A high-precision microwave radar detection method and system

Abstract

The present invention discloses a high-precision microwave radar detection method and system, which relates to the technical field of radar detection. The method includes: obtaining radar detection data of a detected object at each moment detected by a microwave radar; 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 condition of the detected object at the corresponding moment; determining the inbound and outbound state of the detected object according to the motion characteristic parameters at each moment, and the inbound and outbound state is one of the outbound state and the inbound state; controlling the movement of a target permission lock according to target detection data corresponding to the inbound and outbound state, where the target detection data includes at least one of the radar detection data and ultrasonic detection data detected by an ultrasonic sensor, and the target permission lock is a mechanical lock for controlling the inbound and outbound permissions of the detected object. The present invention can improve the control accuracy of the permission lock.

Description

Technical Field

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

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

[0003] Currently, the intelligent parking lock based on microwave radar detects the movement of vehicles through radar signals, and thus controls the lifting of the parking lock according to the movement of the vehicles.

[0004] However, the close-range resolution of microwave radar is limited, and there are errors in the detection of close-range objects, resulting in low accuracy of the lifting control of the parking lock. Summary of the Invention

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

[0006] In a first aspect of embodiments of the present invention, a high-precision microwave radar detection method is provided, including:

[0007] Obtaining radar detection data of a detected object at each moment detected by a microwave radar;

[0008] 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;

[0009] Determining the in-out state of the detected object according to the motion characteristic parameters at each moment, where the in-out state is one of the out state and the in state;

[0010] Controlling the movement of a target access control lock according to target detection data corresponding to the in-out state, where the target detection data includes at least one of radar detection data and ultrasonic detection data detected by an ultrasonic sensor, and the target access control lock is a mechanical lock for controlling the in and out access rights of the detected object.

[0011] In a second aspect of embodiments of the present invention, a high-precision microwave radar detection system is provided, including:

[0012] A data acquisition module, configured to obtain radar detection data of a detected object at each moment detected by a microwave radar;

[0013] A motion analysis module, which is used to determine the motion characteristic parameters of a 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 situation of the detected object at the corresponding moment;

[0014] A status analysis module, which is used to determine the inbound / outbound status of the detected object according to the motion characteristic parameters at each moment, and the inbound / outbound status is one of the outbound status and the inbound status;

[0015] An access lock control module, which is used to control the movement of a target access lock according to the target detection data corresponding to the inbound / outbound status, where the target detection data includes at least one of the radar detection data and the ultrasonic detection data obtained by an ultrasonic sensor, and the target access lock is a mechanical lock that controls the inbound and outbound permissions of the detected object.

[0016] In the high-precision microwave radar detection method provided by the present invention, first, according to the radar detection data obtained by microwave radar detection, the motion characteristic parameters of the detected object at each moment are determined, so as to determine the inbound / outbound status of the detected object. Then, two types of detection data, namely radar detection data and ultrasonic detection data, are provided, and the appropriate target detection data is selected according to the inbound / outbound status of the detected object. Thus, according to the target detection data, the movement of the target access lock is controlled. In this way, the present invention provides two types of detection data, namely ultrasonic detection data with relatively high reliability at close range and radar detection data with relatively high reliability at long range, and thus makes a reasonable selection according to the inbound / outbound status of the detected object. It can avoid the problem of detection error caused by the limited close-range resolution of the microwave radar, and thus can improve the control accuracy of the access lock. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained according to these drawings without creative efforts.

[0018] Figure 1 It is a schematic flowchart of the first high-precision microwave radar detection method provided by an embodiment of the present invention;

[0019] Figure 2 It is a schematic installation diagram of a microwave radar device provided by an embodiment of the present invention;

[0020] Figure 3 It is a schematic flowchart of the second high-precision microwave radar detection method provided by an embodiment of the present invention;

[0021] Figure 4Schematic flowchart of the third high-precision microwave radar detection method provided by an embodiment of the present invention;

[0022] Figure 5 Schematic structural diagram of a high-precision microwave radar detection system provided by an embodiment of the present invention;

[0023] Wherein: 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; 540 represents an access lock control module. Detailed implementation manners

[0024] In order to further elaborate on the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the following combines the accompanying drawings and preferred embodiments to elaborate in detail on a high-precision microwave radar detection method and system proposed according to the present invention, its specific implementation manners, structures, features and effects. In the following description, different "one embodiment" or "another embodiment" do not necessarily refer to the same embodiment. In addition, the specific features, structures or characteristics in one or more embodiments can be combined in any suitable form.

