CN102680976B - Vehicle-mounted radar system - Google Patents
Vehicle-mounted radar system Download PDFInfo
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- CN102680976B CN102680976B CN201110061772.2A CN201110061772A CN102680976B CN 102680976 B CN102680976 B CN 102680976B CN 201110061772 A CN201110061772 A CN 201110061772A CN 102680976 B CN102680976 B CN 102680976B
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Abstract
The invention provides a vehicle-mounted radar system which comprises a processor, a radar transmitter, an antenna, a beam splitter and a beam deflecting device. The processor controls the radar transmitter to generate radar wave, the antenna transmits the radar wave, and the beam deflecting device deflects the propagation direction of the radar wave so as to enable the radar wave to at least cover 180-degree directions, or even 360-degree directions. The vehicle-mounted radar system adopts a single radar antenna and can detect obstacles in the 360-degree directions. A radar detecting dead zone does not exist, full-directional detecting can be provided, and safety of vehicle driving is improved.
Description
[technical field]
The present invention relates to field of automobile safety, relate in particular to a kind of Vehicular radar system.
[background technology]
Car radar as its name suggests, is the radar for automobile or other ground maneuver vehicles.It mainly can be divided into following a few class: velocity radar, and can measure the rotating speed of wheel and measure car speed; Obstacle detection radar, this radar can be surveyed the terrain very poor in the situation that in visibility zero or visibility, thereby to alarm driver Accident prevention; Adaptive cruise control radar, can adapt to the environment of vehicle periphery, and keep a safe speed according to the speed of Ben Che and front truck and front truck; Collision avoidance radar, can be according to the current direction of vehicle and velocity survey to may cause the dangerous obstacles of collision on vehicle front road, and alerting driver will be opened air bag or other braking equipments, controls the speed of automobile; And other vehicle supervision and control radars.
In vehicle anti-collision radar, different with the course of work according to principle of work, be divided into ultrasonic radar, infrared radar, laser radar and millimetre-wave radar.First three plants radar, is all by the detection to echo, compares with transmitting, and obtains the difference of pulse or phase place, thereby calculates transmitting and the mistiming that receives signal.Then according to velocity of propagation, calculate distance and the relative velocity with barrier.This three type systematic simple in structure, cheap, but be easily subject to the impact of bad weather condition, cannot but show distance accuracy.The advantage of millimeter wave is, is not subject to the interference of target object shape color, is not subject to the impact of air turbulence, has stable detection performance, good environmental adaptability.
Yet existing millimeter wave vehicle anti-collision radar system cost is expensive, performance is stable not, and single radar antenna only can survey the barrier in (normally the place ahead) on specific direction, has the blind area of radar detection, and omnibearing detection cannot be provided.
[summary of the invention]
The present invention will provide a kind of Vehicular radar system, and wherein, this Vehicular radar system comprises: processor, for controlling the operation of Vehicular radar system; Radar transmitter, for generation of radar wave; Antenna, for launching radar wave; And wave beam deflection device, for by the beam direction deviation of radar wave, wherein, processor control radar transmitter produces radar wave, and antenna is launched radar wave, and wave beam deflection device makes radar wave at least can cover 180 ° of orientation radar direction of wave travel deviation.
In the preferred embodiment of the present invention, wave beam deflection device is super material wave beam deflection device.
In the preferred embodiment of the present invention, super material wave beam deflection device comprises base material and is attached to a plurality of artificial microstructure on described base material.
In the preferred embodiment of the present invention, on super material, along the size constancy of the accompanying artificial microstructure of first direction, along the accompanying artificial microstructure of second direction, by the center section of base material, to the two side portions of base material, become gradually large.
In the preferred embodiment of the present invention, the refractive index of super material is constant in a first direction, and in second direction, by the centre of base material, the two side portions to base material diminishes gradually.
