CN111751796A - Traffic radar angle measurement method, system and device based on one-dimensional linear array - Google Patents
Traffic radar angle measurement method, system and device based on one-dimensional linear array Download PDFInfo
- Publication number
- CN111751796A CN111751796A CN202010631316.6A CN202010631316A CN111751796A CN 111751796 A CN111751796 A CN 111751796A CN 202010631316 A CN202010631316 A CN 202010631316A CN 111751796 A CN111751796 A CN 111751796A
- Authority
- CN
- China
- Prior art keywords
- radar
- dimensional linear
- angle
- linear array
- traffic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
- G01S7/4026—Antenna boresight
-
- 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
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/91—Radar or analogous systems specially adapted for specific applications for traffic control
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/415—Identification of targets based on measurements of movement associated with the target
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
- G01S7/4026—Antenna boresight
- G01S7/403—Antenna boresight in azimuth, i.e. in the horizontal plane
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
- G01S7/4026—Antenna boresight
- G01S7/4034—Antenna boresight in elevation, i.e. in the vertical plane
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention discloses a traffic radar angle measuring method, a system and a device based on a one-dimensional linear array, which belong to the technical field of traffic radar and are used for solving the technical problems of high cost and complex angle calculation process of the current two-dimensional linear array traffic radar, and the method comprises the following steps: 1) acquiring a detection result of a target detected by a one-dimensional linear array radar; 2) obtaining a pitch angle according to the detected target distance information and the known radar mounting height
3) Obtaining an azimuth angle according to a pitch angle and a steering vector of an echo signal
The method has the advantages of low cost, simple and quick angle calculation process and the like.
Description
Technical Field
The invention mainly relates to the technical field of traffic radars, in particular to a traffic radar angle measuring method, system and device based on a one-dimensional linear array.
Background
The gradually complex road traffic environment prompts the requirements of China on the intelligent traffic management system to develop towards intellectualization, comprehension, accuracy and real-time, and reliable real-time and accurate detection data must be relied on to meet the requirements, the detection means including big data, geomagnetism, video, radar and the like provide multi-mode data, and the millimeter wave radar has the technical advantages which can be extremely important applied in the field of intelligent traffic. For example, the system can be used for vehicle detection, traffic volume investigation, traffic incident detection, traffic guidance, overspeed monitoring, electronic checkpoints, electronic police, traffic light control and the like. The millimeter wave radar is a radar which works in a millimeter wave band (millimeter wave) for detection. Usually, the millimeter wave is in the frequency domain of 30 to 300GHz (with a wavelength of 1 to 10 mm). The wavelength of the millimeter wave is between the centimeter wave and the light wave, so the millimeter wave has the advantages of both microwave guidance and photoelectric guidance. Compared with a centimeter-wave radar, the millimeter-wave radar has the characteristics of small volume, easy integration and high spatial resolution. Early being applied to the military field, along with the development and the progress of radar technique, millimeter wave radar sensor began to be applied to a plurality of fields such as automotive electronics, unmanned aerial vehicle, intelligent transportation.
The traffic monitoring radar system is an unattended traffic condition monitoring and analyzing radar system which can continuously work with high detection precision for 7 x 24 hours. The system can be used for monitoring the areas such as tunnels, bridges, national provinces, expressways, urban expressways and the like in real time, and accurately detecting various traffic emergencies in real time under the severe conditions of low visibility such as night, fog, haze, fire, heavy smoke, rain and snow. The system provides important basis for event elimination, rescue command, disaster prevention regulation and control, emergency treatment, shunting scheduling, information release and traffic law enforcement, improves the working efficiency of road management departments, reduces life and property loss caused by traffic accidents, plans and uses road traffic resources more reasonably, and is a representative upgrade product of future intelligent traffic in China.
For a radar array, if both azimuth and elevation of the target need to be measured simultaneously, a two-dimensional array is used. For a traffic monitoring radar, the radar is arranged on a portal frame, a vehicle target is positioned on a road surface, and for targets at different distances, the pitch angles are different, so that the azimuth angle and the pitch angle need to be measured simultaneously. In addition, even if the pitch information of the target is not of interest, the azimuth and the phase of the pitch are coupled, and if the pitch is not concerned, a wrong azimuth is obtained, especially when the target is closer to the radar, and the influence of the pitch is larger. And the two-dimensional array can increase the volume of the radar, more importantly, the cost can be greatly increased, so that the low-cost advantage of the millimeter wave radar is reduced.