[0025] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which the present invention belongs.

[0026] It should be noted that the acquisition, storage, use, processing, etc. of data in the technical solution of the present invention all comply with the relevant regulations of laws and regulations.

[0027] It should be noted that in the embodiments of the present invention, some industry-existing solutions such as certain software, components, models, etc. may be mentioned. They should be regarded as exemplary, and their purpose is only to illustrate the feasibility in the implementation of the technical solution of the present invention, but it does not mean that the applicant has already or necessarily used this solution.

[0028] A microwave radar is a sensor that uses microwave signals to detect the distance, speed, azimuth, angle and other information of target objects. It mainly relies on transmitting high-frequency electromagnetic waves and receiving reflected waves to measure and analyze objects in the environment. Its wide application in the intelligent parking space lock system can greatly improve the automation and intelligence level of parking space management.

[0029] Currently, the intelligent parking space lock based on microwave radar detects the movement of the vehicle through radar signals, and thus controls the lifting of the parking space lock according to the movement of the vehicle. However, the close-range resolution of the microwave radar is limited, and there are errors in the detection of close-range objects, resulting in low accuracy of the lifting control of the parking space lock.

[0030] 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, first, according to the radar detection data obtained by the microwave radar detection, the motion characteristic parameters of the detected object at each moment are determined, so as to determine the inbound and outbound state of the detected object. Then, two types of detection data, namely radar detection data and ultrasonic detection data, are provided, and appropriate target detection data is selected according to the inbound and outbound state of the detected object. Thus, according to the target detection data, the movement of the target permission lock is controlled. In this way, the present invention provides two types of detection data, namely ultrasonic detection data with relatively high reliability at close range and radar detection data with relatively high reliability at long range, and thus makes a reasonable selection according to the inbound and outbound state of the detected object. It can avoid the problem of detection error caused by the limited close-range resolution of the microwave radar, and thus can improve the control accuracy of the permission lock.

[0031] The following introduces specific embodiments of a high-precision microwave radar detection method and system provided by embodiments of the present invention.

[0032] Figure 1 A flowchart of a high-precision microwave radar detection method is provided. This high-precision microwave radar detection method can be applied to a server, and this high-precision microwave radar detection method may include the following S101 to S104.

[0033] S101, obtain the radar detection data of the detected object at each moment obtained by the microwave radar detection.

[0034] In this embodiment, the radar detection data is used to characterize the data of the detected object detected by the radar. Exemplarily, the radar detection data may include the distance between the detected object and the microwave radar, the speed of the detected object, etc.

[0035] As an example, install a microwave radar device in the area to be detected, and set the sampling frequency and detection range of the microwave radar to ensure that the radar detection data of the detected object at each moment can be captured. As Figure 2 shown, an installation schematic diagram of a microwave radar device is provided. Among them, assume that the area to be detected is parking space 201, a parking space lock 202 is provided in the center of parking space 201, and the microwave radar device 203 can be installed in the center of the rearmost end of parking space 201.

[0036] Then, the microwave radar continuously emits microwave signals and receives the reflected signals, and obtains radar detection data such as the position, speed, and direction of the detected object by processing these signals. The server then receives the radar detection data of the detected object at each moment collected by the microwave radar.

[0037] S102. Determine the motion characteristic parameters of the detected object at each moment according to the radar detection data at each moment. The motion characteristic parameters are used to characterize the motion of the detected object at the corresponding moment.

[0038] In this embodiment, the motion characteristic parameters are used to characterize the parameters for comprehensively evaluating the motion of the detected object at the corresponding moment.

[0039] As an example, the server extracts features from the radar detection data to obtain various data related to the motion of the detected object, such as speed, acceleration, displacement, direction, etc. Then, a comprehensive evaluation is performed on the various data related to the motion of the detected object to obtain the motion characteristic parameters of the detected object.

