CN101324667A - Design of vehicle velocity detection radar and signal processing method - Google Patents
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Abstract
A vehicle speed detection radar design and signal processing method is embodied by a radar design proposal for achieving the comprehensive aims of low price, high performance and small size. A radar is composed of two parts of a radar front end and a high-speed digital signal processor; and the front end of the radar is composed of a transmitting micro-band array antenna, a receiving micro-band array antenna, a voltage control microwave source with a frequency stabilization circuit, a dual-line balanced mixer, a dual-channel Doppler signal amplification-filter circuit and a dual-channel analog-digital conversion circuit. The front end of the radar uses the integrated design on the structure and the electricity, and the high-speed digital signal processor uses the fast discrete Fourier transform and the orthogonal signal processing methods to obtain the target speed value. The micro-band array antenna of the invention has good direction, so the radar can respectively monitor each lane; a radar system has fast response time and can detect the vehicles which excessively exceed the speed limit; the radar system simultaneously has thinner size, good anti-interference performance, low material cost and low processing cost.
Description
Technical field
The present invention relates to electronic information and traffic safety field, propose a kind of design and signal processing method that is used to detect the vehicle speed radar.
Technical background
Traffic safety management requires to be limited in the speed of travels down vehicle.Series of advantages such as the Microwave Velocity radar has the measuring accuracy height, and is round-the-clock, highly reliable are used widely.Utilize velocity radar can constitute the car speed warning sign, hypervelocity and vehicle are at a slow speed pointed out; Can constitute the overspeed snapping system in conjunction with digital camera or video camera.In order to guarantee to capture the accuracy of law enforcement, require radar beam enough narrow, on speed measuring position, only shine a track.For the multilane situation, each track need dispose a velocity radar, sees the synoptic diagram of Fig. 1.The radar that only shines a track is commonly referred to bicycle road radar.Utilize the mounting condition commonly used on the engineering as an example: radar setting height(from bottom) h=7 rice, the horizontal range that tests the speed L=20 rice, typical lane width is 3.5 meters.Can calculate, when radar just had been installed in top, axis, track, in order to guarantee radar beam within this track, the horizontal direction width of radar beam should be less than 10 °.If radar is not the top, axis that just is being installed in the track, the width of radar beam horizontal direction is also little.If press the configuration mode of Fig. 1, the speed of a motor vehicle (not shown Four-Lane Road) on the radargrammetry Four-Lane Road is installed by the road, in order to guarantee radar beam within Four-Lane Road, the horizontal direction width requirement of radar beam is less than 7 °.Yet the conventional velocity radar that can buy in the international market at present can not satisfy this requirement.
Existing velocity radar on the international market, its antenna beamwidth typically is 12 ° or wideer, has exceeded the boundary line of allowing.Though the bicycle road radar of special production is also arranged, and beam angle reaches about 4 °.But the price height of this radar be 3～5 times of conventional velocity radar price even higher, and size is big, and unlikely the acquisition in the traffic monitoring field extensively adopted.
Present another shortcoming of commercial velocity radar is a low-response.Enter radar beam from vehicle and typically be 100 milliseconds or longer to the time that produces speed data.And radar provides speed data and usually also will carry out some additional processing, makes the time delay that provides speed data reach more than 0.3 second.This time delay can make the overspeed seriously vehicle run out of the distance range that conventional video camera and photograph function obtain clear car plate digital image.
The purpose of this invention is to provide a kind of design and signal processing method, guarantee that velocity radar can fully satisfy application requirements, and come imbody method of the present invention with a kind of high-performance, low price, undersized velocity radar.
