CN101661106B - Millimeter-wave random biphase code phase-modulation and amplitude-modulation automotive collision-proof radar - Google Patents
Millimeter-wave random biphase code phase-modulation and amplitude-modulation automotive collision-proof radar Download PDFInfo
- Publication number
- CN101661106B CN101661106B CN2008101206010A CN200810120601A CN101661106B CN 101661106 B CN101661106 B CN 101661106B CN 2008101206010 A CN2008101206010 A CN 2008101206010A CN 200810120601 A CN200810120601 A CN 200810120601A CN 101661106 B CN101661106 B CN 101661106B
- Authority
- CN
- China
- Prior art keywords
- frequency
- output
- random
- digital
- insert
- 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.)
- Expired - Fee Related
Links
Images
Abstract
The invention relates to the technical field of radio positioning, in particular to a millimeter-wave random biphase code phase-modulation and amplitude-modulation automotive collision-proof radar. A quasi-optical integrated dielectric lens antenna and an array are arranged; a DSP scans wave beams lane by lane to guard against a target possible collided on a road surface; a broadband noise source generates two random code generators, a random code generator A modulates phase and measures distance/speed, and a random code generator B modulates amplitude, and performs transmitting/receiving conversion and back edge detection; double random code radio frequency is transmitted through an upconverter, an R/T3, a frequency multiplier and power amplifier, an R/T2, an isolator and an antenna; and back waves are transmitted to the DSP and an MCU for processing control through the antenna array, a beam switch, an isolator, an R/T1, a high frequency amplifier, a downconverter, an intermediate frequency amplifier, a random sequence asynchronous gate, a digital intermediate frequency quadrature detector I/Q and a digital pulse compression correlator. The radar ensures traffic flows in adjacent lanes run densely without mutual interference and operate in a coexisting way, has high electromagnetic compatibility EMC, inhibits false-alarm and determines the position, distance and relative speed of a target through the DSP, displays three-dimensional images and identifies a target closest to the automobile through a CRT, performs the audible and visual alarm if the distance of the target is smaller than a safety distance, intelligently avoids a barrier or reduces speed or brakes if the distance of the target is approximate to a danger distance, and controls and references a road condition to combine the speed of the automobile and the current position information on a GPS to make a choice, thereby obviously improving the running safety of the automobile.
Description
Technical field
The present invention relates to the technical field of radio wave transmission and reception detection of a target orientation, distance and speed, specifically is a kind of millimeter-wave random biphase code phase-modulation and amplitude-modulation automotive collision-proof radar.
Background technology
At present, automobile and other motor vehicle increase in a large number, the road overload of crowding, and traffic accident frequently takes place, and causes a large amount of life casualties and great property loss, becomes whole world serious social concern.States such as U.S., Europe, Japan drop into a large amount of man power and materials and develop advanced collision avoidance radar, and include national development planning in.Because automobile collision avoidance radar working environment and condition are very harsh, compole is short during vehicle intelligent collision in the fast running, and in one second of less than, technical requirement is very high, has many difficult problems to solve.Analyze the narrow antenna beam of prior art FM-CW frequency modulated continuous wave radar and can reduce interference and false-alarm, and actual road conditions track is not straight way entirely, it is common that vehicle travels in the track that taking back takes over, narrow antenna beam radar signal irradiation can not cover the potential target that may bump fully, it is crashproof that the needle-like antenna beam is difficult to complete detection, exists danger.So automobile collision avoidance radar should provide the place ahead enough kens to the driver, it is more greatly necessary that horizontal azimuth of antenna is suitably got.Yet, the continuous wave FM-CW collision avoidance radar of the same area adjacent lane automobile periodic signal modulation, the vehicle relative direction is travelled, radar receiver can be subjected to the irradiation of the other side's radar emission signal, signal enters the other side's automobile radar anti-collision early warning system can produce interference, radar loses correct detection target processing echo ability, even be slight interference, also can produce losing of target range or relative velocity in various degree, and the direct wave energy is more much better than than echoed signal, produce the barrage reception signal when serious, cause crashproof afunction, reduce the collision avoidance radar reliability.Distance range is very big because running car flows, and it is high to produce probability of interference, and the compatible EMC problem of the environment electromagnetics of each Radar for vehicle of the same area adjacent lane is very outstanding.Therefore, for realizing generally adopting radar collision to ensure the target of driving safety, at first solve the problem of antijamming capability.In addition, continuous wave automobile collision avoidance radar antenna emitted energy leak to block, and influence receives the Weak target echoed signal, and pulse system radar emission pulsewidth is blocked the reception echo, exists problem such as blind range all need solve.Existing on the whole collision avoidance radar lacks the function that constitutes closed-loop control with sensor signal, the Based Intelligent Control that lacks the control of road environment antenna self-adaptive, vehicle automatic obstacle-avoiding, deceleration, brake, poor visibility or travel run into dangerous situation and can not in time help the driver to separate danger to avoid accident.
Summary of the invention
The millimeter-wave random biphase code phase-modulation and amplitude-modulation automotive collision-proof radar that the purpose of this invention is to provide the operation of in the intensive environment that travels of the same area adjacent lane wagon flow, not disturbing, coexist mutually.
Technical scheme of the present invention is provided with: send out isolator, receive isolator, in put, echo data memory RAM, digital signal processor DSP, double port memory RAM, microcontroller MCU, interface I/O, road conditions image sensor, this vehicle speed sensor, satnav sensor GPS, the guiding sensor that tests the speed, audible-visual annunciator, image display, keep away barrier device, speed reduction unit, brake, keyboard, also be provided with broad beam emitting antenna, narrow beam receiving antenna array, switched-beam switch, frequency synthesizer, receipts/send out switch T/R
1, T/R
2, T/R
3, wideband noise generator, random code generator A, phase converter, frequency multiplication and power amplifier, random code generator B, amplitude modulator, low noise sound pitch are put, sub-harmonic mixer, the asynchronous storbing gate of random series, digital intermediate frequency quadrature detector, digital pulse compression correlator, the frequency synthesizer programmable frequency divider presets end, digital controlled oscillator numerical control end, digital pulse compression correlator vairable delay line numerical control end and joins through interface I/O and MCU respectively, frequency synthesizer output f
C3Access DSP is a clock signal, and DSP inserts switched-beam switch, image display CRT by track amount coded pulse assigned sequence, and the wideband noise generator noise spectrum inserts random code generator A, random code generator B, frequency synthesizer output f
C1Inserting random code generator A is sampled clock signal, f
C2Inserting random code generator B is sampled clock signal, generate separate two random codes, random code generator A output inserts phase converter, digital pulse compression correlator, and random code generator B output random series inserts amplitude modulator, and random series high level logic " 1 " inserts T/R
2, T/R
3, low-level logic " 0 " inserts T/R
1, the asynchronous storbing gate of random series, receive/send out switch T/R
2, T/R
3Be connected on the I/O end of frequency multiplication and power amplifier respectively, amplitude modulator is serially connected in frequency multiplication and power amplifier dc power supply terminal, T/R
1Be connected on and receive isolator and export the low noise sound pitch to and put between the input, put during the asynchronous storbing gate of random series is connected on and export between the input of digital intermediate frequency quadrature detector frequency synthesizer output f to
NInsert phase converter and be carrier frequency half or 1/4th frequencies, the phase modulation radio frequency is radar carrier frequency f through frequency multiplication and power amplifier two or quadruple, power amplification
0Be connected to T/R
2, send out an isolator feed-in broad beam emitting antenna irradiation road surface and survey the place ahead roadblock target, frequency synthesizer output f
NInserting sub-harmonic mixer is two or four inherent frequency multiplication local oscillation signal f
L, frequency synthesizer output f
iInserting the digital intermediate frequency quadrature detector is the coherent reference signal, f
C7Be digital intermediate frequency quadrature detector modulus converter A/D sampled clock signal, f
C8Be digital intermediate frequency quadrature detector wave digital lowpass filter LPF clock signal, f
C9Be digital intermediate frequency quadrature detector withdrawal device clock signal, target echo is through narrow beam receiving antenna array, switched-beam switch, receipts isolator, T/R
1The low noise sound pitch is put, sub-harmonic mixer, in put, choose again through digital intermediate frequency quadrature detector restituted signal access digital pulse compression correlator in the asynchronous storbing gate of random series, insert the DSP data bus after the temporary echo data memory RAM of relevant output data, DSP and MCU data bus, address bus, control line is through double port memory RAM tandem, and provide arbitrating signals, the MCU I/O connects the road conditions image sensor through interface I/O, this vehicle speed sensor, satnav sensor GPS, guiding sensor tests the speed, audible-visual annunciator, CRT, keep away the barrier device, speed reduction unit, brake, keyboard, the grouping time multiplexing date is reset in the dsp software design sheet, moving-target shows MTI, Fast Fourier Transform (FFT) FFT, distance side lobe suppresses, CFAR is handled CFAR, the programming of MCU system software comprises master routine and data acquisition, data processing, the object control subprogram, in put and detect AGC (automatic gain control) voltage through filtering, amplifying access low noise sound pitch puts, in the automatic gain AGC control end put, frequency synthesizer, wideband noise generator, random code generator A, random code generator B, the switched-beam switch, receive isolator, send out isolator, T/R
