CN102662161A - Channel monitoring mechanism based system and channel monitoring mechanism based method for suppressing multi-automobile anti-collision radar conflict - Google Patents
Channel monitoring mechanism based system and channel monitoring mechanism based method for suppressing multi-automobile anti-collision radar conflict Download PDFInfo
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- CN102662161A CN102662161A CN2012101660940A CN201210166094A CN102662161A CN 102662161 A CN102662161 A CN 102662161A CN 2012101660940 A CN2012101660940 A CN 2012101660940A CN 201210166094 A CN201210166094 A CN 201210166094A CN 102662161 A CN102662161 A CN 102662161A
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Abstract
The invention relates to a channel monitoring mechanism based system and a channel monitoring mechanism based method for suppressing multi-automobile anti-collision radar conflict and belongs to the technical field of radars, communication and automotive electronics. In the system for suppressing the multi-automobile anti-collision radar conflict, each automobile anti-collision radar system adopts an interrupted continuous wave linear frequency-modulation system. The channel monitoring mechanism based method for suppressing the multi-automobile anti-collision radar conflict includes that a radar transmitter switch is used for controlling transmission and closing of radar signals, and when a radar transmitter is turned off, a channel frequency analysis unit of a receiver is used for spectrum analysis of received external signals: namely, searching is performed in the automobile anti-collision radar use frequency band range, and a radar sequence control system sends out a control signal to enable a frequency-sweeping signal unit to adjust the current radar transmission frequency to an idle frequency when other automobile anti-collision radar systems transmitting radar signals are discovered in the frequency band, so that mutual interference among radars in the system can be effectively avoided.
Description
Technical field
The present invention relates to a kind of many automobile collision avoidance radars conflict and suppress System and method for, belong to radar, communication and technical field of automotive electronics based on channel-monitoring mechanism.
Background technology
Automobile collision avoidance radar is surveyed distance, speed, the position angle of single or a plurality of targets and this car in the vehicle front certain distance, and when dangerous situation occurs, sends alerting signal according to the early warning rule, points out the driver to take measures guarantee driving safety.Automobile collision avoidance radar generally adopts the work of triangular wave linear frequency modulation system; Working frequency range is at millimeter wave frequency bands such as 35GHz, 60GHz, 77GHz; The outstanding advantage of the radar of these frequency ranges is that resolution is high, and electromagnetic penetration capacity is strong, is specially adapted to the situation of road safety.
In recent years, along with society to the growing interest of automotive safety problem and automobile anti-collision technique research deep day by day initiatively, with the automobile collision avoidance radar be the basis automobile initiatively anticollision control system become the main flow direction of research.Yet current initiatively the research and the test of anticollision control system all are based on the bicycle system for automobile.Can predict,, multi-section just inevitably can occur and be mounted with the initiatively vehicle of the anticollision control system situation of meeting of automobile when automobile after initiatively anticollision control system is realized commercialization and applied.If there is not corresponding braking measure; The interference of signal between the different vehicle just might appear; Especially when two cars meet head on to go relatively, automobile initiatively in the anticollision control system radar receiver of automobile collision avoidance radar may receive transmitting of radar on the stronger opposite vehicle, may cause the radar receiver in the automobile collision avoidance radar system saturated in this case; Real goal is buried in the false target, and automobile initiatively anticollision control system lost efficacy.
Summary of the invention
The objective of the invention is to possess simultaneously under the automobile collision avoidance radar situation at many automobiles for solving; It is saturated that radar receiver appears in this car automobile collision avoidance radar system; Cause the initiatively problem of collision avoidance system inefficacy of automobile; Propose a kind of many car radars conflict and suppress system and method, utilize the analysis to received signal of current radar receiver, the frequency range that other radar systems transmitted around can confirming based on channel-monitoring mechanism; Thereby the native system radio frequency signal frequency is set on a certain unoccupied frequency range, to reach the purpose that suppresses conflict.
The present invention realizes through following technical scheme.
