A moving detection method and system for vehicle-mounted radar

Abstract

The present invention discloses a moving detection method and system for vehicle-mounted radar, belonging to the field of vehicle-mounted radar detection technology. The method comprises the following steps: obtaining vehicle-mounted environment data and radar performance data; obtaining a vehicle-mounted environment evaluation value by comprehensive analysis based on the vehicle-mounted environment data, and obtaining a radar performance index threshold by matching the vehicle-mounted environment evaluation value, obtaining a radar performance index by comprehensive analysis based on the radar performance data, and evaluating the radar performance according to the radar performance index and the radar performance index threshold; collecting signal state data of each reflection signal, obtaining an accuracy evaluation value of each reflection signal by comprehensive analysis based on the signal state data, radar performance index and vehicle-mounted environment evaluation value of each reflection signal, and screening each reflection signal according to the accuracy evaluation value of each reflection signal to obtain each effective reflection signal; obtaining the detection target position according to each effective reflection signal.

Description

Technical Field

[0001] The present invention relates to the field of vehicle-mounted radar detection technology, and in particular to a moving detection method and system for a vehicle-mounted radar. Background Art

[0002] The working principle of vehicle-mounted radar is to transmit electromagnetic waves through the antenna. These electromagnetic waves will be reflected back when encountering obstacles and captured by the radar receiver. According to the time difference and frequency difference between the transmission and reception of electromagnetic waves, the distance, speed, direction and other information of the obstacle are calculated. However, the signals received by the radar usually contain a lot of noise and interference, and need to be processed to extract useful target information.

[0003] Existing on-the-go detection methods for vehicle-mounted radars are mainly implemented through pulse radar technology, frequency modulated continuous wave radar, phased array radar technology, etc. On the move, vehicle-mounted radars need to overcome the influence of multiple factors such as vehicle posture changes, road bumps, and electromagnetic interference to ensure the accuracy and stability of target detection.

[0004] For example, the patent application with publication number: CN115061130A discloses a search and tracking integrated design method and system based on a vehicle-mounted non-stationary platform, which includes: step one, based on the navigation and attitude system measurement data under the vehicle body motion state; step two, based on the measurement data, beam compensation, velocity compensation, phase compensation, azimuth and position compensation are performed to eliminate the influence of the non-stationary platform motion on the target position information, so that the target position conforms to the motion feature analysis. This invention compensates for the radar beam pointing, target velocity, and search and tracking by obtaining accurate vehicle body attitude information.

[0005] For example, the patent application with publication number: CN115356704A discloses a distributed coherent radar system on the move, including: adopting the design ideas of "breaking the whole into parts" and "accumulating small amounts into many", building a distributed coherent radar air defense system that can be quickly deployed and detected on the move, and through resource sharing and information fusion between radars, realizing the combination of many small-aperture radars on mobile platforms, and then obtaining the equivalent detection performance of large-aperture radars. The distributed coherent radar system on the move is composed of a central control and processing system and multiple vehicle-mounted unit radars. A unified frequency source is used to achieve high-precision synchronization of the system. The detection information of each unit radar is estimated in real time by coherent parameters and signal fusion in the main control module to form a high-quality detection track, and finally human-computer interaction and display are realized in the display and control module.

[0006] However, in the process of implementing the technical solution of the invention in the embodiments of the present application, the present application found that the above technology has at least the following technical problems:

[0007] In the prior art, the vehicle-mounted radar is subject to external interference when guiding machine gun attacks while moving, resulting in poor quality of reflected signals and low target recognition accuracy. Summary of the invention

[0008] The present invention provides a moving detection method and system for a vehicle-mounted radar, thereby solving the problem in the prior art that the vehicle-mounted radar is subject to external interference when guiding a machine gun attack while moving, resulting in poor quality of reflected signals and low target recognition accuracy, thereby achieving high-precision detection and recognition of the target position.

[0009] The present invention provides a moving detection method for a vehicle-mounted radar, comprising the following steps: acquiring vehicle-mounted environment data and radar performance data; obtaining a vehicle-mounted environment evaluation value according to a comprehensive analysis of the vehicle-mounted environment data, obtaining a radar performance index threshold according to matching of the vehicle-mounted environment evaluation value, obtaining a radar performance index according to a comprehensive analysis of the radar performance data, and evaluating the radar performance according to the radar performance index and the radar performance index threshold; collecting signal state data of each reflection signal, obtaining an accuracy evaluation value of each reflection signal according to a comprehensive analysis of the signal state data of each reflection signal, the radar performance index and the vehicle-mounted environment evaluation value, and screening each reflection signal according to the accuracy evaluation value of each reflection signal to obtain each effective reflection signal; and obtaining a detection target position according to each effective reflection signal.

[0010] Furthermore, the step of obtaining a vehicle environment assessment value based on a comprehensive analysis of the vehicle environment data includes: the vehicle environment data includes vegetation density, altitude of each location point, electromagnetic interference intensity, temperature and humidity; obtaining critical vegetation density, critical electromagnetic interference intensity, reference temperature, allowable deviation temperature, reference humidity and allowable deviation humidity from a radar detection database; and obtaining a vehicle environment assessment value through comprehensive analysis.

[0011] Furthermore, the step of obtaining a radar performance index threshold by matching the vehicle environment assessment value includes: obtaining a first vehicle environment assessment threshold and a second vehicle environment assessment threshold from a radar detection database; comparing the vehicle environment assessment value with the first vehicle environment assessment threshold and the second vehicle environment assessment threshold respectively; if the vehicle environment assessment value is less than or equal to the first vehicle environment assessment threshold, it is marked as a first level; if the vehicle environment assessment value is greater than the first vehicle environment assessment threshold and less than or equal to the second vehicle environment assessment threshold, it is marked as a second level; if the vehicle environment assessment value is greater than the second vehicle environment assessment threshold, it is marked as a third level; and the radar performance index threshold is obtained by matching the vehicle environment level with the radar performance index thresholds corresponding to each vehicle environment level preset in the radar detection database.

