High-precision microwave radar detection method and system

Abstract

The invention discloses a high-precision microwave radar detection method and system, and relates to the technical field of radar detection. The method comprises the following steps: obtaining radar detection data of a detection object at each moment, wherein the radar detection data is obtained by microwave radar detection; according to the radar detection data at each moment, motion characteristic parameters of the detection object at each moment are determined, and the motion characteristic parameters are used for representing the motion condition of the detection object at the corresponding moment; according to the motion characteristic parameters at each moment, determining a warehouse-in and warehouse-out state of the detection object, the warehouse-in and warehouse-out state being one of a warehouse-out state and a warehouse-in state; according to target detection data corresponding to the warehouse-in and warehouse-out state, the movement of a target authority lock is controlled, the target detection data comprises at least one of radar detection data and ultrasonic detection data obtained through detection of an ultrasonic sensor, and the target authority lock is a mechanical lock for controlling the warehouse-in authority and the warehouse-out authority of the detected object. The control accuracy of the authority lock can be improved.

Description

Technical Field

[0001] The present invention relates to the field of radar detection technology, and in particular to a high-precision microwave radar detection method and system. Background Art

[0002] Microwave radar is a sensor that uses microwave signals to detect the distance, speed, direction, angle and other information of target objects. It mainly relies on emitting high-frequency electromagnetic waves and receiving reflected waves to measure and analyze objects in the environment. Its wide application in smart parking lock systems can greatly improve the automation and intelligence level of parking management.

[0003] At present, intelligent parking locks based on microwave radar detect the movement of vehicles through radar signals, and thus control the lifting and lowering of the parking lock according to the movement of the vehicle.

[0004] However, microwave radar has limited short-range resolution and errors in detecting close-range objects, resulting in low accuracy in the lifting and lowering control of the parking lock. Summary of the invention

[0005] The embodiments of the present invention provide a high-precision microwave radar detection method and system, which can improve the control accuracy of the authority lock.

[0006] A first aspect of an embodiment of the present invention provides a high-precision microwave radar detection method, comprising: Acquire radar detection data of the detected object at each time obtained by microwave radar detection; According to the radar detection data at each moment, the motion characteristic parameters of the detected object at each moment are determined, and the motion characteristic parameters are used to characterize the motion of the detected object at the corresponding moment; According to the motion characteristic parameters at each moment, the in-and-out state of the detected object is determined, and the in-and-out state is one of the out-of-warehouse state and the in-warehouse state; The movement of the target authority lock is controlled according to the target detection data corresponding to the entry and exit status. The target detection data includes at least one of radar detection data and ultrasonic detection data obtained by ultrasonic sensor detection. The target authority lock is a mechanical lock that controls the entry and exit permissions of the detected object.

[0007] A second aspect of an embodiment of the present invention provides a high-precision microwave radar detection system, including: A data acquisition module is used to acquire radar detection data of the detection object at each time obtained by microwave radar detection; The motion analysis module is used to determine the motion characteristic parameters of the detected object at each moment according to the radar detection data at each moment, and the motion characteristic parameters are used to characterize the motion of the detected object at the corresponding moment; A state analysis module is used to determine the in-and-out state of the detected object according to the motion characteristic parameters at each moment, where the in-and-out state is one of an out-of-warehouse state and an in-warehouse state; The authority lock control module is used to control the movement of the target authority lock according to the target detection data corresponding to the entry and exit status. The target detection data includes at least one of radar detection data and ultrasonic detection data obtained by ultrasonic sensor detection. The target authority lock is a mechanical lock that controls the entry and exit permissions of the detected object.

[0008] In the high-precision microwave radar detection method provided by the present invention, the motion characteristic parameters of the detected object at each moment are first determined based on the radar detection data obtained by microwave radar detection, thereby determining the in-and-out state of the detected object. Then, two types of detection data, radar detection data and ultrasonic detection data, are provided, and appropriate target detection data is selected according to the in-and-out state of the detected object. Thus, the movement of the target authority lock is controlled according to the target detection data. In this way, the present invention provides two types of detection data, ultrasonic detection data with higher reliability at close range and radar detection data with higher reliability at long range, so as to make a reasonable selection according to the in-and-out state of the detected object. The problem of detection error caused by the limited close-range resolution of the microwave radar can be avoided, thereby improving the control accuracy of the authority lock. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present invention or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0010] Figure 1 A schematic flow chart of a first high-precision microwave radar detection method provided by an embodiment of the present invention; Figure 2 A schematic diagram of the installation of a microwave radar device provided by one embodiment of the present invention; Figure 3 A schematic flow chart of a second high-precision microwave radar detection method provided by an embodiment of the present invention; Figure 4 A schematic flow chart of a third high-precision microwave radar detection method provided by an embodiment of the present invention; Figure 5 A schematic structural diagram of a high-precision microwave radar detection system provided by one embodiment of the present invention; Among them: 201 represents a parking space; 202 represents a parking space lock; 203 represents a microwave radar device; 500 represents a high-precision microwave radar detection system; 510 represents a data acquisition module; 520 represents a motion analysis module; 530 represents a state analysis module; and 540 represents an authority lock control module. DETAILED DESCRIPTION