In particular, the scenario for traffic radar applications is shown in fig. 1. The traffic radar is arranged on a portal frame right above a road, is generally arranged in the center of the portal frame, and is used for detecting a plurality of lanes in the same direction, generally 4 lanes, and the radar needs to distinguish which lane the vehicle is in.
Wherein the echo signal of the traffic radar can be represented as:
where γ represents the amplitude and phase of the target reflection;
is a steering vector, i.e. the response of all elements of the array antenna to a narrow-band source with unit energy.
For a receive array comprising N array elements, the steering vector can be expressed as:
wherein d represents the array element spacing, theta ∈ (-pi/2, pi/2) represents the azimuth angle,
pitch angle is shown and λ is the wavelength.
The traffic radar can detect the distance, speed and angle information of a target, the angle information identifies a lane where the target is located, and if the radar adopts a two-dimensional area array, the required information can be obtained. If the radar adopts a two-dimensional array to measure the azimuth angle and the pitch angle, the cost is obviously increased; in addition, for the millimeter wave radar, a directional diagram is shaped for a receiving antenna, and the size of a single array element is also large, so that the size of the product is also greatly increased.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the technical problems in the prior art, the invention provides a traffic radar angle measuring method, a system, a device, a medium and equipment based on a one-dimensional linear array, which have the advantages of low cost and simple and quick calculation.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
a traffic radar angle measurement method based on a one-dimensional linear array comprises the following steps:
1) acquiring a detection result of a target detected by a one-dimensional linear array radar;
2) obtaining a pitch angle according to the detected target distance information and the known radar mounting height
3) Obtaining an azimuth angle according to a pitch angle and a steering vector of an echo signal
Preferably, in step (ii)In step 3), the azimuth angle is scanned, and the pitch angle is introduced
The determination of (2) is performed using a beamforming method.
Preferably wherein the azimuth angle is
θ∈(0,π/2)
Where s is the echo signal, s ═ γ · aθWhere γ represents the amplitude and phase of the target reflection; a isθIn order to be a guide vector, the vector is,
wherein d represents the array element spacing, theta ∈ (-pi/2, pi/2) represents the azimuth angle,
pitch angle is shown and λ is the wavelength.
Preferably, in step 2),
pitch angle
Wherein H is the radar mounting height, and r is the detection target distance.
Preferably, in step 1), the target is detected by using a constant false alarm detection method.
The invention also discloses a traffic radar angle measuring system based on the one-dimensional linear array, which comprises
The acquisition module is used for acquiring a detection result of the target detected by the one-dimensional linear array radar;
a pitch angle calculation module for obtaining the pitch angle according to the detected target distance information and the known radar mounting height
An azimuth angle calculation module for obtaining an azimuth angle according to the pitch angle and the steering vector of the echo signal
The invention further discloses a traffic radar angle measuring device based on the one-dimensional linear array, which comprises a traffic radar and the traffic radar angle measuring system based on the one-dimensional linear array, wherein the traffic radar is a millimeter wave radar of the one-dimensional linear array.
The invention also discloses a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, performs the steps of the traffic radar angle measurement method based on the one-dimensional linear array as described above.
The invention further discloses a computer device, which comprises a memory and a processor, wherein the memory is stored with a computer program, and the computer program is executed by the processor to execute the steps of the traffic radar angle measurement method based on the one-dimensional linear array.
Compared with the prior art, the invention has the advantages that:
according to the invention, the detection result obtained by the radar of the one-dimensional linear array is adopted, and the pitch angle and the azimuth angle of the target are obtained through correlation calculation, so that the cost is low compared with the radar of the two-dimensional linear array, and a foundation is provided for mass application of traffic radars; when the pitch angle is calculated, the particularity of an application scene of the traffic radar is fully considered, and the prior information of the traffic radar, such as the known height of a portal frame for installing the traffic radar, the position of a vehicle target above the ground and the like, is utilized, so that the whole calculation process is simple and rapid.
