CN105549001B - Vehicle-mounted millimeter wave radar system multi-target detection method - Google Patents
Vehicle-mounted millimeter wave radar system multi-target detection method Download PDFInfo
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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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Abstract
A kind of vehicle-mounted millimeter wave radar system multi-target detection method, belong to trailer-mounted radar field, for solving the problems, such as that vehicle-mounted millimeter wave Radar Multi Target detects existing target detection inaccuracy and target missing inspection, the combined waveform of transmitting periodical FMCW and CW is had technical point that；Receives echo-signal, and Fast Fourier Transform (FFT) is carried out to the echo-signal received；Frequency of use clustering algorithm, acquires the Doppler frequency matrix of CW waveform echo-signal, and calculates relative velocity matrix；The also frequency of use agglomerative algorithm in frequency sweep above or below FMCW, obtains the frequency values of frequency sweep up and down, and calculates the rate matrices and distance matrix of target.Effect is: it is more acurrate that vehicle-mounted millimeter wave Radar Multi Target detects existing target detection.
Description
Technical field
The invention belongs to trailer-mounted radar field more particularly to a kind of vehicle-mounted millimeter wave radar system object detection methods.
Background technique
With the continuous development of intelligent transportation system research, the fields such as Cruise Control and Anticollision Radar control need to get over
Carry out more radar sensors, radar sensor will play prior effect in automotive safety and comfortable driving.Relatively
In general radar, band is long-pending when linear frequency modulation continuous wave (LFMCW) radar has big, thus, theoretically there is very high speed
Resolution ratio and distance resolution, in addition, it has the advantages that structure is simple, small in size, light weight, especially suitable for radar at
The fields such as picture, Target Signature Investigation, still, when carrying out moving object detection due to LFMCW radar, range-velocity coupling problem is
Measurement aimed at precision reduce, using monocyclic symmetric triangular wave signal, Range-velocity decoupling may be implemented, but more
In target moving scene, the accurate pairing of upper and lower frequency sweep target, determine the radar to the measurement accuracy of speed and distance, and
Presently, there are Major Difficulties.Multi-party research and the experimental results showed that, millimetre-wave radar detection system in practical applications, exists
Greatest problem be exactly multiple target judgement in lead to the problem of false target.The root of these problems is in addition to electromagnetic interference, surrounding
Outside the influence of environment, it is primarily due to the multi-target detection ability shortcoming of traditional wave shape body radar system itself, and it is frequent
False alarm is that institute is unacceptable in practical application.
The method for mainly solving multi-targets recognition at present has:
(1) frequency spectrum matching is carried out according to maximum comparability.This method is mainly the echo frequency generated according to same target
Amplitude always there is maximum similitude in positive/negative modem section, can be in the difference frequency signal that positive/negative modem section respectively obtains
Find the spectral line that the same target generates.This method can be the area by calculating difference frequency degree of convergence spectrum, according to same target
The area of the difference frequency amplitude spectrum of generation is always similar to carry out frequency spectrum matching.But there are problems to be originally should for this method
Peak A and peak value D matching, peak value B and peak C matching, but the matching of mistake has been carried out, but it can not but detect the matching
It is the matching of mistake, if calculating distance and relative velocity under the erroneous matching, cannot calculates originally right as a result, special
It is not the mistake of relative velocity, it is very big on influences such as the controls of the speed of vehicle, therefore the reliability of this method is in the presence of very big
Problem.
(2) symmetric emission wave is used.In terms of improving system response characteristic, Japanese expert IvhsahimAkasu is mentioned for the first time
Symmetric emission waveform is gone out, has achieved the purpose that improve system response characteristic.In this waveform, transmitted waveform uses positive and negative tune
The form of the symmetrical synchronized transmissions of frequency range can be formed simultaneously reflection target range and relative velocity in a modulation time fourth
The difference frequency signal of information, relative to original delta modulation waveform, half will be had compressed the survey time by being equivalent to, therefore it can more be fitted
The scanning process for answering multiple target to adjudicate, can be improved the response characteristic of system.Find that this system is being protected from resolution analysis
Hold original distance resolution, velocity resolution it is constant under the premise of, measurement period is compressed into half, the response for improving system is special
Property, but this waveform still not can solve false-alarm problem caused by erroneous detection in multi-target detection.
