array is 16.5 times the free space wavelength, and the spacing of the receiving antenna array is 4 times the free space wavelength.

[0038] Specifically, the beam azimuth angle for the long-range millimeter-wave traffic radar is calculated by the following formula:

[0039] α=atan(w / R)

[0040] αs=2×α,

[0041] Wherein, α is the unilateral azimuth angle of the beam, αs is the azimuth angle of the beam, w is the lane width, and R is the distance between the long-range millimeter-wave traffic radar and the target object.

[0042] The beneficial effects of the present invention are:

[0043] (1) Through the design of long-range antenna boards and short-range and medium-range antenna boards, the starting frequency, phase, and pulse position of the transmitting waveform are randomly modulated to achieve mutual compatibility between the long-range antenna board and the short-range antenna board in the same frequency band, thereby improving the time-bandwidth product of the long-range antenna board, enhancing its sensitivity in detecting long-range small targets, and improving the frequency band utilization rate;

[0044] (2) The near- and medium-range antenna board integrates a wide-beam transmitting antenna array and a narrow-beam transmitting antenna array working at the same frequency, as well as a wide-beam receiving antenna array and a narrow-beam receiving antenna array working at the same frequency. That is, the near- and medium-range antenna board can realize the near- and medium-range radar illumination range. Using fewer antenna boards can reduce the size of the radar and achieve long-range radar coverage. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to facilitate understanding by those skilled in the art, the present invention is further described below with reference to the accompanying drawings:

[0046] Figure 1 The present invention is a flow chart of a millimeter wave traffic radar detection method for a radar-vision integrated device. DETAILED DESCRIPTION

[0047] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the specific implementation methods, structures, features and effects of the present invention are described in detail below in conjunction with the accompanying drawings and preferred embodiments.

[0048] See also Figure 1 , a flow diagram of a millimeter wave traffic radar detection method for a radar-vision integrated machine, the method comprising a long-distance antenna board detection process and a near-medium-distance antenna board detection process, the long-distance antenna board detection process and the near-medium-distance antenna board detection process are performed simultaneously, the method comprising:

[0049] The long-distance antenna card detection process includes the following detection steps:

[0050] S1: The remote antenna board receives the remote start signal;

[0051] S2: the remote antenna board performs a remote continuous wave frequency modulation signal transceiving cycle. After the remote continuous wave frequency modulation signal transceiving cycle ends, the remote antenna board sends the remote start signal to the remote antenna board, and steps S1 and S2 are repeated;

[0052] S3: The main control board receives the long-range continuous wave frequency modulation signal sent in the long-range continuous wave frequency modulation signal receiving and transmitting period, and performs signal analysis on the long-range continuous wave frequency modulation signal to obtain the long-range radar detection data.

[0053] The near-mid-range antenna board detection process includes the following detection steps:

[0054] A1: The near-mid-range antenna board receives the near-range start signal;

[0055] A2: the near-medium-range antenna card enters the transceiver cycle of the near-range continuous wave frequency modulation signal. After the transceiver cycle of the near-range continuous wave frequency modulation signal ends, the near-medium-range antenna card sends a medium-range start signal to the near-medium-range antenna card;

[0056] A3: the near-medium-range antenna board receives the medium-range start signal, and the near-medium-range antenna board enters the transceiver cycle of the medium-range continuous wave frequency modulation signal. After the transceiver cycle of the medium-range continuous wave frequency modulation signal ends, the near-range start signal is sent to the near-medium-range antenna board, and A1, A2, and A3 are repeated;

[0057] A4: The main control board receives the short-range continuous wave frequency modulation signal and the medium-range continuous wave frequency modulation signal, performs signal analysis on the short-range continuous wave frequency modulation signal and the medium-range continuous wave frequency modulation signal to obtain the short-range radar detection data and the medium-range radar detection data, and performs data fusion on the short-range radar detection data and the medium-range radar detection data to obtain the near- and medium-range radar detection data.

