阅读说明：本技术 一种汽车测速方法、汽车雷达以及汽车 (Automobile speed measurement method, automobile radar and automobile ) 是由 陈承文 周珂 朱涛 方勇军 朱信鹏 于 2020-04-30 设计创作，主要内容包括：本发明实施例涉及汽车雷达技术领域,公开了一种汽车测速方法、汽车雷达以及汽车。其中,所述汽车测速方法包括：检测预设范围内的测速目标,并生成目标列表；对所述目标列表进行数据处理,得到所述测速目标对应的至少一个速度分布范围；从所述至少一个速度分布范围中确定汽车速度分布范围,所述汽车速度分布范围为所述至少一个速度分布范围中的至少一个；根据所述汽车速度分布范围,检测所述汽车的当前车速。通过上述方式,本发明实施例能够提升汽车测速的效率。(The embodiment of the invention relates to the technical field of automobile radars, and discloses an automobile speed measuring method, an automobile radar and an automobile. The automobile speed measuring method comprises the following steps: detecting a speed measurement target in a preset range and generating a target list; performing data processing on the target list to obtain at least one speed distribution range corresponding to the speed measurement target; determining a vehicle speed profile range from the at least one speed profile range, the vehicle speed profile range being at least one of the at least one speed profile range; and detecting the current speed of the automobile according to the speed distribution range of the automobile. Through the mode, the speed measuring efficiency of the automobile can be improved.)

1. A method for measuring the speed of an automobile is characterized by comprising the following steps:

detecting a speed measurement target in a preset range and generating a target list;

performing data processing on the target list to obtain at least one speed distribution range corresponding to the speed measurement target;

determining a vehicle speed profile range from the at least one speed profile range, the vehicle speed profile range being at least one of the at least one speed profile range;

and detecting the current speed of the automobile according to the speed distribution range of the automobile.

2. The method according to claim 1, wherein the detecting a tachometer target within a preset range and generating a target list comprises:

detecting a speed measurement target in a preset range to generate a detection signal;

performing signal processing on the detection signal to obtain target information of the speed measurement target;

and generating a target list according to the target information.

3. The method according to claim 2, wherein the target list includes a target point ID of the velocity measurement target and target information corresponding to the velocity measurement target;

the target information comprises the relative distance between the speed measuring target and the automobile, the relative speed between the speed measuring target and the automobile and the angle between the speed measuring target and the automobile.

4. The method according to claim 3, wherein the performing data processing on the target list to obtain at least one speed distribution range corresponding to the speed measurement target includes:

and carrying out data statistics on the relative speed of the speed measurement target and the automobile in the target list by adopting a histogram to obtain at least one speed distribution range corresponding to the speed measurement target.

5. The method of claim 1, wherein said determining a vehicle speed profile from said at least one speed profile comprises:

determining the speed distribution range in which the target number in the at least one speed distribution range is greater than the target number in other speed distribution ranges and the difference value between the target number in the at least one speed distribution range and the target number in other speed distribution ranges is greater than a first threshold value as an effective speed distribution range;

and if the number of the effective speed distribution ranges is one, determining that the effective speed distribution range is the automobile speed distribution range.

6. The method of claim 1, wherein said determining a vehicle speed profile from said at least one speed profile comprises:

determining the speed distribution range in which the target number in the at least one speed distribution range is greater than the target number in other speed distribution ranges and the difference value between the target number in the at least one speed distribution range and the target number in other speed distribution ranges is greater than a first threshold value as an effective speed distribution range;

and if the number of the effective speed distribution ranges is at least two, acquiring the speed of the automobile at the last moment, and determining the speed distribution range of the automobile according to the at least two effective speed distribution ranges and the speed of the automobile at the last moment.

7. The method of claim 6, wherein said determining the vehicle speed profile based on at least two of the effective speed profiles and the vehicle speed at a time on the vehicle comprises:

matching at least two effective speed distribution ranges with the speed of the automobile at the last moment respectively;

and taking one effective speed distribution range which is most matched with the speed of the automobile at the last moment in at least two effective speed distribution ranges as the automobile speed distribution range.

8. The method according to any one of claims 5-7, wherein said detecting a current vehicle speed of the vehicle based on the vehicle speed profile comprises:

taking a central value of the automobile speed distribution range;

and negating the central value to obtain the current speed of the automobile.