(3) frequency spectrum matching is carried out using multi-frequency stepping continuous wave signal.In an interior coding stepping modulation period frequency modulation
The frequency of continuous wave signal changes over time.The a cycle of signal is a triangular wave, and the triangular wave is simultaneously non-linear, but adopts
A triangle wave period is constituted with N number of subpulse.Due to adjusting quite stepping continuous wave system and FM-CW System meeting one
There is equivalence relation when the fixed condition of equivalence.So that the method for being suitable for one of two systems can be generalized to another is
System.So carrying out frequency spectrum matching using successive approximation method in multi-frequency stepping continuous wave signal is equally applicable to CW with frequency modulation
System.
(4) it also can achieve the matched purpose of frequency spectrum by choosing transmitted waveform appropriate.Using the triangular wave of variable period
It is a typical case of this method.This method is, and falseness mesh unrelated with the frequency modulation period using the distance and speed of real target
Target distance and speed calculated value and frequency modulation period related characteristic, find out the speed and distance of real goal.But the party
Method sacrifices the real-time of system there are computationally intensive.
Summary of the invention
In order to solve in the prior art, vehicle-mounted millimeter wave Radar Multi Target detects existing target detection inaccuracy and mesh
The problem of marking missing inspection, proposes solution of the invention, so that the detection for multiple target is more accurate, real-time is higher,
There is value well for Project Realization and application.
To achieve the goals above, the technical scheme is that a kind of vehicle-mounted millimeter wave radar system multi-target detection
Method includes the following steps:
1. emitting the combined waveform of periodical FMCW and CW；
2. receives echo-signal, and Fast Fourier Transform (FFT) is carried out to the echo-signal received；
3. frequency of use clustering algorithm, acquires the Doppler frequency matrix of CW waveform echo-signal, and calculates relatively fast
Spend matrix；
4. the also frequency of use agglomerative algorithm in frequency sweep above or below FMCW, obtains the frequency values of frequency sweep up and down, and calculates mesh
Target rate matrices and distance matrix.
Further, the method also includes:
5. operating speed matching algorithm by the rate matrices for using CW to obtain and uses a cycle FMCW and second
The rate matrices that period FMCW obtains carry out speeds match, and the row and column of writing speed matrix respectively；
6. the value on row and column corresponding in distance matrix is made respectively according to the position of the row and column obtained in rate matrices
For the distance value of corresponding target.
Further, the method also includes:
7. the distance value and velocity amplitude that are obtained using two periods FMCW, establish fault-tolerant function of the distance with speed, determine
The velocity amplitude and distance value of final goal, obtain the number of multiple target.
Further, the frequency agglomerative algorithm is as follows:
1. establishing all frequency sets for crossing thresholding, using frequency similar in frequency values therein, a related frequency is established
Rate set A, wherein element number is n, then element is fi,i∈[1,n]；
The method for dividing correlated frequency to n element is as follows: first being crossed the frequency data f of thresholding1As cohesion
Center of gravity, while the number m of cohesion center of gravity is recorded, if the width threshold value of cohesion center of gravity is Th, if | fi-f1| < Th, then to peak value into
Row merger divides correlated frequency set into；If | fi-f1| >=Th, then by fiAs new cohesion center of gravity, thresholding successively is crossed by all
Frequency values handled, until all frequency values are all carried out divide finish, the correlated frequency collection after division is combined into B；
2. for the frequency values in correlated frequency set B, using following formula calculated rate center of gravity,
fi' for the frequency values in correlated frequency set B；All correlated frequency set are successively sought into each autocorrelation frequency collection
The center of gravity of frequency of conjunction.
Further, after carrying out frequency agglomerative algorithm to the frequency values of the CW in third period, Doppler frequency square is obtained
Battle array is fd；After carrying out frequency agglomerative algorithm to the frequency values that the frequency sweep up and down of the FMCW of a cycle crosses thresholding, this week is obtained
Phase, swept frequency, upper frequency sweep matrix were set as f up and downb1+, lower frequency sweep matrix is set as fb1-, the upper and lower of FMCW of second period is swept
After the frequency values that frequency crosses thresholding carry out frequency agglomerative algorithm, obtaining the period, swept frequency, upper frequency sweep matrix are set as f up and downb2+,
Lower frequency sweep matrix is set as fb2-。
Further, it in step 2, calculates relative velocity matrix and uses following formula:
Wherein: c is the light velocity, and f is the tranmitting frequency of modulated signal.
