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WO2018135754A1 - Procédé d'élimination d'encombrement et de suivi multi-cible pour système radar - Google Patents

Procédé d'élimination d'encombrement et de suivi multi-cible pour système radar Download PDF

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Publication number
WO2018135754A1
WO2018135754A1 PCT/KR2017/014380 KR2017014380W WO2018135754A1 WO 2018135754 A1 WO2018135754 A1 WO 2018135754A1 KR 2017014380 W KR2017014380 W KR 2017014380W WO 2018135754 A1 WO2018135754 A1 WO 2018135754A1
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WIPO (PCT)
Prior art keywords
target
information
tracking
radar
clutter
Prior art date
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Ceased
Application number
PCT/KR2017/014380
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English (en)
Korean (ko)
Inventor
최수호
양희진
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DIGITAL EDGE Inc
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DIGITAL EDGE Inc
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Publication date
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Publication of WO2018135754A1 publication Critical patent/WO2018135754A1/fr
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Ceased legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/42—Simultaneous measurement of distance and other co-ordinates
    • G01S13/44—Monopulse radar, i.e. simultaneous lobing
    • G01S13/4472—Monopulse radar, i.e. simultaneous lobing with means specially adapted to airborne monopulse systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/66—Radar-tracking systems; Analogous systems
    • G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
    • G01S13/723—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar by using numerical data
    • G01S13/726—Multiple target tracking