9. An automotive radar, comprising:

an antenna;

a transmitter for transmitting a radar signal via the antenna;

the receiver is used for receiving a reflected signal of the radar signal after the radar signal acts on a speed measurement target through the antenna;

at least one processor communicatively coupled to the receiver; and the number of the first and second groups,

a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of measuring vehicle speed according to any of claims 1 to 8.

10. An automobile, comprising:

the automotive radar of claim 9;

the automobile control circuit is electrically connected with the automobile radar and used for outputting an alarm signal according to the target list and the current speed of the automobile;

the alarm device is electrically connected with the automobile control circuit and is used for working in an opening state according to the alarm signal;

and the braking device is electrically connected with the automobile control circuit and used for braking the automobile according to the alarm signal.

Technical Field

The invention relates to the technical field of automobile radars, in particular to an automobile speed measuring method, an automobile radar and an automobile.

Background

With the improvement of vehicle safety technology, automobile radars are widely applied to various ground motor vehicles. By acquiring the relative distance and the relative speed between the automobile and the front vehicle and the current speed of the automobile and sending the relative distance and the relative speed to the automobile control circuit, the advanced driving auxiliary system functions of the automobile such as self-adaptive cruise control, front collision early warning, automatic emergency braking and the like can be realized after intelligent processing and reasonable decision making are carried out. Currently, an automobile radar CAN only output a relative distance and a relative speed between an automobile and a vehicle ahead, and a current vehicle speed of the automobile is generally obtained by an On-Board Diagnostics (OBD) of the automobile through a Controller Area Network (CAN).

However, in the process of implementing the invention, the inventor finds that the prior art has the following problems: for vehicles of different manufacturers and different models, the OBD is arranged at different positions on the vehicle, so that it is troublesome for an operator to find the OBD on the vehicle and connect out the CAN transmission line to obtain the current speed of the vehicle; moreover, the CAN transmission protocols of the vehicle speed information of vehicles of different manufacturers and different models are basically different, so that the analysis of the CAN transmission protocols to obtain the current vehicle speed of the vehicle is troublesome, and the efficiency of detecting the current vehicle speed of the vehicle is low.

Disclosure of Invention

The embodiment of the invention aims to provide an automobile speed measuring method, an automobile radar and an automobile, which can improve the speed measuring efficiency of the automobile.

In order to solve the above technical problems, embodiments of the present invention provide the following technical solutions:

in a first aspect, an embodiment of the present invention provides an automobile speed measurement method, including:

detecting a speed measurement target in a preset range and generating a target list;

performing data processing on the target list to obtain at least one speed distribution range corresponding to the speed measurement target;

determining a vehicle speed profile range from the at least one speed profile range, the vehicle speed profile range being at least one of the at least one speed profile range;

and detecting the current speed of the automobile according to the speed distribution range of the automobile.

In some embodiments, the detecting a speed measurement target within a preset range and generating a target list includes:

detecting a speed measurement target in a preset range to generate a detection signal;

performing signal processing on the detection signal to obtain target information of the speed measurement target;

and generating a target list according to the target information.

In some embodiments, the target list includes a target point ID of the velocity measurement target and target information corresponding to the velocity measurement target;

the target information comprises the relative distance between the speed measuring target and the automobile, the relative speed between the speed measuring target and the automobile and the angle between the speed measuring target and the automobile.

In some embodiments, the performing data processing on the target list to obtain at least one speed distribution range corresponding to the speed measurement target includes:

and carrying out data statistics on the relative speed of the speed measurement target and the automobile in the target list by adopting a histogram to obtain at least one speed distribution range corresponding to the speed measurement target.

In some embodiments, said determining a vehicle speed profile range from said at least one speed profile range comprises:

determining the speed distribution range in which the target number in the at least one speed distribution range is greater than the target number in other speed distribution ranges and the difference value between the target number in the at least one speed distribution range and the target number in other speed distribution ranges is greater than a first threshold value as an effective speed distribution range;

and if the number of the effective speed distribution ranges is one, determining that the effective speed distribution range is the automobile speed distribution range.

In some embodiments, said determining a vehicle speed profile range from said at least one speed profile range comprises:

determining the speed distribution range in which the target number in the at least one speed distribution range is greater than the target number in other speed distribution ranges and the difference value between the target number in the at least one speed distribution range and the target number in other speed distribution ranges is greater than a first threshold value as an effective speed distribution range;

and if the number of the effective speed distribution ranges is at least two, acquiring the speed of the automobile at the last moment, and determining the speed distribution range of the automobile according to the at least two effective speed distribution ranges and the speed of the automobile at the last moment.