[0058] Specifically, the long-range continuous wave frequency modulation signal, the short-range continuous wave frequency modulation signal, and the medium-range continuous wave frequency modulation signal are obtained by randomly modulating the corresponding long-range continuous wave signal, the short-range continuous wave signal, and the medium-range continuous wave signal, and the steps of the random modulation are:

[0059] Step 1: obtaining the RD spectrum of the continuous wave signal;

[0060] Step 2: extracting the characteristics of the RD spectrum to generate a random sequence code, and generating a random sequence number table according to the random sequence code;

[0061] Step 3: Obtain the sequence initial phase, starting pulse position, and starting frequency from the random sequence number table;

[0062] Step 4: Obtain a continuous wave frequency modulation signal according to the initial phase, the starting pulse position, and the starting frequency.

[0063] Specifically, the specific steps of the signal analysis are:

[0064] Step 1: sampling the intermediate frequency signal of the continuous wave frequency modulation signal to obtain a digital signal of the continuous wave frequency modulation signal, and performing fast Fourier transform processing on the digital signal to obtain the RD spectrum of the receiving channel of the main control module;

[0065] Step 2: traverse the target points on the RD spectrum to perform threshold detection, and obtain the target point that meets the threshold detection threshold, which is recorded as the detected target point;

[0066] Step 3: Send the detected target point to the OS-CFAR detector, select a column on the RD spectrum parallel to the distance axis as a reference unit, and the detected target point that meets the reference unit condition is the final detected target point;

[0067] Step 4: Perform DOA estimation on the final detected target point to obtain the relative angle between the final detected target point and the long-range millimeter-wave radar, and obtain radar detection data based on the relative angle.

[0068] Specifically, the specific steps of performing the data fusion on the short-range radar detection data and the medium-range radar detection data are as follows:

[0069] Step 1: performing prediction processing on the close-range radar detection data according to the speed of the close-range moving target, and updating the longitudinal position of the close-range moving target;

[0070] Step 2: traverse the short-range radar detection data and the medium-range radar detection data at the same time, and when there is a medium-range moving target in the medium-range radar detection data whose similarity with the short-range moving target is greater than a threshold, the short-range moving target and the medium-range moving target are the same moving target;

[0071] Step 3: Perform weighted averaging on the distance, speed, and angle information of the close-range moving target to obtain a close-range moving target value;

[0072] Step 4: assign the close-range moving target to the close-range detection target pool and mark it as matched, while deleting the medium-range moving target in the medium-range detection target pool.

[0073] Specifically, in the near- and medium-range antenna board detection process and the long-range antenna board detection process, the transceiver period of the long-range continuous wave frequency modulation signal in the long-range antenna board detection process and the transceiver period of the short-range continuous wave frequency modulation signal in the near- and medium-range antenna board detection process plus the transceiver period of the medium-range continuous wave frequency modulation signal are the same.

[0074] In a second aspect, the present invention provides a millimeter wave traffic radar system for a radar-vision integrated machine, comprising: a main control board, a long-range antenna board card, and a short-range and medium-range antenna board card;

[0075] The near-medium-range antenna board integrates a wide-beam transmitting antenna array and a narrow-beam transmitting antenna array working at the same frequency, as well as a wide-beam receiving antenna array and a narrow-beam receiving antenna array working at the same frequency;

[0076] The long-range antenna board is integrated with a narrow beam transmitting antenna array and a narrow beam receiving antenna array;

[0077] The main control board obtains the continuous wave frequency modulation signals corresponding to the long-range antenna board and the short-range and medium-range antenna board respectively.

[0078] Specifically, the installation angle of the long-range antenna board is parallel to the vertical line of the ground, covering a detection distance of 200m to 550m; the installation angle of the near-medium-range antenna board is 3° with the vertical line of the ground, covering a detection distance of 25m to 250m, and the feeder lengths of the transmitting antenna array and the receiving antenna array of the long-range antenna board and the near-medium-range antenna board are equal.

[0079] Specifically, the array spacing of the wide beam transmitting antenna array of the near-medium range antenna board is equal to the array spacing of the narrow beam transmitting antenna array, and the array spacing of the wide beam receiving antenna array of the near-medium range antenna board is not equal to the array spacing of the narrow beam receiving antenna array.