In the preferred embodiment of the present invention, artificial microstructure comprises the first tinsel and is connected to the first tinsel two ends and perpendicular to this first the second tinsel wiry.
In the preferred embodiment of the present invention, artificial microstructure comprises two orthogonal the first tinsels and is connected to described in each the first tinsel two ends and perpendicular to this first the second tinsel wiry.
The present invention adopts single radar antenna can survey the barrier at least 180 ° of orientation, even can survey 360 ° of barriers in orientation, reduce or eliminated completely the blind area of radar detection, omnibearing detection can be provided, improved the security of vehicle drive.And this system is simple, easily realize.
[accompanying drawing explanation]
Fig. 1 shows the single antenna vehicle anti-collision radar of using millimeter wave in prior art;
Fig. 2 shows many antennas vehicle anti-collision radar of using millimeter wave in prior art;
Fig. 3 shows according to vehicle anti-collision radar system 100 of the present invention.
Fig. 4 shows according to the concrete structure of super material wave beam deflection device 140 of the present invention;
Fig. 5 shows the index distribution on super material wave beam deflection device 140 of the present invention;
Fig. 6 shows according to the concrete structure of wave beam reverser 150 of the present invention;
Fig. 7 shows a kind of concrete form of the artificial microstructure 220 of super material wave beam deflection device 140;
Fig. 8 shows the another kind of concrete form of the artificial microstructure 220 of super material wave beam deflection device 140.
[embodiment]
Below in conjunction with drawings and Examples, the present invention is described in detail.
Fig. 1 shows the single antenna vehicle anti-collision radar of using millimeter wave in prior art.In this single antenna vehicle anti-collision radar kind, single antenna millimetre-wave radar is arranged on to the front portion (normally on front window windshield) of automobile, this single antenna millimetre-wave radar can be surveyed the barrier situation within the scope of tens meters, driver the place ahead, and feed back in time vehicle-mounted computer, carry out data processing.When the speed of a motor vehicle is less than 30km/h, when the place ahead meets with barrier, adopt this single antenna millimetre-wave radar to obtain automobile and can automatically start brake system, the speed below 15km/s, adopt this single antenna millimetre-wave radar to obtain automobile car automatic brake is stopped, the possibility of vehicle collision is down to minimum.Protection pedestrian and driver's safety.Yet this single antenna millimetre-wave radar only can be surveyed the a-quadrant between the place ahead L1 and L2 in Fig. 1.For the B region at vehicular sideview and rear, this single antenna millimetre-wave radar cannot be surveyed, and is radar detection blind area.
In order to solve the detection blind area problem in Fig. 1, Fig. 2 has provided the vehicle anti-collision radar of using many antennas millimeter wave in prior art.In order to make trailer-mounted radar can survey larger region, in the trailer-mounted radar shown in Fig. 2, a plurality of radar antennas have been used, to multiple directions transmittings millimeter wave, to can survey the region A that the larger L1 in Fig. 2 and L2 surround.Yet along with the increase of antenna amount, it is more complicated that radar system becomes, manufacturing cost also increases greatly.
Vehicle anti-collision radar system 100 of the present invention has been shown in Fig. 3.This system comprises vehicle-mounted computer 110, radar transmitter 120, antenna 130 and wave beam deflection device 140.
Vehicle-mounted computer 110 is responsible for controlling whole Vehicular radar system 100 normal operations, comprises that control radar transmitter 120 carrys out emitting electromagnetic wave, and the feedback data of radar wave is processed, and provide according to result the prompting of controlling vehicle operating.
The radar wave transmitting of antenna 130 for radar transmitter 120 is produced, the performance of antenna has material impact to the performance of whole vehicle anti-collision radar system 100.Conventional radar wave antenna has following several: reflector antenna, lens antenna, electromagnetic horn, diectric antenna, leaky-wave antenna, microstrip antenna, phased-array antenna etc.