Each automobile collision avoidance radar system based in many automobile collision avoidance radars conflict inhibition system of channel-monitoring mechanism among the present invention adopts interrupts continuous wave linear frequency modulation system.The emission of adopting radar transmitter switch control radar signal based on many automobile collision avoidance radars conflict inhibition method of channel-monitoring mechanism with close; At radar transmitter in the shut-in time; The channel frequency analytic unit of receiver carries out spectrum analysis to the external signal that receives: promptly in automobile collision avoidance radar service band scope, search for; When the radar signal of other automobile collision avoidance radar system emissions is arranged in finding frequency band; The radar sequential control system sends control signal makes the swept-frequency signal unit that current radar transmitter frequency is adjusted to the idle frequence emission, thereby has effectively avoided the phase mutual interference between each radar in the system.
A kind of many automobile collision avoidance radars conflict based on channel-monitoring mechanism suppresses system, comprises radar emission device, radar receiving trap, radar time-sequence control module, Radar Signal Processing and display unit and channel frequency analytic system.
Said radar emission device comprises swept-frequency signal generation unit, power amplification unit, switch and emitting antenna.Wherein, switch, swept-frequency signal generation unit, power amplification unit and emitting antenna link to each other successively, and the output of sequential control system is connected to switch, and the output of radar time-sequence control module has also inserted the switch of emitting antenna front end.
Said radar emission device is accomplished under the control of radar time-sequence control module, in the function of controlled time, band transmit swept-frequency signal.
Said radar receiving trap comprises receiving antenna, radar receiving cable and multiplexer.The radar receiving cable is sent in the output of receiving antenna, and the output of radar receiving cable is divided into two-way via multiplexer under the control of radar tfi module, and one the tunnel sends into the channel frequency analytic system, and one the tunnel sends into Radar Signal Processing and display unit.
Said radar receiving trap is accomplished and under the control of radar time-sequence control module, the signal in the space is gathered reception, and the signal that collection receives is outputed to the function in Radar Signal Processing and display unit and the channel frequency analytic system.
Said radar time-sequence control module comprises ICU, emitter controller and receiving trap controller, and the emitter controller links to each other with ICU respectively with the receiving trap controller.The output of radar time-sequence control module is divided into two groups, and one the tunnel for the emitter controller outputs to the radar emission device, the switch of control radar emitter and swept-frequency signal generation unit; One the tunnel outputs to the radar receiving trap for the receiving trap controller.The output that is input as the channel frequency analytic system of radar time-sequence control module is connected to the ICU of radar time-sequence control module.
The output information of the ICU receive channel frequency analysis system in the described radar time-sequence control module, and according to its output control emitter controller and the work of receiving trap controller.The receiving trap controller receives the order of ICU, control radar receiving trap multiplexer, thus confirm radar receiving trap data flow.The emitter controller receives the order of ICU, and accomplishes the function to radar emission device sequential and transmit frequency band control.
Said Radar Signal Processing and display unit comprise radar echo signal processing module, GPS module, early warning module and dynamic display module.Radar echo signal processing module, GPS module and dynamic display module link to each other with the false-alarm module.The input of radar echo signal processing module links to each other with the radar receiving trap.
Said Radar Signal Processing and display unit are accomplished echoed signal are handled, and calculating physical messages such as early warning target direction angle, distance, speed, and combine geography information that the GPS module provides and the judgment condition realization eliminating to false early warning target.Handling gained information the most at last shows on dynamic display module and sends corresponding safety warning according to the early warning rule.
Said channel frequency analytic system comprises the signal spectrum estimation module, the judgement control module.Signal spectrum estimation module, judgement control module link to each other successively.Signal spectrum estimation module input end connects the output of radar receiving trap, and the output of judgement control module connects the radar time-sequence control module.
Said channel frequency analytic system receives the monitoring signal from the radar receiving trap, and it is carried out spectrum analysis, finds out idle frequency range, and band information is outputed in the radar time-sequence control module.
A kind of many car radars conflict inhibition method based on channel-monitoring mechanism of the present invention suppresses on the system-based in above-mentioned a kind of many car radars conflict based on channel-monitoring, and its concrete course of work is following:
The radar receiving trap of step 1, automobile self receives the radiofrequency signal that other radars sent under the current multiple radar system environment through the receiving antenna in the radar receiving trap under the control of radar sequential control system.
Step 2, the radar radiofrequency signal that step 1 is received are sent into the channel frequency analytic system; Time-domain information to receiving is composed estimation; Each frequency and a preset thresholding are compared; Judge whether frequency is shared by other radars, and unappropriated frequency information is outputed in the radar time-sequence control module.