[0080] Specifically, the layout of the radiation array of the long-range antenna board is three narrow-beam transmitting antenna arrays and four narrow-beam receiving antenna arrays;

[0081] The transmitting antenna array and receiving antenna array layout of the long-range antenna board are both arranged at equal intervals, the spacing of the transmitting antenna array is 16.5 times the free space wavelength, and the spacing of the receiving antenna array is 4 times the free space wavelength.

[0082] Specifically, the beam azimuth angle for the long-range millimeter-wave traffic radar is calculated by the following formula:

[0083] α=atan(w / R)

[0084] αs=2×α,

[0085] Wherein, α is the unilateral azimuth angle of the beam, αs is the azimuth angle of the beam, w is the lane width, and R is the distance between the long-range millimeter-wave traffic radar and the target object.

[0086] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in the present application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM) and memory bus dynamic RAM (RDRAM).

[0087] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technical personnel in this field can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A millimeter wave traffic radar detection method for a radar-vision integrated machine, characterized in that: The method includes a long-range antenna board detection process and a near-medium-range antenna board detection process, wherein the long-range antenna board detection process and the near-medium-range antenna board detection process are performed simultaneously; The long-range antenna board detection process includes the following detection steps: S1: The remote antenna board receives the remote start signal; S2: the remote antenna board performs a remote continuous wave frequency modulation signal transceiving cycle. After the remote continuous wave frequency modulation signal transceiving cycle ends, the remote antenna board sends the remote start signal to the remote antenna board, and steps S1 and S2 are repeated; S3: The main control board receives the long-range continuous wave frequency modulation signal sent in the long-range continuous wave frequency modulation signal receiving and transmitting period, and performs signal analysis on the long-range continuous wave frequency modulation signal to obtain long-range radar detection data; The near-mid-range antenna board detection process includes the following detection steps: A1: The near-mid-range antenna board receives the near-range start signal; A2: the near-medium-range antenna card enters the transceiver cycle of the near-range continuous wave frequency modulation signal. After the transceiver cycle of the near-range continuous wave frequency modulation signal ends, the near-medium-range antenna card sends a medium-range start signal to the near-medium-range antenna card; A3: the near-medium-range antenna board receives the medium-range start signal, and the near-medium-range antenna board enters the transceiver cycle of the medium-range continuous wave frequency modulation signal. After the transceiver cycle of the medium-range continuous wave frequency modulation signal ends, the near-range start signal is sent to the near-medium-range antenna board, and A1, A2, and A3 are repeated; A4: The main control board receives the short-range continuous wave frequency modulation signal and the medium-range continuous wave frequency modulation signal, performs signal analysis on the short-range continuous wave frequency modulation signal and the medium-range continuous wave frequency modulation signal to obtain short-range radar detection data and medium-range radar detection data, and performs data fusion on the short-range radar detection data and the medium-range radar detection data to obtain the short-range and medium-range radar detection data; The specific steps of performing the data fusion on the short-range radar detection data and the medium-range radar detection data are as follows: Step 1: performing prediction processing on the close-range radar detection data according to the speed of the close-range moving target, and updating the longitudinal position of the close-range moving target; Step 2: traverse the short-range radar detection data and the medium-range radar detection data at the same time, and when there is a medium-range moving target in the medium-range radar detection data whose similarity with the short-range moving target is greater than a threshold, the short-range moving target and the medium-range moving target are the same moving target; Step 3: Perform weighted averaging on the distance, speed, and angle information of the close-range moving target to obtain a close-range moving target value; Step 4: assign the close-range moving target to the close-range detection target pool and mark it as matched, while deleting the medium-range moving target in the medium-range detection target pool.

2. The millimeter wave traffic radar detection method for a radar-vision integrated machine according to claim 1, characterized in that: The long-range continuous wave frequency modulation signal, the short-range continuous wave frequency modulation signal, and the medium-range continuous wave frequency modulation signal are obtained by randomly modulating the corresponding long-range continuous wave signal, the short-range continuous wave signal, and the medium-range continuous wave signal, and the steps of the random modulation are: Step 1: obtaining the RD spectrum of the continuous wave signal; Step 2: extracting the characteristics of the RD spectrum to generate a random sequence code, and generating a random sequence number table according to the random sequence code; Step 3: Obtain the sequence initial phase, starting pulse position, and starting frequency from the random sequence number table; Step 4: Obtain a continuous wave frequency modulation signal according to the initial phase, the starting pulse position, and the starting frequency.

