CN104849701B - A kind of clutter suppression method of vehicle anti-collision radar system - Google Patents
A kind of clutter suppression method of vehicle anti-collision radar system Download PDFInfo
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- CN104849701B CN104849701B CN201510288655.8A CN201510288655A CN104849701B CN 104849701 B CN104849701 B CN 104849701B CN 201510288655 A CN201510288655 A CN 201510288655A CN 104849701 B CN104849701 B CN 104849701B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- 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
- G01S7/35—Details of non-pulse systems
- G01S7/352—Receivers
- G01S7/354—Extracting wanted echo-signals
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/583—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets
- G01S13/584—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets adapted for simultaneous range and velocity measurements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The present invention is a kind of clutter suppression method of vehicle anti-collision radar system, and step is：Frequency f is pressed to intermediate-freuqncy signalsSampling is stored in the first array, carries out scale transformation stochastic resonance treatment：It is determined that compression scale ratio R, f is pressed to the first arraysr=fs/ R double samplings are stored in the second array；Second array is input into stochastic resonance system, tries to achieve stochastic resonance system output signal xn, the 3rd array is stored in, recover to obtain XnIt is stored in the 4th array.Carry out CA-CFAR treatment, result and be stored in the 5th array；5th array carries out FFT and processes laggard line frequency analysis of spectrum, searches for spectral peak, extracts the corresponding frequency of spectrum peak；Yardstick inverse transformation simultaneously calculates target range information, and the safe distance with setting compares, and less than safe distance, is judged as risk object, reminds driver to take corresponding measure, returns start afterwards；If target range is more than safe distance, directly returns and start.The present invention suppresses the interference of rain clutter aobviously, and rate of rainall reaches 100mm/h and remains to correctly detect target.
Description
Technical field
The present invention relates to vehicle anti-collision radar technology, specially a kind of clutter suppression method of vehicle anti-collision radar system.
Background technology
Automobile industry is developed rapidly in recent years, but has badly influenced people's the problems such as traffic congestion and environmental pollution
Quality of life.According to statistics, the whole world is annual dead because of traffic accident in China every year because the number that traffic accident is died is up to more than 50 ten thousand people
Number just be up to more than 10 ten thousand people, wherein 4/5ths people dies from fierce shock！The traffic accident rate of China is up to three a ten thousandths！
Particularly traffic accident continues to increase caused by the bad weather such as sleet mist.Because during rainfall, atmospheric transparency is relatively low, visibility
It is poor, driver is accurately seen front and surrounding environment clearly, easily cause spacing speed to be underestimated, to road equipment and
Pedestrian distinguishes difficult, is easily caused traffic accident.After rainfall, tire is obviously reduced with the attachment coefficient on road surface, therefore system easily occurs
The phenomenons such as dynamic distance extension, traveling skidding, brake side-slipping.When visibility is relatively low, driver is necessarily slowed down to avoid risk, thus
Same non-intersection speed is caused to differ, safe-stopping sight distance reduction is more easy to cause traffic accident, also causes traffic flow Density Distribution not
, traffic efficiency is had a strong impact on.
The generation of traffic accident not only brings heavy losses and heavy burden to country, society, also to millions of family's band
Carry out very grave disaster.The facilities such as air bag, safety belt and safety glass can only mitigate the injury to human body when surprisingly occurring, and
The generation of traffic accident can not be prevented.Automobile collision preventing technology, is to carry out real-time monitoring to road environment, in the situation that risk object occurs
Under, remind driver and take appropriate measures in time, effectively contain that traffic accident occurs, it is to avoid vehicle collision.Automobile collision preventing thunder
An important technology in being drive assist system up to technology, can ensure safety trip most possibly, be increasingly subject to automobile
Manufacturer and the attention of related research institutes.
The main task of vehicle anti-collision radar is extraction vehicle front target apart from velocity information, the master of its signal transacting
It is clutter recognition and signal detection to want task.The clutter environment that Anticollision Radar faces is complicated and diversified, the change in geographical position
Changing with weather condition can make clutter environment entirely different.