In some embodiments, said determining said vehicle speed profile based on at least two of said effective speed profiles and a vehicle speed at a time on said vehicle comprises:

matching at least two effective speed distribution ranges with the speed of the automobile at the last moment respectively;

and taking one effective speed distribution range which is most matched with the speed of the automobile at the last moment in at least two effective speed distribution ranges as the automobile speed distribution range.

In some embodiments, the detecting the current vehicle speed of the vehicle according to the vehicle speed distribution range includes:

taking a central value of the automobile speed distribution range;

and negating the central value to obtain the current speed of the automobile.

In a second aspect, an embodiment of the present invention provides an automotive radar, including:

an antenna;

a transmitter for transmitting a radar signal via the antenna;

the receiver is used for receiving a reflected signal of the radar signal after the radar signal acts on a speed measurement target through the antenna;

at least one processor communicatively coupled to the receiver; and the number of the first and second groups,

a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a method of measuring vehicle speed as defined in any one of the preceding claims.

In a third aspect, an embodiment of the present invention provides an automobile, including: automotive radars as described above;

the automobile control circuit is electrically connected with the automobile radar and used for outputting an alarm signal according to the target list and the current speed of the automobile;

the alarm device is electrically connected with the automobile control circuit and is used for working in an opening state according to the alarm signal;

and the braking device is electrically connected with the automobile control circuit and used for braking the automobile according to the alarm signal.

In a fourth aspect, the embodiment of the present invention further provides a non-volatile computer-readable storage medium, where the computer-readable storage medium stores computer-executable instructions, where the computer-executable instructions are used to enable an automotive radar to execute the method for measuring speed of an automobile according to any one of the above items.

The embodiment of the invention has the beneficial effects that: different from the prior art, the automobile speed measuring method, the automobile radar and the automobile provided by the embodiment of the invention generate the target list by detecting the speed measuring target in the preset range; performing data processing on the target list to obtain at least one speed distribution range corresponding to the speed measurement target; determining a vehicle speed distribution range from the at least one speed distribution range, wherein the vehicle speed distribution range is at least one of the at least one speed distribution range; and detecting the current speed of the automobile according to the speed distribution range of the automobile. Therefore, the embodiment of the invention detects the current speed of the automobile through the automobile radar, and avoids the problem that the current speed of the automobile is troublesome to obtain due to automobiles of different manufacturers and different models, thereby improving the speed measurement efficiency of the automobile.

Drawings

One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.

Fig. 1 is an application scenario diagram of a method for measuring a speed of an automobile according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of an automobile according to an embodiment of the present invention;

FIG. 3 is a flowchart of a method for measuring a vehicle speed according to an embodiment of the present invention;

FIG. 4 is a flowchart of a method of step S31 of FIG. 3 according to an embodiment of the present invention;

FIG. 5 is a flowchart of one method of step S33 in FIG. 3 according to an embodiment of the present invention;

FIG. 6 is a flowchart of another method of step S33 of FIG. 3 according to an embodiment of the present invention;

FIG. 7 is a flowchart of a method of step S334 of FIG. 6 according to an embodiment of the present invention;

FIG. 8 is a flowchart of a method of step S34 of FIG. 3 according to an embodiment of the present invention;

fig. 9 is a schematic structural diagram of an automobile speed measuring device according to an embodiment of the present invention;

fig. 10 is a schematic structural diagram of an automotive radar in fig. 2 according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that although functional blocks are partitioned in a schematic diagram of an apparatus and a logical order is shown in a flowchart, in some cases, the steps shown or described may be performed in a different order than the partitioning of blocks in the apparatus or the order in the flowchart. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

The vehicle speed measurement method provided by the embodiment of the invention can be applied to the application scene shown in fig. 1, wherein the application scene shown in fig. 1 comprises a vehicle 100 and speed measurement targets 11, and the speed measurement targets 11 are distributed in the surrounding environment of the vehicle 100. By detecting the speed measurement target 11, the environmental information around the automobile 100 can be obtained, and the environmental information includes the relative distance, the relative speed, the relative angle, and the like between the automobile 100 and the speed measurement target 11.