Wave beam deflection device 140, for the radar wave of antenna 130 transmittings is carried out to deviation, so that radar wave at least can cover 180 ° of orientation, even can cover 360 ° of barriers in orientation, region as represented in M in figure.Adopt in the present invention super material wave beam deflection device as the wave beam deflection device 140 of applying in the present invention.
Fig. 4 shows according to the concrete structure of super material wave beam deflection device 140 of the present invention, and wave beam is through propagation condition thereafter.As seen from Figure 4, super material wave beam deflection device 140 according to the present invention comprises base material 210 and a plurality of artificial microstructure 220.Base material 210 adopts dielectric insulation material to make, and makes in the present invention for base material 210 adopts teflon.On base material 210, be provided with a plurality of artificial microstructures 220, these artificial microstructures 220 are formed on base material 210 by techniques such as photoetching, the moment.From super material technology, by adjusting geometric configuration, size and the distribution on base material 210 thereof of artificial microstructure 220, can adjust effective dielectric constant and equivalent permeability everywhere on whole super material.When artificial microstructure 220 adopts identical geometric configuration, for example during " I " font in present embodiment, if the size of the artificial microstructure 220 in somewhere is larger on super material wave beam deflection device 140, the effective dielectric constant at this place and equivalent permeability are larger.
As seen from Figure 4, in X-direction, the size constancy of artificial microstructure 220, in Y direction, the size of the artificial microstructure 220 of center section is minimum, the size of artificial microstructure 220 becomes greatly gradually along Y-axis both sides, and measure-alike in the artificial microstructure 220 apart from center section same distance place.Because size size in X-direction of artificial microstructure 220 is identical, make so on straight line parallel with X-axis on super material wave beam deflection device 140 effective dielectric constant and equivalent permeability everywhere identical, and because the refractive index of material and its specific inductive capacity and magnetic permeability exist following relation:
wherein k is scale-up factor, and its value can be for positive and negative 1, the specific inductive capacity that ε is material, and the magnetic permeability that u is material, makes on straight line parallel with X-axis on super material wave beam deflection device 140 refractive index everywhere identical.
In like manner, because the size of artificial microstructure 220 size in Y direction becomes large gradually from center section to both sides, the size of center section is minimum, and measure-alike in the artificial microstructure 220 apart from center section same distance place, make on straight line parallel with Y-axis on super material wave beam deflection device 140 effective dielectric constant and equivalent permeability everywhere become gradually large, the effective dielectric constant of center section and equivalent permeability are minimum, thereby make on straight line parallel with Y-axis on super material wave beam deflection device 140 refractive index everywhere increase gradually to two side portions from center section, the refractive index of center section is minimum.Fig. 5 shows the index distribution on super material wave beam deflection device 140 of the present invention.
In Fig. 5, because refractive index everywhere in the X-direction of Fig. 4 is all identical, and variations in refractive index in Fig. 4 Y direction, thereby with many straight lines that are parallel to X-axis, the identical part of refractive index on super material wave beam deflection device 140 is divided into a unit, and the refractive index of each unit use respectively n1, n2 ... np represents.Again because in Y-axis, identical apart from the refractive index at center section same distance place, thereby the refractive index at distance center section same distance place represents with identical label in Y-axis, as shown in Figure 5.From above-mentioned discussion, n1 < n2 < ... < np.
Fig. 6 shows wave beam to be passed through according to the propagation condition of the super material wave beam deflection device 140 rear wave beams shown in Fig. 4.Wave beam S incides after the super material wave beam deflection device 140 in present embodiment, there is deviation, the relevant q of number of the angle θ of deviation and Δ n and the artificial microstructure 220 of arranging in X-direction, physical relationship is as follows: Sin θ=q Δ n, wherein Δ n represents the variations in refractive index of adjacent cells, and 0 < q Δ n < 1.As shown from the above formula, when the variations in refractive index size of adjacent cells is identical, so for the deviation angle homogeneous phase that incides the wave beam on super material wave beam deflection device 140 together.And when the variations in refractive index size of adjacent cells becomes large gradually, less for the deviation angle that incides the wave beam of center section on super material wave beam deflection device 140, and the deviation angle that incides the wave beam of the two side portions in Y direction on super material wave beam deflection device 140 becomes large gradually.And then the larger region of the more enough coverings of the radar wave that makes incident, at least can cover 180 ° of orientation, even cover 360 ° of orientation.