Further, the rate matrices of solving target and distance matrix are that step is: for FMCW waveform, to frequency sweep thereon
All frequency values combination of two in matrix and lower frequency sweep matrix resolve distance matrix R using following formulaFMCW1And velocity moment
Battle array VFMCW1；
Wherein: c is the light velocity, and B is modulation bandwidth, and f is the tranmitting frequency of modulated signal；
Further, the step of speeds match is:
One-dimensional rate matrices V is calculated using period 3 CWCWAnd the number n of velocity amplitude, and by the number of speed
As the number of reference target, using the value of speed as the reference velocity of multiple target, to the speed of the period 1 FMCW of acquisition
Matrix VFMCW1, second round FMCW rate matrices VFMCW2, operating speed mass center agglomerative algorithm respectively with VCWIt carries out at pairing
Reason, in rate matrices VFMCW1With rate matrices VFMCW2In, operating speed mass center agglomerative algorithm is found out and rate matrices VCWIt is worth similar
Velocity amplitude, in rate matrices VFMCW1With rate matrices VFMCW2The speed similar value of middle acquisition is the velocity amplitude of multiple target, simultaneously
Writing speed matrix VFMCW1With rate matrices VFMCW2In corresponding ranks coordinate, in distance matrix RFMCW1With distance matrix RFMCW2
In corresponding ranks coordinate distance value be multiple target distance value.
Further, the speed mass center agglomerative algorithm includes:
1. the relevant threshold value Th of setting speedv, by VCWFirst data in one-dimensional matrix are agglomerated as first speed
Center；
2. the width threshold value of condensation center is arranged, following formula is used:
|VFMCW-VCW|<Thv
According to the width threshold value of condensation center, in rate matrices VFMCW1、VFMCW2In find and one-dimensional rate matrices VCWRecently
Value be target velocity amplitude, while by rate matrices VFMCW1、VFMCW2In ranks save, and by rate matrices VFMCW1、
VFMCW2In the ranks delete, according to rate matrices VFMCW1、VFMCW2In corresponding ranks, in distance matrix RFMCW1、RFMCW2In
Corresponding row and column find the distance value of target.
Further, fault-tolerant function of the distance with speed is established:
If calculated value v1,v2With relationship | v1-v2|≤φ can think va=vb, and final speed is put down by speed
Mean value obtains:
The utility model has the advantages that
1, the multi-target detection of the achievable millimetre-wave radar onboard system of the present invention, and can accurately detect multiple target
Number and accurately calculate the speed and distance of target.The algorithm is relative to current signal processing algorithm by better
Validity, real-time and accuracy.
2, the combined waveform of the FMCW waveform of two variable periods and CW waveform, due to the combined waveform using FMCW and CW,
This method for fast implementing the identification of target number, have the advantages that it is fine, and all can be faster to the computing speed of speed
It is more acurrate.In combination with the FMCW waveform of two variable periods, the reliability of system is increased, reduces false-alarm probability.
3, using frequency agglomerative algorithm, available accurate Doppler frequency value, while the speed of subsequent production is reduced
The dimension of degree and distance matrix, greatly reduces operand.
4, using speed mass center agglomerative algorithm, the velocity amplitude of real goal can be quickly found in rate matrices.
5, by establishing the fault-tolerant function of speed and distance, speed and distance value can more accurately be obtained.
Detailed description of the invention
Fig. 1 is variable period Linear Triangular wave and frequency variation diagram of the constant frequency wave combined waveform in a frequency sweep cycle；
Fig. 2 is single goal (R, V) space diagram；
Fig. 3 is the flow chart of decoupling algorithm.