[0040] S103. Determine the inbound / outbound state of the detected object according to the motion characteristic parameters at each moment. The inbound / outbound state is one of the outbound state and the inbound state.

[0041] In this embodiment, the inbound / outbound state is one of the outbound state and the inbound state. The outbound state indicates that the detected object is driving out of the area to be detected; the inbound state indicates that the detected object is driving into the area to be detected.

[0042] As an example, the server determines the inbound / outbound state of the object according to the extracted motion characteristic parameters according to a preset judgment rule. 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 inbound 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 outbound state.

[0043] S104. Control the movement of the target permission lock according to the target detection data corresponding to the inbound / outbound state. The target detection data includes at least one of the radar detection data and the ultrasonic detection data detected by the ultrasonic sensor. The target permission lock is a mechanical lock for controlling the inbound and outbound permissions of the detected object.

[0044] In this embodiment, the target permission lock is used to control the inbound and outbound permissions of the detected object. For example, when the detected object is a vehicle, the inbound / outbound state represents the state of the vehicle driving out of or into the parking space, and the target permission lock is the parking space lock in the parking space. When the vehicle drives out of the parking space, the parking space lock should rise; when the vehicle drives into the parking space, the parking space lock should fall.

[0045] As an example, when the detected object's in-out state is the out state, the distance of the detected object is relatively close at this time. Therefore, it is not suitable for the radar detection data with large near-distance detection errors. At this time, the ultrasonic detection data with small near-distance detection errors is selected as the target detection data. When the detected object's in-out state is the in state, the distance of the detected object is relatively far at this time. Therefore, on the basis of the ultrasonic detection data, the radar detection data can be combined for comprehensive consideration.

[0046] Then, according to the selected target detection data, it is determined whether the movement conditions corresponding to the target permission lock are met. Specifically, when the detected object's in-out state is the out state and the movement conditions corresponding to the out state are met, the target permission lock is moved until it is closed. When the detected object's in-out state is the in state and the movement conditions corresponding to the in state are met, the target permission lock is moved until it is opened.

[0047] In the high-precision microwave radar detection method provided in this embodiment, first, according to the radar detection data detected by the microwave radar, the motion characteristic parameters of the detected object at each moment are determined, so as to determine the in-out state of the detected object. Then, two types of detection data, namely radar detection data and ultrasonic detection data, are provided, and appropriate target detection data is selected according to the in-out state of the detected object. Thus, according to the target detection data, the movement of the target permission lock is controlled. In this way, the present invention provides two types of detection data, namely ultrasonic detection data with high reliability at close range and radar detection data with high reliability at long range, and thus makes a reasonable selection according to the in-out state of the detected object. It can avoid the problem of detection errors caused by the limited near-distance resolution of the microwave radar, and thus can improve the control accuracy of the permission lock.

[0048] As an alternative embodiment, the radar detection data includes the first detection distance, the first movement speed, and the reflection signal frequency of the microwave radar;

[0049] S102 may specifically include:

[0050] Subtract the reflection signal frequency at the target moment from the reflection signal frequency at the previous moment of the target moment to obtain the direction parameter at the target moment;

[0051] Multiply the first detection distance at the target moment by the first movement speed at the target moment to obtain the power parameter at the target moment;

[0052] Using the direction parameter and the power parameter, determine the motion characteristic parameters of the detected object at the target moment.

[0053] In this embodiment, the first detection distance is used to represent the distance between the detected object detected by the microwave radar and the microwave radar.

[0054] The first motion speed is used to characterize the speed of the detected object obtained by microwave radar detection.

[0055] As an example, the motion characteristic parameter can be specifically determined by the following formula 1:

[0056] Formula 1

[0057] In formula 1, is used to characterize the motion characteristic parameter at time t, is used to characterize the first detection distance at time t, is used to characterize the first motion speed at time t, is used to characterize the reflected signal frequency at time t, is used to characterize the reflected signal frequency at time t - 1.