Drawings
Fig. 1 is a diagram of an application scenario of a conventional traffic radar in an embodiment.
Fig. 2 is a schematic diagram of the detection of the traffic radar of the present invention in an embodiment.
FIG. 3 is a flow chart of an embodiment of the method of the present invention.
Detailed Description
The invention is further described below with reference to the figures and the specific embodiments of the description.
As shown in fig. 3, the traffic radar angle measurement method based on a one-dimensional linear array of the embodiment includes the steps of:
1) acquiring a detection result of a target detected by a one-dimensional linear array radar, wherein the detection result comprises target distance information;
2) obtaining a pitch angle estimated value according to the detected target distance information and the known radar installation height
3) Obtaining an azimuth angle estimated value according to a pitch angle and a steering vector of an echo signal
According to the traffic radar angle measurement method based on the one-dimensional linear array, the detection result is obtained by the radar of the one-dimensional linear array, and the target pitch angle and the target azimuth angle are obtained through correlation calculation, so that the cost is low compared with the radar of the two-dimensional linear array, and a foundation is provided for mass application of traffic radars; when the pitch angle is calculated, the particularity of an application scene of the traffic radar is fully considered, and the prior information of the traffic radar, such as the known height of a portal frame for installing the traffic radar, the position of a vehicle target above the ground and the like, is utilized, so that the whole calculation process is simple and rapid.
In one embodiment, the traffic radar (millimeter wave radar) first detects the distance to the target, and due to the application specificity, the vehicles all travel on the ground, that is, the target can only be on an annular band with the same distance from the radar, and the distance ring where the target is located is schematically shown in fig. 2. The radar mounting height is H, the detection target distance is r, and the pitch angle of the target at the moment can be calculated as follows:
the phase difference between each array element in the radar array is caused by a target azimuth angle and a pitch angle, and after the target pitch angle is determined, azimuth angle detection is carried out:
therefore, the azimuth angle is not solved by the traditional FFT method, but the elevation angle is introduced in the azimuth angle by means of scanning
Influence of, determination by beamforming method
And obtaining correct azimuth information, and obtaining information such as a lane where the vehicle is located through the azimuth information.
In this embodiment, in step 1), a conventional constant false alarm detection method is used to detect the target.
The invention also discloses a traffic radar angle measuring system based on the one-dimensional linear array, which comprises
The acquisition module is used for acquiring a detection result of the target detected by the one-dimensional linear array radar;
a pitch angle calculation module for obtaining the pitch angle according to the detected target distance information and the known radar mounting height
An azimuth angle calculation module for obtaining an azimuth angle according to the pitch angle and the steering vector of the echo signal
The measuring system of the invention, for performing the measuring method as described above, also has the advantages as described above for the measuring method.
The invention further discloses a traffic radar angle measuring device based on the one-dimensional linear array, which comprises a traffic radar and the traffic radar angle measuring system based on the one-dimensional linear array, wherein the traffic radar is a millimeter wave radar of the one-dimensional linear array.
The measuring system comprises the measuring system, has the advantages of the measuring system, and the traffic radar is a one-dimensional linear array with low cost.
The invention also discloses a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, performs the steps of the traffic radar angle measurement method based on the one-dimensional linear array as described above. The invention further discloses a computer device, which comprises a memory and a processor, wherein the memory is stored with a computer program, and the computer program is executed by the processor to execute the steps of the traffic radar angle measurement method based on the one-dimensional linear array. All or part of the flow of the method of the embodiments may be implemented by a computer program, which may be stored in a computer-readable storage medium and executed by a processor, to implement the steps of the embodiments of the methods. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, recording medium, U.S. disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution media, and the like. All or part of the flow of the method of the embodiments may be implemented by a computer program, which may be stored in a computer-readable storage medium and executed by a processor, to implement the steps of the embodiments of the methods. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, recording medium, U.S. disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution media, and the like.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may be made by those skilled in the art without departing from the principle of the invention.