1, T/R
2, T/R
3, phase converter, amplitude modulator, frequency multiplication and power amplifier, low noise sound pitch are put, sub-harmonic mixer, in put integrated, the shielding;
Wherein, frequency synthesizer is by constant-temperature crystal oscillator, the crystal oscillator frequency divider, the high order frequency amplifier chain, frequency mixer, bandpass filter, amplifier, voltage controlled oscillator VCO, phase detector, loop filter, loop divider, inject the harmonic wave frequency divider, digital controlled oscillator NCO forms, VCO is by gallium arsenide High Electron Mobility Transistor GaAsHEMT device, the dielectric resonator feedback oscillation, varactor is voltage-controlled tuning, loop divider is by prescalar and programmable frequency divider combination, constant-temperature crystal oscillator output first via signal inserts frequency mixer through high order frequency amplifier chain and VCO output, mixing is after bandpass filter, amplifier, insert phase detector through loop divider again, the second road signal inserts phase detector through the crystal oscillator frequency divider, phase demodulation output is synthetic through the voltage-controlled VCO frequency of phase locking of loop filter, and VCO exports f
NBe radar phase converter carrier frequency half or 1/4th frequencies, f
NObtain sub-harmonic mixer two or four inherent frequency multiplication local oscillator f through directional coupler
L, programmable frequency divider output f
C1Be random code generator A sampled clock signal, f
C2Be random code generator B sampled clock signal, f
C3Be DSP clock signal, f
C4Be MCU clock signal, f
C5Be digital pulse compression correlator clock signal, f
C6Be echo data memory RAM clock signal, f
C7Be digital intermediate frequency quadrature detector modulus converter A/D sampled clock signal, f
C8Be wave digital lowpass filter LPF clock signal, f
C9Be the withdrawal device clock signal, Third Road connects and injects the digital controlled oscillator NCO that the harmonic wave frequency divider forms to DDS phase place stepping register, N position phase accumulator, ROM sine lookup table storer, output f
Icos ω ot
n, f
I-sin ω ot
nBe digital intermediate frequency quadrature detector coherent reference signal, programmable frequency divider presets end, digital controlled oscillator NCO numerical control end and inserts MCU through interface I/O respectively;
The broad beam emitting antenna, the narrow beam receiving antenna array is quasi-optical integrated dielectric lens antenna, antenna integrated by the dielectric substrate double dipole, di-lens, object lens, the array pedestal, protective cover constitutes, the antenna integrated back side that is placed on di-lens of dielectric substrate double dipole is feed, di-lens is joined by hemisphere and the radius right cylinder identical with hemisphere and forms the super hemisphere of expansion, the length of expansion can change, emitting antenna is set to single di-lens, broad beam is shone whole road surface, receiving antenna is set as by track, road surface quantity narrow beam dielectric lens antenna array, digital signal processor DSP inserts the switched-beam switch by track quantity coded pulse assigned sequence, image display CRT coordinate converter, di-lens is fixed on the array pedestal, object focal point alignment medium lens center axis, external protective cover;
The switched-beam switch be receive antenna feeder integrated PIN diode or GaAs field effect transistor GaAsFET string, also, the single-pole single-throw switch (SPST) SPST that connects of polyphone, the control antenna array is combined into single pole multiple throw by a plurality of SPST, the control bias voltage is inserted through low-pass network by digital signal processor DSP coded pulse assigned sequence, receives/send out switch T/R
1, T/R
2, T/R
3Form string, also by PIN diode or GaAs field effect transistor GaAsFET, string array type single single-pole single-throw spst switch, T/R
1Be connected on and receive isolator and export the low noise sound pitch to and put between the input T/R
2, T/R
3Be connected on the I/O end of frequency multiplication and power amplifier respectively, the control bias voltage inserts T/R by random code generator B output pulse high level logical one through low-pass network
2, T/R
3, low-level logic " 0 " inserts T/R through low-pass network
1
Random code generator A, random code generator B is by same broadband noise source, the output of microwave broadband amplifier, random code generator A is by SAW sound watchband bandpass filter, high speed or hypervelocity voltage comparator, high speed or hypervelocity sampling holder, active integrator, high-speed flip-flop is formed, random code generator B is by SAW sound watchband bandpass filter, voltage comparator, sampling holder, active integrator, trigger flip-flop is formed, the broadband noise source is by establishing a P or N diffusion restrictor ring on the PN junction diode chip for backlight unit, series connection temperature compensation diode, the constant current reverse bias is an avalanche condition, place coaxial cavity or waveguide cavity to insert random code generator A through microwave broadband amplifier and the output of Broadband Matching transition network, random code generator B, frequency synthesizer output f
C1Inserting random code generator A is sampled clock signal, f
C2Inserting random code generator B is sampled clock signal, random code generator A is by SAW sound watchband bandpass filter, high speed or hypervelocity voltage comparator are to high speed or hypervelocity sampling holder, taking back high speed voltage comparator through the active integrator feedback is comparison threshold, again through high-speed flip-flop, low-pass network inserts phase converter, digital pulse compression correlator vairable delay line, random code generator B is by SAW sound watchband bandpass filter, voltage comparator is to sampling holder, taking back voltage comparator through the active integrator feedback is comparison threshold, again through trigger flip-flop, low-pass network inserts amplitude modulator, and its high level logic " 1 " inserts and receives/a switch T/R
2, T/R
3, low-level logic " 0 " inserts and receives/a switch T/R
1, the asynchronous storbing gate of random series;
Phase converter by substrate not undoped gallium arsenide GaAs form on the substrate of interface with the aluminium base gallium arsenide AlGaAs that do not mix, integrated two groups of high electron mobility transistor (HEMT) devices are to pipe, four 3dBLange directional couplers and six resistance constitute the reflective electric bridge modulator of two-way, two groups of HEMT go here and there a resistance respectively to tube grid and insert modulation signal, source ground, two 3dBLange directional couplers are connected on two groups of HEMT devices respectively to the pipe drain electrode, cross-couplings is to all the other two 3dBLange directional couplers, matched load resistance, but the reciprocity of phase converter input/output end port, frequency synthesizer VCO exports f
NFor radar carrier frequency half or 1/4th frequencies connect phase converter, random code generator A output inserts two-way modulator HEMT to the complementary control of tube grid through low-pass network, generates 0, π scale-of-two BPSK phase-modulated signal;
Frequency multiplication and power amplifier doubler are that substrate gallium arsenide high electron mobility InPGaAsHEMT transistor gate connects λ/4 impedance conversion microstrip line and biasing circuits by indium phosphide, source electrode is connected in parallel on the ground connection capacitance-resistance, drain electrode microstrip line inhibition first-harmonic and third harmonic are tuned at secondary or four harmonics are radar carrier frequency f
0, the power amplifier level inserts little band impedance conversion and the biasing of C class by the InPGaAsHEMT device grids, source ground, and the drain electrode microstrip line is tuned at f
0, and and Antenna Impedance Matching, frequency multiplication is connected in series amplitude modulator with the power amplifier dc power supply terminal through low-pass network;
It is that substrate gallium arsenide High Electron Mobility Transistor InPGaAsHEMT, microstrip network constitute that the low noise sound pitch is put by a double grid indium phosphide, first grid connects antenna echo carrier frequency matching network, second grid is an AGC automatic gain control end, put AGC in connecing and detect voltage, source electrode capacitance-resistance ground connection, the drain electrode output matching network inserts sub-harmonic mixer SHP, and two schottky diodes oppositely are attempted by local oscillation signal f
LMatching network and echo CF signal f
0Between the matching network, local oscillation signal f
LBy frequency synthesizer output f
NConnect through directional coupler, medium-frequency IF through bandpass network at local oscillation signal f
LOne side-draw of matching network goes out;
The digital intermediate frequency quadrature detector is made up of modulus converter A/D, homophase I, quadrature Q two-way digital multiplier, wave digital lowpass filter LPF, withdrawal device, frequency synthesizer output f
C7Be A/D sampled clock signal, f
C8Be LPF clock signal, f
C9Be the withdrawal device clock signal, in put bandpass filter and choose through the asynchronous storbing gate of random series and insert A/D, its output meets an end of I, the input of Q branch road two-way digital multiplier, frequency synthesizer digital controlled oscillator NCO output signal f respectively
Icos ω ot
n, f
I-sin ω ot
nCorresponding connection I, another input end of Q branch road two-way multiplier, I, Q two-way digital multiplier output series connection wave digital lowpass filter LPF, withdrawal device insert the digital pulse compression correlator, the digital pulse compression correlator is made up of I, Q branch road shift register, lag line, related operation array, summation summitor, lag line is formed vairable delay line by tap shift register and on-off circuit, on-off circuit numerical control end inserts microcontroller MCU through interface I/O, frequency synthesizer output f
C5Access delay line shift register, I, Q branch road shift register are clock signal, random code generator A output inserts digital pulse compression correlator vairable delay line and produces the time-delay sign indicating number, the digital intermediate frequency quadrature detector by the withdrawal device output signal in I, Q branch road shift register ring shift, delay time the corresponding access related operation array of sign indicating number to the summitor of suing for peace with vairable delay line, incoming digital signal processor DSP data bus after the temporary echo data memory RAM of correlator output data.