[0058] Among them, the entry and exit of the detected object are accompanied by changes in distance and speed, and the change directions of the two are positively correlated. Therefore, 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 motion direction of the detected object is determined by comparing the changes in the reflected signal frequencies at time t and time t - 1, that is, is the direction parameter at time t.

[0059] Through this embodiment, based on the first detection distance, the first motion speed, and the reflected signal frequency of the microwave radar, the motion characteristic parameter of the detected object is accurately determined. Thereby, it helps to subsequently determine the entry and exit status of the detected object according to the motion characteristic parameter, improving the accuracy of the entry and exit status.

[0060] As an alternative embodiment, as Figure 3 shown, S103 may specifically include the following S301 to S303:

[0061] S301, determine the motion state parameter at each moment according to the motion characteristic parameters at adjacent moments;

[0062] S302, when the continuous N motion state parameters are positive, determine that the entry and exit status of the detected object is the exit status, where N is a positive integer;

[0063] S303, when the continuous N motion state parameters are negative, determine that the entry and exit status of the detected object is the entry status.

[0064] In this embodiment, the motion state parameter is used to characterize the motion state of the detected object at the corresponding moment. Among them, when the motion state parameter is a positive number, it indicates that the detected object is moving away from the microwave radar; when the motion state parameter is a negative number, it indicates that the detected object is approaching the microwave radar; when the motion state parameter is zero, it indicates that the detected object is stationary.

[0065] As an example, the server compares and analyzes the motion feature parameter at each moment with the motion feature parameter at the previous moment to determine whether the detected object is approaching or moving away from the microwave radar, so as to obtain the motion state parameter at each moment.

[0066] Then, traverse the stored motion state parameters to check whether there are five consecutive motion state parameters that are all positive or five consecutive motion state parameters that are all negative.

[0067] When five consecutive motion state parameters are all positive, mark the inbound and outbound state of the detected object as the outbound state; when five consecutive motion state parameters are all negative, mark the inbound and outbound state of the detected object as the inbound state.

[0068] Through this embodiment, the motion state parameter is determined according to the motion feature parameters at adjacent moments, and then the inbound and outbound state of the detected object is analyzed according to the motion state parameter. This helps to subsequently select appropriate target detection data according to the inbound and outbound state of the detected object, thereby improving the control accuracy of the permission lock.

[0069] As an alternative embodiment, S301 may specifically include:

[0070] Subtract the absolute value of the motion feature parameter at the target moment from the absolute value of the motion feature parameter at the previous moment of the target moment to obtain the motion feature change value at the target moment;

[0071] Use the motion feature change value at the target moment and the motion feature parameter at the target moment to determine the motion state parameter at the target moment.

[0072] In this embodiment, the motion state parameter can be specifically determined by the following formula 2:

[0073] Formula 2

[0074] In formula 2, is used to characterize the motion feature parameter at the k-th moment, is used to characterize the motion feature parameter at the (k - 1)-th moment, is used to characterize an infinitesimal quantity, is used to characterize the motion state parameter at the k-th moment.

[0075] Among them, when the detected object enters the warehouse, the distance from the microwave radar gradually decreases and the vehicle speed gradually decreases, that is, the motion characteristic parameter gradually decreases. At the same time, its motion direction moves towards the position of the microwave radar, corresponding to a positive Doppler frequency shift, that is, the motion characteristic parameter gradually decreases; when the detected object exits the warehouse, the distance from the microwave radar gradually increases and the vehicle speed gradually increases, that is, the motion characteristic parameter gradually increases. At the same time, 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 increases.

[0076] Therefore, if the value of is positive and the larger it is, it indicates that the detected object is more likely to be in the state of exiting the warehouse; if the value of is negative and the smaller it is, it indicates that the detected object is more likely to be in the state of entering the warehouse. If the detected object is in the state of exiting the warehouse, the corresponding is negative and is positive, and the corresponding motion state parameter is positive and the larger it is; if the detected object is in the state of entering the warehouse, the corresponding is positive and is negative, and the corresponding motion state parameter is negative and the smaller it is.