Summary of the invention
In order to produce low-cost design, must choose reasonable radar frequency of operation.Select frequency at first must meet the regulation that radar uses region, country to divide about wireless frequency.If velocity radar uses in the China's Mainland, the frequency that can select comprises 10GHz-10.5GHz, 24GHz-24.25GHz, and three frequency ranges of 76GHz-81GHz.In order to obtain antenna beamwidth, use the 10GHz frequency range will require the antenna aperture size to be not less than 280mm * 235mm less than 7 °.It is bulkiness too that the antenna of this caliber size is used for velocity radar, and the metal material that needs is many, processing price height.The above frequency of 76GHz can cause a design that size is very compact, but the realization of transmission circuit requires the directly quite meticulous microwave circuit manufacture craft of use, and this is for radar manufacturer but not microwave device manufacturer is uneconomic.It is the most rational selection that the 24GHz frequency range is used velocity radar.This frequency range can cause a rational Antenna Design of size, and transmission circuit can use discrete microwave circuit chip and spun gold binding method to realize that technological requirement reduces greatly, means that radar can realize at a low price.
Velocity radar of the present invention is made of radar front end and high speed digital signal processor two parts, and radar front end is made of micro-strip array antenna, transmitting-receiving microstrip circuit, binary channels Doppler signal amplification-filtering circuit, binary channels analog to digital converter.Fig. 2 shows radar system The general frame of the present invention.Described micro-strip array antenna has the general structure of Fig. 3 signal, is divided into two separated portions of transmitting antenna array and receiving antenna array, and overall dimensions is limited in 146mm * 126mm area.The radiating element number of each antenna is that (8 * 14-2) is individual.The centre frequency of antenna work is 24.15GHz.It is 6 ° (E faces) * 4.5 ° (H face) that described antenna has beam angle through the reality test, and gain is higher than 30dBi, can satisfy the requirement of bicycle road radar to antenna fully.Described antenna has superior performance and cheap two-fold advantage, its cost only be similar performance the electromagnetic horn cost 1/3～1/5.
Each functional circuit of radar front end of the present invention and described micro-strip array antenna structure and electric on carry out integrated design, the output of radar front end is the Doppler signal of digital form.Whole parts of radar front end are carried on a thickness only on the hard aluminium alloy substrate of 5mm, wherein said micro-strip array antenna is carried on a side of substrate, and the back side of substrate mills out the groove of several placement circuit boards: transmitting-receiving microstrip circuit groove, binary channels Doppler signal amplification-filtering circuit and analog to digital converter groove, DC-DC power supply regulator circuit groove, emissive source frequency stabilization circuit groove.The degree of depth of these grooves is 3mm, and the regional area degree of depth of groove is 4mm, guarantees that substrate thinnest part thickness is not less than 1mm.Transmitting-receiving microstrip circuit and emissive source frequency stabilization circuit use microwave sheet material, and the custom circuit sheet material that other circuit used thicknesses are 0.5mm.As long as select the paster integrated chip of little encapsulation and be no more than the 1210 RLC elements that encapsulate, the degree of depth of groove just can be fit to the installation of all components and parts.Described integrated design notion can cause a superior performance and very compact design result: comprise that thickness is the trench metal cover plate of 0.5mm, the thickness of velocity radar front end will be less than 6mm.Accompanying drawing 4 and accompanying drawing 5 are structural representations of the radar substrate of integrated design.The direct advantage of compact design is to save metal material.Such plate-shaped radar front end is easy to install or integrate with miscellaneous part.And prior advantage is (1) integral planar design, makes circuit installation, debugging, detection become simple, saves production cost; (2) circuit connects compactness, is easy to optimize performance, improves anti-electromagnetic interference capability; (3) radar front end output is digital signal, has better anti-disturbance performance, so radar front end and digital signal processor structurally both can combine, and also can separate certain distance.
Transmitting-receiving microstrip circuit of the present invention is received combination of circuits such as mixing unit, power divider, dc isolator and is formed by microwave transmitter unit, two balanced microwave, and it constitutes block scheme and sees accompanying drawing 6.The core of described microwave transmitter unit is a voltage-controlled microwave oscillator (VCO), and the microwave power part that it produces is delivered directly on the feeding centre point of transmitting antenna array by microstrip line and short coaxial configuration; And another part power sends 3dB bridge shape power splitter to by little band dc isolator.3dB bridge shape power splitter provides the local oscillated signal of 90 ° of two phase phasic differences, flows to two balanced microwaves and receives the mixing unit.Described pair of balanced microwave receives the mixing unit and is made up of two-way microwave balanced mixer.Flow to this two-way microwave balanced mixer the branches such as received signal that described receiving array antenna obtains.The output of two-way frequency mixer is the zero intermediate frequency Doppler signal of 90 ° of two-way phase phasic differences.