Anticollision Radar inevitably runs into rainfall in.Rainfall is to the existing thunder for being operated in microwave and millimere-wave band
The detection performance for reaching is produced a very large impact, and especially the radar system to working frequency in more than 10GHz more has a strong impact on.Rainfall
The energy of decay radar echo signal, the intensity of attenuated signal, the scattering of rainfall can increase noise jamming, increase the noise of antenna
Temperature, and then cause the signal to noise ratio to reduce, the detection range of radar shortens.Existing Anticollision Radar is in heavy rain and rainstorm weather condition
Under cannot normal work.But exactly in the case of this bad weather, blurred vision, driver is with greater need for by Anticollision Radar
To understand the situation of vehicle periphery, it is to avoid error in judgement, cause a traffic accident.
In Anticollision Radar with other similar engineer applieds, how signal to noise ratio is improved, detected from strong noise background
Small-signal is always the problem of urgent need to resolve.Noise problem is solved at present, mainly takes suppression noise to improve signal to noise ratio.
But the noise frequency that clutter is caused in rainfall is close with echo-signal frequency or overlaps, and noise is suppressed just using conventional method
Useful echo-signal can be made to incur loss, this turns into the bottleneck of Anticollision Radar signal transacting.So far Anticollision Radar is in severe day
Effective application problem in gas is not solved still.
Accidental resonance (stochastic resonance, SR) is a kind of new signal analysis and processing method, and this method is not
It is to realize the reduction of signal by directly eliminating noise, but strengthens the order output of signal using noise.It is substantially former
Reason is when the small-signal in being submerged in strong noise background passes through a certain nonlinear systems, if processed signal, noise
When certain best match is reached between the nonlinear system, it may appear that the phenomenon of Noise enhancement signal, so as to improve output end
Signal to noise ratio, noise is become the favorable factor of signal extraction.Due to the nonlinear characteristic of accidental resonance, by nonlinear system
Output signal afterwards has certain distortion, therefore the output signal by accidental resonance need to be recovered, and could obtain essence
True time-domain information.
Accidental resonance model need stochastic resonance system, input signal and noise three meet certain cooperate with, that is, produce with
Machine covibration, makes partial noise energy be converted into useful signal energy, obtains the output signal of high s/n ratio.
Current signal transacting accidental resonance model is Langevin equation, i.e.,
In formula, x (t) is the output signal of stochastic resonance system, and U (x, t) is potential function, and s (t) is stochastic resonance system
Input signal, n (t) is random noise signal.
A, b in U (x, t) expression formula are the systematic parameter more than zero.
After U (x, t) expression formula is substituted into, Langevin equation can be expressed as：
In actual applications, often without definite analytic expression, x (t) does not exist yet for the s (t) in Langevin equation and n (t)
Accurate analytic solutions, therefore cannot the direct solution Nonlinear Stochastic Differential Equation.Quadravalence Long Geku is widely used in engineering
Tower (Runge-Kutta) equation calculates the numerical solution of x (t), and method is as follows：
In formula, xnRepresent n-th sampled value of stochastic resonance system output signal x (t), snRepresent that stochastic resonance system is defeated
Enter n-th sampled value of signal, h=1/fsrIt is material calculation, fsrIt is sample frequency.
But have not yet to see the clutter recognition that stochastic resonance system is applied to Vehicular radar system.
The content of the invention
It is an object of the invention to provide a kind of clutter suppression method of vehicle anti-collision radar system, scale transformation stochastic resonance
Combined with CFAR detection and processed, improve detection of the backscatter signal ability of the anti-collision radar system under rainfall clutter background, improved
The target of Anticollision Radar differentiates judgement under bad weather, reminds driver to take corresponding measure in time, reduces traffic accident
Rate, while improving the traffic efficiency of vehicle under severe weather conditions.
A kind of clutter suppression method of vehicle anti-collision radar system disclosed by the invention, the vehicle anti-collision radar system bag
Include：Digital signal processor (DSP), radar transceiver, conditioning circuit module and intermediate frequency pretreatment module；Digital signal processor
Include digital-to-analogue and AD conversion unit.
Digital signal processor produces triangular wave data signal, and triangle wave simulation is converted to through the D/A conversion unit in it
Signal accesses conditioning circuit module, filters triangular wave burr and sets output protection, gained signal feeding radar transceiver, control
Radar transceiver launches Linear chirp.The signal launched runs into target back reflection and produces echo-signal, radar transceiver
Intermediate-freuqncy signal is exported after the echo-signal of reception and local oscillation signal mixing, echo-signal of this intermediate-freuqncy signal including target reflection,
Interference signal and triangular wave leakage signal, the intermediate-freuqncy signal of output access intermediate frequency pretreatment module, and numeral is sent into after filter and amplification
Signal processor extracts target information.
