CN214041733U - Self-adaptive multi-mode vehicle-mounted radar system - Google Patents
Self-adaptive multi-mode vehicle-mounted radar system Download PDFInfo
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- CN214041733U CN214041733U CN202023342429.9U CN202023342429U CN214041733U CN 214041733 U CN214041733 U CN 214041733U CN 202023342429 U CN202023342429 U CN 202023342429U CN 214041733 U CN214041733 U CN 214041733U
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Abstract
The utility model relates to the technical field of automobiles, in particular to a self-adaptive multi-mode vehicle-mounted radar system, which can dynamically and flexibly adjust baseband and radio frequency waveform configuration according to the relation between radar radiation waveform configuration and system performance parameters and can take into account the application under multiple scenes, and comprises a radar module, a vehicle-mounted communication module, a radar module, a radio frequency front-end module, an MCU processor, a radar module and a vehicle-mounted communication module; further comprising the step of 1: the radar system is communicated with a vehicle-mounted network through a vehicle-mounted communication bus to acquire vehicle dynamics parameters such as vehicle speed and course angular speed or acquire the vehicle dynamics parameters such as the vehicle speed and the course angular speed based on the environmental static reflection point information; step 2: and dynamically adjusting the wave form parameters of the radar radio frequency front end signal according to the vehicle dynamics parameter information, thereby changing the system key parameters such as the radar speed resolution, the distance resolution and the like.
Description
Technical Field
The utility model relates to the field of automotive technology, in particular to adaptive multi-mode vehicle radar system.
Background
Millimeter wave radar sensors are now widely used in vehicular and civilian applications. The radar detection range, range resolution, maximum speed requirement, sensor field of view, data storage, etc. are all determined based on the final practical application scenario. For vehicle-mounted application, high-speed and low-speed driving scenes have different radar function requirements, and when the vehicle is driven at a high speed, the radar is required to detect a long distance, so that the requirement on resolution is not high; when the system is applied to urban street road conditions or parking and is driven at a low speed, at the moment, more pedestrians and vehicles need to be driven, the radar has higher resolution, the detection distance can be correspondingly shorter, and the identification of objects at different distances and at the same angle is more accurate by adopting high-bandwidth signals; due to different application scenes, required radar waveform configurations are different, and the problems are solved by adopting a plurality of radars with different function definitions at present, such as an angle radar responsible for high-speed ADAS and an angle radar responsible for automatic parking, the configuration cost of multiple radars is higher, and the debugging and maintenance are difficult.
Therefore, how to implement flexibility and adaptation of the detection waveform configuration, so that it is a technical problem to be solved and significant in implementing single radar adaptive multi-scenario application.
SUMMERY OF THE UTILITY MODEL
The utility model discloses the technical problem who solves overcomes current defect provides an on-vehicle radar system of self-adaptation multi-mode, can adopt nimble linear frequency modulation configuration according to the relation between radar radiation waveform configuration and the system performance parameter, can compromise the application under the multi-scene.
In order to solve the technical problem, the utility model provides a following technical scheme: a self-adaptive multi-mode vehicle-mounted radar system comprises an MIMO system, a central processing unit and a communication module; the central processing unit comprises a radio frequency front end module, a signal processing system and an MCU processor; the MIMO system is connected with a central processing unit, and the central processing unit is connected with a vehicle body communication module.
Preferably, the radio frequency front-end module is a transceiving array formed by M transmitting antennas and N receiving antennas.
Preferably, the radio frequency front end module and the central processing unit can be a separated SOC mode or an integrated SOC mode.
Preferably, the signal processing system comprises a mixer, an ADC sampler, a band-pass filter and a signal processor; the mixer, the ADC sampler, the band-pass filter and the signal processor are connected in sequence.
The utility model discloses beneficial effect: the utility model discloses an adaptive multi-mode vehicle radar system design method can adopt nimble radar radiation waveform configuration to the relation between radar radiation waveform configuration and the system performance parameter to complicated application scene, radar scene universality is improved to the different vehicle radar use scenes of different waveform configuration adaptations to radar radiation waveform configuration.
Drawings
Fig. 1 is a schematic diagram of the parameters and waveforms of the FMCW radar system of the present invention;
FIG. 2 is a flow chart of a dynamic adjustment method of the present invention;
fig. 3 is a detailed flowchart of step S20 of the dynamic adjustment method of the present invention;
fig. 4 is a schematic diagram of a subframe according to the present invention;
fig. 5 is a block diagram of the adaptive multi-mode vehicle radar system of the present invention.
