摘要
为了提高毫米波雷达主动避障能力,提出基于双目视觉的毫米波雷达主动避障方法。采用毫米波雷达脉冲信号融合和滤波技术,构建毫米波雷达避障信号处理模型,采用回波检测和自适应跟踪探测方法进行毫米波雷达信号检测。根据检测结果,对毫米波雷达信号进行增强处理,提取双目视觉下毫米波雷达信号谱特征,根据两目标信噪比的比值,利用避障控制律,优化避障参数,最终实现双目视觉下的雷达主动避障处理。仿真结果表明,采用该方法进行毫米波雷达主动避障的精准度较高,避障参数估计能力较强,提高了雷达避障性能。
In order to improve the active obstacle avoidance ability of millimeter wave radar,an active obstacle avoidance method based on binocular vision is proposed.Millimeter wave radar pulse signal fusion and filtering processing are used to build millimeter wave radar obstacle avoidance signal processing model.Echo detection and adaptive tracking detection methods are used to detect millimeter wave radar signal.According to the detection results,millimeter wave radar signal is enhanced,and millimeter wave radar signal spectrum features are extracted under binocular vision.According to the ratio of signal-to-noise ratio of two targets,the method of obstacle avoidance is used.The obstacle control law optimizes the obstacle avoidance parameters to realize the radar active obstacle avoidance processing under binocular vision.Simulation results show that this method has high accuracy and strong ability to estimate the obstacle avoidance parameters,which improves the performance of radar obstacle avoidance.
作者
钱波
陈洁
徐淇
王红星
黄郑
QIAN Bo;CHEN Jie;XU Qi;WANG Hongxing;HUANG Zheng(Changzhou Power Supply Branch of State Grid Jiangsu Electric Power Co.Ltd.,Changzhou 213000,China;Jiangsu Frontier Electric Technology Co.Ltd.,Nanjing 211102,China)
出处
《微型电脑应用》
2022年第7期48-50,54,共4页
Microcomputer Applications
基金
国网江苏省电力有限公司科技项目(J2020043)。
关键词
双目视觉
毫米波
雷达
主动避障
波谱特征量
binocular vision
millimeter wave
radar
active obstacle avoidance
spectral characteristic quantity