[0011] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the following is a detailed description of a high-precision microwave radar detection method and system proposed according to the present invention, its specific implementation, structure, features and effects, in conjunction with the accompanying drawings and preferred embodiments. In the following description, different "one embodiment" or "another embodiment" does not necessarily refer to the same embodiment. In addition, specific features, structures or characteristics in one or more embodiments may be combined in any suitable form.

[0012] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

[0013] It should be noted that the acquisition, storage, use, and processing of data in the technical solution of the present invention are in compliance with the relevant provisions of laws and regulations.

[0014] It should be noted that in the embodiments of the present invention, certain software, components, models and other existing solutions in the industry may be mentioned, which should be regarded as exemplary. Their purpose is only to illustrate the feasibility of implementing the technical solution of the present invention, but it does not mean that the applicant has or will necessarily use the solution.

[0015] Microwave radar is a sensor that uses microwave signals to detect the distance, speed, direction, angle and other information of target objects. It mainly relies on emitting high-frequency electromagnetic waves and receiving reflected waves to measure and analyze objects in the environment. Its wide application in smart parking lock systems can greatly improve the automation and intelligence level of parking management.

[0016] At present, intelligent parking locks based on microwave radar detect the movement of vehicles through radar signals, and thus control the lifting and lowering of parking locks according to the movement of vehicles. However, microwave radar has limited short-range resolution and has errors in detecting close-range objects, resulting in low accuracy in the lifting and lowering control of parking locks.

[0017] The object of the present invention is to provide a high-precision microwave radar detection method and system. In the high-precision microwave radar detection method provided by the present invention, the motion characteristic parameters of the detected object at each moment are first determined based on the radar detection data obtained by microwave radar detection, thereby determining the in-and-out state of the detected object. Then, two types of detection data, radar detection data and ultrasonic detection data, are provided, and appropriate target detection data are selected according to the in-and-out state of the detected object. Thus, the movement of the target authority lock is controlled according to the target detection data. In this way, the present invention provides two types of detection data, ultrasonic detection data with higher reliability at close range and radar detection data with higher reliability at long range, so as to make a reasonable selection according to the in-and-out state of the detected object. The problem of detection error caused by the limited close-range resolution of the microwave radar can be avoided, thereby improving the control accuracy of the authority lock.

[0018] The following describes a specific embodiment of a high-precision microwave radar detection method and system provided by an embodiment of the present invention.

[0019] Figure 1 A flow chart of a high-precision microwave radar detection method is provided. The high-precision microwave radar detection method can be applied to a server. The high-precision microwave radar detection method can include the following S101 to S104.

[0020] S101, obtaining radar detection data of the detection object at each time obtained by microwave radar detection.

[0021] In this embodiment, the radar detection data is used to characterize the data of the detection object detected by the radar. For example, the radar detection data may include the distance between the detection object and the microwave radar, the speed of the detection object, etc.

[0022] As an example, microwave radar equipment is installed in the area to be detected, and the sampling frequency and detection range of the microwave radar are set to ensure that the radar detection data of the detected object at each moment can be captured. Figure 2 As shown, a schematic diagram of the installation of a microwave radar device is provided. Assuming that the area to be detected is a parking space 201, a parking space lock 202 is set in the center of the parking space 201, and the microwave radar device 203 can be installed in the center of the rear end of the parking space 201.

[0023] Then, the microwave radar will continuously emit microwave signals and receive reflected signals, and obtain radar detection data such as the position, speed, and direction of the detected object by processing these signals. The server will receive the radar detection data of the detected object collected by the microwave radar at each moment.

[0024] S102, determining motion characteristic parameters of the detected object at each moment according to the radar detection data at each moment, where the motion characteristic parameters are used to characterize the motion of the detected object at the corresponding moment.