This method key step is as follows：
Ith, if signal sampling
AD conversion unit in digital signal processor intermediate-freuqncy signal is carried out continuously, sequential sampling, sample frequency fs
Meet nyquist sampling theorem, i.e. fs>=2f', wherein f ' are the maximum of IF signal frequency.
The data obtained is stored in the first array after sampling, into step II.
IIth, scale transformation stochastic resonance treatment
Data to collecting carry out scale transformation stochastic resonance treatment；
II -1, compression scale ratio R is determined
Finding range D according to the frequency range of data in the first array and this radar system determines suitable compression yardstick
Than R, with the increasing of finding range D, the empirical value of R increases.Finding range is 2-12m, and the empirical value of R is 4000, when range finding model
When enclosing scope for 12-22m, the empirical value of R is 7000.
II -2, double sampling
Double sampling frequency (compression sampling frequency) fsr=fs/ R, wherein fsIt is the sample frequency in step I, according to fsrIt is right
Data in first array carry out double sampling, and result is stored in into the second array, while according to fsrDetermine material calculation h=1/
fsr。
Scale transformation stochastic resonance algorithm requires its secondary sample frequency fsrMore than 50 times of echo-signal peak frequency.
II -3, accidental resonance treatment
The second array data to the gained of step II -2 carries out accidental resonance treatment, this stochastic resonance system bistable state non-thread
The property differential equation is expressed as
In formula, x (t) is the output of stochastic resonance system, and s (t) is step II -2 for the input signal of stochastic resonance system
The data of the second array for obtaining, a, b are the systematic parameter more than zero, and n (t) is random noise signal, and this method refers to rainfall
Noise signal.
The numerical solution of x (t) in above formula is sought using fourth order Runge-Kutta (Runge-Kutta) equation group：
In formula, xnRepresent n-th sampled value of stochastic resonance system output signal, snRepresent stochastic resonance system input letter
Number i.e. the second array n-th sampled value, h=1/fsrIt is material calculation.A, b are the structural parameters of stochastic resonance system, right
In the output influence of accidental resonance, a occupies an leading position, and the influence of b is smaller.When frequency is larger, structural parameters a, b take smaller value.
Echo-signal frequency in more than 10Hz, 0≤a≤0.3,0≤b≤2.A, b value are excessive, and accidental resonance there will not be；a、b
Value is more appropriate, and accidental resonance output effect is better.
Gained x after accidental resonance treatmentnValue is stored in the 3rd array.
II -4, recover
The x of the 3rd array that step II -3 is obtainednValue, input formula (- ax+bx3), the data that are restored Xn, be stored to
As the output signal of scale transformation stochastic resonance system in four arrays, the distortion produced when making up signal by nonlinear system.
IIIth, CFAR detection
CA-CFAR (CA-CFAR) detection process, CA-CFAR detection process are carried out to the 4th array
Technology known to those skilled in the art, will not be described in detail herein.
And the 5th array will be stored in by the result after CA-CFAR detection process.
All data for participating in CFAR detection first pass through wave detector and carry out detection in 4th array, eliminate interference.
IVth, the frequency of spectrum peak is extracted
Using Fast Fourier Transform (FFT) (Fast Fourier Transform, FFT) to by step III CFAR detection
The 5th array data after treatment carries out spectrum analysis, then carries out spectrum peak search, extracts the corresponding frequency of spectrum peak.
Vth, yardstick inverse transformation and target range information is calculated
The spectral peak peak value respective frequencies that step IV is extracted carry out yardstick contravariant according to the compression scale ratio R of step II -1
Change, the signal that reduction is compressed.
Spectral peak frequency after reduction is substituted into the corresponding target range information of target range equations, target range
The computing formula of L is：
L=cfmax/(4Bfm)
Wherein fmaxIt is the corresponding frequency of radar echo signal spectrum peak, B is the bandwidth of this radar emission triangular wave, fm
It is the modulating frequency of this radar emission triangular wave, c is electromagnetic wave propagation speed=3.0 × 108Meter per second.
Gained target information is calculated to show on a display screen；
VIth, judge
By step V gained target range information with setting safe distance compare, if target range less than safety away from
From, it is judged as risk object, system takes corresponding measure by display and sound warning reminding driver, afterwards return to step I；
If target range is more than safe distance, direct return to step I.