Specific embodiment
Embodiment 1: a kind of vehicle-mounted millimeter wave radar system multi-target detection method includes the following steps:
1. emitting the combined waveform of periodical FMCW and CW；First periodic emission FMCW waveform, second period hair
Penetrate the FMCW waveform different with a cycle, third periodic emission CW waveform；
2. receives echo-signal, and Fast Fourier Transform (FFT) (FFT transform) is carried out to the echo-signal received；
Because after FFT variation, it may appear that multiple similar numerical value increase calculation amount and false-alarm by CFAR detection
Rate.Therefore, in order to make CW more accurately obtain the search in velocity amplitude, and reduction FMCW rate matrices to similar speed,
Before carrying out speed pairing,
It, will by speed formula 3. frequency of use clustering algorithm acquires the Doppler frequency matrix of CW waveform echo-signal
Doppler frequency and the matrix for calculating relative velocity will be more similar in frequency values on abscissa in the frequency spectrum after FFT transform
A frequency values, according to the amplitude size of the ordinate of its frequency values, using the big frequency of ordinate amplitude as these close frequencies
The final frequency value of rate, by the way that after the data of CW are carried out FFT transform, FFT change can be obtained to CW sections of progress frequency agglomerative algorithms
Spectrum information after changing, due to the speed of the corresponding target of a frequency values, but due to there is close frequencies that can also cross thresholding
Cause a target there are two frequency values, cause the appearance of false target, so the frequency values for crossing thresholding are calculated using cohesion
Value similar in frequency values size is condensed into 1 frequency values by method, reduces the dimension of frequency matrix, calculated by calculation formula
Respective velocity amplitude obtains the rate matrices of front real goal as the rate matrices that the multiple targets in front are formed with this, and
Obtain the number of real goal.To be effectively reduced the frequency values of resolving, so that the number of target is more accurate；
4. the also frequency of use agglomerative algorithm in frequency sweep above or below FMCW, obtains the frequency values of frequency sweep up and down, and calculates
The rate matrices and distance matrix of target.Method of the step 4 with step 3 when obtaining frequency values as,
It obtains frequency values for CW constant frequency wave to be only capable of obtaining velocity amplitude, the frequency sweep up and down of triangular wave can all obtain a frequency values, pass through
Upper and lower frequency sweep obtains frequency values and carries out speed and range information that operation is obtained with target.
Embodiment 2: there is technical solution same as Example 1, more specifically: due to obtaining speed by FMCW
It include the value of real goal and false target in distance matrix.Therefore, it also needs to carry out following step later, comprising:
5. according to speeds match algorithm, rate matrices and a cycle FMCW and second period FMCW that CW is obtained
The rate matrices of acquisition carry out speeds match, and the ranks of writing speed matrix respectively.
6. according to the column locations obtained in rate matrices, respectively using the value on ranks corresponding in distance matrix as correspondence
The distance value of target.
Embodiment 3: having technical solution identical with embodiment 1 or 2, more specifically: obtaining in order to further accurate
To the number of multiple target, and corresponding velocity amplitude and distance value, obtain distance and velocity amplitude to two FMCW periods, establish
The fault-tolerant function of distance and speed is further determined as the velocity amplitude and distance value of final goal.
Embodiment 4: vehicle-mounted millimeter wave radar system multi-target detection method has identical with embodiment 1-3 Arbitrary Term
Technical solution more specifically carries out frequency agglomerative algorithm to the frequency values that primary detection crosses thresholding, the frequency cohesion is calculated
Method is as follows:
1, all frequency sets for crossing thresholding are established, frequency similar in frequency values are established into a correlated frequency set A,
Wherein element number is n, then element is fi, i ∈ [1, n], the method for dividing correlated frequency to n element is as follows:
First is crossed the frequency data f of thresholding1As cohesion center of gravity, while the number m of condensation center is recorded, design is solidifying
The width threshold value of poly- center of gravity is TH, if | fi-f1| < Th then carries out merger to peak value, divides correlated frequency set into, otherwise, currently
Frequency data distance agglomerates center of gravity farther out, | fi-f1| >=Th, then by fiAs new cohesion center of gravity, successively by all thresholdings excessively
Frequency values are handled, and are finished until all carrying out all frequency values to divide, if the correlated frequency collection after dividing is combined into B.
2, for the frequency values in correlated frequency set B, according to 1.6 calculated rate center of gravity of formula,
The center of gravity of frequency is asked to be relevant frequency component
The f acquirediFrequency values in ' as correlated frequency set B.
All correlated frequency set are successively sought to the center of gravity of frequency of each autocorrelation frequency set according to step 2.Respective phase
The center of gravity of frequency for closing frequency sets is to obtain frequency values after frequency agglomerative algorithm.After overfrequency agglomerative algorithm, by frequency phase
As frequency be condensed, can effectively will cross thresholding frequency values quantity reduce, then frequency values matrix dimension reduce, it is right
The operand of matrix can also decline to a great extent.