[0012] Furthermore, the step of obtaining a radar performance index based on a comprehensive analysis of radar performance data includes: the radar performance data includes transmission power, detection distance, scanning speed and maintenance interval duration; obtaining a critical transmission power, a critical detection distance, a critical scanning speed and a critical maintenance interval duration from a radar detection database; and obtaining a radar performance index through comprehensive analysis.

[0013] Furthermore, the step of evaluating the radar performance according to the radar performance index and the radar performance index threshold includes: obtaining the allowable deviation radar performance index from the radar detection database, adding the radar performance index to the allowable deviation radar performance index to obtain a reference radar performance index; comparing the reference radar performance index with the radar performance index threshold, if the reference radar performance index is greater than or equal to the radar performance index threshold, directly performing signal reflection detection, if the reference radar performance index is less than the radar performance index threshold, adjusting the vehicle-mounted radar and providing feedback.

[0014] Furthermore, the step of obtaining the accuracy evaluation value of each reflected signal by comprehensive analysis based on the signal status data, radar performance index and vehicle environment evaluation value of each reflected signal includes: the signal status data of each reflected signal includes signal strength, bit error rate and signal-to-noise ratio; obtaining the critical signal strength, critical bit error rate, critical signal-to-noise ratio, critical radar performance index and critical vehicle environment evaluation value from the radar detection database; and obtaining the accuracy evaluation value of each reflected signal by comprehensive analysis.

[0015] Furthermore, the accuracy evaluation value of each reflection signal is obtained as follows:

[0016] ;

[0017] In the formula, represents the accuracy evaluation value of the i-th reflection signal, Indicates the accuracy assessment impact factor corresponding to the signal strength, represents the accuracy assessment impact factor corresponding to the bit error rate, represents the accuracy assessment impact factor corresponding to the signal-to-noise ratio, represents the accuracy assessment impact factor corresponding to the vehicle environment assessment value, represents the accuracy evaluation impact factor corresponding to the radar performance index, represents the signal strength of the i-th reflected signal, represents the critical signal strength, represents the bit error rate of the i-th reflected signal, represents the critical bit error rate, represents the signal-to-noise ratio of the i-th reflected signal, represents the critical signal-to-noise ratio, Indicates the vehicle environment assessment value, represents the critical vehicle environment assessment value, represents the radar performance index, Represents the critical radar performance index, where i is the number of each reflected signal, i=1,2,3,...,N, and N is the total number of reflected signals.

[0018] Furthermore, each reflection signal is screened according to the accuracy evaluation value of each reflection signal, and the step of obtaining each valid reflection signal includes: obtaining the reflection signal accuracy evaluation threshold from the radar detection database; comparing each reflection signal accuracy evaluation value with the reflection signal accuracy evaluation threshold; if a reflection signal accuracy evaluation value is less than the reflection signal accuracy evaluation threshold, then the reflection signal is marked as an invalid reflection signal; if a reflection signal accuracy evaluation value is greater than or equal to the reflection signal accuracy evaluation threshold, then the reflection signal is marked as a valid reflection signal, and each valid reflection signal is obtained by statistics.

[0019] Furthermore, the step of obtaining the detection target position according to each effective reflection signal includes: obtaining a signal strength threshold from a radar detection database; comparing the signal strength of each effective reflection signal with the signal strength threshold; if the signal strength of an effective reflection signal is less than the signal strength threshold, then eliminating the effective reflection signal; if the signal strength of an effective reflection signal is greater than or equal to the signal strength threshold, then performing a secondary screening on each effective reflection signal according to the signal frequency and phase to obtain a final reflection signal; and obtaining the detection target position according to the final reflection signal.

[0020] The embodiment of the present application provides a moving detection system for a vehicle-mounted radar, comprising a data acquisition module, a signal acquisition module, a signal screening module and a radar detection database; wherein the data acquisition module is used to acquire vehicle-mounted environmental data and radar performance data; the signal acquisition module is used to obtain a vehicle-mounted environmental evaluation value based on a comprehensive analysis of the vehicle-mounted environmental data, and obtain a radar performance index threshold based on the matching of the vehicle-mounted environmental evaluation value, obtain a radar performance index based on a comprehensive analysis of the radar performance data, and evaluate the radar performance based on the radar performance index and the radar performance index threshold; the signal screening module is used to collect signal status data of each reflected signal, obtain an accuracy evaluation value of each reflected signal based on a comprehensive analysis of the signal status data of each reflected signal, the radar performance index and the vehicle-mounted environmental evaluation value, and screen each reflected signal according to the accuracy evaluation value of each reflected signal to obtain each effective reflected signal, and obtain the detection target position according to each effective reflected signal.

[0021] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

[0022] 1. The present invention provides a moving detection method and system for a vehicle-mounted radar, thereby accurately screening each reflection signal based on signal status data, radar performance index and vehicle-mounted environment evaluation value to obtain each effective reflection signal, thereby achieving accurate acquisition of the detection target position based on these effective reflection signals.

[0023] 2. The present invention evaluates radar performance according to the radar performance index and the radar performance index threshold, thereby being able to quantify the performance of the radar in practical applications, thereby achieving an objective and accurate evaluation of the radar performance, and helping to promptly discover possible problems with the radar performance.