Simultaneously with reference to figure 3 to Fig. 6, when using according to Vehicular radar system 100 of the present invention, processor 110 control radar transmitters 120 produce radar wave, the radar wave transmitting that antenna 130 produces this radar transmitter 120, radar wave is deviation after wave beam deflection device 140, makes radar wave at least can cover 180 ° of orientation and even can cover 360 ° of orientation.Reduce radar detection blind area and even realize real non-blind area.Omnibearing detection is provided, has improved the security of vehicle drive.And this system is simple, easily realize.
In the above description, understand specifically the principle of work of radar system of the present invention.Seen from the above description, the design of super material wave beam deflection device 140 is most important.Below the base material 210 of super material wave beam deflection device 140 and a plurality of artificial microstructure 220 are being specifically described.Fig. 7 shows the concrete form of artificial microstructure 220, in embodiments of the present invention, the size of this artificial microstructure 220 is less than 1/10th of radar wave wavelength, and preferably, the order of magnitude of the size of this artificial microstructure 220 is 1/10th of radar wave wavelength.And artificial microstructure 220 is " I " font, comprises the first tinsel 221 and be connected to the first tinsel 221 two ends and perpendicular to this first the second tinsel 222 wiry.
From super material technology, by adjusting geometric configuration, size and the distribution on base material thereof of artificial microstructure 220, can adjust effective dielectric constant and equivalent permeability everywhere on whole super material.Thereby in the present invention, on super material wave beam deflection device 140, artificial microstructure 220 can be geometric configuration, the size with other, also can anisotropically be arranged on base material.As long as effective dielectric constant and the equivalent permeability of super material wave beam deflection device 140 in the X-direction shown in Fig. 4 do not changed, and effective dielectric constant and equivalent permeability in Y direction gradually changes, also the equivalent refractive index in X-direction is constant, equivalent refractive index in Y direction gradually changes, and also can realize goal of the invention of the present invention.
For example, in other embodiments of the present invention, artificial microstructure 220 can adopt other geometric configuration, as shown in Figure 8, in this embodiment, artificial microstructure 220 is orthogonal " I " font, and this artificial microstructure 220 comprises two orthogonal the first tinsels 221 and is connected to described in each the first tinsel 221 two ends and perpendicular to this first the second tinsel 222 wiry.Regulate the size of artificial microstructure 220, effective dielectric constant and the equivalent permeability of super material wave beam deflection device 140 in the X-direction shown in Fig. 4 do not changed, and effective dielectric constant and equivalent permeability in Y direction gradually changes, also the equivalent refractive index in X-direction is constant, equivalent refractive index in Y direction gradually changes, and also can realize goal of the invention of the present invention.
By above-mentioned explanation can, artificial microstructure 220 can adopt other geometric configuration.Even on same super material wave beam deflection device 140, adopt the artificial microstructure 220 of two or more different geometries, as long as effective dielectric constant and the equivalent permeability of super material wave beam deflection device 140 in the X-direction shown in Fig. 4 do not changed, and effective dielectric constant and equivalent permeability in Y direction gradually changes, also the equivalent refractive index in X-direction is constant, equivalent refractive index in Y direction gradually changes, and just can realize goal of the invention of the present invention.