Embodiment 5: vehicle-mounted millimeter wave radar system multi-target detection method has identical with embodiment 1-4 Arbitrary Term
Technical solution, more specifically, the step 4 specifically:
The frequency values for crossing thresholding to the frequency sweep up and down of the triangular waveform FMCW1 of a cycle carry out the cohesion of third synchronizing frequency
After algorithm, obtaining the period, swept frequency, upper frequency sweep matrix are set as f up and downb1+, lower frequency sweep matrix is set as fb1-, to the second week
After the frequency values that the frequency sweep up and down of the triangular waveform FMCW2 of phase crosses thresholding carry out third synchronizing frequency agglomerative algorithm, the period is obtained
Upper and lower swept frequency, upper frequency sweep matrix are set as fb2+, lower frequency sweep matrix is set as fb2-, the frequency values of the constant frequency wave CW in third period
Third synchronizing frequency agglomerative algorithm is carried out, obtaining its Doppler frequency matrix is fd。
For FMCW triangular wave waveform, its distance can be calculated according to formula (1.7) and be resolved respectively with speed.First
FMCW1 sections of the triangular waveform in a period, to frequency sweep matrix f thereonb1+With lower frequency sweep matrix fb1-In all frequency values, according to public affairs
Formula (1.7), frequency values combination of two calculate distance matrix RFMCW1With rate matrices VFMCW1, for the triangle of second period
FMCW2 sections of waveform, to frequency sweep matrix f thereonb2+With lower frequency sweep matrix fb2-In all frequency values, according to formula (1.7), frequency
It is worth combination of two, calculates distance matrix RFMCW2With rate matrices VFMCW2。
In formula (1.7), c is the light velocity, and B is modulation bandwidth, and f is the tranmitting frequency of modulated signal.
Constant frequency wave CW calculates velocity amplitude according to formula (1.8).Then for CW sections of third section, according to formula (1.8), meter
Calculate the one-dimensional matrix V of speedCW。
In formula (1.8), c is the light velocity, and f is the tranmitting frequency of modulated signal.
Embodiment 6: vehicle-mounted millimeter wave radar system multi-target detection method has identical with embodiment 1-5 Arbitrary Term
Technical solution, more specifically, the step of speeds match is: the constant frequency wave CW in third period is calculated one-dimensional
Rate matrices VCWAnd the number n of velocity amplitude, and using the number of speed as the number of reference target, using the value of speed as more
The reference velocity of target.To the rate matrices V of the period 1 obtained in step 4FMCW1, second round rate matrices
VFMCW2, respectively at VCWPairing processing is carried out using speed mass center agglomerative algorithm, i.e., in rate matrices VFMCW1With the speed of second round
Spend matrix VFMCW2In, it is found out and rate matrices V by speed mass center agglomerative algorithmCWIt is worth similar velocity amplitude.In VFMCW1And VFMCW2
The speed similar value obtained in matrix is the velocity amplitude of multiple target, while recording VFMCW1And VFMCW2Corresponding ranks in matrix
Coordinate, in distance matrix RFMCW1With distance matrix RFMCW2The distance value of corresponding ranks coordinate is the distance value of multiple target.
Embodiment 7: vehicle-mounted millimeter wave radar system multi-target detection method has identical with embodiment 1-5 Arbitrary Term
Technical solution, more specifically, the speed mass center agglomerative algorithm:
1, the relevant threshold value Th of speed is determined firstv, by VCWFirst data in one-dimensional matrix are as first speed
Condensation center；
2, the width threshold value of condensation center is set, as shown in formula (1.9):
|VFMCW-VCW|<Thv (1.9)
According to threshold value, in matrix VFMCW1、VFMCW2In find and matrix VCWNearest value is the velocity amplitude of target, nearest
The meaning is exactly from speed matrix VFMCW1、VFMCW2Value in, find and one-dimensional rate matrices VCWValue, after subtracting each other, absolute value differences
That the smallest numerical value, while by matrix VFMCW1、VFMCW2In ranks saved, and by matrix VFMCW1、VFMCW2In should
Ranks are deleted, and matrix V is reducedFMCW1、VFMCW2Dimension, successively reduce matrix calculation amount, according to matrix VFMCW1、VFMCW2
In corresponding ranks, in distance matrix RFMCW1、RFMCW2Corresponding row and column find the distance value of target.
Embodiment 8: vehicle-mounted millimeter wave radar system multi-target detection method has identical with embodiment 1-7 Arbitrary Term
Technical solution, more specifically: by speed tolerant fail algorithm and apart from tolerant fail algorithm, that is, establish speed error function and
The error function of distance obtains final velocity amplitude and distance value.