[0025] In this embodiment, the motion characteristic parameters are used to characterize the parameters for comprehensively evaluating the motion status of the detected object at a corresponding moment.

[0026] As an example, the server extracts features from radar detection data to obtain various data related to the motion of the detected object, such as speed, acceleration, displacement, direction, etc. Then, the server performs a comprehensive evaluation on various data related to the motion of the detected object to obtain motion feature parameters of the detected object.

[0027] S103, determining the in-and-out state of the detected object according to the motion characteristic parameters at each moment, where the in-and-out state is one of an out-of-warehouse state and an in-warehouse state.

[0028] In this embodiment, the in-and-out state is one of an out-of-warehouse state and an in-warehouse state. The out-of-warehouse state indicates that the detected object is moving out of the area to be detected; the in-warehouse state indicates that the detected object is moving into the area to be detected.

[0029] As an example, the server determines the in-and-out state of the object according to the extracted motion feature parameters and the preset judgment rules. For example, when the speed direction of the object points to the inside of the warehouse and the speed is within a certain range, it can be judged as the in-warehouse state; when the speed direction of the object points to the outside of the warehouse and the speed is within a certain range, it can be judged as the out-of-warehouse state.

[0030] S104, controlling the movement of the target authority lock according to the target detection data corresponding to the entry and exit status, the target detection data including at least one of radar detection data and ultrasonic detection data obtained by ultrasonic sensor detection, and the target authority lock is a mechanical lock that controls the entry and exit permissions of the detected object.

[0031] In this embodiment, the target permission lock is used to control the entry and exit permissions of the detected object. For example, when the detected object is a vehicle, the entry and exit status is the status of the vehicle driving out of the parking space or driving into the parking space, and the target permission lock is the parking lock in the parking space. When the vehicle drives out of the parking space, the parking lock should rise; when the vehicle drives into the parking space, the parking lock should fall.

[0032] As an example, when the in-and-out state of the detected object is the out-of-warehouse state, the distance to the detected object is relatively close, so the radar detection data with a large close-range detection error is not suitable. At this time, the ultrasonic detection data with a small close-range detection error is selected as the target detection data; when the in-and-out state of the detected object is the in-warehouse state, the distance to the detected object is relatively far, so the ultrasonic detection data can be combined with the radar detection data for comprehensive consideration.

[0033] Then, according to the selected target detection data, it is determined whether the movement condition corresponding to the target permission lock is met. Specifically, when the in-and-out state of the detected object is the out-of-warehouse state and the movement condition corresponding to the out-of-warehouse state is met, the target permission lock is moved until it is closed; when the in-and-out state of the detected object is the in-warehouse state and the movement condition corresponding to the in-warehouse state is met, the target permission lock is moved until it is opened.

[0034] In the high-precision microwave radar detection method provided in this embodiment, the motion characteristic parameters of the detected object at each moment are first determined based on the radar detection data obtained by microwave radar detection, thereby determining the entry and exit status of the detected object. Then, two types of detection data, radar detection data and ultrasonic detection data, are provided, and appropriate target detection data is selected according to the entry and exit status of the detected object. Thus, the movement of the target authority lock is controlled according to the target detection data. In this way, the present invention provides two types of detection data, ultrasonic detection data with higher reliability at close range and radar detection data with higher reliability at long range, so as to make a reasonable selection according to the entry and exit status of the detected object. The problem of detection error caused by the limited close-range resolution of the microwave radar can be avoided, thereby improving the control accuracy of the authority lock.

[0035] As an optional embodiment, the radar detection data includes a first detection distance, a first movement speed, and a reflection signal frequency of a microwave radar; S102 may specifically include: The direction parameter at the target time is obtained by subtracting the reflected signal frequency at the target time from the reflected signal frequency at the time before the target time; Multiplying the first detection distance at the target time by the first movement speed at the target time to obtain the power parameter at the target time; The motion characteristic parameters of the detected object at the target time are determined using the direction parameters and dynamic parameters.

[0036] In this embodiment, the first detection distance is used to represent the distance between the detection object and the microwave radar obtained by microwave radar detection.

[0037] The first motion speed is used to characterize the speed of the detected object obtained by microwave radar detection.

[0038] As an example, the motion characteristic parameter may be specifically determined by the following formula 1: Formula 1 In formula 1, Used to characterize the motion characteristic parameters at time t, Used to characterize the first detection distance at time t, Used to characterize the first motion speed at time t, Used to characterize the frequency of the reflected signal at time t, Used to characterize the frequency of the reflected signal at time t-1.