Technical solution of the present invention is produced the random code generator of two separate code elements by a broadband noise source, random code generator A phase modulation is found range/is tested the speed, the secondary modulation of random code generator B amplitude keying phase modulation carrier frequency, switch, T/R during high level logic " 1 " forward position are received/send out in the asynchronous control of random series
2, T/R
3Connect the emission of frequency multiplication and power amplifier, T/R
1Turn-off to receive, the back along the time enter low-level logic " 0 " T/R
2, T/R
3Turn-off frequency multiplication and power amplifier, T/R
1Connect reception, the asynchronous storbing gate of random series is chosen target; Phase modulation/amplitude modulation dual random coding asynchronous detection, strengthen the randomness that constantly changes greatly, the same area adjacent lane environment relative direction is travelled, use broad beam antenna, the irradiation mutually that transmits is scanned, although undesired signal must enter the other side's receiving cable, its random signal is the time course of stochastic variable, the not repeated intersection that is exceedingly fast of two random codes changes, do not rise target echo relevant treatment interference effect, therefore do not disturb mutually, the coexistence operation, do not influence the normal crashproof function of the other side's radar, the compatible EMC of very strong anti-interference environment electromagnetics is not only arranged, and the blind area that pulsewidth is blocked is avoided launching along detecting in the back, and the inhibition emitted energy leaks and improves receiving sensitivity; The little gain of quasi-optical integrated dielectric lens antenna array transmission millimeter wave loss is high, and bore is little, and cost is low, does not influence automobile appearance and pneumatic property; The reflective electric bridge phase converter phase width of cloth error that parasitic parameter causes of cancelling out each other, the precision height; The digital intermediate frequency quadrature detector is finished the relevant sampling of intermediate frequency with an A/D, and digital controlled oscillator NCO exports f
iThe coherent reference signal guarantees 90 ° of phase differential; A plurality of high frequency stabilization reference frequencies of frequency synthesis and clock signal, ensure that the radar carrier frequency is received/sent out, the arteries and veins bit synchronization, carrier frequency is got 1/2nd or 1/4th frequencies, the inherent frequency multiplication combination of its harmonics and subharmonic mixing local oscillator, and small number of devices obtains the high-end carrier frequency ranging and range rate of millimeter wave high resolution; DSP suppresses the target of false-alarm identification and this car minimum distance, not having car when the place ahead is travelled by driver's setting speed, radar is surveyed its signal when vehicle occurring, track to nearest vehicle, controlling this speed of a motor vehicle keeps a safe distance, sound and light alarm in the time of departing from safe distance, approaching risk distance MCU instruction keeps away barrier device automatic obstacle-avoiding or starts speed reduction unit, the brake Based Intelligent Control, and can discern stationary vehicle and detour and mistake, the MCU Based Intelligent Control is the related data that records according to radar, make one's choice with reference to road conditions and this speed of a motor vehicle and GPS heat transfer agent data, as the dangerous situation of head-on collision, its time is two vehicle speed sums, and safe distance sharply shortens, require driving quality, experience is higher, correspondingly intelligent anticollision radar self-adaption control system response speed is ms level even μ s level, reflects fasterly than the mankind, and people control is irreplaceable under no mechanical fault condition, play the poor visibility barrier avoiding function that the driver is difficult for seeing clearly that travels, greatly improve crashworthiness.
Description of drawings
Fig. 1 automobile collision avoidance radar technical scheme of the present invention schematic diagram
Fig. 2 radar receipts/signalling sequential chart
Fig. 3 frequency synthesizer
The two random biphase code generators of Fig. 4
Fig. 5 phase modulation/modulation circuit
Fig. 6 echoed signal is extracted circuit
Specific implementation method
With reference to Fig. 1, specific implementation method of the present invention and embodiment are provided with: send out isolator 11, receive isolator 4, in put 7, echo data memory RAM 19, digital signal processor DSP 20, double port memory RAM21, microcontroller MCU22, interface I/O33, road conditions image sensor 23, this vehicle speed sensor 24, satnav sensor GPS25, guiding sensor 32 tests the speed, audible-visual annunciator 26, image display CRT30, keep away barrier device 27, speed reduction unit 28, brake 29, keyboard 31 also is provided with broad beam emitting antenna 1, narrow beam receiving antenna array 2, switched-beam switch 3, frequency synthesizer 9, receive/send out switch T/R
1, T/R
2, T/R
3, wideband noise generator 16, random code generator A14, phase converter 17, frequency multiplication and power amplifier 12, random code generator B15, amplitude modulator 13, low noise sound pitch put 5, sub-harmonic mixer 6, the asynchronous storbing gate 8 of random series, digital intermediate frequency quadrature detector 10, digital pulse compression correlator 18, frequency synthesizer 9 programmable frequency dividers preset end, digital controlled oscillator numerical control end, digital pulse compression correlator 18 vairable delay line numerical control ends and join through interface I/O33 and MCU22 respectively, frequency synthesizer 9 output f
C3Access DSP20 is a clock signal, and DSP20 inserts switched-beam switch 3, CRT30 by track amount coded pulse assigned sequence, and wideband noise generator 16 noise spectrums insert random code generator A14, random code generator B15, frequency synthesizer 9 output f
C1Inserting random code generator A14 is sampled clock signal; f
C2Inserting random code generator B15 is sampled clock signal, generate separate two random codes, random code generator A14 output inserts phase converter 17, digital pulse compression correlator 18, and random code generator B15 output random series inserts amplitude modulator 13, and random series high level logic " 1 " inserts T/R
2, T/R
3, low-level logic " 0 " inserts T/R
1, the asynchronous storbing gate 8 of random series, receive/send out switch T/R
2, T/R
3Be connected on the I/O end of frequency multiplication and power amplifier 12 respectively, amplitude modulator 13 is serially connected in frequency multiplication and power amplifier 12 dc power supply terminals, T/R
1Be connected on and receive isolator 4 and export the low noise sound pitch to and put between 5 inputs, put 7 during the asynchronous storbing gate 8 of random series is connected on and export between 10 inputs of digital intermediate frequency quadrature detector, frequency synthesizer 9 output f
N Insert phase converter 17 and be carrier frequency half or 1/4th frequencies, the phase modulation radio frequency is radar carrier frequency f through frequency multiplication and power amplifier 12 2 or quadruple, power amplifier
0Be connected to T/R
2, send out the whole road surface of isolator 11 feed-in broad beam emitting antennas, 1 irradiation and survey the place ahead roadblock target, frequency synthesizer 9 output f
NInserting sub-harmonic mixer 6 is two or four inherent frequency multiplication local oscillation signal f
L, frequency synthesizer 9 output f
iInserting digital intermediate frequency quadrature detector 10 is the coherent reference signal, f
C7Be digital intermediate frequency quadrature detector 10 modulus converter A/D sampled clock signals, f
C8Be digital intermediate frequency quadrature detector 10 wave digital lowpass filter LPF clock signals, f
C9Be digital intermediate frequency quadrature detector 10 withdrawal device clock signals, target echo is through narrow beam receiving antenna array 2, switched-beam switch 3, receipts isolator 4, T/R
1The low noise sound pitch puts 5, sub-harmonic mixer 6, in put 7, choose again through digital intermediate frequency quadrature detector 10 demodulation access digital pulse compression correlator 18 in the asynchronous storbing gate 8 of random series, relevant output data is deposited echo data memory RAM 19 backs and is inserted the DSP20 data bus, DSP20 and MCU22 data bus, address bus, control line is through double port memory RAM21 tandem and arbitrating signals is provided, the MCU22 I/O connects road conditions image sensor 23 through interface I/O33, this vehicle speed sensor 24, satnav sensor GPS25, guiding sensor 32 tests the speed, audible-visual annunciator 26, CRT30, keep away barrier device 27, speed reduction unit 28, brake 29, keyboard 31, the grouping time multiplexing date is reset in the DSP20 software design sheet, moving-target shows MTI, Fast Fourier Transform (FFT) FFT, distance side lobe suppresses, CFAR is handled CFAR, the programming of MCU22 system software comprises master routine and data acquisition, data processing, the object control subprogram, in put 7 and detect AGC (automatic gain control) voltage through filtering, amplify access low noise sound pitch and put 5, in put 7 automatic gain control ends, frequency synthesizer 9, wideband noise generator 16, random code generator A14, random code generator B15, switched-beam switch 3, receive isolator 4, send out isolator 11, T/R
1, T/R
2, T/R
3, phase converter 17, amplitude modulator 13, frequency multiplication and power amplifier 12, low noise sound pitch put 5, sub-harmonic mixer 6, in put 7 integrated, shieldings.