Compared with prior art, a kind of advantage of the clutter suppression method of vehicle anti-collision radar system of the invention is：Using
Scale transformation stochastic resonance and CFAR detection combine treatment, improve traditional clutter suppression method, and emulation proves that this method is bright
Suppress the interference of rain clutter aobviously, substantially increase the detectability of radar under strong jamming background, 100mm/h is reached in rate of rainall
Remain to correctly detect target.Therefore this method can allow Vehicular radar system to help driver correctly to take measures, and alleviate bad weather bar
Traffic pressure under part, road accident rate is reduced while improving traffic efficiency.
Brief description of the drawings
Fig. 1 is the clutter suppression method embodiment signal processing flow figure of this vehicle anti-collision radar system；
Fig. 2 is radar echo signal time-domain diagram；It is the radar return measured during target range 6.5m under the conditions of fair weather
Data；
The radar echo signal spectrogram that Fig. 3 is received by Fig. 2；
Fig. 4 is to add the signal time-domain diagram after rain clutter；
Fig. 5 adds the signal spectrum figure after rain clutter；
Fig. 6 is to add the echo-signal after rain clutter data individually using the echo-signal after CA-CFAR treatment
Spectrogram
The clutter suppression method embodiment of Fig. 7 this vehicle anti-collision radar systems is to adding the echo-signal after rain clutter data
The spectrogram of gained signal after being processed.
Specific embodiment
Further details of explanation is done to the present invention with reference to the accompanying drawings and detailed description.
The vehicle anti-collision radar system of the clutter suppression method embodiment of this vehicle anti-collision radar system includes：Data signal
Processor (DSP), radar transceiver, conditioning circuit module and intermediate frequency pretreatment module；Digital signal processor include digital-to-analogue and
AD conversion unit.
It is digital signal processor that this example uses DSP-F28335 chips, and the AD inputs that its AD conversion unit has 16 tunnels connect
Mouthful, precision is up to 12, applied signal voltage 0~3V of scope, most fast conversion time 80ns, most fast conversion time 80ns.
Flow chart is as shown in figure 1, comprise the following steps：
Ith, to if signal sampling
This example data acquisition length is set to 10K, in other words 1024 points.Rain clutter characteristic frequency 500Hz, rate of rainall
100mm/h, clutter standard deviation sigma=6, clutter points 10k.
The working method of AD conversion unit is in this example digital signal processor DSP：Continuous sampling pattern, sequential sampling
Mode, this example sample frequency 50kHz,
The timer of digital signal processor is produced every 0.1ms and once interrupted, and timer reaches timing, that is, remove
Interrupt flag bit, heavily loaded timing data.
Because sampled data is 12 in this example digital signal processor DSP-F28335, register is 16, therefore is needed
High 12 number is moved to right 4, becomes low 12, and result is stored in the first array.
After sampling terminates, step II is performed.
IIth, scale transformation stochastic resonance treatment
Scale transformation stochastic resonance treatment is carried out to the data that sampling is obtained；
II -1, compression scale ratio R is determined
The finding range D of frequency range and this radar system according to the first array determines suitable compression scale ratio R, this
Example finding range D is 10m, and the empirical value of bandwidth 250MHz, R is 4000.
II -2, double sampling
Double sampling frequency fsr=fs/ R=50K/4000=12.5Hz, according to fsrTwo are carried out to the data in the first array
Secondary sampling, and result is stored in the second array, while according to fsrDetermine material calculation h=1/fsr=0.08 second.
II -3, accidental resonance treatment
The second array data to the gained of step II -2 carries out accidental resonance treatment, this stochastic resonance system bistable state non-thread
The sexual system differential equation is expressed as
In formula, x (t) is the output of stochastic resonance system, and s (t) is the input signal of stochastic resonance system, i.e., in II -2
The data of the second array for arriving, this example a=0.1, b=1, n (t) are random noise signal.
The numerical solution of x (t) in above formula is sought using fourth order Runge-Kutta (Runge-Kutta) equation group：
In formula, xnRepresent n-th sampled value of stochastic resonance system output signal, snRepresent n-th sampling of the second array
Value, h=1/fsrIt is material calculation.
Accidental resonance treatment acquired results xnValue is stored in the 3rd array.