Since the frequency modulation period of FMCW1 and FMCW2 is different, calculated v value and R value also necessarily fall in different numerical points
On, i.e., several different speed can be also calculated for the same target, certainly, these velocity amplitudes do not have very big
Difference, but in order to accurately position target in data processing, it is necessary to an error function is built, i.e., by several differences
As long as velocity amplitude it is equal in error range, be taken as the speed of the same target.
Because the distinguishable speed of minimum of FMCW1 and FMCW2 is respectively
Δv1=c/ (f0T1),Δv2=c/ (f0T2) (1.10)
In order to ensure the accuracy of identification, considers the worst situation, obtain
The step of establishing fault-tolerant function of the distance with speed is:
Fault-tolerant function:
If calculated value v1,v2With relationship | v1-v2|≤φ can think va=vbAnd final speed is put down by speed
Mean value obtains:Since speed is obtained by speed average, corresponding error is also due to averagely reduce, raising
The accuracy of tachometric survey.
It is identical as speed tolerant fail algorithm apart from tolerant fail algorithm, the error function of distance is similarly established, final distance is obtained
Value.
The present embodiment uses speed mass center agglomerative algorithm, can quickly find the speed of real goal in rate matrices
Angle value, in a cycle FMCW1, frequency sweep can obtain a frequency matrix thereon, lower frequency sweep obtains a frequency matrix.
Upper and lower frequency sweep matrix obtains distance matrix and rate matrices by formula 1.7.The acquisition methods of the rate matrices and distance matrix,
Using, by all frequency values of upper frequency sweep and lower frequency sweep carry out combination of two, calculated.If upper frequency sweep obtains m
Frequency values, lower frequency sweep obtain n frequency values, then the digit for obtaining speed and distance matrix is the matrix of m*n.If CW sections of acquisitions
The speed number of real goal is only q, then in the matrix of m*n, only q value is the velocity amplitude of the number of real goal.
Speed mass center agglomerative algorithm is to find out velocity amplitude similar with CW sections of speed in the matrix of m*n.Carry out mass center cohesion when
It waits, if finding a similar velocity amplitude, the ranks of the velocity amplitude is directly deleted, reduce the dimension of matrix.Find one
Rate matrices are carried out a dimensionality reduction, the calculation amount that can be thus much less by a similar velocity amplitude.
The present embodiment can more accurately obtain speed and distance value by establishing the fault-tolerant function of speed and distance.
Pair since the frequency modulation period of FMCW1 and FMCW2 is different, calculated v value and R value are also necessarily fallen on different numerical points, i.e.,
Several different speed and distance can be also calculated for the same target, certainly, these velocity amplitudes and distance value will not
There is very big difference, but in order to accurately position target in data processing, it is necessary to an error function is built, i.e., will
As long as several different velocity amplitudes and distance value are equal in error range, it is taken as the speed and distance of the same target.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Anyone skilled in the art within the technical scope of the present disclosure, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (4)
1. a kind of vehicle-mounted millimeter wave radar system multi-target detection method, which comprises the steps of:
S1. emit the combined waveform of periodical FMCW and CW；
S2. receives echo-signal, and Fast Fourier Transform (FFT) is carried out to the echo-signal received；
S3. frequency of use clustering algorithm, acquires the Doppler frequency matrix of CW waveform echo-signal, and calculates relative velocity square
Battle array；
S4. the also frequency of use agglomerative algorithm in frequency sweep above or below FMCW, obtains the frequency values of frequency sweep up and down, and calculate target
Rate matrices and distance matrix；
S5. operating speed matching algorithm by the rate matrices for using CW to obtain and uses a cycle FMCW and the second week
The rate matrices that phase FMCW obtains carry out speeds match, and the row and column of writing speed matrix respectively；
S6. according to the position of the row and column obtained in rate matrices, respectively using the value on row and column corresponding in distance matrix as
The distance value of corresponding target.