The speed measurement target 11 currently acquired by the automobile 100 changes with the change of the driving environment of the automobile 100. In other words, the speed measurement target 11 currently acquired by the automobile 100 is temporal and spatial. The speed measuring target 11 can be in an absolute stationary state, a relative stationary state or a moving state, including trees, stones, manhole covers, road signs, street lamps, railings, buildings, walls, pedestrians, animals, other motor or non-motor vehicles, and the like. When the speed measurement target 11 is in the absolute stationary state, the absolute speed thereof is equal to 0, and thus, the vehicle speed of the vehicle 100 can be detected by measuring the relative speed between the speed measurement target 11 and the vehicle 100 in the absolute stationary state.

As shown in fig. 2, the automobile 100 includes an automobile radar 10, an automobile control circuit 20, an alarm device 30, and a brake device 40 according to any of the embodiments described below.

The automotive radar 10 is used for detecting a speed measurement target 11 within a preset range, generating a target list and detecting the current speed of the automobile 100 based on the speed measurement target 11, and the invention is explained by taking a millimeter wave radar as an example.

The millimeter wave radar is a radar which works in a millimeter wave band for detection, the frequency domain of the millimeter wave is usually 30-300GHz, and the wavelength of a millimeter wave signal transmitted and received by the millimeter wave radar is between microwave and centimeter wave. According to the wave propagation theory, the higher the frequency, the shorter the wavelength, the higher the resolution, and the stronger the penetration ability, but the larger the loss in the propagation process, the shorter the transmission distance; in contrast, the lower the frequency, the longer the wavelength, the stronger the diffraction power, and the further the transmission distance. Compared with microwave, the millimeter wave has high resolution, good directivity, strong anti-interference capability and good detection performance. Compared with infrared, the millimeter wave has the advantages of small atmospheric attenuation, better penetrability to smoke dust and small influence of weather. These characteristics determine the full-time and all-weather operation capability of the millimeter-wave radar. Therefore, with the excellent distance and speed measurement capability and all-weather characteristics, the millimeter wave radar is widely used in the functions of an automobile ADAS (advanced driving Assistance System) such as ACC (Adaptive Cruise Control), FCW (Forward Collision Warning), AEB (automatic Emergency Braking), and the like.

When the ADAS functions of the automobiles such as ACC, FCW, AEB, and the like are implemented, a millimeter wave radar is installed in front of the automobile 1 to detect environmental information in front of the automobile, and is mainly used to acquire relative distance and relative speed information of the front vehicle. Generally, in order to meet the detection requirements of different distance ranges, a plurality of short-range, medium-range and long-range millimeter wave radars are installed on one automobile. The 24GHz millimeter wave radar system mainly realizes short-range detection below 60 meters, and the 77GHz millimeter wave radar system mainly realizes medium-range detection of about 100 meters and long-range detection above 200 meters.

The automobile control circuit 20 is electrically connected to the automobile radar 10, and is configured to output an alarm signal according to the target list and the current speed of the automobile 100.

The operating condition information of the automobile 100 detected by the millimeter wave radar and other sensors is transmitted to the automobile control circuit 20 (i.e., the electronic control unit) through the input interface in real time. When receiving the information, the vehicle control circuit 20 makes a corresponding decision and process according to a control program written in advance, and outputs a control signal to a corresponding actuator through an output interface thereof, and the actuator executes a corresponding action after receiving the control signal, thereby realizing a certain predetermined function.

The alarm device 30 is electrically connected to the vehicle control circuit 20 and is configured to operate in an on state according to the alarm signal.

The alarm device 30 is an information display device indicating that a malfunction, an accident, or a dangerous situation has occurred. According to the characteristics of the code used and the nature of the sensory channel receiving the information, there are classified visual alarm, auditory alarm, tactile alarm, olfactory alarm, etc. In order to enhance the reliability of the display, a double display is sometimes adopted, such as a visual signal and an audible signal simultaneously displaying the occurrence of a certain malfunction or accident. In the present embodiment, the warning device 30 includes a crescent lamp for outputting an acoustic signal and a light signal to prompt the driver.

The braking device 40 is electrically connected to the vehicle control circuit 20, and is configured to brake the vehicle 100 according to the alarm signal.