Claims (9)
1. A traffic radar angle measurement method based on a one-dimensional linear array is characterized by comprising the following steps:
1) acquiring a detection result of a target detected by a one-dimensional linear array radar;
2) obtaining a pitch angle according to the detected target distance information and the known radar mounting height
3) Obtaining an azimuth angle according to a pitch angle and a steering vector of an echo signal
2. The traffic radar angle measuring method based on one-dimensional linear arrays according to claim 1, wherein in step 3), a pitch angle is introduced therein by means of scanning
Using beamforming methods to determine azimuth
3. The traffic radar angle measuring method based on one-dimensional linear array as claimed in claim 2, wherein the azimuth angle is
Where s is the echo signal, s ═ γ · aθ(ii) a Where γ represents the amplitude and phase of the target reflection; a isθIn order to be a guide vector, the vector is,
wherein d represents the array element spacing, theta ∈ (-pi/2, pi/2) represents the azimuth angle,
pitch angle is shown and λ is the wavelength.
4. The traffic radar angle measurement method based on one-dimensional linear arrays according to any one of claims 1 to 3, wherein in step 2),
pitch angle
Wherein H is the radar mounting height, and r is the detection target distance.
5. The traffic radar angle measurement method based on the one-dimensional linear array as claimed in any one of claims 1 to 3, wherein in the step 1), a constant false alarm detection method is adopted to detect the target.
6. A traffic radar angle measurement system based on a one-dimensional linear array is characterized by comprising
The acquisition module is used for acquiring a detection result of the target detected by the one-dimensional linear array radar;
a pitch angle calculation module for obtaining the pitch angle according to the detected target distance information and the known radar mounting height
An azimuth angle calculation module for obtaining an azimuth angle according to the pitch angle and the steering vector of the echo signal
7. A traffic radar angle measuring device based on a one-dimensional linear array, comprising a traffic radar, and characterized by further comprising the traffic radar angle measuring system based on the one-dimensional linear array as claimed in claim 6, wherein the traffic radar is a millimeter wave radar of the one-dimensional linear array.
8. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method for measuring angles of a traffic radar based on linear one-dimensional arrays according to any one of claims 1 to 5.
9. A computer arrangement comprising a memory and a processor, the memory having stored thereon a computer program, characterized in that the computer program, when being executed by the processor, executes the steps of the method for measuring angles of a traffic radar based on linear arrays according to any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010631316.6A CN111751796B (en) | 2020-07-03 | 2020-07-03 | Traffic radar angle measurement method, system and device based on one-dimensional linear array |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010631316.6A CN111751796B (en) | 2020-07-03 | 2020-07-03 | Traffic radar angle measurement method, system and device based on one-dimensional linear array |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111751796A true CN111751796A (en) | 2020-10-09 |
| CN111751796B CN111751796B (en) | 2023-08-22 |
Family
ID=72678811
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010631316.6A Active CN111751796B (en) | 2020-07-03 | 2020-07-03 | Traffic radar angle measurement method, system and device based on one-dimensional linear array |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111751796B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130293408A1 (en) * | 2010-11-11 | 2013-11-07 | The University Of Sydney | Radar image processing |
| CN103969629A (en) * | 2014-04-21 | 2014-08-06 | 河海大学 | Airborne radar clutter self-adaption restraining method based on main-lobe clutter registering |
| CN104200110A (en) * | 2014-09-10 | 2014-12-10 | 西安电子科技大学 | Decoupling-based two-dimensional beam scanning angle measurement method |
| CN105987263A (en) * | 2015-01-28 | 2016-10-05 | 邹谋炎 | Inclined horizontal irradiation method and support design for road monitoring radar |
| CN109727453A (en) * | 2019-01-18 | 2019-05-07 | 电子科技大学 | A passive radar system for highway traffic monitoring and its monitoring method |
| CN110646773A (en) * | 2019-09-27 | 2020-01-03 | 成都纳雷科技有限公司 | Weak target detection method, tracking method and system based on automobile millimeter wave radar |