II -4, recover
The x of the 3rd array of the gained of step II -3nInput formula (- ax+bx3), the data that are restored Xn, be stored to the 4th number
As the output signal of scale transformation stochastic resonance system in group.
IIIth, CFAR detection
All data for participating in CFAR detection first pass through wave detector in 4th array carries out detection, and this example wave detector is flat
Side's rule wave detector.
CA-CFAR detection process are carried out to the 4th array, the result after treatment is stored in the 5th array；
IVth, the frequency of spectrum peak is extracted
Frequency spectrum point is carried out to the 5th array data after the treatment of step III CFAR detection using Fast Fourier Transform (FFT) FFT
Analysis, then carries out spectrum peak search, extracts the corresponding frequency of spectrum peak.
Vth, yardstick inverse transformation and target information is calculated
The spectral peak peak value respective frequencies that step IV is extracted carry out yardstick contravariant according to the compression scale ratio R of step II -1
Change, the signal that reduction is compressed.
Spectral peak frequency after reduction is substituted into the corresponding target information of target range equations, target range L's
Computing formula is：
L=cfmax/(4Bfm)
Wherein fmaxIt is the corresponding frequency of radar echo signal spectrum peak, B is the bandwidth of radar emission triangular wave, fmFor
The modulating frequency of radar emission triangular wave, c is electromagnetic wave propagation speed=3.0 × 108Meter per second.
Gained target information is calculated to show on a display screen；
VIth, judge
By step V gained target range information with setting safe distance compare, if target range less than safety away from
From, it is judged as risk object, system takes corresponding measure by display and sound warning reminding driver, afterwards return to step I；
If target range is more than safe distance, direct return to step I.
The signal to noise ratio that is measured during target range 6.5m under the conditions of this example fair weather radar echo signal time-domain diagram higher
As shown in Fig. 2 its spectrogram is as shown in figure 3, spectrum peak respective frequencies are 2014Hz.
Time-domain diagram after adding rain clutter data on the basis of measured data is as shown in figure 4, the rain clutter data for being added
It is that the amplitude Rayleigh distributed power spectrum based on Zero memory nonlinearity transfrom method (ZMNL) emulation is a cube clutter simulation for spectrum
Data.Show that actual measurement echo signal is submerged in noise signal completely in this Fig. 4.Its spectrogram as shown in figure 5,
2000Hz is nearby without obvious spectrum peak.
It is individually permanent using cell-average for adding the echo-signal after the rain clutter data compared with heavy rainfall as shown in Figure 4
Echo-signal spectrogram after false-alarm CA-CFAR treatment as shown in fig. 6, this figure is displayed in frequency 4300Hz at peak value maximum, and
The peak-peak of measured data is 2014Hz, it is seen that only can not still obtain correct target with CFAR detection when rate of rainall is larger
Information.
Use the present embodiment clutter suppression method process after spectrogram as shown in fig. 7, the corresponding frequency of peak value for
0.49Hz, compression scale ratio R is 4000, and respective frequencies are f=f after yardstick inverse transformationmax× R=1960Hz, correspondence target range
It is 6.3m.With the former actual measurement range on target signal 6.5m errors only 3% for setting, in allowable range.This emulation experiment is verified
Clutter suppression method of the invention significantly suppresses the interference of rain clutter, substantially increases Anticollision Radar under heavy showers rate background
Detectability.
Above-described embodiment, only the purpose of the present invention, technical scheme and beneficial effect are further described is specific
Individual example, the present invention is not limited to this.All any modifications made within the scope of disclosure of the invention, equivalent, change
Enter, be all contained within protection scope of the present invention.