The braking device 40 is a series of special devices that apply a certain force to certain parts (mainly wheels) of the automobile 100, thereby performing a certain degree of forced braking thereon. The braking device 40 functions as: the running automobile 100 is forced to decelerate or even stop according to the requirement of a driver; the parked automobile 100 is stably parked under various road conditions (including on a slope); the speed of the vehicle 100 traveling downhill is kept stable.

In summary, the millimeter wave radar detects the speed measurement target 11 within the preset range, generates a target list and detects the current speed of the vehicle 100 based on the speed measurement target 11, and transmits the target list and the current speed of the vehicle 100 to the vehicle control circuit 20 through the input interface in real time. When receiving the information, the car control circuit 20 makes a corresponding decision and process according to a pre-programmed control program, and outputs an alarm signal to the alarm device 30 and the brake device 40 through an output interface thereof, after receiving the alarm signal, the alarm device 30 works in an on state to prompt a driver with at least one of a visual signal, an auditory signal, a tactile signal and an olfactory signal, and after receiving the alarm signal, the brake device 40 brakes the car 100 to avoid an abrupt dangerous condition and reduce the occurrence of road traffic accidents.

Referring to fig. 3, a flowchart of a method for measuring a vehicle speed according to an embodiment of the present invention is shown in fig. 3, where the method for measuring a vehicle speed S300 includes:

and S31, detecting the speed measurement target in the preset range and generating a target list.

As shown in fig. 4, the detecting a speed measurement target within a preset range and generating a target list includes:

and S311, detecting a speed measurement target in a preset range to generate a detection signal.

And S312, performing signal processing on the detection signal to obtain target information of the speed measurement target.

And S313, generating a target list according to the target information.

The target list comprises a target point ID of the speed measuring target and target information corresponding to the speed measuring target; the target information comprises the relative distance between the speed measuring target and the automobile, the relative speed between the speed measuring target and the automobile and the angle between the speed measuring target and the automobile.

In some embodiments, the target information further includes a relative movement direction of the speed measurement target and the automobile, and the relative movement direction is used for describing a relation that a position of the speed measurement target relative to the automobile changes with time during the driving of the automobile.

When the millimeter wave radar is used as one of the vehicle-mounted sensors, when the vehicle-mounted sensors normally work, firstly, electromagnetic wave signals are transmitted to a certain direction through an antenna carried by a transmitter, and the electromagnetic wave signals are reflected if meeting an obstacle (namely, a speed measurement target in the embodiment) in the propagation process to generate detection signals. The antenna receives the detection signal and sends the detection signal to the receiving equipment for processing. The receiving device comprises a signal processor, such as a DSP chip, an FPGA chip and the like, and performs signal processing on the detection signal to obtain target information of the speed measurement target. Then, in the form of a target list, target information of all speed measurement targets currently detected by the millimeter wave radar is stored.

It is understood that the preset range refers to the current maximum detection range of the millimeter wave radar, and may be changed according to the model and the parameter settings of the millimeter wave radar, such as the transmission power, the transmission frequency, the wavelength, and the like. The method comprises the steps that detection signals corresponding to all speed measurement targets currently detected by a millimeter wave radar are subjected to signal processing by signal processors such as a DSP chip and an FPGA chip, and then original target points of the speed measurement targets are obtained. And (3) processing the original target point by other data (such as a target tracking algorithm, mainly comprising Kalman filtering and track management) to obtain a tracking target point of the speed measurement target, wherein the tracking target point can be used for detecting the motion track of the speed measurement target relative to the automobile.

And S32, performing data processing on the target list to obtain at least one speed distribution range corresponding to the speed measurement target.

Wherein, the performing data processing on the target list to obtain at least one speed distribution range corresponding to the speed measurement target includes: and carrying out data statistics on the relative speed of the speed measurement target and the automobile in the target list by adopting a histogram to obtain at least one speed distribution range corresponding to the speed measurement target.

The abscissa of the histogram is interval distribution of the speed distribution range, and the ordinate of the histogram is the target number corresponding to the speed distribution range.

In the road environment, the speed measuring targets in the absolute static state are most in the automobile, so the proportion of the speed distribution of the absolute static speed measuring targets in the target list is relatively large. Because the relative motion of the millimeter wave radar and the speed measurement target causes a small error in the relative speed between the speed measurement target detected by the millimeter wave radar and the automobile, the speed distribution range of the relative speed between the millimeter wave radar and the speed measurement target is counted in a histogram mode, the influence of the detection error caused by the relative motion can be eliminated, and the accuracy of vehicle speed detection is improved.

