CN1265208C - All-solid integrated smalltype millimeter-ware anticollision radar equipment - Google Patents
All-solid integrated smalltype millimeter-ware anticollision radar equipment Download PDFInfo
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- CN1265208C CN1265208C CNB021365423A CN02136542A CN1265208C CN 1265208 C CN1265208 C CN 1265208C CN B021365423 A CNB021365423 A CN B021365423A CN 02136542 A CN02136542 A CN 02136542A CN 1265208 C CN1265208 C CN 1265208C
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Abstract
The present invention relates to an all-solid integrated small millimeter-ware anti-collision radar device which is characterized in that the all-solid integrated small millimeter-ware anti-collision radar device is composed of an antenna, a receiving and sending component, a linear modulation unit, an intermediate frequency amplification system, a signal processing system and an acoustic-optic display alarm device; a 24GHZ high frequency carrier wave and a small receiving and sending plane microstrip antenna are used. A triangular wave is generated by the linear modulation unit, wherein the amplitude, the setover and the frequency of the triangular wave can be adjusted, and the triangular wave is input into a voltage controlled oscillator of the receiving and the sending component, which enables the voltage controlled oscillator to generate a high frequency signal, the frequency of which changes according to a rule of the triangular wave. Then, the high frequency signal is emitted out through a coupler, a circulator and the antenna and goes back after encounters a target, and the high frequency signal is then received by the antenna. After passes through the circulator, the high frequency signal is mixed with a part of a local oscillation signal through a frequency mixer, wherein the local oscillation signal is coupled by the coupler. The signal after frequency mixing enters the signal processing system through the intermediate frequency amplification system to detect the distance of a detection object and judges whether the signal is smaller than a safe door limiting value, and then, the signal is sent into the acoustic-optic display alarm device to carry out display and alarm. The present invention has the characteristics of light weight, small volume, good consistency, high resolution, weatherproof performance, etc.
Description
Technical field
The present invention relates to a kind of millimeter-wave automotive anti-collision radar device, mainly solve this technical matters of preventing collision in the running car.The invention belongs to initiatively guard technology field of automobile.
Background technology
People more and more pay attention to improving the running safety problem, and anti-collision system for automobile is very important to improving ride safety of automobile.In statistics of traffic accidents, about 85% rear-end collision collision is because driver's carelessness and automobile are followed too closely.In order to reduce casualties and the property loss that car crass and car crass bring, the technology that adopts aspect vehicle safety travel is a lot of at present, for example, strengthen structure, the installation driving safety band of automobile and increase air bag etc., but these passive modes have only solved the protection question behind the car crass, fundamentally do not solve the automobile collision preventing problem.Since 1971, the active vehicle anticollision system of multiple modes such as ultrasound wave, laser, infrared, microwave appearred.But, optics and infrared cigarette, rain, the mist etc. of being subject to.Microwave resolution is low, and ground clutter is big, unless strengthen antenna aperture, and this is unallowed on the limited automobile in space.All fail on automobile large-scale popularization and use.And Back end data handles and to adopt single-chip microcomputer or simple digital circuit basically, finishes the range sensing of target with the method for counting, Target Recognition ability like this, and precision is low, and false alarm rate height and real-time are bad.Millimetre-wave radar compare with other radars have in light weight, volume is little and characteristics such as round-the-clock, so become the focus of Recent study and development.At present, the company that carries out the Automobile Millimeter Wave Radar systematic study mainly concentrates on the U.S., Japan and European, and has developed the product that can use for entrucking.The Eaton company of the U.S. in 1993 develops EVT-300 anticollision radar warning system.The vehicle radar system of Benz company in 1997 is won the innovation in industry prize of Germany.But at present external collision avoidance radar is yet not full-fledged fully, and the radar of waveguiding structure is still occupied an leading position, and has the shortcoming that consistance is poor, be difficult to produce in enormous quantities.Domestic research to car radar is in the starting stage, does not still have corresponding product and goes on the market.