[0039] Among them, the detection of objects entering and leaving the warehouse is accompanied by changes in distance and speed, and the directions of change of the two are positively correlated, so It is used to reflect the dynamic situation of the detected object, that is, is the dynamic parameter at time t; Based on the Doppler frequency shift principle, the moving direction of the detected object is determined by comparing the frequency changes of the reflected signal at time t and time t-1, that is, is the direction parameter at time t.

[0040] Through this embodiment, based on the first detection distance, the first movement speed and the reflected signal frequency of the microwave radar, the motion characteristic parameters of the detected object are accurately determined, thereby facilitating the subsequent determination of the storage-in and storage-out status of the detected object based on the motion characteristic parameters, thereby improving the accuracy of the storage-in and storage-out status.

[0041] As an optional embodiment, Figure 3 As shown, S103 may specifically include the following S301 to S303: S301, determining motion state parameters at each moment according to motion characteristic parameters at each adjacent moment; S302, when N consecutive motion state parameters are positive numbers, determining that the in-warehouse and out-warehouse state of the detected object is the out-warehouse state, where N is a positive integer; S303: When N consecutive motion state parameters are negative numbers, determine that the storage-in / out state of the detected object is the storage-in state.

[0042] In this embodiment, the motion state parameter is used to characterize the motion state of the detected object at the corresponding moment. If the motion state parameter is a positive number, it indicates that the detected object is moving away from the microwave radar; if the motion state parameter is a negative number, it indicates that the detected object is approaching the microwave radar; if the motion state parameter is zero, it indicates that the detected object is stationary.

[0043] As an example, the server compares and analyzes the motion feature parameters at each moment with the motion feature parameters at the previous moment to determine whether the detected object is approaching or moving away from the microwave radar, thereby obtaining the motion state parameters at each moment.

[0044] Then, the stored motion state parameters are traversed to check whether there are 5 consecutive motion state parameters that are all positive or 5 consecutive motion state parameters that are all negative.

[0045] When five consecutive motion state parameters are positive, the in-and-out state of the detected object is marked as the out-of-warehouse state; when five consecutive motion state parameters are negative, the in-and-out state of the detected object is marked as the in-warehouse state.

[0046] Through this embodiment, the motion state parameters are determined according to the motion characteristic parameters at adjacent moments, and then the in-and-out state of the detected object is analyzed according to the motion state parameters. This helps to select appropriate target detection data according to the in-and-out state of the detected object, thereby improving the control accuracy of the authority lock.

[0047] As an optional embodiment, S301 may specifically include: The absolute value of the motion characteristic parameter at the target moment is subtracted from the absolute value of the motion characteristic parameter at the moment before the target moment to obtain the motion characteristic change value at the target moment; The motion state parameters at the target moment are determined by using the motion feature change value at the target moment and the motion feature parameters at the target moment.

[0048] In this embodiment, the motion state parameter can be specifically determined by the following formula 2: Formula 2 In formula 2, It is used to characterize the motion characteristic parameters at time k. Used to characterize the motion characteristic parameters at time k-1, Used to characterize infinitesimal quantities, Used to characterize the motion state parameters at time k.

[0049] When the detected object enters the warehouse, its distance from the microwave radar will gradually decrease and the vehicle speed will gradually decrease, that is, the motion characteristic parameters The motion characteristic parameter is gradually reduced, and its motion direction moves towards the position of the microwave radar, corresponding to the positive Doppler frequency shift. When the detected object is leaving the warehouse, its distance from the microwave radar will gradually increase and the vehicle speed will gradually increase, that is, the motion characteristic parameters It gradually increases, and its motion direction moves in the opposite direction to the position of the microwave radar, corresponding to a negative Doppler frequency shift, that is, the motion characteristic parameter Gradually increase.

[0050] therefore, The larger the value of is, the more likely the detected object is to be in the outbound state; The smaller the value of is, the more likely the detected object is in the warehouse-in state. If the detected object is in the warehouse-out state, the corresponding is negative and is positive, the corresponding motion state parameter is positive and the larger it is; if the detected object is in the storage state, the corresponding is positive and is negative, the corresponding motion state parameter is negative and smaller.

[0051] Through this embodiment, the motion state parameters are determined according to the motion characteristic parameters at adjacent moments. In this way, the in-and-out state of the detected object can be accurately determined according to the motion state parameters. This helps to select appropriate target detection data according to the in-and-out state of the detected object in the future, thereby improving the control accuracy of the authority lock.