And S33, determining a vehicle speed distribution range from the at least one speed distribution range, wherein the vehicle speed distribution range is at least one of the at least one speed distribution range.

As one embodiment of the present invention, as shown in fig. 5, the determining the vehicle speed distribution range from the at least one speed distribution range includes:

and S331, determining the speed distribution range in which the target number in the at least one speed distribution range is greater than the target number in other speed distribution ranges and the difference between the target number in the at least one speed distribution range and the target number in other speed distribution ranges is greater than a first threshold value as an effective speed distribution range.

S332, if the number of the effective speed distribution ranges is one, determining that the effective speed distribution ranges are the automobile speed distribution ranges.

The above embodiment is directed to a case where one velocity distribution range is significantly higher than other velocity distribution ranges in at least one velocity distribution range, and in this case, the velocity distribution range is a velocity distribution range of an absolutely stationary velocity measurement target, that is, an effective velocity distribution range of the velocity measurement target. Since there is one and only one in number of effective speed distribution ranges, the effective speed distribution range will be determined as the vehicle speed distribution range.

As one embodiment of the present invention, as shown in fig. 6, the determining the vehicle speed distribution range from the at least one speed distribution range includes:

and S333, determining the speed distribution range in which the target number in the at least one speed distribution range is greater than the target number in other speed distribution ranges and the difference value between the target number in the at least one speed distribution range and the target number in other speed distribution ranges is greater than the first threshold value as the effective speed distribution range.

And S334, if the number of the effective speed distribution ranges is at least two, acquiring the speed of the automobile at the last moment, and determining the speed distribution range of the automobile according to the at least two effective speed distribution ranges and the speed of the automobile at the last moment.

As shown in fig. 7, the determining the vehicle speed distribution range according to at least two effective speed distribution ranges and the vehicle speed at the last moment of the vehicle includes:

s3341, respectively matching the at least two effective speed distribution ranges with the last vehicle speed of the vehicle.

S3342, taking one effective speed distribution range which is most matched with the vehicle speed at the last moment of the vehicle in at least two effective speed distribution ranges as the vehicle speed distribution range.

The above embodiment is directed to a case where at least two speed distribution ranges are distributed evenly in at least one speed distribution range and are significantly higher than other speed distribution ranges, and at this time, the at least two speed distribution ranges are speed distribution ranges of an absolutely stationary speed measurement target, that is, effective speed distribution ranges of the speed measurement target. Because the number of the effective speed distribution ranges is at least two, the speed of the automobile at the last moment is matched with the at least two effective speed distribution ranges, and the most matched effective speed distribution range is searched and used as the automobile speed distribution range.

Matching at least two effective speed distribution ranges with the speed of the automobile at the last moment respectively; the manner of using one of the at least two effective speed distribution ranges that best matches the vehicle speed at the last moment of the vehicle as the vehicle speed distribution range includes, but is not limited to: respectively judging whether the speed of the automobile at the last moment falls into an effective speed distribution range; and if so, taking the effective speed distribution range as the automobile speed distribution range.

In some embodiments, matching at least two of the effective speed profiles to respective vehicle speeds at a time on the vehicle comprises: respectively taking a central value of at least two effective speed distribution ranges; and calculating the difference between the absolute value of the central value of at least two effective speed distribution ranges and the vehicle speed of the vehicle at the previous moment. Correspondingly, taking one effective speed distribution range which is most matched with the vehicle speed at the last moment of the vehicle in at least two effective speed distribution ranges as the vehicle speed distribution range, including: and taking the effective speed distribution range with smaller difference as the speed distribution range of the automobile.

And S34, detecting the current speed of the automobile according to the automobile speed distribution range.

As shown in fig. 8, the detecting the current vehicle speed of the vehicle according to the vehicle speed distribution range includes:

and S341, taking a central value of the automobile speed distribution range.

And S342, negating the central value to obtain the current speed of the automobile.

