The invention relates to the technical field of millimeter-wave radars, and particularly discloses a roadway early warning method and system based on a 4D imaging millimeter-wave radar, and the method comprises the steps: obtaining the cloud information of a target point in a roadway environment in real time; calculating the movement speed and the course deflection angle of the vehicle according to the target point cloud information in the roadway environment; dividing the target point clouds in the roadway environment into static target point clouds and moving target point clouds according to the radial speeds of the target point clouds; fitting a roadway curve according to the point cloud information of the static target in the roadway environment, and adjusting the fitted roadway curve; the X-direction drivable area of the vehicle is calculated according to the heading deflection angle of the vehicle and the adjusted roadway curve, and the Y-direction safe braking distance of the vehicle is calculated according to the movement speed of the vehicle; and calculating a dangerous driving area according to the X-direction driving area and the Y-direction safe braking distance of the vehicle, and performing early warning when a dangerous target appears in the dangerous driving area. According to the invention, the accuracy of early warning can be greatly improved.
本发明涉及毫米波雷达技术领域,具体公开了一种基于4D成像毫米波雷达的巷道预警方法及系统,该预警方法包括:实时获取巷道环境中的目标点云信息;根据巷道环境中的目标点云信息计算出车辆的运动速度和航向偏转角度;根据目标点云的径向速度将巷道环境中的目标点云划分为静止目标点云和运动目标点云;根据巷道环境中的静止目标点云信息拟合出巷道曲线,并对拟合出的巷道曲线进行调整;根据车辆的航向偏转角度和调整后的巷道曲线计算出车辆的X向可行驶区域,并根据车辆的运动速度计算出车辆的Y向安全制动距离;根据车辆的X向可行驶区域和Y向安全制动距离计算出危险行驶区域,当危险行驶区域内出现危险目标时进行预警。本发明能够大幅提高预警的准确性。
Roadway early warning method and system based on 4D imaging millimeter wave radar
一种基于4D成像毫米波雷达的巷道预警方法及系统
29.10.2024
Patent
Elektronische Ressource
Chinesisch
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