[0024] 3. The present invention screens each reflected signal according to the accuracy evaluation value of each reflected signal, thereby eliminating those reflected signals that are interfered with and of poor quality, thereby retaining high-quality and accurate reflected signals as effective reflected signals. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 A flow chart of a moving detection method for a vehicle-mounted radar provided in an embodiment of the present application.

[0026] Figure 2 A radar performance index variation diagram of the moving detection method based on a vehicle-mounted radar provided in an embodiment of the present application.

[0027] Figure 3 A schematic diagram of the structure of a moving detection system for a vehicle-mounted radar provided in an embodiment of the present application. DETAILED DESCRIPTION

[0028] The embodiments of the present application provide a moving detection method and system for a vehicle-mounted radar, which solves the problem in the prior art that the vehicle-mounted radar is subject to external interference when guiding a machine gun attack while moving, resulting in poor quality of reflected signals and low target recognition accuracy. The vehicle-mounted environment evaluation value is obtained by comprehensive analysis of the vehicle-mounted environment data, and a radar performance index threshold is obtained by matching the vehicle-mounted environment evaluation value. A radar performance index is obtained by comprehensive analysis of the radar performance data, and the radar performance is evaluated according to the radar performance index and the radar performance index threshold; signal status data of each reflected signal is collected, and an accuracy evaluation value of each reflected signal is obtained by comprehensive analysis according to the signal status data, the radar performance index and the vehicle-mounted environment evaluation value of each reflected signal, and each reflected signal is screened according to the accuracy evaluation value of each reflected signal to obtain each effective reflected signal; the detection target position is obtained according to each effective reflected signal, thereby achieving high-precision detection and recognition of the target position.

[0029] The technical solution in the embodiment of the present application is to solve the problem that the above-mentioned vehicle-mounted radar is interfered by the outside world when guiding the machine gun to strike while moving, resulting in poor quality of reflected signals and low target recognition accuracy. The overall idea is as follows:

[0030] By acquiring vehicle environment data and radar performance data; obtaining a vehicle environment evaluation value based on a comprehensive analysis of the vehicle environment data, and obtaining a radar performance index threshold based on matching the vehicle environment evaluation value, obtaining a radar performance index based on a comprehensive analysis of the radar performance data, and evaluating the radar performance based on the radar performance index and the radar performance index threshold; collecting signal status data of each reflected signal, obtaining an accuracy evaluation value of each reflected signal based on a comprehensive analysis of the signal status data of each reflected signal, the radar performance index and the vehicle environment evaluation value, and screening each reflected signal based on the accuracy evaluation value of each reflected signal to obtain each effective reflected signal; obtaining the detection target position based on each effective reflected signal, thereby achieving accuracy and efficiency in processing reflected signals.

[0031] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0032] like Figure 1 As shown, it is a flow chart of a moving detection method for a vehicle-mounted radar provided in an embodiment of the present application, the method comprising the following steps: acquiring vehicle-mounted environmental data and radar performance data; obtaining a vehicle-mounted environmental evaluation value based on a comprehensive analysis of the vehicle-mounted environmental data, and obtaining a radar performance index threshold based on matching of the vehicle-mounted environmental evaluation value, obtaining a radar performance index based on a comprehensive analysis of the radar performance data, and evaluating the radar performance based on the radar performance index and the radar performance index threshold; collecting signal status data of each reflected signal, obtaining an accuracy evaluation value of each reflected signal based on a comprehensive analysis of the signal status data, the radar performance index and the vehicle-mounted environmental evaluation value of each reflected signal, and screening each reflected signal based on the accuracy evaluation value of each reflected signal to obtain each effective reflected signal; and obtaining the detection target position based on each effective reflected signal.

[0033] In this embodiment, by acquiring the vehicle-mounted environmental data and comprehensively analyzing the vehicle-mounted environmental evaluation value, the system can automatically adjust the radar performance index threshold according to the characteristics of different environments, thereby improving the adaptability and stability of the radar system in different environments; by comparing the radar performance index obtained by comprehensive analysis of the radar performance data with the radar performance index threshold obtained by matching the vehicle-mounted environmental evaluation value, an objective and accurate evaluation of the radar performance can be achieved; by collecting the signal state data of each reflected signal and comprehensively analyzing the accuracy evaluation value of each reflected signal, the system can screen out effective reflected signals, eliminate interference and false alarms, thereby improving the accuracy of target detection; the present invention comprehensively considers multiple factors, including the vehicle-mounted environment, radar performance, and the accuracy of the reflected signal, so that the vehicle-mounted radar detection on the move can maintain stable performance when facing complex and changeable environmental conditions, enhances robustness, and improves reliability and stability in practical applications.

[0034] In addition, the radar detection database is used to store relevant data of the on-the-go detection method based on the vehicle-mounted radar, including: critical vegetation density, critical electromagnetic interference intensity, reference temperature, allowable deviation temperature, reference humidity, allowable deviation humidity, vehicle-mounted environment assessment influencing factors corresponding to vegetation density, radar performance index thresholds and reflected signal accuracy assessment thresholds corresponding to each vehicle-mounted environment assessment value interval, etc. The data in the radar detection database can be directly obtained through professional radar databases such as industry standard databases, professional radar data platforms, etc., or can be obtained through cooperation or sharing agreements with radar manufacturers.

[0035] Furthermore, the step of obtaining a vehicle environment assessment value based on a comprehensive analysis of the vehicle environment data includes: the vehicle environment data includes vegetation density, altitude of each location point, electromagnetic interference intensity, temperature and humidity; obtaining critical vegetation density, critical electromagnetic interference intensity, reference temperature, allowable deviation temperature, reference humidity and allowable deviation humidity from a radar detection database; and obtaining a vehicle environment assessment value through comprehensive analysis.