The speed of the speed measurement target in the embodiment of the present invention refers to a relative speed between the speed measurement target and the vehicle, and if the vehicle is used as a reference system and the speed of the speed measurement target is a negative value, an end point of a range interval of at least one corresponding speed distribution range is also a negative value. Taking the velocity distribution range of equally spaced velocity measurement targets as an example, the abscissa of the histogram includes velocity distribution ranges of-10 m/s to-9 m/s, -9m/s to-8 m/s, -8m/s to-7 m/s, -7m/s to-6 m/s, -6m/s to-5 m/s, -5m/s to-4 m/s, -4m/s to-3 m/s, -3m/s to-2 m/s, -2m/s to-1 m/s, -1m/s to 0m/s, of course, according to a preset histogram statistical algorithm, the speed distribution range of the speed measurement target can be divided at unequal intervals.

Ideally, the relative speeds of all speed measurement targets detected by the millimeter wave radar are the same, so that when the speed distribution range of the automobile is determined, the central value of the speed distribution range of the automobile is obtained, and the central value is negated, so that the current speed of the automobile can be obtained. For example, if the speed distribution range of the automobile is determined to be-9 m/s to-8 m/s, the central value is taken to obtain-8.5 m/s, and the negative value of-8.5 m/s is taken as the current speed of the automobile when one speed distribution range is obviously higher than other speed distribution ranges in at least one speed distribution range. For example, if the effective speed distribution range is determined to be-10 m/s to-9 m/s and-9 m/s to-8 m/s, the speed of the automobile at the last moment is obtained, the speed of the automobile at the last moment is assumed to be 8.5m/s, the speed distribution range more matched with the effective speed distribution range is-9 m/s to-8 m/s, the speed distribution range from-9 m/s to-8 m/s is determined to be-9 m/s to-8 m/s, the central value is taken to be-8.5 m/s, and the negative value of-8.5 m/s is taken as the current speed of the automobile.

According to the automobile speed measuring method provided by the embodiment of the invention, a speed measuring target in a preset range is detected, and a target list is generated; performing data processing on the target list to obtain at least one speed distribution range corresponding to the speed measurement target; determining a vehicle speed distribution range from the at least one speed distribution range, wherein the vehicle speed distribution range is at least one of the at least one speed distribution range; and detecting the current speed of the automobile according to the speed distribution range of the automobile. Therefore, the embodiment of the invention detects the current speed of the automobile through the automobile radar, and avoids the problem that the current speed of the automobile is troublesome to obtain due to automobiles of different manufacturers and different models, thereby improving the speed measurement efficiency of the automobile.

Correspondingly, as shown in fig. 9, an embodiment of the present invention further provides an automobile speed measuring device, where the device may be applied to the automobile radar 10 shown in fig. 2, and the automobile speed measuring device 900 includes:

the first detecting unit 901 is configured to detect a speed measurement target within a preset range, and generate a target list.

And the data processing unit 902 is configured to perform data processing on the target list to obtain at least one speed distribution range corresponding to the speed measurement target.

A determining unit 903, configured to determine a vehicle speed distribution range from the at least one speed distribution range, where the vehicle speed distribution range is at least one of the at least one speed distribution range.

And a second detecting unit 904, configured to detect a current speed of the vehicle according to the vehicle speed distribution range.

In some embodiments, the first detection unit 901 is specifically configured to: detecting a speed measurement target in a preset range to generate a detection signal; performing signal processing on the detection signal to obtain target information of the speed measurement target; and generating a target list according to the target information.

The target list comprises a target point ID of the speed measuring target and target information corresponding to the speed measuring target; the target information comprises the relative distance between the speed measuring target and the automobile, the relative speed between the speed measuring target and the automobile and the angle between the speed measuring target and the automobile.

In some embodiments, the data processing unit 902 is specifically configured to: and carrying out data statistics on the relative speed of the speed measurement target and the automobile in the target list by adopting a histogram to obtain at least one speed distribution range corresponding to the speed measurement target.

As one embodiment of the present invention, the determining unit 903 is specifically configured to: determining the speed distribution range in which the target number in the at least one speed distribution range is greater than the target number in other speed distribution ranges and the difference value between the target number in the at least one speed distribution range and the target number in other speed distribution ranges is greater than a first threshold value as an effective speed distribution range; and if the number of the effective speed distribution ranges is one, determining that the effective speed distribution range is the automobile speed distribution range.

As one embodiment of the present invention, the determining unit 903 is specifically configured to: determining the speed distribution range in which the target number in the at least one speed distribution range is greater than the target number in other speed distribution ranges and the difference value between the target number in the at least one speed distribution range and the target number in other speed distribution ranges is greater than a first threshold value as an effective speed distribution range; and if the number of the effective speed distribution ranges is at least two, acquiring the speed of the automobile at the last moment, and determining the speed distribution range of the automobile according to the at least two effective speed distribution ranges and the speed of the automobile at the last moment.