Summary of the invention
The present invention is directed to the present situation of domestic and international development, a kind of small-sized millimeter-wave automotive anti-collision radar of all solid state integrated planar antenna structure is provided, it have in light weight, volume is little, high conformity, is easy to characteristics such as processing in enormous quantities, resolution is high and round-the-clock at reliable operation.
The objective of the invention is by following scheme implementation: at first survey distance and speed with front vehicles, show in real time, automatically make safe thresholding according to the automobile brake equation again,, then send sound and light alarm information to the driver when the distance between two cars during less than the safety door limit value.
Radar provided by the invention adopts the high frequency carrier of 24GHz, is characterized in that radio frequency bandwidth is big, thereby the range resolution height.Adopted the structure of planar microstrip antenna, antenna and part dimension are little, are applicable on the limited automobile in space to install.It is low to have the intercepting and capturing rate simultaneously, and penetration power is strong, ground clutter is relatively low and can adapt to harsh climate condition (cigarette, cloud, rain, mist) etc., and antenna beam is narrow, and gain is high, and antijamming capability is strong.Adopt Continuous Wave with frequency modulation (FMCW) radar system, have with respect to the pulse system that required emissive power is low, signal processing complexity low and remarkable advantage with low cost.
A major advantage of the present invention is exactly by calculating the passing time of Doppler frequency-shift and a certain moment received signal, measuring this car to testee relative velocity and distance.Therefore, not only to moving object, even when the main speed of a motor vehicle is very low, stationary object also had splendid detection performance.
Miniradar device provided by the invention mainly is made up of six unit such as planar microstrip antenna, transmitting-receiving subassembly, linear modulation unit, middle place system, signal processing system, acoustooptic display alarm devices.Antenna is launched the 24GHz Continuous Wave with frequency modulation that transmitting-receiving subassembly produces, when running into that target is reflected later on and place system in the input after the transmitting-receiving subassembly mixing, after amplification and filtering, target range and speed are calculated and determined to signal input signal disposal system, and according to automobile brake Equation for Calculating two car safe distances, make the safe distance and the alarm threshold of running car thus and drive acoustic-optic alarm and report to the police, remind the driver to drive with caution.Each cell descriptions of this device is as follows:
(1) this device adopts transmitting-receiving small-sized plane microstrip antenna, is of a size of 90 * 91mm, and the antenna main lobe angle is 5 °, gains to be 20dB.
Advantages such as (2) transmitting-receiving subassembly is made a planar microstrip circuit with voltage controlled oscillator (VCO), coupling mechanism, frequency mixer, and its emissive power is 56mW, has simple in structure, high conformity, realizes easily, and is cheap.
(3) can to produce a linearity good in linear modulation of the present invention unit, the triangular wave that direct current biasing, amplitude and frequency are all adjustable.Adjust suitable VCO modulation band-width according to different needs.
(4) its operating distance of automotive anti-collision radar device provided by the invention is 5～100 meters, system for so big bandwidth, high-gain characteristics, realize that the wide bandpass filtering of nearly 100 octaves is quite difficult, for the wide like this intermediate frequency dynamic range of 80dB, the spectrum secondary lobe that might make the closely saturated or close-in target of receiver floods the spectrum main lobe of distant object, so, for avoiding losing of signal in the output voltage, the present invention has taked the intermediate-freuqncy signal automatic gain to control to satisfy the requirement of A/D transducer to the system dynamics scope.In put principle as shown in Figure 2.
(5) signal processing system of the present invention is a core with TMS320C5402 high-speed digital signal processing (DSP) chip of company of Texas Instrument (TI), peripheral components comprises modulus conversion chip (ADC) driving circuit, ADC, the high speed flash memory, power management module, standard serial mouth (RS232) interface circuit etc., comprehensively constituted a high-speed digital signal disposal system, its clock frequency is 40MHz, can carry out high speed processing to intermediate-freuqncy signal, under the signal background of complexity, eliminate unwanted signal (as clutter) and detect useful radar detection echo signal, have good real-time and dirigibility.Its theory diagram as shown in Figure 3.