[0036] The vehicle environment evaluation value is obtained in the following manner:

[0037] ;

[0038] ;

[0039] In the formula, represents the vehicle environment evaluation value of the jth position point, Indicates the vehicle environment assessment impact factor corresponding to vegetation density, Indicates the vehicle environment assessment impact factor corresponding to the altitude, Indicates the vehicle environment assessment impact factor corresponding to the electromagnetic interference intensity, Indicates the vehicle environment assessment impact factor corresponding to temperature, Indicates the influencing factor of vehicle environment assessment corresponding to humidity, represents the vegetation density at the jth location, represents the critical vegetation density, represents the altitude of the jth position point, represents the average altitude, represents the electromagnetic interference intensity at the jth position, Indicates the critical electromagnetic interference intensity, represents the temperature of the jth position point, represents the reference temperature, Indicates the allowable deviation temperature, represents the humidity at the jth location, represents the reference humidity, Represents the allowable deviation humidity, where j is the number of each location point, j=1,2,3,...,M, and M is the total number of location points.

[0040] , , , and The vehicle environment assessment influencing factors corresponding to the vegetation density, altitude, electromagnetic interference intensity, temperature and humidity preset in the radar detection database respectively represent the numerical values ​​of the influence of vegetation density, altitude, electromagnetic interference intensity, temperature and humidity on the vehicle environment assessment value, which can be directly obtained from the radar detection database when used. These relationships are organized into "mapping sets", that is, lookup tables or corresponding rules. For example, when the value of a certain vehicle environment data is actually monitored, this value can be searched according to the corresponding mapping set, and then the corresponding vehicle environment assessment influencing factor can be obtained. This impact factor is a number between 0 and 1, which represents the evaluation result of the current vehicle environment data on the vehicle environment assessment value. Specifically, for vegetation density, there is a mapping set of vegetation density and vehicle environment assessment influencing factors corresponding to vegetation density. By inputting the value of vegetation density, the vehicle environment assessment influencing factors corresponding to vegetation density can be obtained; for altitude, there is an altitude and a vehicle environment assessment influencing factor corresponding to altitude as a mapping set. By inputting the value of altitude, the vehicle environment assessment influencing factor corresponding to altitude can be obtained; for electromagnetic interference intensity, there is an electromagnetic interference intensity and a vehicle environment assessment influencing factor corresponding to electromagnetic interference intensity as a mapping set. By inputting the value of electromagnetic interference intensity, the vehicle environment assessment influencing factor corresponding to electromagnetic interference intensity can be obtained; for temperature, there is a mapping set of vehicle environment assessment influencing factors corresponding to temperature. By inputting the value of temperature, the vehicle environment assessment influencing factors corresponding to temperature can be obtained; for humidity, there is a mapping set of vehicle environment assessment influencing factors corresponding to humidity. By inputting the value of humidity, the vehicle environment assessment influencing factors corresponding to humidity can be obtained. These mapping relationships can be many-to-one or one-to-one.

[0041] In this embodiment, the vegetation density can be obtained and analyzed by drone aerial photography. The ratio of the vegetation coverage area to the image environment area is the vegetation density, where the image environment area is centered at the location of the vehicle-mounted radar and has a radius of 500 meters. The greater the vegetation density, the smaller the vehicle-mounted environment evaluation value; the altitude can be directly obtained by using GPS positioning technology; the electromagnetic interference intensity can be measured using an electromagnetic interference tester. The greater the electromagnetic interference intensity, the smaller the vehicle-mounted environment evaluation value; the temperature and humidity can be monitored in real time using a temperature sensor and a humidity sensor. The closer the temperature and humidity are to their reference values, the greater the vehicle-mounted environment evaluation value. There is a certain correlation between these parameters. For example, as the altitude increases, the atmospheric pressure and temperature will gradually decrease, while the humidity may be affected by the terrain and climate. At the same time, the vegetation density may also be related to the temperature and humidity, because the vegetation can affect the processes of water evaporation and heat exchange on the surface. The vehicle-mounted environment evaluation value obtained by comprehensive analysis can reflect the overall quality of the vehicle-mounted environment and the performance of the radar system in this environment, and evaluate the adaptability and stability of the vehicle-mounted radar in different environments.

[0042] Furthermore, the step of obtaining a radar performance index threshold by matching the vehicle environment assessment value includes: obtaining a first vehicle environment assessment threshold and a second vehicle environment assessment threshold from a radar detection database; comparing the vehicle environment assessment value with the first vehicle environment assessment threshold and the second vehicle environment assessment threshold respectively; if the vehicle environment assessment value is less than or equal to the first vehicle environment assessment threshold, it is marked as a first level; if the vehicle environment assessment value is greater than the first vehicle environment assessment threshold and less than or equal to the second vehicle environment assessment threshold, it is marked as a second level; if the vehicle environment assessment value is greater than the second vehicle environment assessment threshold, it is marked as a third level; and the radar performance index threshold is obtained by matching the vehicle environment level with the radar performance index thresholds corresponding to each vehicle environment level preset in the radar detection database.

[0043] In this embodiment, the radar performance index threshold refers to the critical value of the performance level that the radar system needs to achieve under a specific vehicle environment evaluation value. According to the vehicle environment evaluation value, the vehicle environment level corresponding to the vehicle environment evaluation value and the radar performance index threshold corresponding to each vehicle environment level preset in the radar detection database form a mapping set, and the radar performance index threshold corresponding to the vehicle environment evaluation value is obtained by inputting the mapping set according to the vehicle environment evaluation value. By matching the radar performance index threshold, it can be ensured that the radar system can maintain the best performance in different vehicle environments. This helps to reduce false alarms and missed alarms and improve the accuracy and reliability of radar detection.