Detailed Description
The following description of the preferred embodiments of the present invention is provided for the purpose of illustration and description, and is not intended to limit the invention.
As shown in fig. 5, the adaptive multi-mode vehicle radar system of the present invention includes a MIMO system 100, a central processing unit 200 and a communication module 300; the power module 600 supplies power to the cpu 200; the central processor 200 includes a radio frequency front end module 210, a signal processing system 220 and an MCU processor 230; the MIMO system 100 is connected with a central processing unit 200, the central processing unit 200 and a vehicle body communication module 300-CAN bus acquire a vehicle speed V, and the vehicle speed V is measured by a speed sensor 500; the method for adjusting the distance resolution, the speed resolution and the ranging range according to the vehicle speed V adjusts dynamic parameters of the MIMO system 100 of the radar, so as to achieve the effect of defining long-distance and short-distance detection targets under different vehicle speeds.
The MCU processor 230 is configured to configure the dynamic waveform parameters of the rf front-end module 210, so that the rf front-end module 210 sends a millimeter wave signal to the MIMO system 100; the MIMO system 100 is configured to transmit the millimeter wave signals to detect an object in front of the vehicle according to the FMCW method, and receive multi-path echo signals of the object and send the signals to the signal processing system 220.
The central processing unit 200 of this embodiment employs advanced MMIC technology, and employs advanced pulse doppler and continuous wave radar technology, which reduces the peak radiation power and the transmit-receive antenna gain of the radar system compared to other radar processors. The dual-core platform of the signal processing system 220 and the microprocessor 230 may adopt two schemes of a heterogeneous scheme and an integrated scheme, namely an SOC mode in which the M-transmit-N-receive antenna transceiving array is separated from the central processing unit 200 and an integrated SOC mode in which the single-chip M-transmit-N-receive antenna transceiving array radio frequency front end and the central processing unit 200 are integrated. In addition, the central processing unit 200 may be connected to the vehicle-mounted central control system through a CAN (Controller Area Network) bus, and when a person is detected in front of the vehicle and the target distance is smaller than a set threshold, the signal processing system 220 sends target information to the vehicle-mounted central control system and gives an alarm.
The MIMO system 100 includes a plurality of receiving channels and transmitting channels, and can implement M-transmission and N-reception, wherein the TX transmitting power is 12-16dBm, the RX noise factor 76 to 77GHz is 14dB, and the RX noise factor 77 to 81GHz is 15 dB. Under the condition of not increasing frequency spectrum resources and antenna transmitting power, the system channel capacity can be improved by times. MIMO system 100 may also generate a virtual array, i.e., a virtual array with multiple virtual array elements is formed using a small number of antenna elements, thereby expanding the aperture of the antenna array and improving the angular resolution of the target object. The MIMO system 100 of this embodiment also adopts the FMCW technique to transmit millimeter waves, which can effectively eliminate the interference of static objects such as railings and buildings, thereby reducing the false alarm rate to a great extent, improving the target speed resolution, and improving the detection sensitivity.
The signal processing system 220 includes: a mixer, an ADC sampler, a band-pass filter, a signal processor, etc. The mixer can convert the received multi-channel echo signals from high-frequency signals to intermediate-frequency signals, so that the ADC can perform sampling processing conveniently; the band-pass filter can remove pulse clutter and interference signals of certain specific frequencies, and filter processing of analog domain data is carried out on the intermediate frequency signals; and the ADC sampler performs discrete sampling on the filtered intermediate frequency signal according to a preset sampling frequency and the number of sampling points to obtain a 16-bit multi-path I/Q signal.
The MCU processor 230 is mainly used to control the start-up of each peripheral driver module and the radar system, and to dynamically control and calibrate the FMCW chirped continuous wave signal, and to self-calibrate for frequency and temperature. The microprocessor 230 of this embodiment may be an ARM or a DSP, and has high integration level, small size, strong functionality, support for dynamically updating waveform parameters, rich peripheral interfaces, and reduced size and cost of the radar system.
In practice, example 1 can be used
The utility model discloses a design method of self-adaptation multi-mode vehicle radar system, as shown in FIG. 1: the method comprises the following steps:
s10, the radar system communicates with other ecus of the vehicle body through a CAN bus, and accordingly the vehicle speed V is obtained. According to the vehicle speed V, judging the size of the required scanning bandwidth B, wherein the farthest distance RangemaxMedium frequency bandwidth B supported by SNR of received signal and radar apparatusifAnd (4) limitation. B isifDepending on the selected ADC sampling frequency, the bandwidth limit is 0.9 x (ADC samples) in the complex sampling mode and 0.9 x (ADC samples)/2 in the real sampling mode.