Whole receiving circuit and analog-digital conversion design according to the binary channels mode of quadrature among the present invention, make the orthogonal signal that can adopt numeral handle, and eliminate non-Doppler's undesired signal of common mode.Binary channels Doppler signal amplification-filtering circuit and binary channels analog to digital converter directly are connected after the transmitting-receiving microstrip circuit.What radar board was exported is the two-way Doppler signal of digital form.Two ways of digital signals is combined into a way digital data by each data with accounting for 32 bit interleavings and sends digital signal processor to, and the significance bit of each numerical data is 18 of no symbols.The sample frequency of two paths of data is F.
Voltage-controlled microwave oscillator of the present invention is related frequency stabilization circuit.Be decided by application demand and price limit, have two kinds of frequency stabilization circuits to select for use.For vehicle velocity detection radar, the environment temperature that requires radar work is-40 ℃～+ 85 ℃ scopes.Be ± 1 kilometer/hour (this is conventional requirement) if allow the range rate error of radar, the serviceability temperature compensating circuit just can meet the demands.If rate accuracy is had higher requirement, can use the phase-locked loop (PLL) that contains radio frequency-microwave divider, introduce crystal oscillator as a reference, microwave frequency is locked on the crystal oscillator frequency.A kind of scheme in back need increase certain hardware price.
High speed digital signal processor of the present invention is 32 floating point processors of a high speed.The market price of this class processor had been reduced to the level that the commercial market can be accepted in recent years.In the overall hardware price of radar of the present invention, the hardware price of signal processor roughly accounts for 1/4.The basic task of this processor is the speed from the Doppler signal digital data extraction target of two-way quadrature.Disposal route is that the numerical data of at first two-way being mixed is separated into two-way 18 bit data, and their sample frequency all is F.Earlier each 1024 data of two-way are carried out numerical value adjustment (amplitude edits), again with the method extraction rate signal of eliminating common mode interference.Method is as follows:
Two paths of signals is designated as a={a respectively
1, a
2..., a
1024And b={b
1, b
2..., b
1024.Calculate earlier
A road and b road signal data proofreaied and correct respectively be
With
i＝1，2，…，1024。Amplitude correction can compensate the inconsistent problem that may bring of two-way quadrature receiving lines gain.Two paths of signals power after the correction equates.Calculate two new arrays
c＝a+b； d＝a-b.
Like this, obtain one 1024 replica array e=c+jd.Replica array e is done fast discrete Fourier conversion (FFT), the result is carried out simple process, just can access the discrete Fourier transform (DFT) of two full mold array c and d.In other words, only need 1024 replica FFT, just obtained two full mold array c and d and divided other 1024 FFT.The discrete Fourier transform (DFT) amplitude of c and d is designated as C and D.Target velocity shows as Doppler frequency, will be rendered as the remarkable spectral line that is in same position among C and the D; But not Doppler's common mode interference will present very big difference in C and D.Utilize suitable threshold and logic can easily detect the remarkable spectral line that is in same position among C and the D.
If select sample frequency F=39.063kHz, the employing cycle be exactly T=25.6 μ s.1024 the time of a replica data point be the 26.214ms. high speed digital signal processor utilize 1024 replica data points to carry out FFT to calculate the time that needs very short.To use the TMS320C6713 processor to be example, when input clock frequency was 40MHz, the time of calculating 1024 FFT of a replica was about 0.45ms.Add other calculating and the operation that obtain speed data, 1024 replica data of radar collection and T.T. of producing speed data are less than 28ms.Compare (total time-delay reaches 0.3 second) with other radars that use on the present road monitoring market, its response speed of radar of the present invention is accelerated greatly, is more suitable for monitoring the vehicle of overspeed seriously.