(6) sound and light alarm of different frequency is carried out in warning and display part to the risk object of 5～100 meters different distance.Carry out sound and light alarm with the 2Hz frequency in 5～50 meters distance ranges, 50～100 meters distance ranges are interior with 1Hz frequency sound and light alarm.
Performance index of the present invention:
Working environment :-40 ℃ ~+80 ℃
Maximum operating range: 100m
Velocity resolution:＜5Km/h
Refreshing frequency: 20Hz
Power supply :+8 ~ 12V single power supply
Output: numeral shows that the place ahead spacing is with the speed of a motor vehicle, according to the relative distance of two cars
From sending warning with speed
Description of drawings
Fig. 1 is that four millimeter waves that provide of the present invention are prevented the radar system principle diagram.
Put principle schematic among Fig. 2 Fig. 1.Middle place system is made up of Linear Network, automatic gain amplifier two parts.
Fig. 3 is the signal Processing theory diagram among Fig. 1.
Fig. 4 is sound and light alarm and the display device theory diagram among Fig. 1.
Fig. 5 is the connection diagram of signals collecting part and signal processing in the device provided by the invention.
Among the figure, 1: antenna, 2: transmitting-receiving subassembly, 3: in put, 4: signal processing system, 5: report to the police and display device, 6: the linear modulation unit, 21: circulator, 22: coupling mechanism, 23: voltage controlled oscillator, 24: frequency mixer, 31: the intermediate frequency input, 32: Linear Network, 321: low noise amplifier, 322: wave filter, 323: isolator, 33: automatic gain control amplifier, 331: gain controlled amplifier, 332: feedback element, 34: intermediate frequency output, the 41:ADC driver module, 42: power module, 43: analog to digital conversion, 44: digital signal processor, 45: hardware reset, 46: the high speed flash memory, 47:IEEE1149.1 standard scan logic (JTAG) debug port, 48: communication serial port, 49: the data bus expansion, 51: the data bus expansion, 52: code translator, 53: latch, 54: charactron, 55: the power supply indication.
Embodiment
Anti-collision radar system provided by the invention, its basic functional principle as shown in Figure 1, linear modulation unit 6 produces an amplitude, the triangular wave of biasing and frequency adjustable, be input to the voltage controlled oscillator 23 in the transmitting-receiving subassembly 2, make it to produce the high-frequency signal that a frequency changes by the triangular wave rule, through coupling mechanism 22, circulator 21 and antenna 1 are launched, run into target and return, receive by antenna again, behind circulator 21, the part of the local oscillation signal that is coupled to coupling mechanism 22 is through frequency mixer 24 mixing, put the distance that 3 entering signal disposal systems 4 detect the detection of a target in the signal warp after the mixing, and judge whether less than the safety door limit value, send into afterwards and report to the police and display device 5 shows and reports to the police.And for example shown in Figure 2, middle place system is to give Linear Network 32 intermediate frequency of frequency mixer 24 in the transmitting-receiving subassembly 2 input 31, amplify through automatic gain control amplifier 33, intermediate frequency is exported the requirement of 34 dynamic ranges to satisfy the A/D transducer, Linear Network 32 is made of low noise amplifier 321 and wave filter 322, and automatic gain control amplifier 33 is made up of gain controlled amplifier 331 and feedback element 332.And for example shown in Figure 3, signal processing system be in the intermediate frequency output 34 of putting send into ADC driver module 41 and amplify, anti-aliasing filter and current potential translation, become digital signal to give the calculating that digital signal processor 44 carries out identification of targets and distance and speed analog signal conversion through analog to digital conversion 43, give warning and display device 5 with needed data line of digital display plate and control line by data expansion slot 49 again, the application program of its high speed flash memory 46 storage systems, hardware reset 45 makes system reset, power module 42 provides+12V, + 5V, + 3.3V, different brackets 20 voltages of+1.8V are supplied with different chips, JTAG debug port 47 is used for online programming and debugged program, and serial ports 48 is used for the serial communication of this device and PC.