Pr＝10·lg(K·Bif·T)+NF+SNR
Wherein: rrRepresenting the maximum power distance calculated by the radar system; ptRepresenting the transmit power of the radar system; gtRepresenting the transmit antenna gain; grRepresents the receive antenna gain; sigma represents the system radar scattering sectional area; λ represents the center frequency wavelength of the transmitted signal; prRepresenting the reception sensitivity of the radar system; k represents a Bolmatz constant; b isifRepresents the intermediate frequency filter bandwidth; n is a radical ofFRepresenting a noise figure; SNR represents the noise ratio.
The measured target distance of the radar is related to the scanning bandwidth in addition to the medium frequency bandwidth. In determining the intermediate frequency bandwidth BifIn the case of (3), the larger the scanning bandwidth is, the smaller the measured radar distance is.
Wherein: rangecRepresenting the actual distance of the target; c represents the speed of light in vacuum; t iscRepresents one period of chirp; b represents the radio frequency scanning bandwidth, and the unit is MHz; b isifIs the intermediate frequency filter bandwidth.
In radar target detection identification, it is important to be able to resolve two closely spaced objects into two separate objects, rather than detect them as one, and the minimum distance that allows two objects to be detected as independent objects is called Range resolution. This depends primarily on the chirp scan bandwidth that the radar sensor can provide, the larger the scan bandwidth, the better the range resolution. The radar system supports a scan bandwidth of 4GHz, which can range down to about 4cm in resolution. Better range resolution also facilitates detection of very close objects, thereby improving the minimum detection range.
Wherein: c, the light speed is 299792458 m/s; b: FMCW scanning bandwidth
The maximum measurable speed Velocity _ unambiguated in an FMCW modulated radar depends on the chirp cycle time, i.e. the time difference between the start of two consecutive chirped sounds. Depending on how fast a frequency sweep can be performed and the minimum chirp time allowed.
Wherein: λ represents the center frequency wavelength of the transmitted signal; t iscRepresents one period of chirp; n is a radical ofcThe number of linear tones in a frame.
S20, the radar system adopts m to transmit and n to receive, the radio frequency front end transmits a linear frequency modulation pulse signal, and captures a signal reflected by an object in a transmitting path, wherein the frequency of the signal changes linearly along with time. Referring to fig. 2, various parameters (frequency slope, scanning bandwidth, etc.) of the chirp slope change the system performance, an appropriate radar system parameter is selected, the radar performance is utilized to the maximum, and different detection distances, distance resolutions and speed resolutions are selected according to different vehicle speed driving conditions. The chirp is transmitted x by a transmitting antenna (TX antenna)1(t) reflection of the chirp by the object generates a reflected chirp x which is captured by a receiving antenna (RX antenna)2(t) of (d). Mixer output signal xout(t) has an instantaneous frequency equal to the difference between the instantaneous frequencies of the two input sine functions. Output xoutThe phase of (t) is equal to the difference between the phases of the two input signals.
x1(t)＝sin(w1t+φ1) (1)
x2(t)＝sin(w2t+φ2) (2)
xout(t)＝sin[(ω1-ω2)t+(φ1-φ2)] (3)
S201, when the vehicle speed V<At 30Km/h, the scanning bandwidth B adopts a wide bandwidth B>In the 3GHz system, in which the vehicle travels at a low speed, a high-precision Range _ resolution is required, and two closely spaced targets can be resolved into two separate objects, instead of being detected as one. This depends mainly on the chirp scan bandwidth B that the radar sensor can provide. The larger the scanning bandwidth B, the better the range resolution. The radar system supports a scan bandwidth of up to 4GHz, which can range down to about 4cm in resolution. The better Range resolution helps to detect very close objects, thereby improving the minimum detection Range. The maximum measurable speed Velocity _ unambiguated in an FMCW modulated radar depends on the chirp cycle time, i.e. two consecutive frequenciesThe time difference between the onset of chirped sound. Depending on how fast a frequency sweep can be performed and the minimum chirp time allowed. MMICs allow fast ramping of 100MHz/μ s-200MHz/μ s, and furthermore, closed-loop PLLs are designed to support very fast setup of the frequency ramp. The radar system has N1 chirp signals for transmitting millimeter wave in one frame and every interval Tc1Transmission of one frame is performed.