The contrast of the present invention and existing market product and technology, it is tangible and positive reaching high-performance, low price, undersized resultant effect.With like this little radar size, obtain 6 ° * 4.5 ° antenna directivity, and the response time that is less than 28ms, for the accurate law enforcement of road vehicle monitoring overspeed provides physical means.
Therefore, social effect of the present invention also is positive.
Description of drawings
Fig. 1 is the synoptic diagram that vehicle velocity detection radar detects each track.
Fig. 2 is a vehicle velocity detection radar overall design block diagram of the present invention.
Fig. 3 is that the micro-strip array antenna pattern that the present invention designs distributes and outside dimension figure.
Fig. 4 is the structural representation of the radar front end of integrated design, antenna side.
Fig. 5 is the structural representation of the radar front end of integrated design, circuit side.
Transmitting-receiving microstrip circuit design frame chart among Fig. 6 the present invention.
Embodiment
As an example, the situation of using 3 tracks of radar monitoring, 3 bicycle roads has been shown among Fig. 1, and has supposed that these three radars are installed on upright horizontal of doing in roadside.If stride the road crossbearer, radar can be aimed at each track respectively and be installed on the crossbearer.The horizontal direction of antenna and the beam angle of vertical direction are designated as θ and φ respectively.The angle on radar beam axis and ground is designated as α.The radar setting height(from bottom) that utilization is commonly used and the distance that tests the speed, and typical lane width can easily calculate the bicycle road and detect the restriction that requires horizontal beam width θ.Particularly, require θ less than 10 ° or littler.
In the radar overall design block diagram of Fig. 2, the 1st, emission array antenna, the 2nd, receiving array antenna, the 3rd, transmitting-receiving microstrip circuit.The specific implementation of described transmitting-receiving microstrip circuit is seen the explanation of Fig. 6.Transmitting-receiving microstrip circuit output I passage Doppler signal and Q passage Doppler signal, two paths of signals has identical Doppler frequency, but 90 ° of phase phasic differences.Described two-way orthogonal Doppler signal is delivered to the input end of binary channels Doppler signal amplification- filtering circuit 4 and 5 respectively.The two-way filtering circuit carries out low-pass filtering to input signal, exceeds the interference of Doppler frequency and the resistance to overturning of raising analog amplify circuit with elimination.The input of binary channels analog to digital converter 6 and 7 is delivered in described binary channels Doppler signal amplification- filtering circuit 4 and 5 output respectively, to finish the conversion of two-way simulating signal to digital signal.Resulting two ways of digital signals is combined into the digital signal of a single channel by the time-division mode, gives digital signal processor 8.In described digital signal processor, implement orthogonal signal and handle, obtain speed data.Described digital signal processor is by the outside output speed data of RS232/422 interface circuit.
Fig. 3 is that the micro-strip array antenna pattern that the present invention designs distributes and outside dimension figure.Described micro-strip array antenna is divided into emitting antenna and receiving antenna two parts.The radiating element number of each antenna is that (8 * 14-2) is individual.These radiating elements are arranged by equidistant and symmetric mode.This mode can guarantee that when transmission frequency is offset the direction skew can not take place the aerial radiation wave beam.The principle of design of radiating element feeding network is to make the radiation intensity of radiating element meet the Qie Beixuefu weight distribution.So just can under the condition of the radiating element number of regulation and the distance of arranging, obtain the narrowest antenna directivity.Whole feeding network and each radiating element must have good coupling, guarantee that antenna has high emission efficiency.Described two parts antenna links to each other by short coaxial configuration with microstrip circuit, and syndeton designs according to the transmission of 50 Ω coupling.
Fig. 4 and Fig. 5 have illustrated the integrated design notion of radar front end among the present invention.Fig. 4 has illustrated the position of described antenna on the radar substrate.The circuitry trenches that system is milled at the back side of radar substrate is shown in Fig. 5.In Fig. 5, the groove that mediates is placed the transmitting-receiving microstrip circuit; And around groove place described binary channels Doppler signal amplification-filtering circuit, binary channels analog to digital converter, emissive source frequency stabilization circuit etc.The power supply of radar is a direct current.In order to guarantee that radar adapts to wide external power and changes, needing increases a direct supply conversion adjuster, and it also is arranged in the circuitry trenches.After the mounting circuit boards, use a thickness to cover completely in each groove, only reserve portalling of input/output signal line and power lead as the aluminium alloy plate of 0.5mm.