Definitions

  • the present invention relates to a radar system, and more particularly, to remove clutter, track the same target, and estimate undetected targets using multiple target detection information. It is about tracking method.
  • the radar sensor is a sensing means for measuring distance, velocity, and angle information by transmitting a radio wave using microwaves and receiving some reflection signals reflected from a target.
  • radar sensors include Pulsed Doppler Radar, Frequency Modulated Continuous Wave (FMCW), Stepped-Frequency Continous Wave (SFCW), Frequency Target information is measured using various radar waveforms such as a frequency shift keying (FSK) radar.
  • FMCW Frequency Modulated Continuous Wave
  • SFCW Stepped-Frequency Continous Wave
  • FSK frequency shift keying
  • Patent Literature 1 includes a transceiver for transmitting a radar signal to the surroundings while driving and receiving a signal reflected from a target, a controller for determining whether a collision with a target occurs based on radar detection information of the signal received through the transceiver, and a collision. It includes a warning unit for generating a collision risk warning before the occurrence, wherein the radar detection information is configured to include the distance to the target, the speed and angle information of the target, to detect the target around the radar using the detection information.
  • a collision warning and an accident recording method of a radar terminal that warns of a collision risk according to a distance from a detected target, a speed and an angle of a target are described.
  • Patent document 2 transmits a radar signal to the surroundings while driving, receives a signal reflected from a target, generates radar detection information using the received detection signal, and removes the near-interference signal included in the detection signal to determine the bit frequency.
  • the digital signal processing method solves the shadow area of the near-field detection radar to detect the detection probability and the detection reliability of the near-field target.
  • a method for removing a near shadow area of a radar device is disclosed.
  • the target detected by the vehicle radar system detects not only the actual target opponent vehicle but also unwanted clutter information such as a guard rail or a telephone pole.
  • a target may not be detected due to a change in a radar effective reflection area (RCS) of a target such as a relative vehicle or a destructive interference by a multipath reflected signal such as a signal reflected from a road surface.
  • RCS radar effective reflection area
  • Patent Literature 3 to Patent Literature 5 below disclose a technique for removing clutter in a vehicle radar system according to the prior art.
  • Patent Document 3 describes the configuration of a side boundary recognition method of a driving road that recognizes a boundary using a road database
  • Patent Document 4 describes a guardrail recognition method and an autonomous driving system that determine clutter in size and form through collection.
  • a method and a device configuration for generating guardrail information are described
  • Patent Document 5 describes a configuration for preventing target detection by adding a vertically arranged component of an antenna element.
  • Patent Document 1 Republic of Korea Patent Registration No. 10-1513878 (announced April 22, 2015)
  • Patent Document 2 Korean Patent Registration No. 10-1505044 (announced March 24, 2015)
  • Patent Document 3 Korean Patent Registration No. 10-1500168 (March 6, 2015 notification)
  • Patent Document 4 Korean Patent Registration No. 10-1394574 (announced May 27, 2014)
  • Patent Document 5 Korean Patent Publication No. 10-2013-0021996 (published March 6, 2013)
  • the clutter removal method applied to the vehicle radar system recognizes and removes the guardrail or the side of the road by using external data or a clustering characteristic of the measured data.
  • the clutter removal method applied to the vehicle radar system according to the prior art has a problem that the gaze direction of the radar is limited to the front.
  • An object of the present invention is to solve the problems as described above, to remove the clutter using multiple target detection information, to track the same target and to remove the clutter of the radar system that can estimate the undetected target It is to provide a target tracking method.
  • the clutter removal and multi-target tracking method of the radar system (a) transmits a radar signal from the transceiver of the radar system to the surroundings, and receives the signal reflected from the target (B) generating radar detection information using the radar signal received from the control unit, (c) removing clutter information from the radar detection information, and (d) radar from which the clutter information has been removed Checking whether the target tracking prediction information using the detection information matches the actual detection information, and (e) updating the tracking history by using all of the matched and unmatched test results of step (d). It is characterized by.
  • the target false alarm through the removal of the clutter using the multi-target detection information, tracking the same target, and estimation of the undetected target The effect is to reduce the rate and improve the accuracy of the target detection rate and measurement information.
  • the present invention it is possible to improve the accuracy of the target information by reducing the false alarm rate by removing clutter, estimating the undetected target, and simultaneously integrating and classifying the matching target using past tracking information. Is obtained.
  • the effect can be applied not only to a vehicle radar system but also to all radar systems that track radar detection targets such as fixed, naval, and aircraft radar systems.
  • 1 is a configuration diagram of a vehicle radar system
  • FIG. 2 is a flowchart illustrating step-by-step method for removing clutter and tracking multiple targets of a vehicle radar system according to an embodiment of the present invention
  • 3 is a view showing the radar Iso-Range, Doppler,
  • FIG. 4 is a diagram for explaining a method for estimating information of an undetected target
  • 5 is a diagram for explaining a tracking history updating method.
  • the present invention is not necessarily limited thereto, and it should be noted that the present invention can be applied to a near-field detection and detection radar system used for various purposes such as a radar for measuring ITS traffic, a radar level meter, a near-field displacement measuring radar, and a near-sensitive control radar. do.
  • 1 is a configuration diagram of a vehicle radar system.
  • the vehicle radar system transmits a radar signal around a vehicle and based on radar detection information of signals received through the transceiver 10 and the transceiver 10 for receiving a signal reflected from a target.
  • the controller 20 may determine whether a collision between the vehicle and another vehicle occurs.
  • the vehicle radar system further includes a warning unit 30 for generating a collision risk warning before the collision and a storage unit 40 for storing tracking information generated by accumulating radar detection information and radar detection information when a collision occurs. It may include.
  • the transceiver 10 is provided with a transmission antenna 11 for transmitting a radar signal in a predetermined direction and a receiving antenna 12 for receiving a signal reflected from a target, each one independently, and a low frequency (LF) radar.
  • a first signal converter 13 for converting the signal into a radio frequency (RF) signal
  • RF radio frequency
  • a power amplifier 14 for amplifying the power of the RF signal
  • a low noise amplifier for amplifying the signal received at the receiving antenna 12 and attenuating noise 15 and the second signal converter 16 converting the RF signal output from the low noise amplifier 15 into an LF signal form and outputting a beat frequency signal.
  • the control unit 20 uses a signal generator 21 for generating a continuous wave radar signal such as FMCW, SFCW, FSK, etc., and a signal for signal processing to generate radar detection information using the signal received from the transceiver 10.
  • the analog signal output from the controller 23 for generating radar detection information using the output signal of the processor 22, the signal processor 22, and the second signal converter 16 of the transceiver 10 is a digital signal. It may include an AD converter 24 to convert to.
  • the controller 23 may function to generate radar detection information using the output signal of the signal processing unit 22, and accumulate the generated radar detection information to generate tracking information.
  • the radar detection information includes the distance to the target, the speed and the angle information of the target
  • the tracking information is the position information (x, y) with the target
  • the speed information (x, y) of the target the acceleration information ( x, y) and driving direction information.
  • FIG. 2 is a flowchart illustrating a step-by-step method for removing clutter and tracking multiple targets of a vehicle radar system according to an exemplary embodiment of the present invention.
  • the transceiver 10 of the vehicle radar system transmits a radar signal and receives a signal reflected from a target around the vehicle, and the controller 20 processes the received signal to detect radar detection information. do.
  • step S12 the control unit 20 removes clutter information from the detected radar detection information.
  • the clutter information is unnecessary detection information for determining whether a vehicle collides in a vehicle radar system such as a fixed target such as a guard rail and a vehicle opposite to each other, and changes for each radar detection target.
  • 3 is a view showing the radar Iso-Range, Doppler.
  • the radar Iso-Range may be displayed as a circle connecting points having the same distance from the radar system, and the Iso-Doppler may be displayed as a cosine curve shape around the radar system.
  • the velocity information of the target to be detected varies depending on the relative speed and angle between the radar and the target.
  • the controller 20 may estimate the relative speed by compensating the speed information detected by the radar detection information by using the radar Iso-Doppler characteristic with the detected angle information and the installation angle of the radar.
  • the relative speed of the fixed target is -Vt, so that the fixed clutter such as the guard rail can be removed.
  • the detection speed Vm and the relative speed Vt of the target may be expressed as in Equation 1.
  • Equation 2 the relative velocity Vt of the target can be summarized as in Equation 2.
  • the controller 20 may remove detection information classified as a clutter using the relative speed information compensated according to an operation mode such as a vehicle opposite to the center lane and a vehicle having a large difference in relative speed.
  • step S14 the controller 20 checks whether the target tracking prediction information using the radar detection information matches the actual detection information.
  • the controller 20 may determine whether the target is matched by using the distance and velocity information between the n-th detection information predicted using the n-th tracking information and the n-th detection information.
  • step S16 the controller 20 uses a tracking filter such as an ⁇ - ⁇ filter, an ⁇ - ⁇ - ⁇ filter, or a Kalman filter.
  • the tracking information is updated (S16).
  • control unit 20 assigns each of the new IDs to separate them or sets information on the nearest distance as the target information. You can judge.
  • the controller 20 may apply the actual detection information as input to all matching target tracking prediction information.
  • the controller 20 determines that the target is not detected, and uses the target tracking history to determine the information of the target, that is, the distance to the target and the target.
  • the angle and speed can be estimated.
  • control unit 20 proceeds to step S22.
  • FIG. 4 is a diagram for explaining a method for estimating information of an undetected target.
  • control unit 20 uses the tracking history on the prediction information that does not match the nth actual detection information among the prediction information using the n ⁇ 1 th tracking result, as illustrated in FIG. 4. Estimate speed, acceleration information.
  • the estimated current position information of the target is calculated using the tracking information in the distribution range of 1sigma, 2sigma, 3sigma, etc. of M historical tracking information, the average speed and acceleration, and then the speed calculated from the n-1th position information It can be estimated using the information.
  • step S20 the control unit 20 allocates a new ID to the detection result that does not match the n-th target tracking prediction information among the n-th actual detection information and stores the detection information.
  • step S22 the control unit 20 determines whether or not the same target using the tracking history for all the tracking information, and if the determination is the same target performs clustering (S24).
  • the present invention can minimize the number of tracking information to be calculated by determining and clustering whether all tracking information are the same target.
  • step S22 determines whether the determination result of step S22 is the same target. If the determination result of step S22 is not the same target, the control unit 20 separates the tracking information that is not the same target as a new target (S26).
  • tracking information of a detected target determined to be the same target and given an ID may be stored periodically.
  • the tracking information includes not only the distance to the target, the speed and the angle of the target, but also the X direction distance, the Y direction distance, the X direction speed, the Y direction speed, the X direction acceleration, and the Y direction acceleration for marking on the XY coordinates. It may include.
  • step S28 the control unit 20 updates the nth tracking information in the tracking history.
  • 5 is a diagram for explaining a tracking history updating method.
  • control unit 20 may update the additional history by adding the n th tracking information to the first column of the tracking history at the i th n time, and provide the updated information to step S18.
  • step S30 the control unit 20 predicts the position of the target using the tracking result, and repeats step S14.
  • the present invention uses the multiple target detection information to remove clutter, track the same target, reduce the target false alarm rate by estimating the undetected target, accuracy of the target detection rate and measurement information Can improve.
  • a vehicle radar system having an anti-collision and accident recording function of the vehicle has been described.
  • the present invention is not limited thereto, and the ITS traffic measurement radar, radar level meter, near-field displacement measuring radar, and near-field sensitivity are described. It should be noted that it can be applied to near-field detection and detection radar systems used for various purposes such as control radars, ships and aircraft radar systems.
  • the present invention is applied to the radar system technology that removes clutter using multiple target detection information, tracks the same target, reduces target false alarm rate by estimating undetected target, and improves the accuracy of target detection rate and measurement information. do.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