Step 3, under the control of radar sequential control system, the swept-frequency signal generation unit in the radar emission device generates the radiofrequency signal of unoccupied frequency range.
The radiofrequency signal of the unoccupied frequency range of step 4, step 3 output is launched after amplifying via the power amplifier in each group radar emission device.
The radiofrequency signal echoed signal of the radar receiving trap receiving step four of step 5, automobile self after in the radar receiving trap, handling, produces digital baseband signal.
The radar echo signal processing module that step 6, the digital baseband signal that step 5 is produced are sent in Radar Signal Processing and the display unit is carried out digital signal processing, obtains the information such as distance, speed, orientation of real early warning target.
The geography information that step 7, Radar Signal Processing and early warning module in the display unit combine the GPS module to collect; Echo signal in conjunction with the output of radar echo signal processing module; Get rid of false target, final early warning target information is shown on dynamic display module and warns.
Beneficial effect
Automobile collision avoidance radar of the present invention system relies on its channel frequency analytic unit to carry out monitoring analysis to outside electromagnetic environment; And the control radar transmitter module selects idle frequence to launch; This mode can successfully manage the situation that the multi-section automobile is equipped automobile collision avoidance radar simultaneously, prevents phase mutual interference between the multi-section automobile collision avoidance radar.
Description of drawings
Fig. 1 is the composition synoptic diagram that suppresses system based on many car radars conflict of channel-monitoring mechanism of the present invention;
Fig. 2 is that the system that the many car radars conflict based on channel-monitoring mechanism of the present invention suppresses system forms structural drawing;
Fig. 3 is the swept-frequency signal control timing in the embodiment of the invention 1.
Embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is further specified.Many car radars conflict based on channel-monitoring mechanism suppresses system
Fig. 1 specifically comprises radar transmit-receive device, sequential control system, channel frequency analytic system and Radar Signal Processing and display unit for the overall construction drawing of the present invention and embodiment.Fig. 2 is the concrete block diagram of system based on overall construction drawing of the present invention and embodiment; As can be seen from Figure 2, each module groups in the present embodiment becomes: the radar time-sequence control module comprises ICU, emitter controller and receiving trap controller; The channel frequency analytic system comprises the signal spectrum estimation module, the judgement control module; Radar Signal Processing and display unit comprise radar echo signal processing module, GPS module, early warning module and dynamic display module; The radar receiving trap comprises receiving antenna, radar receiving cable and multiplexer; The radar emission device comprises swept-frequency signal generation unit, power amplification unit, switch and emitting antenna.Wherein early warning module, the radar echo signal processing module in radar time-sequence control module, channel frequency analytic system and Radar Signal Processing and the display unit write realization by the VerilogHDL language on the FPGA of the CycloneIII of altera corp; Dynamic display module in Radar Signal Processing and the display unit is realized by RGB display screen and Cyclone III FPGA internal logic; The GPS module is realized that by the SiRF3 module radar emission device and radar receiving trap are realized by the W wave band transceiver module that SIVERSIMA produces.
Radar sending and receiving device in the present embodiment all works in the 77GHz frequency range, and the car radar in the system adopts and interrupts the continuous wave frequency system, all work under the control of sequential control system of radar emission and receiving trap and channel frequency analytic system.The time domain waveform of triangular modulation signal that has period is as shown in Figure 3: coordinate transverse axis express time, unit are millisecond; The coordinate longitudinal axis is represented frequency, and unit is GHz.True origin is represented certain moment of duration of work, and establishing the initial moment was zero moment, and transmission frequency is 76.5GHz.
The work schedule of system in the present embodiment in certain described among Fig. 3 two work periods; The concrete course of work of system is: the linear frequency modulation ripple of radar time-sequence control module control radar emitter emission triangular modulation during being in 0ms to 14ms; Swept frequency range is at 76.5GHz～77.0GHz; And the radar receiving trap receives echoed signal, and under the control of radar time-sequence control module, conveys the received signals to Radar Signal Processing and display unit; During being in 14ms～16ms; Radar time-sequence control module control radar emitter stops emission, and the radar receiving trap receives the signal in the space and the signal data that under the control of radar time-sequence control module, just receives is sent in the channel frequency analytic system; During being in 16ms～30ms; The radar time-sequence control module is according to channel frequency analytic system institute feedack; Confirm that 77.6GHz～78.1GHz is idle frequency range, the linear frequency modulation ripple of control radar emitter emission triangular modulation, swept frequency range is at 77.6GHz～78.1GHz; And the radar receiving trap receives echoed signal, and under the control of radar time-sequence control module, conveys the received signals to Radar Signal Processing and display unit.