[0044] Furthermore, the step of obtaining a radar performance index based on a comprehensive analysis of radar performance data includes: the radar performance data includes transmission power, detection distance, scanning speed and maintenance interval duration; obtaining a critical transmission power, a critical detection distance, a critical scanning speed and a critical maintenance interval duration from a radar detection database; and obtaining a radar performance index through comprehensive analysis.

[0045] The radar performance index is obtained as follows:

[0046] ;

[0047] In the formula, represents the radar performance index, Indicates the radar performance index impact factor corresponding to the transmission power, Indicates the radar performance index impact factor corresponding to the detection distance, Indicates the radar performance index impact factor corresponding to the scanning speed, Indicates the radar performance index impact factor corresponding to the maintenance interval, Indicates the transmit power, represents the critical transmit power, Indicates the detection distance, represents the critical detection distance, Indicates the scanning speed, represents the critical scanning speed, Indicates the maintenance interval duration. Indicates the critical maintenance interval duration.

[0048] , , and They are the radar performance index influencing factors corresponding to the transmit power, detection distance, scanning speed and maintenance interval duration preset in the radar detection database, which respectively represent the numerical values ​​of the degree of influence of the transmit power, detection distance, scanning speed and maintenance interval duration on the radar performance, and can be directly obtained from the radar detection database when used. These relationships are organized into a "mapping set", that is, a lookup table or corresponding rules. When the value of a certain radar performance data is actually monitored, this value can be searched according to the corresponding mapping set, and then the corresponding radar performance index influencing factor can be obtained. This influencing factor is a number between 0 and 1, which represents the evaluation result of the current radar performance data on the radar performance index. For example, specifically, for transmission power, there is a mapping set of transmission power and radar performance index influencing factor corresponding to transmission power. By inputting the value of transmission power, the radar performance index influencing factor corresponding to transmission power can be obtained; for detection distance, there is a mapping set of detection distance and radar performance index influencing factor corresponding to detection distance. By inputting the value of detection distance, the radar performance index influencing factor corresponding to detection distance can be obtained; for scanning speed, there is a mapping set of scanning speed and radar performance index influencing factor corresponding to scanning speed. By inputting the value of scanning speed, the radar performance index influencing factor corresponding to scanning speed can be obtained; for maintenance interval duration, there is a mapping set of maintenance interval duration and radar performance index influencing factor corresponding to maintenance interval duration. By inputting the value of maintenance interval duration, the radar performance index influencing factor corresponding to maintenance interval duration can be obtained. These mapping relationships can be many-to-one or one-to-one.

[0049] In this embodiment, the transmission power can be measured by professional measuring equipment (such as a spectrum analyzer). The greater the transmission power, the greater the radar performance index; the detection distance can be directly measured by using radar ranging technologies such as pulse ranging and frequency modulated continuous wave ranging. The greater the detection distance, the greater the radar performance index; the scanning speed can be measured by using a spectrum analyzer. The faster the scanning speed, the greater the radar performance index; the maintenance interval can be directly viewed based on historical maintenance records. The longer the maintenance interval, the smaller the radar performance index. Among them, the greater the transmission power, the greater the electromagnetic wave energy that the radar can emit, so that it can detect a farther distance; the faster the scanning speed, the faster the radar can scan the entire target area, thereby improving the detection efficiency. A shorter maintenance interval may mean higher system reliability and lower failure rate. The radar performance index obtained by comprehensive analysis can reflect the comprehensive performance of the radar system under specific conditions, and can also be used to compare the performance differences of different radar systems and evaluate the performance of the radar system in actual applications.

[0050] The radar performance index influence factor corresponding to the transmission power is set to 0.3, the radar performance index influence factor corresponding to the detection distance is set to 0.3, the radar performance index influence factor corresponding to the scanning speed is set to 0.2, the radar performance index influence factor corresponding to the maintenance interval is set to 0.2, the transmission power is set to 50dBm, the critical transmission power is set to 55dBm, the detection distance is set to 1000km, the critical detection distance is set to 800km, the critical scanning speed is set to 50 rpm, the maintenance interval is set to 20 days, and the critical maintenance interval is set to 14 days. When the scanning speed is continuously increased, the radar performance index is calculated. The radar performance index data table of the moving detection method based on the vehicle-mounted radar is shown in Table 1.

[0051] Table 1 Radar performance index data table of the moving detection method based on vehicle-mounted radar

[0052]

[0053] like Figure 2 As shown in Table 1 and Figure 2 It can be seen that when the radar performance index influence factor corresponding to the transmit power, the radar performance index influence factor corresponding to the detection distance, the radar performance index influence factor corresponding to the scanning speed, the radar performance index influence factor corresponding to the maintenance interval duration, the transmit power, the critical transmit power, the detection distance, the critical detection distance, the critical scanning speed, the maintenance interval duration and the critical maintenance interval duration remain unchanged, and the scanning speed continues to increase, the radar performance index also continues to increase.

[0054] Furthermore, the step of evaluating the radar performance according to the radar performance index and the radar performance index threshold includes: obtaining the allowable deviation radar performance index from the radar detection database, adding the radar performance index to the allowable deviation radar performance index to obtain a reference radar performance index; comparing the reference radar performance index with the radar performance index threshold, if the reference radar performance index is greater than or equal to the radar performance index threshold, directly performing signal reflection detection, if the reference radar performance index is less than the radar performance index threshold, adjusting the vehicle-mounted radar and providing feedback.