[0052] As an optional embodiment, the storage-in / out state is the storage-out state; S104 may specifically include: Acquire a second detection distance in the ultrasonic detection data; When the second detection distance is greater than the first spacing distance between the target authority lock and the entrance and exit, the target authority lock is controlled to be closed.

[0053] In this embodiment, the second detection distance is used to represent the distance between the detection object and the ultrasonic sensor detected by the ultrasonic sensor. The ultrasonic sensor is installed on the target authority lock.

[0054] As an example, when the storage state is the storage state, it indicates that the detected object is close to the microwave radar. Since the microwave radar has a problem of measurement accuracy at a close distance, the movement of the target authority lock is controlled according to the ultrasonic detection data in this case.

[0055] Specifically, the server will obtain the second detection distance in the ultrasonic detection data. When the second detection distance is greater than the first interval distance between the target authority lock and the entrance and exit, it indicates that the detected object has left the area that needs to be detected. Therefore, the target authority lock can be closed, and the server controls the target authority lock to be closed.

[0056] Through this embodiment, when the storage state is the storage state, the target authority lock is controlled to be closed according to the ultrasonic detection data. In this way, the measurement accuracy problem of microwave radar at a close distance can be overcome, and the control accuracy of the authority lock can be improved.

[0057] As an optional embodiment, the storage-in and storage-out status is the storage-in status; like Figure 4 As shown, S104 may specifically include the following S401 to S404: S401, determining a first signal-to-noise ratio of the microwave radar based on the echo signal power and the noise power of the microwave radar, and determining a second signal-to-noise ratio of the ultrasonic sensor based on the echo signal power and the noise power of the ultrasonic sensor; S402, determining a first weight of the microwave radar and a second weight of the ultrasonic sensor based on the first signal-to-noise ratio and the second signal-to-noise ratio; S403, determining an actual interval distance between the detected object and the entrance and exit using the first weight, the first detection distance of the microwave radar, the second weight, and the second detection distance of the ultrasonic sensor; S404: When the actual interval distance satisfies the permission lock opening condition, control the target permission lock to be opened.

[0058] In this embodiment, the permission lock opening condition is used to characterize the condition that the actual distance between the detected object and the entrance and exit must meet when the preset permission lock can be opened. For example, the permission lock opening condition may be that the actual distance between the detected object and the entrance and exit is less than a preset distance threshold.

[0059] As an example, the first signal-to-noise ratio and the second signal-to-noise ratio may be determined by the following formula 3: Formula 3 In formula 3, P is used to represent the signal-to-noise ratio. Used to characterize noise power, Used to characterize the echo signal power.

[0060] Among them, the larger the noise power is, the higher the noise component in the signal is, the worse the signal quality is, that is, the higher the signal-to-noise ratio is.

[0061] The first weight of the microwave radar can be specifically determined by the following formula 4: Formula 4 In formula 4, The first weight used to characterize microwave radar, The second signal-to-noise ratio used to characterize ultrasonic sensors, The first signal-to-noise ratio used to characterize microwave radar.

[0062] The second weight of the ultrasonic sensor can be specifically determined by the following formula 5: Formula 5 In formula 5, The second weight used to characterize the ultrasonic sensor, The second signal-to-noise ratio used to characterize ultrasonic sensors, The first signal-to-noise ratio used to characterize microwave radar.

[0063] After determining the first weight of the microwave radar and the second weight of the ultrasonic sensor, the actual distance between the detected object and the entrance and exit can be obtained by weighted summing the first weight, the first detection distance of the microwave radar, the second weight and the second detection distance of the ultrasonic sensor.

[0064] Then, when the actual interval distance between the detected object and the entrance and exit is less than the preset distance threshold, the target authority lock is controlled to be opened.

[0065] Through this embodiment, when the storage state is the storage state, the first weight of the microwave radar and the second weight of the ultrasonic sensor are set respectively. Thus, the first detection distance of the microwave radar and the second detection distance of the ultrasonic sensor are comprehensively considered to achieve control of the target authority lock. In this way, the control accuracy of the authority lock can be improved.