[0077] Through this embodiment, the motion state parameter is determined according to the motion characteristic parameters at adjacent moments. In this way, the entry and exit states of the detected object can be accurately determined according to the motion state parameter. Thus, it helps to select appropriate target detection data according to the entry and exit states of the detected object subsequently, and further improves the control accuracy of the access lock.

[0078] As an alternative embodiment, the entry and exit state is the state of exiting the warehouse;

[0079] S104 may specifically include:

[0080] Obtain the second detection distance in the ultrasonic detection data;

[0081] When the second detection distance is greater than the first interval distance between the target access lock and the entrance and exit, control the target access lock to close.

[0082] In this embodiment, the second detection distance is used to represent the distance between the detected object detected by the ultrasonic sensor and the ultrasonic sensor. Among them, the ultrasonic sensor is installed on the target access lock.

[0083] As an example, when the inbound / outbound status is the outbound status, it indicates that the detected object is relatively close to the microwave radar. Since the microwave radar has measurement accuracy issues at close range, the movement of the target access lock is controlled based on the ultrasonic detection data in this case.

[0084] Specifically, the server will obtain the second detection distance in the ultrasonic detection data. If the second detection distance is greater than the first interval distance between the target access lock and the entrance / exit, it indicates that the detected object has left the area to be detected at this time. Therefore, the target access lock can be closed, and the server controls the target access lock to close.

[0085] Through this embodiment, when the inbound / outbound status is the outbound status, the target access lock is controlled to close according to the ultrasonic detection data. In this way, the measurement accuracy problem of the microwave radar at close range can be overcome, and the control accuracy of the access lock can be improved.

[0086] As an alternative embodiment, the inbound / outbound status is the inbound status;

[0087] As Figure 4 shown, S104 may specifically include the following S401 to S404:

[0088] S401, based on the echo signal power and noise power of the microwave radar, determine the first signal-to-noise ratio of the microwave radar, and based on the echo signal power and noise power of the ultrasonic sensor, determine the second signal-to-noise ratio of the ultrasonic sensor;

[0089] S402, based on the first signal-to-noise ratio and the second signal-to-noise ratio, determine the first weight of the microwave radar and the second weight of the ultrasonic sensor;

[0090] S403, use the first weight, the first detection distance of the microwave radar, the second weight, and the second detection distance of the ultrasonic sensor to determine the actual interval distance between the detected object and the entrance / exit;

[0091] S404, when the actual interval distance meets the access lock opening condition, control the target access lock to open.

[0092] In this embodiment, the access lock opening condition is used to characterize the condition that the actual interval distance between the detected object and the entrance / exit needs to meet when the preset access lock can be opened. By way of example, the access lock opening condition may be that the actual interval distance between the detected object and the entrance / exit is less than a preset distance threshold.

[0093] As an example, the first signal-to-noise ratio and the second signal-to-noise ratio can be specifically determined by the following formula 3:

[0094] Formula 3

[0095] In Equation 3, P is used to represent the signal-to-noise ratio, is used to represent the noise power, is used to represent the echo signal power.

[0096] Among them, the greater the noise power, the higher the noise component in the signal, the worse the signal quality, that is, the higher the signal-to-noise ratio.

[0097] The first weight of the microwave radar can be specifically determined by the following Equation 4:

[0098] Equation 4

[0099] In Equation 4, is used to represent the first weight of the microwave radar, is used to represent the second signal-to-noise ratio of the ultrasonic sensor, is used to represent the first signal-to-noise ratio of the microwave radar.

[0100] The second weight of the ultrasonic sensor can be specifically determined by the following Equation 5:

[0101] Equation 5

[0102] In Equation 5, is used to represent the second weight of the ultrasonic sensor, is used to represent the second signal-to-noise ratio of the ultrasonic sensor, is used to represent the first signal-to-noise ratio of the microwave radar.

[0103] After determining the first weight of the microwave radar and the second weight of the ultrasonic sensor, the weighted sum is performed using the first weight, the first detection distance of the microwave radar, the second weight, and the second detection distance of the ultrasonic sensor, and the actual interval distance between the detected object and the entrance / exit can be obtained.

[0104] Then, when the actual interval distance between the detected object and the entrance / exit is less than the preset distance threshold, the target permission lock is controlled to open.