[0055] In this embodiment, by comparing the reference radar performance index with the threshold, it can be found in time whether the radar performance meets the standard. If the reference radar performance index is lower than the threshold, it indicates that the radar system may have a fault or performance degradation, and needs to be adjusted and repaired in time. It is possible to check whether the hardware connection between the radar sensor and the vehicle-mounted system is good, including the connecting wire, interface, etc., to ensure that there is no looseness or damage, and then according to the calibration requirements of the radar system, perform necessary calibration operations, including correcting the target reflectivity, calibrating the transmission power, correcting the target distance and azimuth error, etc., and at the same time detect whether the antenna part is abnormal, accurately measure and correct the antenna directivity, antenna gain, beam width and other parameters, and adjust the alarm distance, sensitivity, filter and other settings according to the software settings of the radar system to optimize the performance. After reaching the radar performance index threshold, retransmit the signal to ensure the stability of the radar performance and the accuracy of the reflected signal.

[0056] Furthermore, the step of obtaining the accuracy evaluation value of each reflected signal by comprehensive analysis based on the signal status data, radar performance index and vehicle environment evaluation value of each reflected signal includes: the signal status data of each reflected signal includes signal strength, bit error rate and signal-to-noise ratio; obtaining the critical signal strength, critical bit error rate, critical signal-to-noise ratio, critical radar performance index and critical vehicle environment evaluation value from the radar detection database; and obtaining the accuracy evaluation value of each reflected signal by comprehensive analysis.

[0057] In this embodiment, the signal strength can be directly measured by a power meter or an oscilloscope. The stronger the signal strength, the greater the reflected signal accuracy evaluation value; the bit error rate can be directly measured by using a bit error tester. The higher the bit error rate, the smaller the reflected signal accuracy evaluation value; the signal-to-noise ratio can be tested by a signal-to-noise ratio tester. The greater the signal-to-noise ratio, the greater the reflected signal accuracy evaluation value; the greater the radar performance index or the vehicle-mounted environment evaluation value, the greater the reflected signal accuracy evaluation value. Combined with the signal state data, the reliability and accuracy of the reflected signal can be evaluated, thereby screening out effective reflected signals. According to the radar performance index and the vehicle-mounted environment evaluation value, the position accuracy of the reflected signal can be evaluated, thereby obtaining a more accurate detection target position. According to the comprehensive influence of various factors, the reliability of the reflected signal can be evaluated, that is, whether the signal is interfered or distorted during transmission, and whether it can accurately reflect the position and characteristics of the target, and the accuracy and reliability of the reflected signal can be accurately evaluated.

[0058] Furthermore, the accuracy evaluation value of each reflection signal is obtained as follows:

[0059] ;

[0060] In the formula, represents the accuracy evaluation value of the i-th reflection signal, Indicates the accuracy assessment impact factor corresponding to the signal strength, represents the accuracy assessment impact factor corresponding to the bit error rate, represents the accuracy assessment impact factor corresponding to the signal-to-noise ratio, represents the accuracy assessment impact factor corresponding to the vehicle environment assessment value, represents the accuracy evaluation impact factor corresponding to the radar performance index, represents the signal strength of the i-th reflected signal, represents the critical signal strength, represents the bit error rate of the i-th reflected signal, represents the critical bit error rate, represents the signal-to-noise ratio of the i-th reflected signal, represents the critical signal-to-noise ratio, represents the vehicle environment evaluation value of the jth position point, represents the critical vehicle environment assessment value, represents the radar performance index, Represents the critical radar performance index, where i is the number of each reflected signal, i=1,2,3,...,N, and N is the total number of reflected signals.

[0061] In this embodiment, , , , and The radar performance index influencing factors corresponding to the signal strength, bit error rate, signal-to-noise ratio, vehicle environment evaluation value and radar performance index preset in the radar detection database respectively represent the numerical values ​​of the degree of influence of the signal strength, bit error rate, signal-to-noise ratio, vehicle environment evaluation value and radar performance index on the accuracy of the reflected signal, and can be directly obtained from the radar detection database when used. These relationships are organized into a "mapping set", that is, a lookup table or corresponding rules. For example, when the value of a certain reflected signal accuracy-related data is actually monitored, this value can be searched according to the corresponding mapping set, and then the corresponding accuracy evaluation influencing factor can be obtained. This influencing factor is a number between 0 and 1, which represents the evaluation result of the current reflected signal accuracy-related data on the reflected signal accuracy evaluation value. Specifically, for signal strength, there is a mapping set of signal strength and the accuracy assessment influencing factor corresponding to the signal strength. By inputting the value of signal strength, the accuracy assessment influencing factor corresponding to the signal strength can be obtained; for bit error rate, there is a mapping set of bit error rate and the accuracy assessment influencing factor corresponding to the bit error rate. By inputting the value of bit error rate, the accuracy assessment influencing factor corresponding to the bit error rate can be obtained; for signal-to-noise ratio, there is a mapping set of signal-to-noise ratio and the accuracy assessment influencing factor corresponding to the signal-to-noise ratio. By inputting the value of signal-to-noise ratio, the accuracy assessment influencing factor corresponding to the signal-to-noise ratio can be obtained; for vehicle-mounted environment assessment value, there is a mapping set of vehicle-mounted environment assessment value and the accuracy assessment influencing factor corresponding to the vehicle-mounted environment assessment value. By inputting the value of vehicle-mounted environment assessment value, the accuracy assessment influencing factor corresponding to the vehicle-mounted environment assessment value can be obtained; for radar performance index, there is a mapping set of radar performance index and the accuracy assessment influencing factor corresponding to the radar performance index. By inputting the value of radar performance index, the accuracy assessment influencing factor corresponding to the radar performance index can be obtained. These mapping relationships can be many-to-one or one-to-one.