[0066] As an optional embodiment, S403 may specifically include: Determining a radar detection range of the microwave radar using the first weight, the first detection range of the microwave radar, and the second separation distance between the microwave radar and the entrance and exit; Determine the ultrasonic detection distance of the ultrasonic sensor using the second weight, the second detection distance of the ultrasonic sensor, and the third spacing distance between the ultrasonic sensor and the entrance and exit; The actual distance between the detected object and the entrance and exit is determined by using the radar detection distance and the ultrasonic detection distance.

[0067] In this embodiment, the actual interval distance between the detected object and the entrance and exit can be specifically determined by the following formula 6: Formula 6 In formula 6, It is used to represent the actual distance between the detected object and the entrance and exit at the kth moment. The second weight used to characterize the ultrasonic sensor, Used to characterize the second detection distance of the ultrasonic sensor at the kth moment, Used to characterize the third spacing distance between the ultrasonic sensor and the entrance and exit. The first weight used to characterize microwave radar, Used to characterize the first detection distance of the microwave radar at the kth moment, Used to characterize the second separation distance between the microwave radar and the entrance and exit.

[0068] in, A second weight for characterizing the ultrasonic sensor, and a product of a difference between the second detection distance and the third spacing distance, that is, the ultrasonic detection distance of the ultrasonic sensor; The product of the first weight used to characterize the microwave radar and the difference between the first detection distance and the second interval distance is the radar detection distance of the microwave radar.

[0069] Through this embodiment, when the storage state is the storage state, the first weight of the microwave radar and the second weight of the ultrasonic sensor are set respectively. Thus, the actual interval distance between the detected object and the entrance and exit is obtained by comprehensively considering the first detection distance of the microwave radar and the second detection distance of the ultrasonic sensor. In this way, the control accuracy of the authority lock can be improved.

[0070] As an optional embodiment, before S404, the high-precision microwave radar detection method may further include: The interval distance threshold is determined by using the opening time of the target authority lock and the first movement speed of the target by the microwave radar, where the first movement speed of the target is the first movement speed obtained by the first detection of the microwave radar; Based on the interval distance threshold, set the target permission lock opening conditions.

[0071] In this embodiment, the interval distance threshold may be specifically determined by the following formula 7: Formula 7 In formula 7, Used to characterize the interval distance threshold, Used to characterize the opening time of the target permission lock. Used to characterize the first motion speed obtained by the first detection of microwave radar.

[0072] When the distance between the detected object and the area to be detected is less than or equal to the interval distance threshold, the target authority lock is controlled to be opened, thereby ensuring that the target authority lock is opened smoothly when the detected object enters the area to be detected.

[0073] Through this embodiment, the target authorization lock opening time and the target first motion speed of the microwave radar are used to set the interval distance threshold, so that the opening of the target authorization lock can be accurately controlled according to the interval distance threshold, and the control accuracy of the authorization lock can be improved.

[0074] As an optional embodiment, before S102, the high-precision microwave radar detection method may further include: Using radar detection data, determine the vehicle belongingness of the detected object. The vehicle belongingness is used to characterize the possibility that the detected object belongs to a vehicle. When the vehicle belonging degree is greater than or equal to a preset belonging degree threshold, determining that the detected object is a vehicle; S102 may specifically include: When the detected object is a vehicle, the motion characteristic parameters of the vehicle at each moment are determined based on the radar detection data at each moment.

[0075] In this embodiment, the vehicle ownership degree can be specifically determined by the following formula 8: Formula 8 In formula 8, Q is used to characterize the vehicle ownership of the detected object. Used to characterize the transmission signal strength of microwave radar. Used to characterize the strength of the received signal after being transmitted by the detected object. Used to characterize the amplitude value at the i-th moment in the reflected signal waveform. It is used to represent the average amplitude value in the reflection signal waveform. N is used to represent the total number of sampling moments in the reflection signal waveform, and norm is used to represent the normalization calculation.

[0076] Among them, since the reflected signals generated by other objects are weaker than those generated by the vehicle, that is, the intensity of the received reflected signals is smaller, The larger the value, the smaller the vehicle belonging degree of the detected object. Since the reflected signal waveform generated by other objects is more irregular relative to the vehicle, The larger it is, the smaller the vehicle belonging degree of the detected object is.

[0077] After obtaining the vehicle belonging degree of the detected object, the vehicle belonging degree of the detected object is compared with the preset belonging degree threshold. When the vehicle belonging degree is greater than or equal to the preset belonging degree threshold, the detected object is determined to be a vehicle, and the detection of the detected object continues; when the vehicle belonging degree is less than the preset belonging degree threshold, it is determined that the detected object is not a vehicle, and the detection of the detected object is stopped.