[0105] Through this embodiment, when the inbound / outbound state is the inbound state, the first weight of the microwave radar and the second weight of the ultrasonic sensor are respectively set. Thus, the first detection distance of the microwave radar and the second detection distance of the ultrasonic sensor are comprehensively considered to realize the control of the target permission lock. In this way, the control accuracy of the permission lock can be improved.

[0106] As an alternative embodiment, S403 may specifically include:

[0107] 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 interval distance between the microwave radar and the entrance / exit.

[0108] Determine the ultrasonic detection distance of the ultrasonic sensor by using the second weight, the second detection distance of the ultrasonic sensor, and the third interval distance between the ultrasonic sensor and the entrance / exit.

[0109] Determine the actual interval distance between the detected object and the entrance / exit by using the radar detection distance and the ultrasonic detection distance.

[0110] In this embodiment, the actual interval distance between the detected object and the entrance / exit can be specifically determined by the following formula 6:

[0111] Formula 6

[0112] In formula 6, represents the actual interval distance between the detected object and the entrance / exit at the k-th moment, represents the second weight of the ultrasonic sensor, represents the second detection distance of the ultrasonic sensor at the k-th moment, represents the third interval distance between the ultrasonic sensor and the entrance / exit. represents the first weight of the microwave radar, represents the first detection distance of the microwave radar at the k-th moment, represents the second interval distance between the microwave radar and the entrance / exit.

[0113] Among them, represents the product of the second weight of the ultrasonic sensor and the difference between the second detection distance and the third interval distance, that is, the ultrasonic detection distance of the ultrasonic sensor; represents the product of the first weight of the microwave radar and the difference between the first detection distance and the second interval distance, that is, the radar detection distance of the microwave radar.

[0114] Through this embodiment, when the inbound / outbound state is the inbound state, the first weight of the microwave radar and the second weight of the ultrasonic sensor are respectively set. Thus, by comprehensively considering the first detection distance of the microwave radar and the second detection distance of the ultrasonic sensor, the actual interval distance between the detected object and the entrance / exit is obtained. In this way, the control accuracy of the access control lock can be improved.

[0115] As an alternative embodiment, before S404, the high-precision microwave radar detection method may further include:

[0116] Determine the interval distance threshold by using the opening time of the target permission lock and the target first movement speed of the microwave radar, where the target first movement speed is the first movement speed detected by the microwave radar for the first time;

[0117] Set the opening condition of the target permission lock based on the interval distance threshold.

[0118] In this embodiment, the interval distance threshold can be specifically determined by the following formula 7:

[0119] Formula 7

[0120] In formula 7, represents the interval distance threshold, represents the opening time of the target permission lock, represents the first movement speed detected by the microwave radar for the first time.

[0121] When the distance between the detected object and the area to be detected is less than or equal to the interval distance threshold, start to control the target permission lock to open, so as to ensure that the target permission lock opens smoothly when the detected object enters the area to be detected.

[0122] Through this embodiment, the interval distance threshold is set by using the opening time of the target permission lock and the target first movement speed of the microwave radar. Thus, the opening of the target permission lock can be accurately controlled according to the interval distance threshold, and the control accuracy of the permission lock can be improved.

[0123] As an optional embodiment, before S102, the high-precision microwave radar detection method may further include:

[0124] Use the radar detection data to determine the vehicle attribution of the detected object, where the vehicle attribution is used to represent the possibility that the detected object belongs to a vehicle;

[0125] When the vehicle attribution is greater than or equal to the preset attribution threshold, determine that the detected object is a vehicle;

[0126] S102 may specifically include:

[0127] When the detected object is a vehicle, determine the motion characteristic parameters of the vehicle at each moment according to the radar detection data at each moment.

[0128] In this embodiment, the vehicle attribution can be specifically determined by the following formula 8:

[0129] Formula 8

[0130] In formula 8, Q is used to represent the vehicle attribution of the detected object, For characterizing the transmission signal intensity of a microwave radar, For characterizing the received signal intensity after being emitted by a detected object. For characterizing the amplitude value at the i-th moment in the reflected signal waveform, For characterizing the average amplitude value in the reflected signal waveform. N is used to characterize the total number of sampling moments in the reflected signal waveform, and norm is used to characterize the normalization calculation.