Certainly, in other embodiments of the present invention, also can change the physical dimension of artificial microstructure 220 in super material wave beam deflection device 140 and the distribution on base material thereof, realizing effective dielectric constant and the equivalent permeability of super material wave beam deflection device 140 in the X-direction shown in Fig. 4 does not change, and effective dielectric constant and equivalent permeability in Y direction gradually changes, also the equivalent refractive index in X-direction is constant, equivalent refractive index in Y direction gradually changes, and just can realize goal of the invention of the present invention.Its principle is identical with the principle in above-mentioned explanation.Do not repeat them here.
Use, according to radar of the present invention, at least can cover 180 ° of orientation and even can cover in 360 ° of orientation.Reduce radar detection blind area and even realize real non-blind area.Omnibearing detection is provided, has improved the security of vehicle drive.And this system is simple, easily realize.
In the above-described embodiments, only the present invention has been carried out to exemplary description, but those skilled in the art can carry out various modifications to the present invention without departing from the spirit and scope of the present invention after reading present patent application.
Claims (4)
1. a Vehicular radar system, is characterized in that, described Vehicular radar system comprises:
Processor, for controlling the operation of described Vehicular radar system;
Radar transmitter, for generation of radar wave;
Antenna, for launching described radar wave; And,
Wave beam deflection device, for described radar wave is divided and deviation,
Wherein, described processor is controlled described radar transmitter and is produced radar wave, and described antenna is launched described radar wave, and described wave beam deflection device, by described radar wave division deviation, makes described radar wave at least can cover 180 ° of orientation; Described wave beam deflection device is super material wave beam deflection device; Described super material wave beam deflection device comprises base material and is attached to a plurality of artificial microstructure on described base material; On described super material, along the size constancy of the accompanying described artificial microstructure of first direction, along the accompanying described artificial microstructure of second direction, by the center section of described base material, to the two side portions of described base material, become gradually large.
2. Vehicular radar system according to claim 1, is characterized in that, the refractive index of described super material does not change in a first direction, in second direction, by the center section of described base material, to the two side portions of described base material, becomes gradually large.
3. Vehicular radar system according to claim 1, is characterized in that, described artificial microstructure comprises the first tinsel and is connected to the first tinsel two ends and perpendicular to this first the second tinsel wiry.
4. Vehicular radar system according to claim 1, is characterized in that, described artificial microstructure comprises two orthogonal the first tinsels and is connected to described in each the first tinsel two ends and perpendicular to this first the second tinsel wiry.
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| CN201110061772.2A CN102680976B (en) | 2011-03-15 | 2011-03-15 | Vehicle-mounted radar system |
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| CN201110061772.2A CN102680976B (en) | 2011-03-15 | 2011-03-15 | Vehicle-mounted radar system |
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| CN104076362B (en) * | 2014-07-07 | 2016-08-24 | 芜湖航飞科技股份有限公司 | A kind of railroad train runs security radar |
| CN104176043A (en) * | 2014-08-13 | 2014-12-03 | 芜湖航飞科技股份有限公司 | Vehicle-mounted radar |
| CN105607041B (en) * | 2015-09-22 | 2018-04-10 | 吉林大学 | Pulse location model based on bionical husky scorpion positioning function |
| US11073611B2 (en) * | 2017-03-20 | 2021-07-27 | International Business Machines Corporation | High spatial resolution 3D radar based on a single sensor |
| CN112103662B (en) * | 2019-06-17 | 2022-03-01 | Oppo广东移动通信有限公司 | Lens antenna module and electronic equipment |
| CN113156445B (en) * | 2021-05-11 | 2023-10-20 | 东风汽车集团股份有限公司 | Ultrasonic radar blind area monitoring system and monitoring method |
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| JP5396761B2 (en) * | 2008-07-11 | 2014-01-22 | 株式会社リコー | LIGHT CONTROL ELEMENT HAVING MICROSTRUCTURE AND MICROSTRUCTURE |
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| CN101217216A (en) * | 2008-01-08 | 2008-07-09 | 东南大学 | An ultra-wideband shaped aerial based on manual electromagnetic structure |
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