Quasi-optical integrated dielectric lens broad beam emitting antenna, narrow beam receiving antenna array, being integrated into the double dipole antenna element by dielectric substrate, sticking to put at the back side of di-lens be feed, di-lens is the packaged lens of expansion, with its synthetic super hemisphere or ellipsoid lens, hyper-hemispherical lens is used for simulating antenna integrated infinite thick dielectric substrate, to eliminate surface wave, change extension length and can obtain quasi-optical radiation, the Gaussian beam radiation that object focal point is aimed at super hemisphere di-lens further obtains the directivity that height is distinguished power.Emitting antenna is arranged to the single lens antenna irradiation of broad beam whole road surface, the place ahead, receiving antenna is set as the narrow beam lens antenna array, by track, road surface pairing wave beam DSP electric scanning conversion, at the road straight-line travelling good angular resolution is arranged, travelling more greatly in road curved way or slope, antenna beam is other distinguishes low, horizontal direction affords a wide field of vision, the resolution in azi height, alleviate radiation interference, anti-vibration and dirt exclusion capabilities are strong, and high based on the little gain of quasi-optical lens antenna transmission millimeter wave loss, mechanical property is firm, cost is low, does not influence automobile appearance and pneumatic property.
Receive/send out switch T/R
1, T/R
2, T/R
3Be single-pole single-throw switch (SPST) SPST, wherein T/R
2, T/R
3Be the doubly-linked synchro switch, switching device adopts PIN diode or GaAs field effect transistor GaAsFET, positively biased is conducting state during random code generator B output random series logical one forward position, connect frequency multiplication and power amplifier I/O, amplitude modulator keying phase modulation carrier frequency, through sending out isolator, the place ahead, the whole road surface of broad beam antenna directive detection roadblock target, T/R simultaneously
1Its PIN pipe or GaAsFET pipe are in instead and end partially, cut off the echo input signal, turn-off to receive, and work as T/R
1Its PIN pipe or GaAsFET pipe after the random series along the time to enter logical zero positively biased be conducting state, receive echoed signal, T/R
2, T/R
3PIN pipe or GaAsFET pipe be in anti-partially by cutting off frequency multiplication and power amplifier input/output signal.Single tube switch isolation degree and frequency band are less, the multitube string, also, string structure and obtain desired properties with sending and receiving isolator combination.T/R
2, T/R
3Control frequency multiplication and power amplifier I/O, and be connected in series amplitude modulator with the power amplifier dc power supply terminal, obtain the amplitude modulation keying and the isolation of the degree of depth in frequency multiplication.
It is substrate gallium arsenide High Electron Mobility Transistor InPGaAsHEMT that frequency multiplication and power amplifier adopt indium phosphide, the working band of broad and higher power gain are arranged, the device power consumption hear rate is little, doubler source electrode capacitance-resistance ground connection autobias, the drain electrode microstrip network suppresses first-harmonic and odd harmonic, and the power amplifier level has higher efficient by the biasing of C class.Get radar carrier frequency half or 1/4th frequencies and insert phase converter, two or quadruple and power amplifier be radar carrier frequency f
0, with the inherent frequency multiplication combination of subharmonic mixing local oscillator, reducing the requirement that frequency synthesizer is exported high-end millimeter-wave frequency, small number of devices reaches the radar carrier frequency and receives/send out.
Improve radar reception Weak target signal in order to overcome noise effect, InPGaAsHEMT is put device for the low noise sound pitch if the double grid indium phosphide is substrate gallium arsenide High Electron Mobility Transistor, have good low noise of the high-end frequency of millimeter wave and automatic gain control AGC characteristic, can obviously improve and detect target under the strong noise background.In view of automobile collision avoidance radar for closely detecting, reach practical requirement about high amplification gain 15dB.Rise and fall very greatly at target echo signal is strong and weak, large-signal input mixing easily produces obstruction, thus the low noise sound pitch to put automatic gain control be necessary.
Sub-harmonic mixer is at little band or fin line oppositely and connect two schottky diodes; " back-to-back " forward breakdown characteristic is protected mutually when crossing high backward voltage and is not burnt; echo CF signal and local oscillation signal frequency differ greatly; isolation is greater than 30dB; circuit simply need not be coupled electric bridge and direct supply; the inherent frequency multiplication of local oscillator need only be got carrier frequency half or 1/4th frequencies, with the combination of phase modulation carrier frequency frequency multiplication, reduces the high-end device of millimeter wave.
In put automatic gain control bigger dynamic range arranged, put the AGC combination with the low noise sound pitch and avoid truck, the strong target echo signal overload of big bus, and can prevent the overload that strong jamming causes, take into account little target such as motorcycle, electric motor car, bicycle and pedestrian's gain, keep reflection fluctuating of different target cross section and strong jamming higher detection probability to occur still having.
Fig. 2 radar receipts/signalling sequential chart (a) is the waveform Ts of digital signal processor DSP by track coded pulse assigned sequence control wave beam switch, is the waveform of random code generator B output random series (b), T/R during high level logic " 1 " forward position
2, T/R
3Connect emission, T/R
1Turn-off to receive, the back along the time enter low-level logic " 0 " T/R
2, T/R
3Turn-off emission, T/R
1Connect and receive.(c) be radar emission phase modulation/amplitude modulation random series waveform, (d), (e), (f), (g) light waveform are emission random code phase modulation/amplitude-modulated signals among the figure, dark waveform is the asynchronous target echo that receives of random series, (d) coincide for receiving/send out pulse overlap, echo time-delay △ t=0, the zero distance target does not have echo and is considered as " blind area ".(e), (f) receive/send out pulse delay △ t 0, △ t＜max, the time-delay △ t that the different target distance is different, the near echo pulse is narrow more more for distance, and signal power is more little, but the near field radiation is stronger, signal to noise ratio (S/N ratio) is still high, and the low coverage target can detect when damping capacity is unlikely excessive.(g) the echo time-delay is for maximum, and random series is switched the blind area that receipts/signalling does not have the fixed cycle pulsewidth to block, and the echo time-delay overflows and do not influence the more detection of distant object.Asynchronous working is received/sent out to radar, isolates the transmit signal energy leakage fully from the time, greatly improves the ability of detections of radar weak signal target.The present invention adopts same broadband noise source to produce two separate random codes, radar carrier frequency dual random coding phase modulation/amplitude-modulation automotive collision-proof radar, at the extremely low code element dependent probability of the same area adjacent lane environment, intensive the travelling of wagon flow do not disturbed high-performance Electro Magnetic Compatibility EMC mutually, reaches the advantage that FM-CW radar, DP radar do not possess.
Fig. 3 frequency synthesizer, by constant-temperature crystal oscillator 9a is reference source, output first via signal is formed high order frequency chain 9b, 9c, 9d, 9e by step pipe frequency multiplication, amplifier, insert frequency mixer 9n with voltage controlled oscillator VCO 9i, mixing is after bandpass filter, amplifier 9m, and the loop divider via prescalar 91, programmable frequency divider 9k combination inserts phase detector 9g again; The second road signal inserts phase detector 9g through crystal oscillator frequency divider 9f, and output is synthetic through the voltage-controlled VCO9i frequency of phase locking of loop filter 9h, and VCO9i exports f
NMillimetre-wave radar carrier frequency f
0Half or 1/4th frequency phase modulation, be sub-harmonic mixer 6 local oscillator f through directional coupler 9j
LEncourage inherent frequency multiplication mixing, programmable frequency divider 9k exports f
C1Be random code generator A sampled clock signal, f
C2Be random code generator B sampled clock signal, f
C3Be DSP clock signal, f
C4Be MCU clock signal, f
C5Be digital pulse compression correlator clock signal, f
C6Be echo data ram clock signal, f
C7Be the A/D sampled clock signal of digital intermediate frequency quadrature detector, f
C8Be digital intermediate frequency quadrature detector wave digital lowpass filter LPF clock signal, f
C9Be digital intermediate frequency quadrature detector withdrawal device clock signal; It is clock signal that Third Road is connected to DDS digital controlled oscillator NCO9p by injection harmonic wave frequency divider 9o, the data of the temporary frequency control word of phase place stepping register, N position phase accumulator constantly carries out frequency control word and adds up under the clock effect, to frequency 2 π phase sample in the cycle, the sine storer ROM that tables look-up has the sinusoidal wave data of one-period, the corresponding output f that forms in the address of tabling look-up
iCosine
Cos ω ot
n, sinusoidal-
Sin ω ot
nBe digital intermediate frequency quadrature detector homophase I branch road, quadrature Q branch road reference signal, numerical control is tabled look-up and is exported f
iThe coherent reference signal phase difference accurately is 90 °.Phase-locked output of VCO9i and the mixing of crystal oscillator frequency multiplication amplifier chain are carried out frequency feedback and are moved down, and reduce loop prescalar 91 frequency dividing ratios, improve the characteristic of making an uproar mutually.Adopt constant-temperature crystal oscillator 9a signal frequency of phase locking synthetic, frequency stability is better than 10
-9/ ms can be suitable for working under the big rugged surroundings of the automobile strong vibration and the temperature difference, provides intelligent anticollision accurate each reference signal, guarantee to receive/a carrier frequency start-phase is synchronous, coherent relationships such as digital intermediate frequency orthogonal detection, A/D sampling.Preset keyboard to set up programmable frequency divider 9k, digital controlled oscillator NCO9p output signal.