Fig. 6 is that transmitting-receiving microstrip circuit specific design block diagram reaches the some functional blocks that link to each other with it among the present invention.Among Fig. 6, the 1st, receiving array antenna, the target echo that it is collected becomes two-way to deliver to respectively on the input end of two balanced mixers 4 and 5 through power splitter 2 backs.Another side, the 11st, microwave voltage controlled oscillator.The 13rd, be voltage controlled oscillator direct current power source supplying power conversion adjuster.The 12nd, the frequency stabilization circuit of voltage controlled oscillator.Described microwave voltage controlled oscillator produces the microwave oscillation signal of 24.15GHz, and this signal is through behind the power splitter 9, and a part of microwave signal is through emission array antenna 10 outside transmitting radar waves.Another part signal of power splitter 9 output by a dc isolator 8 and 3dB bridge shape power splitter 7 after, form two local signals of 90 ° of phase place phase mutual deviations, present and balance frequency mixer 4 and 5.Like this, balanced mixer 4 and 5 just can produce two 0 intermediate frequency Doppler signals, 90 ° of their phase phasic differences.These two 0 intermediate frequency Doppler signals pass through low- pass filter 3 and 6 respectively, just present two input ends to binary channels Doppler signal amplification-filtering circuit respectively.
Digital signal processor is by following mode implementation and operation among the present invention.The digital signal that the AD transducer provides in the continuous receiving radar front end of digital signal processor.This is a single channel numerical data of Doppler's digital signal alternate transmission of 90 ° of two-way phase phasic differences.After described digital signal processor received data, at first with the single channel numerical data separately, the Doppler's digital signal that obtains the two-way quadrature was also stored respectively.When two Doppler signal sample numbers reach 1024, just begin to carry out the described orthogonal signal of this instructions and handle, obtain the speed data of target.Naturally, digital signal processor receives and the work of storage new data can continue to carry out simultaneously, can not pause because of being engaged in digital signal processing.Like this, if select sample frequency F=39.063kHz, the employing cycle is exactly T=25.6 μ s, and the time of 1024 replica data points is 26.214ms, and the every 26.214ms of radar just can provide the velocity amplitude of a measurement.
Claims (5)
1. the design of a vehicle velocity detection radar and signal processing method, design proposal by a kind of velocity radar is come imbody, it is characterized in that: described radar is made of radar front end and high speed digital signal processor two parts, and radar front end is made of the voltage-controlled microwave source, two-way balanced mixer, binary channels Doppler signal amplification-filtering circuit, the binary channels analog to digital converter that transmit and receive micro-strip array antenna, band frequency stabilization circuit.
2. the design of the described vehicle velocity detection radar of claim 1 and signal processing method is characterized in that:
Radar front end structure and electric on adopt integrated design, the radar substrate that uses a thickness to be no more than 5mm just can carry whole parts of radar front end, wherein, described two micro-strip array antennas are arranged at a side of radar substrate, and the some grooves of another side milling system of radar substrate, be used to place all the other whole parts of radar front end, groove uses sheet metal to cover, and reaches the purpose of radiation-screening and anti-external disturbance.
3. the design of the described vehicle velocity detection radar of claim 1 and signal processing method is characterized in that:
Micro-strip array antenna is divided into transmitting antenna array and two separated portions of receiving antenna array, and the antenna overall dimensions is limited in 146mm * 126mm area, and the radiating element number of each antenna is that (8 * 14-2) is individual.
4. the design of the described vehicle velocity detection radar of claim 1 and signal processing method is characterized in that:
Radar front end uses the binary channels design, and its output is comprising Doppler's digital signal of two-way quadrature.