| CN110940973A (en) * | 2019-12-10 | 2020-03-31 | 成都纳雷科技有限公司 | Angle measurement method and device for radar target detection |
| CN111090094A (en) * | 2019-12-11 | 2020-05-01 | 成都汇蓉国科微系统技术有限公司 | Method and system for measuring dual-beam angle of pulse Doppler radar and storage medium |
-
2020
- 2020-07-03 CN CN202010631316.6A patent/CN111751796B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130293408A1 (en) * | 2010-11-11 | 2013-11-07 | The University Of Sydney | Radar image processing |
| CN103969629A (en) * | 2014-04-21 | 2014-08-06 | 河海大学 | Airborne radar clutter self-adaption restraining method based on main-lobe clutter registering |
| CN104200110A (en) * | 2014-09-10 | 2014-12-10 | 西安电子科技大学 | Decoupling-based two-dimensional beam scanning angle measurement method |
| CN105987263A (en) * | 2015-01-28 | 2016-10-05 | 邹谋炎 | Inclined horizontal irradiation method and support design for road monitoring radar |
| CN109727453A (en) * | 2019-01-18 | 2019-05-07 | 电子科技大学 | A passive radar system for highway traffic monitoring and its monitoring method |
| CN110646773A (en) * | 2019-09-27 | 2020-01-03 | 成都纳雷科技有限公司 | Weak target detection method, tracking method and system based on automobile millimeter wave radar |
| CN110940973A (en) * | 2019-12-10 | 2020-03-31 | 成都纳雷科技有限公司 | Angle measurement method and device for radar target detection |
| CN111090094A (en) * | 2019-12-11 | 2020-05-01 | 成都汇蓉国科微系统技术有限公司 | Method and system for measuring dual-beam angle of pulse Doppler radar and storage medium |
Non-Patent Citations (3)
| Title |
|---|
| XIAO-PING CHEN ET AL.: "Multi-antenna system based on substrate integrated waveguide for Ka-band traffic-monitoring radar applications", 《2009 EUROPEAN MICROWAVE CONFERENCE (EUMC)》 * |
| 关振红等: "一种基于高分辨率雷达的智能交通检测仪", 《电讯技术》 * |
| 刘中富 等: "《航空电子设备与飞行模拟实验》", 31 May 2019 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111751796B (en) | 2023-08-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR102733511B1 (en) | Method and device to process radar data | |
| CN106405556B (en) | Vehicle target information detection identifying system and its signal processing method | |
| US5663720A (en) | Method and system for regional traffic monitoring | |
| Felguera-Martín et al. | Vehicular traffic surveillance and road lane detection using radar interferometry | |
| CN112162283B (en) | Multi-target detection system of full-road-section networking traffic radar | |
| Kaliyaperumal et al. | An algorithm for detecting roads and obstacles in radar images | |
| CN106125076A (en) | A kind of Anticollision Radar method for early warning being applied to urban transportation and device | |
| Ruegg et al. | Capabilities of dual-frequency millimeter wave SAR with monopulse processing for ground moving target indication | |
| Cui et al. | 3D detection and tracking for on-road vehicles with a monovision camera and dual low-cost 4D mmWave radars | |
| CN110764083B (en) | Anti-intrusion data fusion method and system for millimeter wave radar | |
| CN113156417B (en) | Anti-unmanned aerial vehicle detection system, method and radar equipment | |
| US7498968B1 (en) | Synthetic aperture design for increased SAR image rate | |
| CN116229728A (en) | A road traffic monitoring system based on 4D millimeter wave radar and video sensor array | |
| CN113406639A (en) | FOD detection method, system and medium based on vehicle-mounted mobile radar | |
| WO2020133041A1 (en) | Vehicle speed calculation method, system and device, and storage medium | |
| CN117538856A (en) | Target detection method, device, radar and medium | |
| CN113167885A (en) | Lane line detection method and lane line detection device | |
| CN205168320U (en) | Automobile safety precaution ware that goes based on thing networking | |
| CN113740855B (en) | Space occupation identification method and device, millimeter wave radar and storage medium | |
| CN111751796B (en) | Traffic radar angle measurement method, system and device based on one-dimensional linear array | |
| JP4424272B2 (en) | Airport surface monitoring system and track integration device used therefor | |
| EP4239364A1 (en) | Electronic device, electronic device control method, and program | |
| CN114280612B (en) | Millimeter wave radar constant false alarm detection method for insulator target | |
| CN110542902B (en) | A simple height measurement method suitable for vehicle-mounted millimeter wave radar | |
| CN205826863U (en) | A kind of Anticollision Radar prior-warning device being applied to urban transportation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |