CN109490888A - Trailer-mounted radar and method, apparatus for trailer-mounted radar - Google Patents
Trailer-mounted radar and method, apparatus for trailer-mounted radar Download PDFInfo
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- CN109490888A CN109490888A CN201710819208.XA CN201710819208A CN109490888A CN 109490888 A CN109490888 A CN 109490888A CN 201710819208 A CN201710819208 A CN 201710819208A CN 109490888 A CN109490888 A CN 109490888A
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- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 claims description 7
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- 230000003321 amplification Effects 0.000 claims description 3
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 3
- 238000001514 detection method Methods 0.000 abstract description 4
- 238000005265 energy consumption Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 10
- 238000005516 engineering process Methods 0.000 description 4
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- 230000002452 interceptive effect Effects 0.000 description 1
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Classifications
-
- 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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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
This disclosure relates to a kind of trailer-mounted radar and the method, apparatus for trailer-mounted radar.The trailer-mounted radar includes transmitter and receiver.The described method includes: generating swept-frequency signal；The long segment when frequency sweep cycle of the swept-frequency signal is divided into multiple；Long segment distributes to the transmitter and the receiver when will be the multiple；Control the transmitter and the receiver respectively distributed when long segment in work；The status information of reverberation is determined according to the signal that the receiver is an actually-received.In such manner, it is possible to avoid cover of the transmitting signal to echo-signal, the anti-interference ability of trailer-mounted radar is improved.Also, keep the energy consumption of trailer-mounted radar lower, detection range is farther.
Description
Technical field
This disclosure relates to vehicle assistant drive field, and in particular, to a kind of trailer-mounted radar and for trailer-mounted radar
Method, apparatus.
Background technique
As millimetre-wave radar technology is more and more mature, the cost of radio-frequency front-end constantly declines, millimetre-wave radar technology quilt
It is increasingly used on vehicle.
The modulation system of millimetre-wave radar mainly includes linear modulation (including sawtooth wave and triangular wave) and sine wave modulation.
Since CW with frequency modulation (Frequency-modulated Continuous Wave, FMCW) radar has, structure is simple, power consumption
The low and advantages such as occupy little space, most of vehicle-mounted millimeter wave radars use FMCW modulating mode.Fmcw radar becomes to be ground at present
The Main way studied carefully and applied.
Trailer-mounted radar includes transmitter for transmitting signals and the receiver for receiving signal.It is run in trailer-mounted radar
When, transmitter and receiver works at the same time, and trailer-mounted radar is according to transmitting signal and receives the Beat Signal after signal is mixed come really
Determine the information such as distance, the speed of reverberation.
Summary of the invention
The trailer-mounted radar and the method for trailer-mounted radar, dress that can be accurately detected purpose of this disclosure is to provide one kind
It sets.
In fmcw radar, receiver is worked at the same time with transmitter, and the echo-signal that receiver receives is easy to be launched
The transmitting signal of machine is covered, and at a distance using upper especially prominent.Inventor expects, can be by the transmitter of fmcw radar
Make transmitter and receiver not in the same time it is, the working time to the two is allocated with receiver time-sharing work
Work.In this way, it is possible to avoid cover of the transmitting signal to echo-signal, the anti-interference ability of trailer-mounted radar is improved.
To achieve the goals above, the disclosure provides a kind of method for trailer-mounted radar, and the trailer-mounted radar includes hair
Penetrate machine and receiver.The described method includes: generating swept-frequency signal；The frequency sweep cycle of the swept-frequency signal is divided into multiple durations
Segment；Long segment distributes to the transmitter and the receiver when will be the multiple；Control the transmitter and the reception
Machine respectively distributed when long segment in work；The shape of reverberation is determined according to the signal that the receiver is an actually-received
State information.
Optionally, the step of long segment includes: by institute when the frequency sweep cycle by the swept-frequency signal is divided into multiple
State long segment when the frequency sweep cycle of swept-frequency signal is randomly divided into multiple.
Optionally, the step of status information of the signal being an actually-received according to the receiver to determine reverberation
It include: mutually to be mixed to obtain Beat Signal with the swept-frequency signal by the signal that the receiver is an actually-received；By the beat
Digital signal is converted into after signal amplification；The digital signal is subjected to Fourier transformation, and is determined instead according to doppler principle
Penetrate the status information of object.
Optionally, the method also includes: the status information of the reverberation is sent to the CAN network of vehicle.
The disclosure also provides a kind of device for trailer-mounted radar, and the trailer-mounted radar includes transmitter and receiver.Institute
Stating device includes: signal generation module, for generating swept-frequency signal；Division module connect with the signal generation module, is used for
The long segment when frequency sweep cycle of the swept-frequency signal is divided into multiple；Distribution module is connect with the division module, and being used for will
Long segment distributes to the transmitter and the receiver when the multiple；Control module connect with the distribution module, is used for
Control the transmitter and the receiver respectively distributed when long segment in work；Determining module, with the receiver
Connection, signal for being an actually-received according to the receiver determine the status information of reverberation.
Optionally, the division module includes: division submodule, for by the frequency sweep cycle of the swept-frequency signal randomly
Long segment when being divided into multiple.
Optionally, the determining module includes: that Beat Signal determines submodule, for the receiver to be an actually-received
Signal be mutually mixed to obtain Beat Signal with the swept-frequency signal；Beat Signal handles submodule, determines with the Beat Signal
Submodule connection, for digital signal will to be converted into after Beat Signal amplification；Submodule is determined, with signal processing
Module connection for the digital signal to be carried out Fourier transformation, and determines that the state of reverberation is believed according to doppler principle
Breath.
Optionally, described device further include: sending module is connect with the determining module, for by the reverberation
Status information is sent to the CAN network of vehicle.
The disclosure also provides a kind of trailer-mounted radar, the above-mentioned apparatus provided including the disclosure.
Through the above technical solutions, controlling transmitter and receiver respective in each frequency sweep cycle of trailer-mounted radar
The interior work of when long segment distributed, i.e., the two is not in same time service.In such manner, it is possible to avoid transmitting signal to echo-signal
Cover, improve the anti-interference ability of trailer-mounted radar.Also, keep the energy consumption of trailer-mounted radar lower, detection range is farther.
Other feature and advantage of the disclosure will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
Attached drawing is and to constitute part of specification for providing further understanding of the disclosure, with following tool
Body embodiment is used to explain the disclosure together, but does not constitute the limitation to the disclosure.In the accompanying drawings:
Fig. 1 is the flow chart for the method for trailer-mounted radar that an exemplary embodiment provides；
Fig. 2 is the trailer-mounted radar signal waveforms that an exemplary embodiment provides；
Fig. 3 is the flow chart of the status information for the determination reverberation that an exemplary embodiment provides；
Fig. 4 is the block diagram for the device for trailer-mounted radar that an exemplary embodiment provides.
Specific embodiment
It is described in detail below in conjunction with specific embodiment of the attached drawing to the disclosure.It should be understood that this place is retouched
The specific embodiment stated is only used for describing and explaining the disclosure, is not limited to the disclosure.
Fig. 1 is the flow chart for the method for trailer-mounted radar that an exemplary embodiment provides.As shown in Figure 1, the side
Method may comprise steps of.
In step s 11, swept-frequency signal is generated.
In step s 12, the long segment when frequency sweep cycle of swept-frequency signal being divided into multiple.
In step s 13, long segment distributes to transmitter and receiver when will be multiple.
In step S14, control transmitter and receiver respectively distributed when long segment in work.
In step S15, the status information of reverberation is determined according to the signal that receiver is an actually-received.
In general, trailer-mounted radar may include transmitter and receiver.The transmitter of fmcw radar is used to emit swept-frequency signal,
Emit signal.On the one hand the receiver of trailer-mounted radar directly receives transmitting signal, on the other hand receive transmitting signal through reflecting
The echo-signal returned after object reflection.Receiver is mutually mixed to obtain Beat Signal with echo-signal by signal is emitted.Beat is believed
Number carrying out relevant treatment can be obtained by the status information of reverberation.
The method that the disclosure provides can be applied to FMCW trailer-mounted radar.In general, frequency modulation can be generated in FMCW trailer-mounted radar
The swept-frequency signal of continuous wave is as transmitting signal.And in the disclosure, due to transmitter be not it is in running order always, because
This, transmitting signal is not complete frequency-modulated continuous-wave signals.
Specifically, Fig. 2 is the trailer-mounted radar signal waveforms that an exemplary embodiment provides.As shown in Fig. 2, in the first row
In the waveform diagram of swept-frequency signal, the frequency-modulated continuous-wave signals waveform of two frequency sweep cycles is shown.The waveform diagram in each period
It is a linear ramp with scheduled swept bandwidth, indicates that frequency f and time t is linear.
The waveform diagram of long segment when second row is transmitter work.Wherein, with logical one indicate transmitter work when
Long segment, that is, distribute to the when long segment of transmitter.Long segment when indicating that transmitter is idle with logical zero, also
It is long segment when being not yet assigned to transmitter.
Similarly, the waveform diagram of long segment when the third line is operation of receiver.Wherein, receiver is indicated with logical one
The when long segment of work, that is, distribute to the when long segment of receiver.Lengthy motion picture when indicating that receiver is idle with logical zero
Section, that is, it is not yet assigned to the when long segment of receiver.
Figure it is seen that long segment when the frequency sweep cycle of swept-frequency signal is divided into 9.(1),(3),(5),(7),
(9) long segment is allocated to transmitter when, and long segment is allocated to receiver when (2), (4), (6), (8).The work of transmitter
Time and the working time of receiver, which add up, constitutes entire frequency sweep cycle, also, transmitter and receiver is without work simultaneously
The time of work.
The waveform diagram of long segment when fourth line is echo-signal.The duration of waveform diagram and the transmitter work of echo-signal
The waveform diagram shape of segment is consistent, only because long segment produces when corresponding the reason of the distance between transmitter and reverberation
Lag τ is given birth to.
Fifth line be receiver it is practical receive signal when long segment waveform diagram.It is easily understood that receiver is practical
Receive signal it is occupied when long segment be operation of receiver when long segment and echo-signal it is occupied when long segment weight
Close the intersection of logical one in part, that is, the third line and the waveform of fourth line.It is, only in fifth line logic
" 1 " when long segment in, receiver can just receive echo-signal.
Finally, the signal being an actually-received according to receiver, in conjunction with swept-frequency signal, so that it may be determined according to the relevant technologies
The status information of reverberation.The status information of reverberation may include the information such as the position of reverberation, speed.
Through the above technical solutions, controlling transmitter and receiver respective in each frequency sweep cycle of trailer-mounted radar
The interior work of when long segment distributed, i.e., the two is not in same time service.In such manner, it is possible to avoid transmitting signal to echo-signal
Cover, improve the anti-interference ability of trailer-mounted radar.Also, keep the energy consumption of trailer-mounted radar lower, detection range is farther.
Wherein, for when long segment division, can be divided according to scheduled method, be also possible to random division.One
In embodiment, the step of above-mentioned long segment when the frequency sweep cycle of swept-frequency signal is divided into multiple (step S12) may include: by
The long segment when frequency sweep cycle of swept-frequency signal is randomly divided into multiple.
It can be by generating random coded come into row stochastic division.Long segment transmitter and can connect when ready-portioned
It is distributed in turn between receipts machine.In the embodiment, the working time of transmitter and receiver is that random coded determines, thus can
Enough reduce interfering with each other between signal under identical radar system.
Fig. 3 is the flow chart of the status information for the determination reverberation that an exemplary embodiment provides.As shown in figure 3, above-mentioned
The step of status information of reverberation is determined according to the signal that receiver is an actually-received (step S15) may include following step
Suddenly.
In step S151, the signal that receiver is an actually-received mutually is mixed to obtain Beat Signal with swept-frequency signal.
In step S152, digital signal is converted into after Beat Signal is amplified.
In step S153, digital signal is subjected to Fourier transformation, and the shape of reverberation is determined according to doppler principle
State information.
As previously mentioned, the signal that receiver is an actually-received is a part of echo-signal.Receiver is an actually-received
Signal be mutually mixed to obtain Beat Signal with swept-frequency signal.Beat Signal can through signal processor amplify, filtering processing after by
A/D converter is converted to digital signal.Then frequency can be converted to through fast Fourier transformation operation by digital signal processor
Domain distribution, to obtain the information such as distance, the speed of reverberation according to doppler principle.
In another embodiment, the method can also include: the CAN net that the status information of reverberation is sent to vehicle
Network.In this way using trailer-mounted radar monitoring information as a part in the vehicle CAN network information, the CAN network of vehicle can be passed through
Trailer-mounted radar output information is transmitted to other mobile units, is come convenient for the output information of other mobile unit application trailer-mounted radars
More services are provided.
The disclosure also provides a kind of device for trailer-mounted radar.Fig. 4 is exemplary embodiment offer for vehicle-mounted
The block diagram of the device of radar.The trailer-mounted radar includes transmitter and receiver.As shown in figure 4, described for trailer-mounted radar
Device 10 may include signal generation module 11, division module 12, distribution module 13, control module 14 and determining module 15.
Signal generation module 11 is for generating swept-frequency signal.
Division module 12 is connect with signal generation module 11, for the frequency sweep cycle of swept-frequency signal to be divided into multiple durations
Segment.
Distribution module 13 is connect with division module 12, for will be multiple when long segment distribute to transmitter and receiver.
Control module 14 is connect with distribution module 13, for controlling transmitter and receiver in the when lengthy motion picture respectively distributed
Work in section.
Determining module 15 is connect with receiver, and the signal for being an actually-received according to receiver determines the shape of reverberation
State information.
Optionally, division module 12 may include dividing submodule.Submodule is divided to be used for the frequency sweep week of swept-frequency signal
Long segment when phase is randomly divided into multiple.
Optionally it is determined that module 15 may include that Beat Signal determines submodule, Beat Signal processing submodule and determination
Submodule.
Beat Signal determines that signal of the submodule for receiver to be an actually-received mutually is mixed to obtain difference with swept-frequency signal
Clap signal.
Beat Signal handles submodule and determines that submodule is connect with Beat Signal, for being converted into after amplifying Beat Signal
Digital signal.
Determine that submodule is connect with signal processing submodule, for digital signal to be carried out Fourier transformation, and according to more
The general status information strangled principle and determine reverberation.
Optionally, described device 10 further includes sending module.
Sending module is connect with determining module 15, for the status information of reverberation to be sent to the CAN network of vehicle.
About the device in above-described embodiment, wherein modules execute the concrete mode of operation in related this method
Embodiment in be described in detail, no detailed explanation will be given here.
Through the above technical solutions, controlling transmitter and receiver respective in each frequency sweep cycle of trailer-mounted radar
The interior work of when long segment distributed, i.e., the two is not in same time service.In such manner, it is possible to avoid transmitting signal to echo-signal
Cover, improve the anti-interference ability of trailer-mounted radar.Also, keep the energy consumption of trailer-mounted radar lower, detection range is farther.
The disclosure also provides a kind of trailer-mounted radar.The trailer-mounted radar includes above-mentioned apparatus 10.
The preferred embodiment of the disclosure is described in detail in conjunction with attached drawing above, still, the disclosure is not limited to above-mentioned reality
The detail in mode is applied, in the range of the technology design of the disclosure, a variety of letters can be carried out to the technical solution of the disclosure
Monotropic type, these simple variants belong to the protection scope of the disclosure.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case where shield, it can be combined in any appropriate way.In order to avoid unnecessary repetition, the disclosure to it is various can
No further explanation will be given for the combination of energy.
In addition, any combination can also be carried out between a variety of different embodiments of the disclosure, as long as it is without prejudice to originally
Disclosed thought equally should be considered as disclosure disclosure of that.
Claims (9)
1. a kind of method for trailer-mounted radar, the trailer-mounted radar include transmitter and receiver, which is characterized in that the side
Method includes:
Generate swept-frequency signal；
The long segment when frequency sweep cycle of the swept-frequency signal is divided into multiple；
Long segment distributes to the transmitter and the receiver when will be the multiple；
Control the transmitter and the receiver respectively distributed when long segment in work；
The status information of reverberation is determined according to the signal that the receiver is an actually-received.
2. the method according to claim 1, wherein the frequency sweep cycle by the swept-frequency signal be divided into it is more
Include: the step of long segment when a
The long segment when frequency sweep cycle of the swept-frequency signal is randomly divided into multiple.
3. the method according to claim 1, wherein the signal being an actually-received according to the receiver come
The step of determining the status information of reverberation include:
The signal that the receiver is an actually-received mutually is mixed to obtain Beat Signal with the swept-frequency signal；
Digital signal will be converted into after Beat Signal amplification；
The digital signal is subjected to Fourier transformation, and determines the status information of reverberation according to doppler principle.
4. method described in any claim in -3 according to claim 1, which is characterized in that the method also includes:
The status information of the reverberation is sent to the CAN network of vehicle.
5. a kind of device for trailer-mounted radar, the trailer-mounted radar include transmitter and receiver, which is characterized in that the dress
It sets and includes:
Signal generation module, for generating swept-frequency signal；
Division module is connect, when for the frequency sweep cycle of the swept-frequency signal to be divided into multiple with the signal generation module
Long segment；
Distribution module is connect with the division module, for will be the multiple when long segment distribute to the transmitter and described
Receiver；
Control module is connect with the distribution module, is respectively being distributed for controlling the transmitter and the receiver
When long segment in work；
Determining module connect with the receiver, and the signal for being an actually-received according to the receiver determines reverberation
Status information.
6. device according to claim 5, which is characterized in that the division module includes:
Divide submodule, long segment when for the frequency sweep cycle of the swept-frequency signal to be randomly divided into multiple.
7. device according to claim 5, which is characterized in that the determining module includes:
Beat Signal determines submodule, and the signal for the receiver to be an actually-received mutually is mixed with the swept-frequency signal
To Beat Signal；
Beat Signal handle submodule, determine that submodule connect with the Beat Signal, for will the Beat Signal amplify after
It is converted into digital signal；
It determines submodule, is connect with the signal processing submodule, for the digital signal to be carried out Fourier transformation, and root
The status information of reverberation is determined according to doppler principle.
8. according to device described in any claim in claim 5-7, which is characterized in that described device further include:
Sending module is connect with the determining module, for the status information of the reverberation to be sent to the CAN net of vehicle
Network.
9. a kind of trailer-mounted radar, which is characterized in that including device described in any claim in claim 5-8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710819208.XA CN109490888A (en) | 2017-09-12 | 2017-09-12 | Trailer-mounted radar and method, apparatus for trailer-mounted radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710819208.XA CN109490888A (en) | 2017-09-12 | 2017-09-12 | Trailer-mounted radar and method, apparatus for trailer-mounted radar |
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| Publication Number | Publication Date |
|---|---|
| CN109490888A true CN109490888A (en) | 2019-03-19 |
Family
ID=65687998
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| CN201710819208.XA Pending CN109490888A (en) | 2017-09-12 | 2017-09-12 | Trailer-mounted radar and method, apparatus for trailer-mounted radar |
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