Claims (6)
1. a kind of clutter suppression method of vehicle anti-collision radar system, the vehicle anti-collision radar system includes：At data signal
Reason device, radar transceiver, conditioning circuit module and intermediate frequency pretreatment module；Digital signal processor includes digital-to-analogue and analog-to-digital conversion
Unit；
Digital signal processor produces triangular wave data signal, and triangular wave analog signal is converted to through the D/A conversion unit in it
Conditioning circuit module is accessed, triangular wave burr is filtered and output protection is set, gained signal feeding radar transceiver, control radar
Transceiver Transmit Linear chirp；The signal launched runs into target back reflection and produces echo-signal, radar transceiver to receive
The mixing of echo-signal and local oscillation signal after export intermediate-freuqncy signal, this intermediate-freuqncy signal includes the echo-signal of target reflection, interference
Signal and triangular wave leakage signal, the intermediate-freuqncy signal of output access intermediate frequency pretreatment module, and data signal is sent into after filter and amplification
Processor extracts target information；It is characterized in that key step is as follows：
Ith, if signal sampling
AD conversion unit in digital signal processor intermediate-freuqncy signal is carried out continuously, sequential sampling, sample frequency fsHow is satisfaction
Qwest's sampling thheorem, i.e. fs>=2f ', wherein f ' are the maximum of IF signal frequency；
The data obtained is stored in the first array after sampling, into step II；
IIth, scale transformation stochastic resonance treatment
Data to collecting carry out scale transformation stochastic resonance treatment；
II -1, compression scale ratio R is determined
Finding range D according to the frequency range of data in the first array and this radar system determines suitable compression scale ratio R；
II -2, double sampling
Double sampling frequency fsr=fs/ R, according to fsrData in first array are carried out with double sampling, and result is stored in
Two arrays, while according to fsrDetermine material calculation h=1/fsr；
II -3, accidental resonance treatment
The second array data to the gained of step II -2 carries out accidental resonance treatment, and this stochastic resonance system bistable state is non-linear micro-
Equation is divided to be expressed as
In formula, x (t) is the output of stochastic resonance system, and s (t) is to obtain in II -2 for the input signal of stochastic resonance system
Data in second array, a, b are the systematic parameter more than zero, and n (t) is random noise signal, i.e. rainfall noise signal；
The numerical solution of x (t) in above formula is sought using fourth order Runge-Kutta equation group：
In formula, xnRepresent n-th sampled value of stochastic resonance system output signal, snRepresent that stochastic resonance system input signal is
N-th sampled value of the second array, h=1/fsrIt is material calculation；
Accidental resonance treatment acquired results xnValue is stored in the 3rd array；
II -4, recover
The x of the 3rd array that step II -3 is obtainednValue, input formula (- ax+bx3), the data that are restored Xn, be stored to the 4th number
As the output signal of scale transformation stochastic resonance system in group；
IIIth, CFAR detection
CA-CFAR detection process are carried out to the 4th array, the result after treatment is stored in the 5th array；
IVth, the frequency of spectrum peak is extracted
Using Fast Fourier Transform (FFT) to carrying out spectrum analysis by the 5th array data after the treatment of step III CFAR detection,
Then spectrum peak search is carried out, the corresponding frequency of spectrum peak is extracted；
Vth, yardstick inverse transformation and target range information is calculated
The spectral peak peak value respective frequencies that step IV is extracted carry out yardstick inverse transformation according to the compression scale ratio R of step II -1,
The signal that reduction is compressed；
Spectral peak frequency after reduction is substituted into the corresponding target range information of target range equations, target range L's
Computing formula is：
L=cfmax/(4Bfm)
Wherein fmaxIt is the corresponding frequency of radar echo signal spectrum peak, B is the bandwidth of triangular wave, fmIt is this radar emission triangle
Wave modulation frequency, c is electromagnetic wave propagation speed=3.0 × 108Meter per second；
VIth, judge
Step V gained target range information is compared with the safe distance of setting, if target range is less than safe distance, is sentenced
It is risk object to break, and system takes corresponding measure by display and sound warning reminding driver, afterwards return to step I；If
Target range is more than safe distance, direct return to step I.
2. the clutter suppression method of vehicle anti-collision radar system according to claim 1, it is characterised in that：
With the increasing of finding range D in the step II -1, the empirical value of R increases.
3. the clutter suppression method of vehicle anti-collision radar system according to claim 2, it is characterised in that：
Finding range is 2-12m, and the empirical value of R is 4000, and when finding range scope is 12-22m, the empirical value of R is 7000.
4. the clutter suppression method of vehicle anti-collision radar system according to claim 1, it is characterised in that：
In the step II -2, double sampling frequency fsrMore than 50 times of echo-signal peak frequency.
5. the clutter suppression method of vehicle anti-collision radar system according to claim 1, it is characterised in that：
Echo-signal frequency is in more than 10Hz in the step II -3,0≤a≤0.3,0≤b≤2.
6. the clutter suppression method of vehicle anti-collision radar system according to claim 1, it is characterised in that：
The step III, all data for participating in CFAR detection first pass through wave detector in the 4th array carries out detection.
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