5. the design of the described vehicle velocity detection radar of claim 1 and signal processing method is characterized in that:
High speed digital signal processor uses fast discrete Fourier conversion (FFT) and orthogonal signal disposal route, is extracted the velocity amplitude of target by Doppler's digital signal of quadrature.
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Cited By (9)
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| CN102841349A (en) * | 2012-09-03 | 2012-12-26 | 西北工业大学 | Method for detecting distance and speed based on Laguerre baseband signal |
| CN102841348A (en) * | 2012-09-03 | 2012-12-26 | 西北工业大学 | Method for detecting distance and speed based on Fourier baseband signal |
| CN105334512A (en) * | 2015-11-20 | 2016-02-17 | 奇瑞汽车股份有限公司 | Vehicle Doppler radar speed measuring device |
| CN107633681A (en) * | 2017-06-30 | 2018-01-26 | 天津智芯视界科技有限公司 | Use the method for Doppler radar detection abnormal event |
| CN108037500A (en) * | 2017-11-30 | 2018-05-15 | 安徽四创电子股份有限公司 | A kind of tracking mode monitors radar |
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| CN2224773Y (en) * | 1995-06-12 | 1996-04-17 | 董新民 | Cenlimetric wave radar against vehicle collision |
| CN1224541C (en) * | 2003-03-20 | 2005-10-26 | 上海交通大学 | Active device for preventing automobile wear end collision |
| CN2789860Y (en) * | 2005-03-25 | 2006-06-21 | 阮树成 | Radio warning device for overspeed of motor vehicle on road |
| CN100369072C (en) * | 2005-03-25 | 2008-02-13 | 阮树成 | Radio alarm device for vehicle over speed on highway |
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| CN102841348A (en) * | 2012-09-03 | 2012-12-26 | 西北工业大学 | Method for detecting distance and speed based on Fourier baseband signal |
| CN102841348B (en) * | 2012-09-03 | 2014-06-18 | 西北工业大学 | Method for detecting distance and speed based on Fourier baseband signal |
| CN102841349B (en) * | 2012-09-03 | 2014-06-18 | 西北工业大学 | Method for detecting distance and speed based on Laguerre baseband signal |
| CN102841349A (en) * | 2012-09-03 | 2012-12-26 | 西北工业大学 | Method for detecting distance and speed based on Laguerre baseband signal |
| CN105334512A (en) * | 2015-11-20 | 2016-02-17 | 奇瑞汽车股份有限公司 | Vehicle Doppler radar speed measuring device |
| CN108801660B (en) * | 2017-04-27 | 2020-06-19 | 南京理工大学 | Laboratory detection device and method for emergency braking performance of high-speed train |
| CN108801660A (en) * | 2017-04-27 | 2018-11-13 | 南京理工大学 | A kind of test in laboratory device and method of bullet train emergency braking performance |
| CN109143172A (en) * | 2017-06-19 | 2019-01-04 | 本田技研工业株式会社 | position detecting device |
| CN109143172B (en) * | 2017-06-19 | 2023-03-03 | 本田技研工业株式会社 | Position detecting device |
| CN107633681A (en) * | 2017-06-30 | 2018-01-26 | 天津智芯视界科技有限公司 | Use the method for Doppler radar detection abnormal event |
| CN107633681B (en) * | 2017-06-30 | 2020-05-29 | 天津智芯视界科技有限公司 | Method for detecting abnormal event by using Doppler radar |
| CN108037500A (en) * | 2017-11-30 | 2018-05-15 | 安徽四创电子股份有限公司 | A kind of tracking mode monitors radar |
| CN108037500B (en) * | 2017-11-30 | 2024-04-12 | 安徽四创电子股份有限公司 | Tracking type monitoring radar |
| CN110488265A (en) * | 2019-07-08 | 2019-11-22 | 清远市天之衡传感科技有限公司 | Radar velocity measurement system and method based on the transparent effect of Rydberg atom electromagnetically induced |
| CN113325416A (en) * | 2021-06-05 | 2021-08-31 | 快趣网络科技发展(上海)有限公司 | Golf radar sensor measuring unit |
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