La présente invention concerne un procédé d'élimination d'encombrement et de suivi multi-cible pour un système radar, comprenant les étapes consistant à : (a) permettre à une unité d'émission/réception du système radar de transmettre un signal radar à l'environnement et de recevoir un signal réfléchi par une cible ; (b) permettre à une unité de commande de générer des informations de détection radar à l'aide du signal radar reçu ; (c) éliminer des informations d'encombrement à partir des informations de détection radar ; (d) vérifier si des informations de prédiction de suivi de cible, qui utilisent les informations de détection radar à partir desquelles les informations d'encombrement sont éliminées, et des informations de détection réelles sont mises en correspondance ; et (e) mettre à jour un historique de suivi en utilisant toutes les informations de suivi mises en correspondance et non mises en correspondance du résultat de vérification de l'étape (d), ce qui permet d'utiliser des informations de détection multi-cible afin d'éliminer l'encombrement, de suivre la même cible, de réduire un taux de fausse alarme cible par l'intermédiaire d'une estimation de cible non détectée, et d'améliorer la précision d'un taux de détection de cible et d'informations de mesure.
PCT/KR2017/014380 2017-01-18 2017-12-08 Procédé d'élimination d'encombrement et de suivi multi-cible pour système radar Ceased WO2018135754A1 (fr)