[0078] Through this embodiment, the radar detection data is used to determine the vehicle belongingness of the detected object, so that the detection continues when the detected object is a vehicle, and the detection is stopped in time when the detected object is not a vehicle, thereby improving the detection efficiency of the microwave radar.

[0079] Based on the high-precision microwave radar detection method, accordingly, the present invention also provides a specific embodiment of a high-precision microwave radar detection system.

[0080] Figure 5 A structural schematic diagram of a high-precision microwave radar detection system is provided. The high-precision microwave radar detection system 500 includes a data acquisition module 510, a motion analysis module 520, a state analysis module 530 and an authority lock control module 540.

[0081] The data acquisition module 510 is used to acquire radar detection data of the detection object at each time obtained by microwave radar detection; The motion analysis module 520 is used to determine the motion characteristic parameters of the detected object at each moment according to the radar detection data at each moment, and the motion characteristic parameters are used to characterize the motion of the detected object at the corresponding moment; The state analysis module 530 is used to determine the storage-in and storage-out state of the detected object according to the motion characteristic parameters at each moment, where the storage-in and storage-out state is one of the storage-out state and the storage-in state; The authority lock control module 540 is used to control the movement of the target authority lock according to the target detection data corresponding to the entry and exit status. The target detection data includes at least one of radar detection data and ultrasonic detection data obtained by ultrasonic sensor detection. The target authority lock is a mechanical lock that controls the entry and exit permissions of the detected object.

[0082] In the high-precision microwave radar detection system provided by the present invention, the motion characteristic parameters of the detected object at each moment are first determined based on the radar detection data obtained by microwave radar detection, thereby determining the in-and-out state of the detected object. Then, two types of detection data, radar detection data and ultrasonic detection data, are provided, and appropriate target detection data is selected according to the in-and-out state of the detected object. Thus, the movement of the target authority lock is controlled according to the target detection data. In this way, the present invention provides two types of detection data, ultrasonic detection data with higher reliability at close range and radar detection data with higher reliability at long range, so as to make a reasonable selection according to the in-and-out state of the detected object. The problem of detection error caused by the limited close-range resolution of the microwave radar can be avoided, thereby improving the control accuracy of the authority lock.

[0083] It should be clear that the present invention is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present invention is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present invention.

[0084] It should also be noted that the exemplary embodiments mentioned in the present invention describe some methods or systems based on a series of steps or devices. However, the present invention is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiments, or in a different order from the embodiments, or several steps can be performed simultaneously.

[0085] The above is only a specific implementation of the present invention. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working process of the system, module and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here. It should be understood that the protection scope of the present invention is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be covered within the protection scope of the present invention.

Claims

1. A high-precision microwave radar detection method, characterized in that: The method comprises: Acquire radar detection data of the detected object at each time obtained by microwave radar detection; Determine, according to the radar detection data at each moment, motion characteristic parameters of the detected object at each moment, wherein the motion characteristic parameters are used to characterize the motion of the detected object at the corresponding moment; Determine the in-and-out state of the detected object according to the motion characteristic parameters at each moment, wherein the in-and-out state is one of an out-of-warehouse state and an in-warehouse state; The movement of the target authority lock is controlled according to the target detection data corresponding to the entry and exit status, the target detection data includes at least one of radar detection data and ultrasonic detection data obtained by ultrasonic sensor detection, and the target authority lock is a mechanical lock that controls the entry and exit permissions of the detected object.

2. The high-precision microwave radar detection method according to claim 1, characterized in that: The radar detection data includes a first detection distance, a first movement speed, and a reflection signal frequency of the microwave radar; Determining the motion characteristic parameters of the detected object at each moment according to the radar detection data at each moment includes: Subtract the reflected signal frequency at the target moment from the reflected signal frequency at the moment before the target moment to obtain the direction parameter at the target moment; Multiplying the first detection distance at the target time by the first movement speed at the target time to obtain the power parameter at the target time; The motion characteristic parameters of the detected object at the target time are determined by using the direction parameter and the dynamic parameter.

3. The high-precision microwave radar detection method according to claim 1, characterized in that: Determining the storage-in and -out status of the detected object according to the motion characteristic parameters at each moment includes: Determining the motion state parameters at each moment according to the motion characteristic parameters at each adjacent moment; When N consecutive motion state parameters are positive numbers, determining the in-and-out state of the detected object is the out-of-warehouse state, where N is a positive integer; When N consecutive motion state parameters are negative numbers, the storage-in / out state of the detected object is determined to be the storage-in state.