S202, the automobile radar system runs at the speed of 30Km/h<V<When 80Km/h, scanning bandwidth B adopts bandwidth B<The electromagnetic wave signals are transmitted in a 3GHz mode, the detection distance is relatively short and long, and the speed and distance resolution are relatively low under the condition of low-speed running. The radar has N2 chirp signals per time interval Tc2Transmission of one frame is performed.
S203, the automobile radar system runs at a speed of 80Km/h<V, scanning bandwidth B adopts B<The electromagnetic wave signal is transmitted at a frequency of 1 GHz. The radar has N3 chirp signals per time interval Tc3Transmission of one frame is performed.
S204, aiming at multi-scene application, the radar system sends frequency modulation system signals in a narrow-band mode and a wide-band mode of scanning bandwidth in a time-sharing mode in a mode that each frame of data sends one frequency modulation system signal, and confirms the actual distance of a target by adjusting the bandwidth of an intermediate frequency filter of the radar system. One frame of the radar system is formed of M subframes, and each subframe may have a different set of chirp. Different chirp may also use different transmitters (possibly with different antenna configurations). Fig. 4 shows different chirp curves and 2 sub-frames that may form one frame. The timing requirements for multiple subframes are as follows: the inter-burst time should be greater than or equal to 50 musec, the inter-subframe time should be greater than or equal to 100 musec, and the inter-frame time should be greater than or equal to 200 musec.
S30, under different vehicle speeds, according to the actual distance Range of the targetcTo bandwidth B of the intermediate frequency filterifAnd adjusting to obtain the optimal radio frequency scanning bandwidth B of the radar system at the current distance, and calculating the current optimal distance resolution of the radar system according to the current radio frequency bandwidth B.
The utility model discloses according to the speed of a motor vehicle, the dynamic adjustment scanning bandwidth is in order to realize the dynamic adjustment of different distance target parameters to obtain radar system's optimal distance resolution ratio and range finding scope, can obtain better distance resolution ratio when realizing measuring closely the target, can obtain measuring distance far away when measuring remote target, just the utility model discloses a dynamic adjustment can make radar system performance effect better according to the actual distance of target.
In practice, example 2 can also be used
An FMCW radar system comprises a radio frequency module, a processor module and a signal processing module, wherein the processor module is in communication connection with the radio frequency module, the processor module acquires a vehicle speed V from a vehicle body CAN bus, and the radio frequency parameters of a radar are dynamically adjusted by a method for adjusting a distance resolution, a speed resolution and a distance measuring range according to the vehicle speed V.
The above is the preferred embodiment of the present invention, and the technical personnel in the field of the present invention can also change and modify the above embodiment, therefore, the present invention is not limited to the above specific embodiment, and any obvious improvement, replacement or modification made by the technical personnel in the field on the basis of the present invention all belong to the protection scope of the present invention.
Claims (4)
1. An adaptive multi-mode vehicle radar system, characterized in that: the MIMO system comprises a MIMO system (100), a central processing unit (200) and a communication module (300); the central processing unit (200) comprises a radio frequency front end module (210), a signal processing system (220) and an MCU processor (230); the MIMO system (100) is connected with a central processing unit (200), and the central processing unit (200) is connected with a vehicle body communication module (300).
2. The adaptive multi-mode in-vehicle radar system of claim 1, wherein: the radio frequency front end module (210) is a transceiving array formed by M transmitting antennas and N receiving antennas.
3. The adaptive multi-mode in-vehicle radar system of claim 1, wherein: the radio frequency front end module (210) and the central processing unit (200) can be a separated SOC mode or an integrated SOC mode.
4. The adaptive multi-mode in-vehicle radar system of claim 1, wherein: the signal processing system (220) comprises a mixer, an ADC sampler, a band-pass filter and a signal processor; the mixer, the ADC sampler, the band-pass filter and the signal processor are connected in sequence.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114220267A (en) * | 2021-12-15 | 2022-03-22 | 同济大学 | Road shooting method and system based on vehicle OBD |
| EP4270054A1 (en) * | 2022-04-29 | 2023-11-01 | Provizio Limited | Dynamic radar detection setting based on the host vehicle velocity |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114220267A (en) * | 2021-12-15 | 2022-03-22 | 同济大学 | Road shooting method and system based on vehicle OBD |
| EP4270054A1 (en) * | 2022-04-29 | 2023-11-01 | Provizio Limited | Dynamic radar detection setting based on the host vehicle velocity |
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