During system is in the emission of radar emission device; Promptly among the figure during 0ms～14ms or the 16ms～30ms; Radar Signal Processing and display unit are handled the data message that the radar receiving trap transmits; And the geography information that combines the GPS module to obtain removes false target, and final objective information is presented on the dynamic display module; When system is in the radar emission device down periods; Promptly among the figure during 14ms～16ms; The reception signal of channel frequency analytic system Analysis of Radar receiving trap is sought idle frequency range, and idle band information is sent to the radar time-sequence control module; The radar time-sequence control module confirms that according to this information the frequency range that next radar emission device transmits launches, and has avoided the phase mutual interference under the multiple radar system.
Many car radars conflict based on channel-monitoring mechanism of present embodiment suppresses system; Through system building and real road test; Not only realized radiofrequency signal transmitting-receiving and early warning target range finding, angle measurement and test the speed; And effectively suppressed the signal conflict under many radars environment, solved problem mentioned in the background technology.
The above is preferred embodiment of the present invention, and the present invention should not be confined to the disclosed content of this embodiment and accompanying drawing.Everyly do not break away from the equivalence of accomplishing under the disclosed spirit of the present invention or revise, all fall into the scope of the present invention's protection.
Claims (4)
1. the many automobile collision avoidance radars conflict based on channel-monitoring mechanism suppresses system, it is characterized in that: comprise radar emission device, radar receiving trap, radar time-sequence control module, Radar Signal Processing and display unit and channel frequency analytic system;
Said radar emission device comprises swept-frequency signal generation unit, power amplification unit, switch and emitting antenna; Wherein, switch, swept-frequency signal generation unit, power amplification unit and emitting antenna link to each other successively, and the output of sequential control system is connected to switch, and the output of radar time-sequence control module inserts switch;
Said radar receiving trap comprises receiving antenna, radar receiving cable and multiplexer; The radar receiving cable is sent in the output of receiving antenna, and the output of radar receiving cable is divided into two-way via multiplexer under the control of radar tfi module, and one the tunnel sends into the channel frequency analytic system, and one the tunnel sends into Radar Signal Processing and display unit;
Said radar receiving trap is gathered reception to the signal in the space under the control of radar time-sequence control module, and the signal that collection receives is outputed to Radar Signal Processing and display unit and channel frequency analytic system;
Said radar time-sequence control module comprises ICU, emitter controller and receiving trap controller, and the emitter controller links to each other with ICU respectively with the receiving trap controller; The emitter controller outputs to the radar emission device; The receiving trap controller outputs to the radar receiving trap;
The output information of the ICU receive channel frequency analysis system in the described radar time-sequence control module; The receiving trap controller receives the order of ICU, control radar receiving trap multiplexer; The emitter controller receives the order of ICU;
Said Radar Signal Processing and display unit comprise radar echo signal processing module, GPS module, early warning module and dynamic display module; Radar echo signal processing module, GPS module and dynamic display module link to each other with the false-alarm module; The input of radar echo signal processing module links to each other with the radar receiving trap;
Said channel frequency analytic system comprises the signal spectrum estimation module, the judgement control module; Signal spectrum estimation module, judgement control module link to each other successively; Signal spectrum estimation module input end connects the output of radar receiving trap, and the output of judgement control module connects the radar time-sequence control module;
Said channel frequency analytic system receives the monitoring signal from the radar receiving trap, and it is carried out spectrum analysis, finds out idle frequency range, and band information is outputed in the radar time-sequence control module.
2. the many automobile collision avoidance radars conflict based on channel-monitoring mechanism according to claim 1 suppresses system, and it is characterized in that: radar emission device, radar receiving trap all work in the 77GHz frequency range.
