Millimeter wave radar constant false alarm rate detection method for insulator target

Abstract

The invention provides a millimeter wave radar constant false alarm detection method for an insulator target, and the method comprises the following steps: enabling a radar to start working, and transmitting P linear frequency modulation radar wave signals; receiving target echoes of the radar, mixing the target echoes with an original radar reference waveform, and performing low-pass filtering; digital-to-analog conversion and distance Fourier transform processing are carried out; collecting radar distance Fourier transform output data of all periods on each distance; doppler Fourier transform processing is carried out, and zero Doppler frequency output of all receiving antennas is collected; all distance data and azimuth Fourier transform data of all antennas at the same distance are selected, and high-resolution data on azimuth angles are obtained; selecting all distance unit data in one azimuth angle and other azimuth angles to perform reverse constant false alarm detection, and detecting all insulation barriers in the azimuth angle direction until the detection of the distance units in all azimuth angles is completed; real-time detection and position measurement of the insulator obstacle by the high-resolution millimeter-wave radar are realized.

Description

【Technical field】 [0001] The invention relates to the technical field of automatic driving, in particular to a millimeter-wave radar constant false alarm detection method for an insulator target. 【Background technique】 [0002] With the popularity of household vehicles and entering thousands of households, it has become a necessity for people's daily life and work, and the urban traffic congestion caused by too many vehicles has become more and more serious. As a result, in daily life, driving a vehicle not only consumes time and energy, but a little carelessness may cause traffic accidents, bring economic losses to the families of related parties, and even pose hidden dangers to life safety. [0003] Autonomous driving can not only free the driver from the boring driving, but also greatly reduce the probability of accidents during driving. It is an inevitable choice for future car driving. Autonomous driving includes four core links of perception, cognition, planning and c...

AI Technical Summary

Problems solved by technology

Under the irradiation of radar signals, these insulators cannot produce strong enough radar echoes, so that radars cannot detect these insulator obstacles. If they are not resolved, they will bring great potential hidden dangers to the safety of autonomous driving.

Of course, automatic driving can also use image sensors as sensing devices to identify these insulator obstacles, but image sensors cannot be used in dark situations, nor can they be used in severe pollution or severe weather environments

At the same time, even if the image sensor can be used, it cannot provide accurate obstacle position information, which brings insurmountable difficulties to path planning in automatic driving.

In addition, if lidar is used to realize real-time detection and measurement of insulator obstacles in autonomous driving, it cannot be used on a large scale because of its high price and cost; similarly, lidar cannot be used in severe weather environments

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