阅读说明：本技术 一种车载毫米波雷达自适应检测多目标的方法 (Method for self-adaptively detecting multiple targets by vehicle-mounted millimeter wave radar ) 是由 雷阳 于 2019-10-18 设计创作，主要内容包括：本发明公开了一种车载毫米波雷达自适应检测多目标的方法,所述自适应检测多目标的方法至少包括如下步骤：S1：基于雷达探测到的二维频谱,使用均值法获取底噪因子；S2：基于底噪因子与检测阈值剔除二维频谱中的引起屏蔽效应的强目标,获得干净的底噪频谱；S3：基于步骤S2中获得的底噪频谱进行传统的自适应目标检测,获取目标信息。本发明公开的车载毫米波雷达自适应检测多目标的新方法,先获取底噪因子,再进行目标替换获取底噪频谱,最后基于底噪频谱经行自适应检测目标。能够自适应多目标的场景,在多目标环境下能够有效抵抗屏蔽效应,提高目标检测的准确性。(The invention discloses a method for adaptively detecting multiple targets by a vehicle-mounted millimeter wave radar, which at least comprises the following steps: s1: acquiring a background noise factor by using an averaging method based on a two-dimensional frequency spectrum detected by a radar; s2: rejecting a strong target causing a shielding effect in the two-dimensional frequency spectrum based on the background noise factor and the detection threshold value to obtain a clean background noise frequency spectrum; s3: conventional adaptive target detection is performed based on the background spectrum obtained in step S2, and target information is acquired. The invention discloses a novel method for self-adaptively detecting multiple targets by a vehicle-mounted millimeter wave radar. The method can adapt to a multi-target scene in a self-adaptive manner, can effectively resist the shielding effect in a multi-target environment, and improves the accuracy of target detection.)

1. A method for adaptively detecting multiple targets by a vehicle-mounted millimeter wave radar is characterized by at least comprising the following steps:

s1: acquiring a background noise factor by using an averaging method based on a two-dimensional frequency spectrum detected by a radar;

s2: rejecting a strong target causing a shielding effect in the two-dimensional frequency spectrum based on the bottom noise factor and the detection threshold value to obtain a bottom noise frequency spectrum;

s3: conventional adaptive target detection is performed based on the background spectrum obtained in step S2, and target information is acquired.

2. The method for adaptively detecting multiple targets by using a millimeter wave radar as claimed in claim 1, wherein in step S1, the noise factor is obtained by using an ordered statistics method.

3. The method for adaptive detection of multiple targets by vehicle-mounted millimeter wave radar according to claim 1, wherein in step S1, the obtaining of the noise floor factor further enables to obtain the noise floor factor by using histogram statistics.

Technical Field

The invention belongs to the field of vehicle-mounted millimeter wave radars, and particularly relates to a method for self-adaptively detecting multiple targets by using a vehicle-mounted millimeter wave radar.

Background

The millimeter wave radar has the advantages of higher precision and lower price, is more and more widely applied in the automobile neighborhood, and can play a role of no substitution in the unmanned neighborhood.

At present, the application of the millimeter wave radar on an automobile is mainly divided into a lateral angle radar and a forward radar, and in the actual driving process, the vehicle-mounted millimeter wave radar has the characteristics of high precision and multiple targets in an effective detection range. The traditional radar self-adaptive target detection methods include CA-CFAR, GO-CFAR, SO-CFAR and OS-CFAR, and the methods lack self-adaptive capacity to multi-target environment when effective target identification is carried out in a complex driving environment. The balance false alarm loss is increased under the multi-target environment, and the shielding effect is obvious.

As shown in fig. 1, in the conventional radar adaptive target detection methods, CA-CFAR, GO-CFAR, SO-CFAR, and OS-CFAR, these methods directly perform target detection on a one-dimensional or two-dimensional spectrum when detecting a target, and use the spectrum around the target as noise for target detection, and if a target exists on a spectrum band for noise evaluation in a multi-target scene in the process, as shown in fig. 2, the noise level is significantly increased, the detection of the target is interfered, and a shielding effect is formed.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and discloses a novel method for self-adaptively detecting multiple targets by a vehicle-mounted millimeter wave radar, which can be used for self-adaptively detecting multiple targets, effectively resisting shielding effect in a multiple-target environment and improving the accuracy of target detection.

The purpose of the invention is realized by the following technical scheme:

a method for adaptively detecting multiple targets by a vehicle-mounted millimeter wave radar at least comprises the following steps: s1: acquiring a background noise factor by using an averaging method based on a two-dimensional frequency spectrum detected by a radar; s2: rejecting a strong target causing a shielding effect in the two-dimensional frequency spectrum based on the background noise factor and the detection threshold value to obtain a relatively clean background noise frequency spectrum; s3: conventional adaptive target detection is performed based on the background spectrum obtained in step S2, and target information is acquired.

According to a preferred embodiment, in step S1, the obtaining of the noise floor factor can also obtain the noise factor by using an ordered statistics method.

According to a preferred embodiment, in step S1, the obtaining of the noise floor factor can also obtain the noise floor factor by using histogram statistics.

The main scheme and the further selection schemes can be freely combined to form a plurality of schemes which are all adopted and claimed by the invention; in the invention, the selection (each non-conflict selection) and other selections can be freely combined. The skilled person in the art can understand that there are many combinations, which are all the technical solutions to be protected by the present invention, according to the prior art and the common general knowledge after understanding the scheme of the present invention, and the technical solutions are not exhaustive herein.

The invention has the beneficial effects that:

by the method for adaptively detecting the multiple targets by the vehicle-mounted millimeter wave radar, disclosed by the invention, a segmentation processing method can be integrated for the two-bit frequency spectrum obtained by the radar, and the distance bands can be divided, so that different noise factors can be obtained by different distance bands. Therefore, the two-dimensional frequency spectrum collected by the radar is purified based on the noise factor and the detection threshold value, a relatively clean background noise frequency spectrum is obtained, and finally adaptive target detection is carried out on the purified frequency spectrum to obtain target information, so that the shielding effect is eliminated.

Drawings

FIG. 1 is a schematic two-dimensional spectrum diagram of a prior art method for multi-target scene detection;

FIG. 2 is a schematic diagram of a background spectrum with strong target information removed by the prior art method;

FIG. 3 is a schematic two-dimensional spectrum diagram of the method of the present invention for multi-target scene detection;

wherein 1-multiple target spectral bands, 2-detected targets.

Detailed Description

The following non-limiting examples serve to illustrate the invention.