The two random biphase code generators of Fig. 4, broadband noise source 16 generates even, smooth noise in extremely wide frequency range, bandwidth reaches several to the dozens of octave, it is most important to suppress the uncontrollable generating noise of flicker, so P or N diffusion restrictor ring are set at its tube core of noise device PN junction diode, make voltage breakdown than its height, the restriction breakdown region is located immediately at P district or N district, eliminate uncontrollable microplasma zone, edge, interface and puncture, obtain PN junction and evenly puncture the generation that suppresses uncontrollable flicker noise.The tube core substrate substrate is put heat sink, reduces junction temperature and produces stable noise spectrum.Constant current source is instead partially in the avalanche breakdown zone, and stable charge carrier avalanche multiplication electrical current fluctuations produces Johnson noise at random, and amplitude-frequency is normal distribution.Because noise produces temperature influence code element positive-negative polarity probability, series connection temperature compensation diode reduces its influence.The interference fringe limit that noise tube and temperature compensation pipe and biasing, microwave broadband amplifier place coaxial cavity or waveguide cavity to isolate external electromagnetic field is amplified noise spectrum, and coupling broadband network transition transmission line inserts random code generator A14, random code generator B15 respectively.Be example now with random code generator B15, SAW sound watchband bandpass filter a chooses suitable sign indicating number frequency and bandwidth, the centre frequency scope that SAW sound watchband bandpass filter a can Gong select for use is wide, band-pass filtering property is very precipitous on frequency domain, the insertion loss is little, select the noise positive-negative polarity through voltage comparator b, frequency synthesizer output sampled clock signal f
C1, f
C2Control sampling holder c carries out periodic sampling, maintenance, active integrator d feeds back to voltage comparator b and compares for the average thresholding, the random biphase code unit that output keeps positive negative level probability, random series dutycycle to equate substantially, trigger flip-flop e output connects external circuit.Random code generator A14 is used for emission of phase converter 17 radar carrier frequency and echo digital pulse compression correlator 18 processing target distance/velocity informations, it is frequently relatively large with the bandwidth value to reach range finding high resolution sign indicating number, the sampling time value is fast, so corresponding choosing high speed of device operating rate or hypervelocity.Random code generator B15 is used for amplitude modulator 13 amplitude keying phase modulation carrier frequency, receives/send out switch T/R during random series high level logic " 1 " forward position
2, T/R
3Connect frequency multiplication and power amplifier I/O and transmit T/R
1Turn-off and receive; The back along the time enter low-level logic " 0 " T/R
2, T/R
3Turn-off frequency multiplication and power amplifier I/O, T/R
1Connect reception, the asynchronous storbing gate 8 of random series is chosen echo signal.
Two groups of random code generator sign indicating numbers are different with bandwidth, sampled clock signal value frequently, produce separate two random codes.Based on random signal is the time course of stochastic variable, aperiodicity repeats, phase modulation/amplitude modulation dual random coding asynchronous detection, strengthen the randomness that constantly changes greatly, the same area environment adjacent lane relative direction is travelled, can use broad beam antenna, the irradiation mutually that transmits is scanned, although undesired signal must enter the other side's receiving cable, because the not repeated intersection that is exceedingly fast of two random code receipts/signallings changes, do not play to target echo relevant treatment interference effect the operation of therefore not disturbing mutually, coexist.
Fig. 5 phase modulation/modulation circuit, random code phase converter 17 is that integrated two groups of high electron mobility transistor (HEMT)s constitute the two-way reflective modulator to pipe, four 3dBLange directional couplers and six resistance on the gallium arsenide substrate, it is a kind of cold HEMT balance push-pull mode modulator, the complementary control of its modulation voltage, the two-way modulator is output as plural addition, synthetic 0, the π scale-of-two BPSK phase-modulated signal of vector, but input/output end port reciprocity.When one group is positive bias-voltage to the tube grid modulation signal, the pipe conducting is short circuit, make its 3dBLange directional coupler radio frequency voltage reflection coefficient for negative, when grid modulation signal is pinch-off voltage, pipe raceway groove pinch off is open circuit, the radio-frequency voltage reflection coefficient is for just, reflection wave is 0 to π to change through corresponding its phase differential of pipe switching of 3dBLange directional coupler stack output, the two-way reflective modulator parasitic parameter of cancelling out each other causes the error of amplitude and phase place, obtain good BPSK phase modulation, guarantee the radar high Precision Detection.Frequency synthesizer 9 output f
N Be phase converter 17 carrier frequency, random code generator A14 chooses the suitable sign indicating number frequency and the bandwidth of wideband noise generator 16 outputs, and corresponding sampled clock signal triggers and generates the random code pulse, and two groups of HEMT of control phase converter are to tube grid.Grid road resistance in series current limliting, bias voltage stops carrier frequency through low-pass network.Random code generator A14 output inserts digital pulse compression correlator 18 relevant treatment target echo signals simultaneously.Choose the suitable sign indicating number frequency and the bandwidth of wideband noise generator 16 outputs, corresponding sampled clock signal triggers, and random code generator B15 produces the phase-modulated signal of random series pulsed drive amplitude modulator 13 keying frequencys multiplication and power amplifier 12, and control is received/a switch T/R
2, T/R
3, the asynchronous storbing gate of random series.
Fig. 6 echoed signal is extracted circuit, digital intermediate frequency quadrature detector 10 is before the echoed signal digitized processing, its intermediate frequency is removed, make echoed signal carry out the digital inphase/orthogonal coherent detection of zero intermediate frequency (or claiming the mixing of zero intermediate frequency coherent) output zero intermediate frequency baseband signal, only echo signal of intermediate frequency is sampled its sampled clock signal f with an A-D converter A/D101 among the figure
C7Provided by frequency synthesizer, sampling rate should satisfy Nyquist's theorem.I, Q two-way multiplier 102 carry out the complex digital down coversion, and frequency synthesizer NCO exports f
Icos ω ot
n, f
I-sin ω ot
nInsert I, Q two-way multiplier respectively, the coherent reference signal phase difference accurately is 90 °, wave digital lowpass filter LPF103 clock signal f
C8, withdrawal device 104 clock signal f
C9Export by frequency synthesizer.Echoed signal is imported the conversion that withdrawal device 104 sampling rates reduce into through wave digital lowpass filter LPF103 filtering, digital pulse compression correlator 18 is with withdrawal device 104 output signals of digital intermediate frequency quadrature detector 10, with random code generator A14, lag line 182 be reference signal, in I, Q branch road shift register 181, related operation array 183, summation summitor 184 relevant treatment, maximal value appears in relevant output symbol, is the detection that digital pulse compression correlator 18 main peaks coupling is obtained the sharp-pointed drawing pin function information of high s/n ratio.Frequency synthesizer clock signal f
C5Trigger I, Q branch road shift register 181, vairable delay line 182, MCU interface I/O33 and vairable delay line 182 numerical control ends join, vairable delay line MCU gauge tap stepping in radar detection target maximum operating range scope changes the related data that the shock response of pulse pressure coefficient can be obtained different distance, objective speed.