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Cited By (5)

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CN111157983A (zh) * 2020-01-06 2020-05-15 南京鹰目电子科技有限公司 一种雷达目标跟踪方法
CN111316126A (zh) * 2018-12-28 2020-06-19 深圳市大疆创新科技有限公司 目标探测方法、雷达、车辆以及计算机可读存储介质
CN113687348A (zh) * 2021-09-18 2021-11-23 无锡威孚高科技集团股份有限公司 基于追踪微多普勒图的行人识别方法和装置
CN114114192A (zh) * 2021-12-02 2022-03-01 电子科技大学 集群目标检测方法
CN114185034A (zh) * 2020-09-15 2022-03-15 郑州宇通客车股份有限公司 一种毫米波雷达目标跟踪方法及系统

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KR102418547B1 (ko) * 2020-11-05 2022-07-07 국방과학연구소 저속 소형 표적 탐지 방법 및 이를 활용하는 레이다 장치.
KR102859004B1 (ko) * 2022-02-24 2025-09-16 주식회사 씽크솔루션 레이더 센서 및 촬영 장치에 기초하여 교통법규를 위반한 차량을 검출하는 장치, 방법 및 컴퓨터 프로그램

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CN111316126A (zh) * 2018-12-28 2020-06-19 深圳市大疆创新科技有限公司 目标探测方法、雷达、车辆以及计算机可读存储介质
CN111157983A (zh) * 2020-01-06 2020-05-15 南京鹰目电子科技有限公司 一种雷达目标跟踪方法
CN114185034A (zh) * 2020-09-15 2022-03-15 郑州宇通客车股份有限公司 一种毫米波雷达目标跟踪方法及系统
CN113687348A (zh) * 2021-09-18 2021-11-23 无锡威孚高科技集团股份有限公司 基于追踪微多普勒图的行人识别方法和装置
CN113687348B (zh) * 2021-09-18 2024-03-15 无锡威孚高科技集团股份有限公司 基于追踪微多普勒图的行人识别方法和装置
CN114114192A (zh) * 2021-12-02 2022-03-01 电子科技大学 集群目标检测方法
CN114114192B (zh) * 2021-12-02 2023-05-23 电子科技大学 集群目标检测方法

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