3. The millimeter wave traffic radar detection method for a radar-vision integrated machine according to claim 1, characterized in that: The specific steps of the signal analysis are: Step 1: Sampling the intermediate frequency signal of the continuous wave frequency modulation signal to obtain a digital signal of the continuous wave frequency modulation signal, and performing fast Fourier transform processing on the digital signal to obtain the RD spectrum of the receiving channel of the main control module; Step 2: traverse the target points on the RD spectrum to perform threshold detection, and obtain the target point that meets the threshold detection threshold, which is recorded as the detected target point; Step 3: Send the detected target point to the OS-CFAR detector, select a column on the RD spectrum parallel to the distance axis as a reference unit, and the detected target point that meets the reference unit condition is the final detected target point; Step 4: Perform DOA estimation on the final detected target point to obtain the relative angle between the final detected target point and the millimeter wave traffic radar, and obtain radar detection data according to the relative angle.

4. The millimeter wave traffic radar detection method for a radar-vision integrated machine according to claim 1, characterized in that: During the near- and medium-range antenna board detection process and the long-range antenna board detection process, the transceiver period of the long-range continuous wave frequency modulation signal during the long-range antenna board detection process and the transceiver period of the short-range continuous wave frequency modulation signal plus the transceiver period of the medium-range continuous wave frequency modulation signal during the near- and medium-range antenna board detection process are the same.

5. A millimeter wave traffic radar system for a radar-visual integrated machine, operated using the method described in any one of claims 1 to 4, characterized in that: These include: Main control board, short-range and medium-range antenna board, and long-range antenna board; The near-medium-range antenna board integrates a wide-beam transmitting antenna array and a narrow-beam transmitting antenna array working at the same frequency, as well as a wide-beam receiving antenna array and a narrow-beam receiving antenna array working at the same frequency; The long-range antenna board is integrated with a narrow beam transmitting antenna array and a narrow beam receiving antenna array; The main control board obtains the continuous wave frequency modulation signals corresponding to the long-range antenna board and the short-range and medium-range antenna board respectively.

6. The millimeter wave traffic radar system for a radar-visual integrated machine according to claim 5, characterized in that: The installation angle of the long-range antenna board is parallel to the vertical line of the ground, covering a detection distance of 200m to 550m; the installation angle of the near-medium-range antenna board is 3° with the vertical line of the ground, covering a detection distance of 25m to 250m, and the feeder lengths of the transmitting antenna array and the receiving antenna array of the long-range antenna board and the near-medium-range antenna board are equal.

7. The millimeter wave traffic radar system for a radar-visual integrated machine according to claim 5, characterized in that: The array spacing of the wide beam transmitting antenna array of the near-medium range antenna board is equal to the array spacing of the narrow beam transmitting antenna array of the near-medium range antenna board, and the array spacing of the wide beam receiving antenna array of the near-medium range antenna board is not equal to the array spacing of the narrow beam receiving antenna array of the near-medium range antenna board.

8. The millimeter wave traffic radar system for a radar-visual integrated machine according to claim 5, characterized in that: The radiation array of the long-range antenna board is arranged as three narrow-beam transmitting antenna arrays and four narrow-beam receiving antenna arrays; The transmitting antenna array and receiving antenna array layout of the long-range antenna board are both arranged at equal intervals, the spacing of the transmitting antenna array is 16.5 times the free space wavelength, and the spacing of the receiving antenna array is 4 times the free space wavelength.

9. The millimeter wave traffic radar system for a radar-visual integrated machine according to claim 5, characterized in that: The beam azimuth angle for millimeter-wave traffic radar is calculated by the following formula: ， In the formula, α is the unilateral azimuth angle of the beam, αs is the beam azimuth angle, w is the lane width, R is the distance between the millimeter wave traffic radar and the target object.

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