3. the many automobile collision avoidance radars conflict based on channel-monitoring mechanism according to claim 1 suppresses system, it is characterized in that: adopt and interrupt the continuous wave frequency system.
4. described many automobile collision avoidance radars conflict based on channel-monitoring mechanism suppresses the conflict inhibition method of system based on claim 1, it is characterized in that: comprise the steps:
The radar receiving trap of step 1, automobile self receives the radiofrequency signal that other radars sent under the current multiple radar system environment through the receiving antenna in the radar receiving trap under the control of radar sequential control system;
Step 2, the radar radiofrequency signal that step 1 is received are sent into the channel frequency analytic system; Time-domain information to receiving is composed estimation; Each frequency and a preset thresholding are compared; Judge whether frequency is shared by other radars, and unappropriated frequency information is outputed in the radar time-sequence control module;
Step 3, under the control of radar sequential control system, the swept-frequency signal generation unit in the radar emission device generates the radiofrequency signal of unoccupied frequency range;
The radiofrequency signal of the unoccupied frequency range of step 4, step 3 output is launched after amplifying via the power amplifier in each group radar emission device;
The radiofrequency signal echoed signal of the radar receiving trap receiving step four of step 5, automobile self after in the radar receiving trap, handling, produces digital baseband signal;
The radar echo signal processing module that step 6, the digital baseband signal that step 5 is produced are sent in Radar Signal Processing and the display unit is carried out digital signal processing, obtains the information such as distance, speed, orientation of real early warning target;
The geography information that step 7, Radar Signal Processing and early warning module in the display unit combine the GPS module to collect; Echo signal in conjunction with the output of radar echo signal processing module; Get rid of false target, final early warning target information is shown on dynamic display module and warns.
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| CN103983953A (en) * | 2014-06-10 | 2014-08-13 | 武汉拓宝电子系统有限公司 | Method for avoiding mutual interference in radar system |
| CN104765036A (en) * | 2015-03-25 | 2015-07-08 | 王方圆 | Reverse radar |
| CN104777481A (en) * | 2015-03-23 | 2015-07-15 | 王方圆 | Car collision-proof radar system |
| CN104793190A (en) * | 2015-03-24 | 2015-07-22 | 王方圆 | Multi-automobile anti-collision radar conflict inhibition system based on channel monitoring mechanism |
| CN104793208A (en) * | 2015-03-25 | 2015-07-22 | 王方圆 | Automotive anti-collision radar detection method with anti-interference and multi-target recognizing performance |
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| CN105283776A (en) * | 2013-03-12 | 2016-01-27 | 埃斯科特公司 | Radar false alert reduction |
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| CN103983953A (en) * | 2014-06-10 | 2014-08-13 | 武汉拓宝电子系统有限公司 | Method for avoiding mutual interference in radar system |
| CN104777481A (en) * | 2015-03-23 | 2015-07-15 | 王方圆 | Car collision-proof radar system |
| CN104793190A (en) * | 2015-03-24 | 2015-07-22 | 王方圆 | Multi-automobile anti-collision radar conflict inhibition system based on channel monitoring mechanism |
| CN104765036A (en) * | 2015-03-25 | 2015-07-08 | 王方圆 | Reverse radar |
| CN104793208A (en) * | 2015-03-25 | 2015-07-22 | 王方圆 | Automotive anti-collision radar detection method with anti-interference and multi-target recognizing performance |
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| CN109490888A (en) * | 2017-09-12 | 2019-03-19 | 比亚迪股份有限公司 | Trailer-mounted radar and method, apparatus for trailer-mounted radar |
| CN109143184A (en) * | 2018-10-29 | 2019-01-04 | 北京理工大学 | A kind of double threshold detection method of scanning radar |
| WO2020156084A1 (en) * | 2019-01-30 | 2020-08-06 | 华为技术有限公司 | Radio signal sending method and device |
| CN110726974A (en) * | 2019-10-17 | 2020-01-24 | 北京邮电大学 | Radar detection method and device based on radar communication integration |
| WO2021169338A1 (en) * | 2020-02-24 | 2021-09-02 | 华为技术有限公司 | Target detection method and radar device |
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| CN115236653B (en) * | 2022-07-29 | 2023-10-24 | 南京慧尔视智能科技有限公司 | Radar detection method, device, equipment and medium |
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