4. The high-precision microwave radar detection method according to claim 3, characterized in that: Determining the motion state parameters at each moment according to the motion feature parameters at each adjacent moment includes: Subtracting the absolute value of the motion characteristic parameter at the target moment from the absolute value of the motion characteristic parameter at the moment before the target moment to obtain a motion characteristic change value at the target moment; The motion state parameter at the target moment is determined by using the motion feature change value at the target moment and the motion feature parameter at the target moment.

5. The high-precision microwave radar detection method according to claim 1, characterized in that: The storage-in / out status is the storage-out status; The controlling the movement of the target authority lock according to the target detection data corresponding to the storage entry and exit status includes: Acquiring a second detection distance in the ultrasonic detection data; When the second detection distance is greater than the first spacing distance between the target authority lock and the entrance and exit, the target authority lock is controlled to be closed.

6. The high-precision microwave radar detection method according to claim 1, characterized in that: The storage-in and -out status is the storage-in status; The controlling the movement of the target authority lock according to the target detection data corresponding to the storage entry and exit status includes: Determine a first signal-to-noise ratio of the microwave radar based on the echo signal power and the noise power of the microwave radar, and determine a second signal-to-noise ratio of the ultrasonic sensor based on the echo signal power and the noise power of the ultrasonic sensor; Determining a first weight of the microwave radar and a second weight of the ultrasonic sensor based on the first signal-to-noise ratio and the second signal-to-noise ratio; Determine the actual interval distance between the detected object and the entrance and exit by using the first weight, the first detection distance of the microwave radar, the second weight, and the second detection distance of the ultrasonic sensor; When the actual interval distance satisfies the permission lock opening condition, the target permission lock is controlled to be opened.

7. The high-precision microwave radar detection method according to claim 6, characterized in that: The determining the actual interval distance between the detected object and the entrance and exit by using the first weight, the first detection distance of the microwave radar, the second weight, and the second detection distance of the ultrasonic sensor includes: Determine the radar detection distance of the microwave radar by using the first weight, the first detection distance of the microwave radar, and the second spacing distance between the microwave radar and the entrance and exit; Determine the ultrasonic detection distance of the ultrasonic sensor using the second weight, the second detection distance of the ultrasonic sensor, and the third spacing distance between the ultrasonic sensor and the entrance and exit; The actual distance between the detection object and the entrance and exit is determined by using the radar detection distance and the ultrasonic detection distance.

8. The high-precision microwave radar detection method according to claim 6, characterized in that: When the actual interval distance satisfies the permission lock opening condition, before controlling the target permission lock to be opened, the method further includes: Determine the interval distance threshold by using the opening time of the target authority lock and the first movement speed of the target detected by the microwave radar, wherein the first movement speed of the target is the first movement speed detected by the microwave radar for the first time; Based on the interval distance threshold, the target authority lock opening condition is set.

9. The high-precision microwave radar detection method according to claim 1, characterized in that: Before determining the motion characteristic parameters of the detected object at each moment according to the radar detection data at each moment, the method further includes: Determining the vehicle belongingness of the detected object by using the radar detection data, wherein the vehicle belongingness is used to characterize the possibility that the detected object belongs to a vehicle; When the vehicle belonging degree is greater than or equal to a preset belonging degree threshold, determining that the detected object is a vehicle; Determining the motion characteristic parameters of the detected object at each moment according to the radar detection data at each moment includes: In the case where the detected object is a vehicle, the motion characteristic parameters of the vehicle at each moment are determined according to the radar detection data at each moment.

10. A high-precision microwave radar detection system, characterized in that: The system comprises: A data acquisition module is used to acquire radar detection data of the detection object at each time obtained by microwave radar detection; A motion analysis module, used to determine the motion characteristic parameters of the detected object at each moment according to the radar detection data at each moment, wherein the motion characteristic parameters are used to characterize the motion of the detected object at the corresponding moment; A state analysis module, used to determine the in-and-out state of the detected object according to the motion characteristic parameters at each moment, wherein the in-and-out state is one of an out-of-warehouse state and an in-warehouse state; The authority lock control module is used to control the movement of the target authority lock according to the target detection data corresponding to the entry and exit status, the target detection data includes at least one of radar detection data and ultrasonic detection data obtained by ultrasonic sensor detection, and the target authority lock is a mechanical lock that controls the entry and exit permissions of the detected object.

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