Wherein, the determining the vehicle speed distribution range according to the at least two effective speed distribution ranges and the vehicle speed of the vehicle at the last moment comprises: matching at least two effective speed distribution ranges with the speed of the automobile at the last moment respectively; and taking one effective speed distribution range which is most matched with the speed of the automobile at the last moment in at least two effective speed distribution ranges as the automobile speed distribution range.

In some embodiments, the second detection unit 904 is specifically configured to: taking a central value of the automobile speed distribution range; and negating the central value to obtain the current speed of the automobile.

It should be noted that the above-mentioned apparatus can execute the method provided by the embodiments of the present application, and has corresponding functional modules and beneficial effects for executing the method. For technical details which are not described in detail in the device embodiments, reference is made to the methods provided in the embodiments of the present application.

Fig. 10 is a schematic structural diagram of the automotive radar in fig. 2 according to an embodiment of the present invention, and as shown in fig. 10, the automotive radar 10 includes an antenna 101, a transmitter 102, a receiver 103, at least one processor 104, and a memory 105 communicatively connected to the at least one processor 104, where one processor 104 is taken as an example in fig. 10.

The antenna 101 is a transformer that transforms a guided wave on a transmission line into an electromagnetic wave propagating through an unbounded medium or vice versa. The transmitter 102 is used to transmit radar signals via the antenna 101. The receiver 103 is configured to receive a reflected signal of the radar signal after acting on a target point through the antenna 101. At least one processor 104 is communicatively coupled to the receiver 103. The memory 105 stores instructions executable by the at least one processor 104, and the instructions are executed by the at least one processor 104 to enable the at least one processor 104 to execute the method for measuring speed of a vehicle according to the embodiment of the present invention.

In the present embodiment, the radar signal is a millimeter wave signal. The transmitter 102 transmits the millimeter wave signal to a certain direction through the antenna 101, the millimeter wave signal is reflected if meeting a speed measurement target in the propagation process, the antenna 101 receives a reflected signal of the millimeter wave signal after acting on the speed measurement target, and the reflected signal is sent to at least one processor 104 which is in communication connection with the antenna, so that information transmission between the speed measurement target and the millimeter wave radar is realized. The reflected signal received by the antenna 101 is processed to obtain target information of the velocity measurement target.

The processor 104 and the memory 105 may be connected by a bus or other means, and fig. 10 illustrates the connection by the bus as an example.

The memory 105, which is a non-volatile computer-readable storage medium, may be used to store a non-volatile software program, a non-volatile computer-executable program, and modules, such as program instructions/modules corresponding to the vehicle speed measuring method in the embodiment of the present invention, for example, the modules shown in fig. 9. The processor 104 executes various functional applications and data processing of the server by running the nonvolatile software program, instructions and modules stored in the memory 105, that is, the vehicle speed measuring method according to the above method embodiment is implemented.

The memory 105 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of the car speed measuring device, and the like. Further, the memory 105 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, the memory 105 may optionally include memory located remotely from the processor 104, which may be connected via a network to a device that controls the unmanned vehicle. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The one or more modules are stored in the memory 105, and when executed by the one or more processors 104, perform the method for measuring vehicle speed in any of the above-described method embodiments, for example, the method steps of fig. 3-8 described above, and implement the functions of the modules and units in fig. 9.

The embodiment of the invention also provides a non-volatile computer-readable storage medium, which stores computer-executable instructions, and the computer-executable instructions are executed by one or more processors, and the computer-executable instructions are used for enabling an automobile radar to execute the automobile speed measuring method according to any embodiment.

Embodiments of the present invention also provide a computer program product including a computer program stored on a non-volatile computer-readable storage medium, where the computer program includes program instructions, which, when executed by a computer, cause the computer to execute the method for measuring speed of a vehicle according to any of the above-mentioned method embodiments, for example, execute the method steps in fig. 3 to 8 described above, and implement the functions of the modules and units in fig. 9.

It should be noted that the above-described device embodiments are merely illustrative, where the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.

Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a general hardware platform, and certainly can also be implemented by hardware. It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware related to instructions of a computer program, which can be stored in a computer readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.