2. vehicle-mounted millimeter wave radar system multi-target detection method as described in claim 1, which is characterized in that
After carrying out frequency agglomerative algorithm to the frequency values of the CW in third period, obtaining Doppler frequency matrix is fd；To first
After the frequency values that the frequency sweep up and down of the FMCW in period crosses thresholding carry out frequency agglomerative algorithm, the period or more swept frequency is obtained,
Upper frequency sweep matrix is set as fb1+, lower frequency sweep matrix is set as fb1-, the frequency of thresholding is crossed to the frequency sweep up and down of the FMCW of second period
After value carries out frequency agglomerative algorithm, obtaining the period, swept frequency, upper frequency sweep matrix are set as f up and downb2+, lower frequency sweep matrix is set as
fb2-。
3. vehicle-mounted millimeter wave radar system multi-target detection method as claimed in claim 2, which is characterized in that in step S3,
It calculates relative velocity matrix and uses following formula:
Wherein: c is the light velocity, and f is the tranmitting frequency of modulated signal.
4. vehicle-mounted millimeter wave radar system multi-target detection method as described in claim 1, which is characterized in that the speed
With the step of be:
One-dimensional rate matrices V is calculated using period 3 CWCWAnd the number n of velocity amplitude, and using the number of speed as
The number of reference target, using the value of speed as the reference velocity of multiple target, to the rate matrices of the period 1 FMCW of acquisition
VFMCW1, second round FMCW rate matrices VFMCW2, operating speed mass center agglomerative algorithm respectively with VCWPairing processing is carried out,
Rate matrices VFMCW1With rate matrices VFMCW2In, operating speed mass center agglomerative algorithm is found out and rate matrices VCWIt is worth similar speed
Angle value, in rate matrices VFMCW1With rate matrices VFMCW2The speed similar value of middle acquisition is the velocity amplitude of multiple target, is recorded simultaneously
Rate matrices VFMCW1With rate matrices VFMCW2In corresponding ranks coordinate, in distance matrix RFMCW1With distance matrix RFMCW2Middle phase
The distance value for the ranks coordinate answered is the distance value of multiple target.
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| CN105549012B (en) * | 2015-12-02 | 2019-01-08 | 大连楼兰科技股份有限公司 | Vehicle-mounted millimeter wave radar system multi-target detection device |
| CN105425224B (en) * | 2015-12-02 | 2019-01-04 | 大连楼兰科技股份有限公司 | Vehicle-mounted millimeter wave radar system multiple target number acquisition methods and device |
| CN107783112A (en) * | 2016-08-25 | 2018-03-09 | 大连楼兰科技股份有限公司 | Rotor wing unmanned aerial vehicle complex environment collision avoidance system signal processing method based on combined waveform |
| CN107783131B (en) * | 2016-08-25 | 2021-05-18 | 大连楼兰科技股份有限公司 | Signal processing method of automatic driving automobile anti-collision radar system based on combined waveform |
| CN107783091B (en) * | 2016-08-25 | 2021-08-03 | 大连楼兰科技股份有限公司 | Anti-collision millimeter wave radar signal processing method for automatic driving automobile |
| CN107783126B (en) * | 2016-08-25 | 2021-03-30 | 大连楼兰科技股份有限公司 | Signal processing method and device of automatic driving automobile anti-collision radar system based on combined waveform |
| CN106842182A (en) * | 2016-08-31 | 2017-06-13 | 时艳玲 | Multiple target based on symmetric triangular LFMCW radars tests the speed distance-finding method |
| CN106443660B (en) * | 2016-09-09 | 2019-03-01 | 电子科技大学 | A kind of Modulation Continuous Wave Radar multiple mobile object matching process |
| CN106772382A (en) * | 2016-12-16 | 2017-05-31 | 航天恒星科技有限公司 | Multi-targets recognition matching method and system and Anticollision Radar |
| US11226403B2 (en) * | 2017-07-12 | 2022-01-18 | GM Global Technology Operations LLC | Chip-scale coherent lidar with integrated high power laser diode |
| CN109521417B (en) * | 2018-12-07 | 2023-01-03 | 哈尔滨工程大学 | Multi-target detection calculation method based on FMCW radar waveform |
| CN110832341A (en) * | 2018-12-27 | 2020-02-21 | 深圳市大疆创新科技有限公司 | Vehicle speed calculation method, system, device and storage medium |
| CN110895333B (en) * | 2019-12-05 | 2022-06-03 | 电子科技大学 | Rapid 77G vehicle-mounted radar data clustering method based on Doppler frequency |
| WO2021134449A1 (en) * | 2019-12-31 | 2021-07-08 | 深圳开阳电子股份有限公司 | Method, apparatus, computer device, and storage medium for detection by a frequency-modulated continuous-wave (fmcw) array radar of weak signals of multiple moving targets under strong clutter, |
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