Target echo I/Q orthogonal coherent detection and pulse pressure relevant treatment complex modulated signal are broken down into real part and imaginary part, two information of signal amplitude and phase place all preserve, it is temporary that this signal is delivered to echo data memory RAM 19, the grouping time division multiplex is carried out data rearrangement in 20 of the digital signal processor DSPs, moving-target shows MTI, Fast Fourier Transform (FFT) FFT analysis of spectrum, and distance side lobe suppresses, CFAR is handled CFAR.FFT is equivalent to a large amount of range gate and Doppler filter group, to the inhibition of distance and the speed spectrum analysis and the distance side lobe of target relative motion beat.Finish the FFT computing, constant false alarm circuit CFAR is handled, intensity according to residual spur is regulated detection threshold automatically, false-alarm probability is remained in the permissible value, the signal that surpasses thresholding is made the relevant information processing, to determine whether target, if then the data such as distance, speed and orientation angles of target are delivered to image display.Not having Che Shiyou driver's setting speed when the place ahead travels, radar is surveyed its distance and relative velocity when vehicle occurring, track to nearest vehicle, control this speed of a motor vehicle and keep a safe distance, sound and light alarm in the time of departing from safe distance, to approach risk distance have one section can the collision avoidance time distance, this moment the driver make proper operation can collision avoidance more than 60%, enable adaptive control system intelligent anticollision radar, collision avoidance is not limit by driver's psychology and physiological potency, and accuracy improves greatly.
MCU instruction automatic obstacle-avoiding or deceleration even brake Based Intelligent Control when approaching risk distance, the MCU Based Intelligent Control is the related data that records according to radar, provide the current present position of this car information data processing of making one's choice, control executing mechanism with reference to the rare density of road conditions wagon flow in conjunction with this vehicle speed and GPS.Utilize moving-target to show that the MTI pulse offsets filtering identification stationary vehicle or buildings, controls this car and detours and mistake.Dangerous situation as head-on collision, its time is two vehicle speed sums, safe distance sharply shortens, require driving quality, experience higher, correspondingly intelligent anticollision radar self-adaption control system response speed is ms level even μ s level, reflect than the mankind faster, and be not subjected to psychology and physiological potency limit, people's control is irreplaceable under no mechanical fault condition, greatly improves crashworthiness.
Automobile collision avoidance radar of the present invention embeds satnav sensor GPS, receives the relevant radio signal that satellite constellation is transmitted into ground, and data are sent into MCU this car present position is provided in real time.In addition, Ben Leida also embeds the guiding sensor that tests the speed (patent No.: ZL2005100494549) receive traffic control speed limit road speed measurement radar signal, the caution driver adjusts the speed of a motor vehicle in good time and avoids and reduce the traffic hazard that causes because of hypervelocity, strengthens traffic safety.
Data are put into the outer echo memory RAM of digital signal processor DSP sheet, DSP carries out arithmetic speed too for improving, double port memory RAM makes DSP and MCU swap data both sides handshake operation, each data takies from low to high by byte in dual port RAM, and dual port RAM provides arbitrating signals to avoid DSP and MCU that the data processing competition takes place.
Present embodiment frequency synthesizer output f
NBe the 19.250GHz phase modulation, the sub-harmonic mixer local oscillator, through frequency multiplication and power amplifier quadruple is radar carrier frequency 77GHz, the inherent quadruple of subharmonic mixing receives echoed signal, emission output peak power 21.9dBm, receiving sensitivity-125dBm, maximum radar range is 150m, minimum range 1m, 8.5 ° of broad beam emitting antenna horizontal azimuths, 3 ° at vertical orientations angle, gain 32.5dB, secondary lobe-22dB irradiation whole road surface, the place ahead detection of a target, 2 ° of narrow beam receiving antenna horizontal azimuths, the 3 ° of gains in vertical orientations angle 33.5dB, be set as a left side by the highway one-way road, in, right three wave beams are by the scanning of DSP pulse signal control wave beam switch, and phase modulation code element bandwidth is 1.5GHz, amplitude modulation pulsewidth 6ns, angular resolution≤1 ° target range resolving power≤1m, speed resoluting force＜0.41m/s, the dynamo-electric time-delay＜10ms of self-actuating brake, this car speed per hour 145km/h can brake hard.
Claims (7)
1. millimeter-wave random biphase code phase-modulation and amplitude-modulation automotive collision-proof radar, be provided with and send out isolator, receive isolator, in put, the echo data memory RAM, digital signal processor DSP, double port memory RAM, microcontroller MCU, interface I/O, the road conditions image sensor, this vehicle speed sensor, satnav sensor GPS, guiding sensor tests the speed, audible-visual annunciator, image display CRT, keep away the barrier device, speed reduction unit, brake, keyboard is characterized in that: also be provided with the broad beam emitting antenna, the narrow beam receiving antenna array, the switched-beam switch, frequency synthesizer, receive/send out switch T/R
1, T/R
2, T/R
3, wideband noise generator, random code generator A, phase converter, frequency multiplication and power amplifier, random code generator B, amplitude modulator, low noise sound pitch are put, sub-harmonic mixer, the asynchronous storbing gate of random series, digital intermediate frequency quadrature detector, digital pulse compression correlator, the frequency synthesizer programmable frequency divider presets end, digital controlled oscillator numerical control end, digital pulse compression correlator vairable delay line numerical control end and joins through interface I/O and MCU respectively, frequency synthesizer output f
C3, f
C3Insert DSP as clock signal, DSP inserts switched-beam switch, image display CRT by track amount coded pulse assigned sequence, and the wideband noise generator noise spectrum inserts random code generator A, random code generator B, frequency synthesizer output f
C1, f
C1Insert random code generator A as sampled clock signal, frequency synthesizer output f
C2, f
C2Insert random code generator B as sampled clock signal, generate separate two random codes, random code generator A output inserts phase converter, digital pulse compression correlator, and random code generator B output random series inserts amplitude modulator, and random series high level logic " 1 " inserts T/R
2, T/R
3, low-level logic " 0 " inserts T/R
1, the asynchronous storbing gate of random series, receive/send out switch T/R
2, T/R
3, be connected on the I/O end of frequency multiplication and power amplifier respectively, amplitude modulator is serially connected in frequency multiplication and power amplifier dc power supply terminal, T/R
1Be connected on and receive isolator and export the low noise sound pitch to and put between the input, put during the asynchronous storbing gate of random series is connected on and export between the input of digital intermediate frequency quadrature detector frequency synthesizer output f to
N, f
NInsert phase converter as carrier frequency half or 1/4th frequencies, the phase modulation radio frequency is after frequency multiplication and power amplifier level two or quadruple, and power amplification is radar carrier frequency f
0Be connected to T/R
2Send out isolator feed-in broad beam emitting antenna and shine detection the place ahead, whole road surface roadblock target, frequency synthesizer output f
N, f
NInsert sub-harmonic mixer as two or four inherent frequency multiplication local oscillation signal f
L, frequency synthesizer output f
i, f
iInsert the digital intermediate frequency quadrature detector as the coherent reference signal, frequency synthesizer output f
C7, f
C7Insert digital intermediate frequency quadrature detector modulus converter A/D as sampled clock signal, frequency synthesizer output f
C8, f
C8Insert digital intermediate frequency quadrature detector wave digital lowpass filter LPF as clock signal, frequency synthesizer output f
C9, f
C9Insert digital intermediate frequency quadrature detector withdrawal device as clock signal, target echo is through narrow beam receiving antenna array, switched-beam switch, receipts isolator, T/R
1The low noise sound pitch is put, sub-harmonic mixer, in put, choose again through digital intermediate frequency quadrature detector demodulation access digital pulse compression correlator in the asynchronous storbing gate of random series, insert the DSP data bus after the temporary echo data memory RAM of relevant output data, DSP and MCU data bus, address bus, control line is through double port memory RAM tandem and arbitrating signals is provided, the MCU I/O connects the road conditions image sensor through interface I/O, this vehicle speed sensor, satnav sensor GPS, guiding sensor tests the speed, audible-visual annunciator, image display CRT, keep away the barrier device, speed reduction unit, brake, keyboard, the grouping time multiplexing date is reset in the dsp software design sheet, moving-target shows MTI, Fast Fourier Transform (FFT) FFT, distance side lobe suppresses, CFAR is handled CFAR, the programming of MCU system software comprises master routine and data acquisition, data processing, the object control subprogram, in put and detect AGC (automatic gain control) voltage through filtering, amplifying access low noise sound pitch puts, in put automatic gain AGC control end, frequency synthesizer, wideband noise generator, random code generator A, random code generator B, the switched-beam switch, receive isolator, send out isolator, T/R
1, T/R
2, T/R
3, phase converter, amplitude modulator, frequency multiplication and power amplifier, low noise sound pitch are put, sub-harmonic mixer, in put integrated, the shielding;
The broad beam emitting antenna, the narrow beam receiving antenna array is quasi-optical integrated dielectric lens antenna, antenna integrated by the dielectric substrate double dipole, di-lens, object lens, the array pedestal, protective cover constitutes, the antenna integrated back side that is placed on di-lens of dielectric substrate double dipole is feed, di-lens is joined by hemisphere and the radius right cylinder identical with hemisphere and forms the super hemisphere of expansion, the length of expansion can change, emitting antenna is set to single di-lens broad beam and shines whole road surface, receiving antenna is set as by track, road surface quantity narrow beam dielectric lens antenna array, digital signal processor DSP inserts the switched-beam switch by track quantity coded pulse assigned sequence, image display CRT coordinate converter, di-lens is fixed on the array pedestal, object focal point alignment medium lens center axis, external protective cover;
Random code generator A, random code generator B is by same broadband noise source, the output of microwave broadband amplifier, random code generator A is by SAW sound watchband bandpass filter, high speed or hypervelocity voltage comparator, high speed or hypervelocity sampling holder, active integrator, high-speed flip-flop is formed, random code generator B is by SAW sound watchband bandpass filter, voltage comparator, sampling holder, active integrator, trigger flip-flop is formed, the broadband noise source is by establishing a P or N diffusion restrictor ring on the PN junction diode chip for backlight unit, series connection temperature compensation diode, the constant current reverse bias is an avalanche condition, place coaxial cavity or waveguide cavity to insert random code generator A through microwave broadband amplifier and the output of Broadband Matching transition network, random code generator B, frequency synthesizer output f
C1, f
C1Insert random code generator A as sampled clock signal, frequency synthesizer output f
C2, f
C2Insert random code generator B as sampled clock signal, random code generator A is by SAW sound watchband bandpass filter, high speed or hypervelocity voltage comparator are to high speed or hypervelocity sampling holder, taking back high speed voltage comparator through the active integrator feedback is comparison threshold, again through high-speed flip-flop, low-pass network inserts phase converter, digital pulse compression correlator vairable delay line, random code generator B is by SAW sound watchband bandpass filter, voltage comparator is to sampling holder, taking back voltage comparator through the active integrator feedback is comparison threshold, again through trigger flip-flop, low-pass network inserts amplitude modulator, and its high level logic " 1 " inserts and receives/a switch T/R
2, T/R
3, low-level logic " 0 " inserts and receives/a switch T/R
1, the asynchronous storbing gate of random series.