[0062] Furthermore, each reflection signal is screened according to the accuracy evaluation value of each reflection signal, and the step of obtaining each valid reflection signal includes: obtaining the reflection signal accuracy evaluation threshold from the radar detection database; comparing each reflection signal accuracy evaluation value with the reflection signal accuracy evaluation threshold; if a reflection signal accuracy evaluation value is less than the reflection signal accuracy evaluation threshold, then the reflection signal is marked as an invalid reflection signal; if a reflection signal accuracy evaluation value is greater than or equal to the reflection signal accuracy evaluation threshold, then the reflection signal is marked as a valid reflection signal, and each valid reflection signal is obtained by statistics.

[0063] In this embodiment, the reflection signal accuracy evaluation threshold is a preset value used to determine whether the accuracy of the reflection signal meets the requirements. By comparing the reflection signal accuracy evaluation value with the preset reflection signal accuracy evaluation threshold, those reflection signals with low accuracy can be screened out to avoid their negative impact on the target detection results; invalid reflection signals may be caused by noise, interference or other non-target objects. Through the screening step, these false alarm signals can be significantly reduced, while ensuring that important target reflection signals are not missed; screening effective reflection signals helps to reduce the processing burden of the radar system, enabling the system to process and analyze data more efficiently, thereby improving overall performance.

[0064] Furthermore, the step of obtaining the detection target position according to each effective reflection signal includes: obtaining a signal strength threshold from a radar detection database; comparing the signal strength of each effective reflection signal with the signal strength threshold; if the signal strength of an effective reflection signal is less than the signal strength threshold, the effective reflection signal is eliminated; if the signal strength of an effective reflection signal is greater than or equal to the signal strength threshold, the effective reflection signal is secondary screened according to the signal frequency and phase to obtain a final reflection signal; and obtaining the detection target position according to the final reflection signal.

[0065] In this embodiment, the method for secondary screening of each valid reflection signal according to the signal frequency and phase is as follows: among the reflection signals with sufficient signal strength, the signals that are significantly different from other signals in time, frequency and phase are excluded. This step excludes the signals affected by abnormal factors and retains each normal reflection signal; the possible source of the reflection signal is determined according to the beam direction and coverage of the radar. If the source of a reflection signal does not match the detection target of the radar, it can be regarded as an invalid signal and excluded. The reflection signal finally retained is the final reflection signal, and the final reflection signal can be analyzed using an external reference system such as a radar coordinate system or a global positioning system (GPS) to extract target information therein, such as distance, speed, direction, etc.

[0066] like Figure 3As shown, it is a structural schematic diagram of a moving detection system for a vehicle-mounted radar provided in an embodiment of the present application. The moving detection system for a vehicle-mounted radar provided in an embodiment of the present application includes: a data acquisition module, a signal acquisition module, a signal screening module and a radar detection database; wherein the data acquisition module is used to acquire vehicle-mounted environment data and radar performance data; the signal acquisition module is used to obtain a vehicle-mounted environment evaluation value based on a comprehensive analysis of the vehicle-mounted environment data, and obtain a radar performance index threshold based on the matching of the vehicle-mounted environment evaluation value, obtain a radar performance index based on a comprehensive analysis of the radar performance data, and evaluate the radar performance based on the radar performance index and the radar performance index threshold; the signal screening module is used to collect signal status data of each reflected signal, obtain an accuracy evaluation value of each reflected signal based on a comprehensive analysis of the signal status data, the radar performance index and the vehicle-mounted environment evaluation value of each reflected signal, and screen each reflected signal according to the accuracy evaluation value of each reflected signal to obtain each effective reflected signal, and obtain the detection target position according to each effective reflected signal.

[0067] In summary, the embodiments of the present application obtain a vehicle environment evaluation value by comprehensive analysis based on the vehicle environment data, obtain a radar performance index threshold value by matching the vehicle environment evaluation value, obtain a radar performance index by comprehensive analysis based on the radar performance data, and evaluate the radar performance according to the radar performance index and the radar performance index threshold value; collect signal status data of each reflected signal, obtain an accuracy evaluation value of each reflected signal according to a comprehensive analysis based on the signal status data, the radar performance index and the vehicle environment evaluation value of each reflected signal, and screen each reflected signal according to the accuracy evaluation value of each reflected signal to obtain each valid reflected signal; obtain the detection target position according to each valid reflected signal, thereby achieving high-precision detection and identification of the target position.

[0068] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0069] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0070] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0071] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0072] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0073] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A moving detection method for a vehicle-mounted radar, characterized in that: The following steps are involved: Obtain vehicle environment data and radar performance data; A vehicle environment evaluation value is obtained based on comprehensive analysis of the vehicle environment data, and a radar performance index threshold is obtained based on matching of the vehicle environment evaluation value; a radar performance index is obtained based on comprehensive analysis of the radar performance data, and radar performance is evaluated based on the radar performance index and the radar performance index threshold; Collect signal status data of each reflected signal, obtain accuracy evaluation values ​​of each reflected signal according to comprehensive analysis of the signal status data of each reflected signal, radar performance index and vehicle-mounted environment evaluation value, and screen each reflected signal according to the accuracy evaluation value of each reflected signal to obtain each valid reflected signal; Acquire the position of the detection target according to each effective reflection signal; The method for obtaining the accuracy evaluation value of each reflection signal is as follows: ； In the formula, represents the accuracy evaluation value of the i-th reflection signal, Indicates the accuracy assessment impact factor corresponding to the signal strength, represents the accuracy assessment impact factor corresponding to the bit error rate, represents the accuracy assessment impact factor corresponding to the signal-to-noise ratio, represents the accuracy assessment impact factor corresponding to the vehicle environment assessment value, represents the accuracy evaluation impact factor corresponding to the radar performance index, represents the signal strength of the i-th reflected signal, represents the critical signal strength, represents the bit error rate of the i-th reflected signal, represents the critical bit error rate, represents the signal-to-noise ratio of the i-th reflected signal, represents the critical signal-to-noise ratio, Indicates the vehicle environment assessment value, represents the critical vehicle environment assessment value, represents the radar performance index, Represents the critical radar performance index, where i is the number of each reflected signal, i=1,2,3,...,N, and N is the total number of reflected signals.