Collision avoidance radar provided by the invention, its outward appearance are divided into two cabinets of front end signal collecting part and back end signal processing section, and as shown in Figure 5, the front end volume is 95 * 95 * 50mm
3, being installed in car body bumper position, the rear end volume is 140 * 130 * 120mm
3, being installed in the pilothouse, two parts connect by BNC (BNC) port cable.
Claims (6)
1, a kind of all-solid integrated smalltype millimeter-ware anticollision radar equipment is characterized in that:
(1) forms by antenna, transmitting-receiving subassembly, linear modulation unit, intermediate frequency amplification system, signal processing system, six unit of acoustooptic display alarm device; Antenna is launched the 24GHz Continuous Wave with frequency modulation that transmitting-receiving subassembly produces, target is reflected later on and import the intermediate frequency amplification system after the transmitting-receiving subassembly mixing when running into, after amplification and filtering, target range and speed are calculated and determined to signal input signal disposal system, and, make the safe distance and the alarm threshold of running car thus and drive acoustic-optic alarm and report to the police according to automobile brake Equation for Calculating two car safe distances;
(2) described antenna adopts transmitting-receiving small-sized plane microstrip antenna, and the antenna main lobe angle is 5 °, gains to be 20dB;
(3) described transmitting-receiving subassembly is the planar microstrip circuit of being made by voltage controlled oscillator, coupling mechanism, frequency mixer, and emissive power is 56mw;
(4) described linear modulation unit produces the triangular wave of amplitude biasing and frequency adjustable, imports the voltage controlled oscillator in the transmitting-receiving subassembly;
(5) described intermediate frequency amplification system is to adopt the control of intermediate-freuqncy signal automatic gain;
(6) described signal processing system is to be core with TMS320C5402 high-speed digital signal process chip, and peripheral components comprises modulus conversion chip and driving circuit, high speed flash memory, power module, standard serial mouth interface circuit;
(7) described acoustooptic display alarm device adopts the risk object of different distance to carry out the sound and light alarm of different frequency.
2, all-solid integrated smalltype millimeter-ware anticollision radar equipment according to claim 1 is characterized in that, described intermediate frequency amplification system is made up of Linear Network, automatic gain amplifier two parts; Wherein Linear Network is made of low noise amplifier and wave filter; Automatic gain amplifier is made up of gain controlled amplifier and feedback element.
3, all-solid integrated smalltype millimeter-ware anticollision radar equipment according to claim 1 is characterized in that, described power module provides+12V ,+5V ,+3.3V ,+voltage of the different brackets of 1.8V.
4, all-solid integrated smalltype millimeter-ware anticollision radar equipment according to claim 1 is characterized in that, the frequency of sound and light alarm is 2HZ in the 5-50 rice distance range; The frequency of sound and light alarm is 1HZ in the 50-100 rice distance range.
5, all-solid integrated smalltype millimeter-ware anticollision radar equipment according to claim 1 is characterized in that, described six component units are divided into signals collecting part and signal processing, connect by the BNC port cable.
6, all-solid integrated smalltype millimeter-ware anticollision radar equipment according to claim 1 is characterized in that, adopts the high frequency carrier of 24GHZ, and maximum functional is apart from 100m.
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| CNB021365423A CN1265208C (en) | 2002-08-16 | 2002-08-16 | All-solid integrated smalltype millimeter-ware anticollision radar equipment |
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| CNB021365423A CN1265208C (en) | 2002-08-16 | 2002-08-16 | All-solid integrated smalltype millimeter-ware anticollision radar equipment |
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| CN1265208C true CN1265208C (en) | 2006-07-19 |
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| CN104798072A (en) * | 2012-09-25 | 2015-07-22 | 欧普拉软件公司 | Information management and display in web browsers |
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| CN101056113B (en) * | 2007-05-18 | 2010-06-02 | 华为技术有限公司 | Middle frequency receiving circuit and receiving method |
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| CN104798072A (en) * | 2012-09-25 | 2015-07-22 | 欧普拉软件公司 | Information management and display in web browsers |
| CN103076609A (en) * | 2012-11-14 | 2013-05-01 | 武汉德澳科技有限公司 | Solid small-sized microwave electronic control scanning travelling crane radar device |
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