2. millimeter-wave random biphase code phase-modulation and amplitude-modulation automotive collision-proof radar according to claim 1, it is characterized in that: frequency synthesizer is by constant-temperature crystal oscillator, the crystal oscillator frequency divider, the high order frequency amplifier chain, frequency mixer, bandpass filter, amplifier, voltage controlled oscillator VCO, phase detector, loop filter, loop divider, inject the harmonic wave frequency divider, digital controlled oscillator NCO forms, VCO is by gallium arsenide High Electron Mobility Transistor GaAsHEMT device, the dielectric resonator feedback oscillation, varactor is voltage-controlled tuning, loop divider is by prescalar and programmable frequency divider combination, constant-temperature crystal oscillator output first via signal inserts frequency mixer through high order frequency amplifier chain and VCO output signal, mixing is after bandpass filter, amplifier, insert phase detector through loop divider again, the second road signal inserts phase detector through the crystal oscillator frequency divider, phase demodulation output is synthetic through the voltage-controlled VCO frequency of phase locking of loop filter, and VCO exports f
N, f
NBe radar phase converter carrier frequency half or 1/4th frequencies, VCO exports f
N, f
NObtain sub-harmonic mixer two or four inherent frequency multiplication local oscillator f through directional coupler
L, programmable frequency divider output f
C1, f
C1Insert random code generator A, programmable frequency divider output f as sampled clock signal
C2, f
C2Insert random code generator B, programmable frequency divider output f as sampled clock signal
C3, f
C3Insert DSP, programmable frequency divider output f as clock signal
C4, f
C4Insert MCU, programmable frequency divider output f as clock signal
C5, f
C5Insert digital pulse compression correlator, programmable frequency divider output f as clock signal
C6, f
C6Insert the echo data memory RAM as clock signal, programmable frequency divider output f
C7, f
C7Insert digital intermediate frequency quadrature detector modulus converter A/D, programmable frequency divider output f as sampled clock signal
C8, f
C8Insert wave digital lowpass filter LPF as clock signal, programmable frequency divider output f
C9, f
C9Insert withdrawal device as clock signal, Third Road connects and injects the digital controlled oscillator NCO that the harmonic wave frequency divider forms to DDS phase place stepping register, N position phase accumulator, ROM sine lookup table storer, output f
Icosω
ot
n, f
I-sinω
ot
nBe digital intermediate frequency quadrature detector coherent reference signal, programmable frequency divider presets end, digital controlled oscillator NCO numerical control end and inserts MCU through interface I/O respectively.
3. millimeter-wave random biphase code phase-modulation and amplitude-modulation automotive collision-proof radar according to claim 1, it is characterized in that: the switched-beam switch be receive antenna feeder integrated PIN diode or GaAs field effect transistor GaAsFET string, also, the single-pole single-throw switch (SPST) SPST that connects of polyphone, the control antenna array is combined into single pole multiple throw by a plurality of SPST, the control bias voltage is inserted through low-pass network by digital signal processor DSP coded pulse assigned sequence, receives/send out switch T/R
1, T/R
2, T/R
3By PIN diode or GaAs field effect transistor GaAsFET form string, also, string array type single single-pole single-throw spst switch, T/R
1Be connected on and receive isolator and export the low noise sound pitch to and put between the input T/R
2, T/R
3Be connected on the I/O end of frequency multiplication and power amplifier respectively, the control bias voltage inserts T/R by random code generator B output random series high level logic " 1 " through low-pass network
2, T/R
3, low-level logic " 0 " inserts T/R through low-pass network
1, the asynchronous storbing gate of random series.
4. millimeter-wave random biphase code phase-modulation and amplitude-modulation automotive collision-proof radar according to claim 1, it is characterized in that: phase converter by substrate not undoped gallium arsenide GaAs form on the substrate of interface with the aluminium base gallium arsenide AlGaAs that do not mix, integrated two groups of high electron mobility transistor (HEMT) devices are to pipe, four 3dBLange directional couplers and six resistance constitute the reflective electric bridge modulator of two-way, two groups of HEMT go here and there a resistance respectively to tube grid and insert modulation signal, source ground, two 3dBLange directional couplers are connected on two groups of HEMT devices respectively to the pipe drain electrode, cross-couplings is to all the other two 3dBLange directional couplers, matched load resistance, but the reciprocity of phase converter input/output end port, frequency synthesizer VCO exports f
N, f
NInsert phase converter as radar carrier frequency half or 1/4th frequencies, random code generator A output inserts two-way modulator HEMT to the complementary control of tube grid through low-pass network, generates 0, π scale-of-two BPSK phase-modulated signal.
5. millimeter-wave random biphase code phase-modulation and amplitude-modulation automotive collision-proof radar according to claim 1, it is characterized in that: frequency multiplication and power amplifier doubler are that substrate gallium arsenide high electron mobility InPGaAsHEMT transistor gate connects λ/4 impedance conversion microstrip line and biasing circuits by indium phosphide, source electrode is connected in parallel on the ground connection capacitance-resistance, drain electrode microstrip line inhibition first-harmonic and third harmonic are tuned at secondary or four harmonics are radar carrier frequency f
0, the power amplifier level inserts little band impedance conversion and the biasing of C class by the InPGaAsHEMT device grids, source ground, and the drain electrode microstrip line is tuned at f
0, and and Antenna Impedance Matching, frequency multiplication is connected in series amplitude modulator with the power amplifier dc power supply terminal through low-pass network.
6. millimeter-wave random biphase code phase-modulation and amplitude-modulation automotive collision-proof radar according to claim 1, it is characterized in that: it is that substrate gallium arsenide High Electron Mobility Transistor InPGaAsHEMT, microstrip network constitute that the low noise sound pitch is put by a double grid indium phosphide, first grid connects antenna echo carrier frequency matching network, second grid is an AGC automatic gain control end, put AGC in connecing and detect voltage, source electrode capacitance-resistance ground connection, the drain electrode output matching network inserts sub-harmonic mixer SHP, and two schottky diodes oppositely are attempted by local oscillation signal f
LMatching network and echo CF signal f
0Between the matching network, local oscillation signal f
LBy frequency synthesizer output f
NConnect through directional coupler, medium-frequency IF through bandpass network at local oscillation signal f
LOne side-draw of matching network goes out.