2. A moving detection method for a vehicle-mounted radar as claimed in claim 1, characterized in that: The step of obtaining the vehicle environment evaluation value based on comprehensive analysis of the vehicle environment data comprises: The vehicle-mounted environmental data includes vegetation density, altitude of each location point, electromagnetic interference intensity, temperature and humidity; Obtain critical vegetation density, critical electromagnetic interference intensity, reference temperature, allowable deviation temperature, reference humidity and allowable deviation humidity from the radar detection database; The vehicle environment assessment value is obtained through comprehensive analysis.

3. A moving detection method for a vehicle-mounted radar as claimed in claim 1, characterized in that: The step of obtaining the radar performance index threshold value according to the vehicle environment evaluation value matching includes: Acquire a first vehicle environment assessment threshold and a second vehicle environment assessment threshold from a radar detection database; The vehicle environment assessment value is compared with the first vehicle environment assessment threshold and the second vehicle environment assessment threshold respectively. If the vehicle environment assessment value is less than or equal to the first vehicle environment assessment threshold, it is marked as the first level. If the vehicle environment assessment value is greater than the first vehicle environment assessment threshold and less than or equal to the second vehicle environment assessment threshold, it is marked as the second level. If the vehicle environment assessment value is greater than the second vehicle environment assessment threshold, it is marked as the third level. The vehicle environment level is matched with the radar performance index thresholds corresponding to each vehicle environment level preset in the radar detection database to obtain the radar performance index threshold.

4. A moving detection method for a vehicle-mounted radar as claimed in claim 1, characterized in that: The step of obtaining the radar performance index based on comprehensive analysis of the radar performance data comprises: The radar performance data, including transmission power, detection range, scanning speed and maintenance interval; Obtain critical transmission power, critical detection distance, critical scanning speed and critical maintenance interval duration from a radar detection database; The radar performance index is obtained through comprehensive analysis.

5. A moving detection method for a vehicle-mounted radar as claimed in claim 1, characterized in that: The step of evaluating the radar performance according to the radar performance index and the radar performance index threshold comprises: Acquire the allowable deviation radar performance index from the radar detection database, add the radar performance index to the allowable deviation radar performance index, and obtain the reference radar performance index; The reference radar performance index is compared with the radar performance index threshold. If the reference radar performance index is greater than or equal to the radar performance index threshold, signal reflection detection is performed directly. If the reference radar performance index is less than the radar performance index threshold, the vehicle-mounted radar is adjusted and feedback is given.

6. A moving detection method for a vehicle-mounted radar as claimed in claim 1, characterized in that: The step of obtaining the accuracy evaluation value of each reflected signal by comprehensive analysis of the signal state data, radar performance index and vehicle-mounted environment evaluation value of each reflected signal comprises: The signal status data of each reflected signal includes signal strength, bit error rate and signal-to-noise ratio; Obtaining critical signal strength, critical bit error rate, critical signal-to-noise ratio, critical radar performance index and critical vehicle environment assessment value from a radar detection database; Comprehensive analysis is performed to obtain the accuracy evaluation value of each reflection signal.

7. A moving detection method for a vehicle-mounted radar as claimed in claim 1, characterized in that: The step of screening each reflection signal according to the accuracy evaluation value of each reflection signal to obtain each valid reflection signal comprises: Obtaining a reflection signal accuracy evaluation threshold from a radar detection database; The accuracy evaluation value of each reflection signal is compared with the reflection signal accuracy evaluation threshold. If a reflection signal accuracy evaluation value is less than the reflection signal accuracy evaluation threshold, the reflection signal is marked as an invalid reflection signal. If a reflection signal accuracy evaluation value is greater than or equal to the reflection signal accuracy evaluation threshold, the reflection signal is marked as a valid reflection signal, and the valid reflection signals are statistically obtained.

8. A moving detection method for a vehicle-mounted radar as claimed in claim 1, characterized in that: The step of acquiring the detection target position according to each effective reflection signal comprises: Obtain signal strength threshold from radar detection database; The signal strength of each effective reflection signal is compared with the signal strength threshold. If the signal strength of a certain effective reflection signal is less than the signal strength threshold, the effective reflection signal is eliminated. If the signal strength of a certain effective reflection signal is greater than or equal to the signal strength threshold, each effective reflection signal is screened again according to the signal frequency and phase to obtain the final reflection signal; The detected target position is obtained according to the final reflected signal.

9. A moving detection system for a vehicle-mounted radar, using a moving detection method for a vehicle-mounted radar as claimed in any one of claims 1 to 8, characterized in that: It includes a data acquisition module, a signal acquisition module, a signal screening module and a radar detection database; Wherein, the data acquisition module is used to acquire vehicle environment data and radar performance data; The signal acquisition module is used to obtain a vehicle environment evaluation value according to a comprehensive analysis of the vehicle environment data, obtain a radar performance index threshold according to the matching of the vehicle environment evaluation value, obtain a radar performance index according to a comprehensive analysis of the radar performance data, and evaluate the radar performance according to the radar performance index and the radar performance index threshold; The signal screening module is used to collect signal status data of each reflected signal, obtain the accuracy evaluation value of each reflected signal according to the comprehensive analysis of the signal status data of each reflected signal, the radar performance index and the vehicle environment evaluation value, and screen each reflected signal according to the accuracy evaluation value of each reflected signal to obtain each valid reflected signal, and obtain the detection target position according to each valid reflected signal.

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