[0131] Among them, since the reflected signals generated by other objects relative to the vehicle are weaker, that is, the received reflected signal intensity is smaller, so The larger it is, the smaller the vehicle attribution degree of the detected object. Since the reflected signal waveforms generated by other objects relative to the vehicle are more irregular, so The larger it is, the smaller the vehicle attribution degree of the detected object.

[0132] After obtaining the vehicle attribution degree of the detected object, compare the vehicle attribution degree of the detected object with a preset attribution degree threshold. When the vehicle attribution degree is greater than or equal to the preset attribution degree threshold, determine that the detected object is a vehicle, and at this time, continue to detect the detected object; when the vehicle attribution degree is less than the preset attribution degree threshold, determine that the detected object is not a vehicle, and at this time, stop detecting the detected object.

[0133] Through this embodiment, using the radar detection data, determine the vehicle attribution degree of the detected object. Thus, continue to detect when the detected object is a vehicle, and stop detecting in time when the detected object is not a vehicle, thereby improving the detection efficiency of the microwave radar.

[0134] Based on a high-precision microwave radar detection method. Correspondingly, the present invention also provides a specific embodiment of a high-precision microwave radar detection system.

[0135] 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 a permission lock control module 540.

[0136] The data acquisition module 510 is used to acquire the radar detection data of the detected object at each moment obtained by the microwave radar;

[0137] 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. The motion characteristic parameters are used to characterize the motion situation of the detected object at the corresponding moment;

[0138] A status analysis module 530 is configured to determine the inbound / outbound status of a detected object according to the motion characteristic parameters at each moment. The inbound / outbound status is one of an outbound status and an inbound status.

[0139] An access lock control module 540 is configured to control the movement of a target access lock according to target detection data corresponding to the inbound / outbound status. The target detection data includes at least one of radar detection data detected by a microwave radar and ultrasonic detection data detected by an ultrasonic sensor. The target access lock is a mechanical lock for controlling the inbound and outbound access rights of the detected object.

[0140] In the high-precision microwave radar detection system provided by the present invention, first, according to the radar detection data detected by the microwave radar, the motion characteristic parameters of the detected object at each moment are determined, so as to determine the inbound / outbound status of the detected object. Then, two types of detection data, namely radar detection data and ultrasonic detection data, are provided, and appropriate target detection data is selected according to the inbound / outbound status of the detected object. Thus, according to the target detection data, the movement of the target access lock is controlled. In this way, the present invention provides two types of detection data, namely ultrasonic detection data with relatively high reliability at close range and radar detection data with relatively high reliability at long range, and thus makes a reasonable selection according to the inbound / outbound status of the detected object. It can avoid the problem of detection error caused by the limited close-range resolution of the microwave radar, and thus can improve the control accuracy of the access lock.

[0141] It should be clear that the present invention is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, the detailed description of known methods 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. Those skilled in the art can make various changes, modifications, and additions, or change the order between steps after understanding the spirit of the present invention.

[0142] It should also be noted that in the exemplary embodiments mentioned in the present invention, some methods or systems are described 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 executed in the order mentioned in the embodiments, or different from the order in the embodiments, or several steps can be executed simultaneously.

[0143] As described above, this is only a specific implementation manner of the present invention. Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the systems, modules, and units described above can refer to the corresponding processes in the foregoing method embodiments, and will not be elaborated herein. It should be understood that the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of various equivalent modifications or substitutions, and these modifications or substitutions should all 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; Controlling the movement of the target authority lock according to the target detection data corresponding to the storage entry and exit status, wherein 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 storage entry and exit permissions of the detected object; 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.

2. 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.

3. The high-precision microwave radar detection method according to claim 2, 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.

4. 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.

5. 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.

6. The high-precision microwave radar detection method according to claim 5, 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.

7. The high-precision microwave radar detection method according to claim 5, 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.

8. 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.

9. 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; An authority lock control module, used to control the movement of a target authority lock according to target detection data corresponding to the entry and exit status, wherein 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; 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.

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