7. millimeter-wave random biphase code phase-modulation and amplitude-modulation automotive collision-proof radar according to claim 1, it is characterized in that: the digital intermediate frequency quadrature detector is made up of modulus converter A/D, homophase I, quadrature Q two-way digital multiplier, wave digital lowpass filter LPF, withdrawal device, frequency synthesizer output f
C7, f
C7Insert A/D as sampled clock signal, frequency synthesizer output f
C8, f
C8Insert LPF as clock signal, frequency synthesizer output f
C9, f
C9Insert withdrawal device as clock signal, in put bandpass filter and choose through the asynchronous storbing gate of random series and insert A/D, its output meets an end of I, the input of Q branch road two-way digital multiplier, frequency synthesizer digital controlled oscillator NCO output signal f respectively
Icosω
ot
n, f
I-sinω
ot
nCorresponding connection I, another input end of Q branch road two-way multiplier, I, Q two-way digital multiplier output series connection wave digital lowpass filter LPF, withdrawal device insert the digital pulse compression correlator, the digital pulse compression correlator is made up of I, Q branch road shift register, lag line, related operation array, summation summitor, lag line is formed vairable delay line by tap shift register and on-off circuit, on-off circuit numerical control end inserts microcontroller MCU through interface I/O, frequency synthesizer output f
C5, f
C5As clock signal access delay line shift register and I, Q branch road shift register, random code generator A output inserts digital pulse compression correlator vairable delay line and produces the time-delay sign indicating number, the digital intermediate frequency quadrature detector through the withdrawal device output signal in I, Q branch road shift register ring shift, delay time the corresponding access related operation array of sign indicating number to the summitor of suing for peace with vairable delay line, incoming digital signal processor DSP data bus after the temporary echo data memory RAM of correlator output data.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008101206010A CN101661106B (en) | 2008-08-28 | 2008-08-28 | Millimeter-wave random biphase code phase-modulation and amplitude-modulation automotive collision-proof radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008101206010A CN101661106B (en) | 2008-08-28 | 2008-08-28 | Millimeter-wave random biphase code phase-modulation and amplitude-modulation automotive collision-proof radar |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101661106A CN101661106A (en) | 2010-03-03 |
| CN101661106B true CN101661106B (en) | 2011-12-07 |
Family
ID=41789239
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2008101206010A Expired - Fee Related CN101661106B (en) | 2008-08-28 | 2008-08-28 | Millimeter-wave random biphase code phase-modulation and amplitude-modulation automotive collision-proof radar |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101661106B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103076609A (en) * | 2012-11-14 | 2013-05-01 | 武汉德澳科技有限公司 | Solid small-sized microwave electronic control scanning travelling crane radar device |
Families Citing this family (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101951243B (en) * | 2010-10-12 | 2012-05-30 | 复旦大学 | Full digital phase modulation and amplitude modulation clock generating circuit for switch power amplifier |
| TWI456536B (en) * | 2011-11-17 | 2014-10-11 | Nat Inst Chung Shan Science & Technology | Automotive anti-collision radar digital signal processor with low-cost direct digital synthesizer and dual analog-to-digital converter (ADC) channel |
| EP2980600A4 (en) * | 2013-03-29 | 2016-11-02 | Furukawa Electric Co Ltd | Pulse generation device |
| CN104199034A (en) * | 2014-09-19 | 2014-12-10 | 黄国鹏 | Radar sensor based automobile collision avoidance method and device |
| CN105068051A (en) * | 2015-08-13 | 2015-11-18 | 电子科技大学 | Radar waveform amplitude and phase modulation method based on mixed sequences |
| CN106896384B (en) * | 2015-12-18 | 2019-06-28 | 大唐半导体设计有限公司 | A kind of device of frequency search and the method for realizing frequency search |
| CN108020837A (en) * | 2016-11-01 | 2018-05-11 | 北京行易道科技有限公司 | Radar, the method, apparatus of radar imagery and pilotless automobile |
| US10097287B1 (en) * | 2017-09-07 | 2018-10-09 | Nxp B.V. | RF radar device BIST using secondary modulation |
| CN107688181A (en) * | 2017-10-23 | 2018-02-13 | 天津飞眼无人机科技有限公司 | The monitoring system of empty land two-purpose traffic tool |
| CN109379317A (en) * | 2018-11-07 | 2019-02-22 | 成都天贸科技有限公司 | Beacon ball is spread under a kind of S frequency range |
| CN110221272B (en) * | 2019-05-09 | 2021-11-19 | 奥比中光科技集团股份有限公司 | Time flight depth camera and anti-interference distance measurement method |
| CN110086489B (en) * | 2019-05-13 | 2020-06-12 | 福州大学 | Interruption-free super-regenerative receiver frequency calibration circuit and working method |
| CN112946637B (en) * | 2019-12-10 | 2023-05-02 | 中国科学院国家空间科学中心 | Radar system and method for differential interference double-station synchronous scanning high-resolution imaging |
| CN111562572B (en) * | 2020-05-07 | 2023-07-07 | 中国人民解放军63791部队 | Method for capturing pulse radar blind area |
| CN113091676B (en) * | 2021-04-19 | 2023-03-24 | 广东韶钢松山股份有限公司 | Sampling and sampling inspection method and device for scrap steel pressing block |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5486832A (en) * | 1994-07-01 | 1996-01-23 | Hughes Missile Systems Company | RF sensor and radar for automotive speed and collision avoidance applications |
| US5617098A (en) * | 1994-11-10 | 1997-04-01 | Honda Giken Kogyo Kabushiki Kaisha | Multichannel radar system for motor vehicles |
| US6052079A (en) * | 1996-01-31 | 2000-04-18 | Komatsu Ltd. | Vehicle with millimeter-wave radar |
| CN201259551Y (en) * | 2008-08-28 | 2009-06-17 | 阮树成 | Millimeter wave random bi-phase code phase and amplitude modulated multi-channel anti-collision radar for automobile |
-
2008
- 2008-08-28 CN CN2008101206010A patent/CN101661106B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5486832A (en) * | 1994-07-01 | 1996-01-23 | Hughes Missile Systems Company | RF sensor and radar for automotive speed and collision avoidance applications |
| US5617098A (en) * | 1994-11-10 | 1997-04-01 | Honda Giken Kogyo Kabushiki Kaisha | Multichannel radar system for motor vehicles |
| US6052079A (en) * | 1996-01-31 | 2000-04-18 | Komatsu Ltd. | Vehicle with millimeter-wave radar |
| CN201259551Y (en) * | 2008-08-28 | 2009-06-17 | 阮树成 | Millimeter wave random bi-phase code phase and amplitude modulated multi-channel anti-collision radar for automobile |
Non-Patent Citations (2)
| Title |
|---|
| JP特开2004-271213A 2004.09.30 |
| JP特开平7-311261A 1995.11.28 |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103076609A (en) * | 2012-11-14 | 2013-05-01 | 武汉德澳科技有限公司 | Solid small-sized microwave electronic control scanning travelling crane radar device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101661106A (en) | 2010-03-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101661106B (en) | Millimeter-wave random biphase code phase-modulation and amplitude-modulation automotive collision-proof radar | |
| CN201259544Y (en) | Millimeter-wave random code PM AM anti-collision radar for ship | |
| CN101354439B (en) | Millimeter-wave time-division random code phase modulation multichannel colliding-proof radar for car | |
| CN101354438B (en) | Millimeter-wave time-division linear frequency modulation multiple-target detection colliding-proof radar for car | |
| CN101373218B (en) | Millimeter wave time-division passive frequency modulation multichannel colliding-proof radar for car | |
| CN201259546Y (en) | Time division multi-channel random code phase modulated anti-collision radar for ship | |
| CN101373217B (en) | Millimeter wave marine frequency modulation multichannel anti-collision radar | |
| CN101661105B (en) | Millimeter-wave random code phase-modulation and amplitude-modulation shipborne collision-proof radar | |
| CN102162848B (en) | Automobile active anti-collision radar based on pseudorandom code and linear frequency modulated continuous wave | |
| EP1326089B1 (en) | Radar apparatus | |
| DK174601B1 (en) | Radar systems to prevent the collision of vessels under low visibility | |
| US4694297A (en) | Remote identification device | |
| CN106918804A (en) | Radar chaff recognizes signal processing system | |
| CN102621551A (en) | 77GHz millimeter wave radio frequency device and using method thereof | |
| CN101661107B (en) | Millimeter-wave time division frequency-modulation shipborne multi-target detection collision-proof radar | |
| CN203012135U (en) | Frequency-modulated continuous wave radar system | |
| CN201259547Y (en) | Millimeter wave time-division linear frequency modulated multi-target detection anti-collision radar for automobile | |
| CN101661108B (en) | Time division multichannel random code phase-modulation shipborne collision-proof radar | |
| CN201259551Y (en) | Millimeter wave random bi-phase code phase and amplitude modulated multi-channel anti-collision radar for automobile | |
| CN201259549Y (en) | Millimeter wave time division frequency modulated multi-channel anti-collision radar for automobile | |
| Li et al. | A miniaturized and high frequency response 35GHz FMCW radar for short range target detections | |
| CN201259548Y (en) | Millimeter wave time division random code phase modulated multi-channel anti-collision radar for automobile | |
| US6911934B2 (en) | Apparatus, method and articles of manufacture for sequential lobing high resolution radar | |
| CN201259545Y (en) | Millimeter wave time-division frequency modulated multi-target detection anti-collision radar for ship | |
| Krejci et al. | Close vehicle warning for bicyclists based on FMCW radar |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20111207 Termination date: 20160828 |