CN103913742A - Automotive anti-collision radar system with two receiving antennas and operating method - Google Patents
Automotive anti-collision radar system with two receiving antennas and operating method Download PDFInfo
- Publication number
- CN103913742A CN103913742A CN201410171083.0A CN201410171083A CN103913742A CN 103913742 A CN103913742 A CN 103913742A CN 201410171083 A CN201410171083 A CN 201410171083A CN 103913742 A CN103913742 A CN 103913742A
- Authority
- CN
- China
- Prior art keywords
- target
- antenna
- signal
- submodule
- module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000011017 operating method Methods 0.000 title abstract 4
- 238000012545 processing Methods 0.000 claims abstract description 104
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 claims abstract description 8
- 238000000034 method Methods 0.000 claims description 43
- 238000001228 spectrum Methods 0.000 claims description 36
- 239000011159 matrix material Substances 0.000 claims description 22
- 230000003595 spectral effect Effects 0.000 claims description 18
- 230000008569 process Effects 0.000 claims description 17
- 238000001514 detection method Methods 0.000 claims description 13
- 238000006243 chemical reaction Methods 0.000 claims description 5
- 238000005070 sampling Methods 0.000 claims description 4
- 238000004458 analytical method Methods 0.000 claims description 3
- 230000009977 dual effect Effects 0.000 claims description 3
- 238000000605 extraction Methods 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 230000021615 conjugation Effects 0.000 claims description 2
- 230000008878 coupling Effects 0.000 claims description 2
- 238000010168 coupling process Methods 0.000 claims description 2
- 238000005859 coupling reaction Methods 0.000 claims description 2
- 230000001360 synchronised effect Effects 0.000 abstract 1
- 238000002474 experimental method Methods 0.000 description 8
- 230000008901 benefit Effects 0.000 description 6
- 238000013461 design Methods 0.000 description 5
- 238000004364 calculation method Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 238000005259 measurement Methods 0.000 description 4
- 230000000052 comparative effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000013139 quantization Methods 0.000 description 3
- 230000003321 amplification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000007726 management method Methods 0.000 description 2
- 238000003199 nucleic acid amplification method Methods 0.000 description 2
- 238000012612 static experiment Methods 0.000 description 2
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 235000010675 chips/crisps Nutrition 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 230000000717 retained effect Effects 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/003—Transmission of data between radar, sonar or lidar systems and remote stations
- G01S7/006—Transmission of data between radar, sonar or lidar systems and remote stations using shared front-end circuitry, e.g. antennas
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/414—Discriminating targets with respect to background clutter
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention provides an automotive anti-collision radar system with two receiving antennas and an operating method. The automotive anti-collision radar system is provided with the two independent receiving antennas and an independent transmitting antenna, wherein the two independent receiving antennas and the independent transmitting antenna are connected into a radio-frequency signal processing module respectively. A central control processing part comprises a PS module and a PL module, wherein the PS module comprises a system submodule, a data processing submodule and a clock submodule, and the PL module comprises a modulating signal generation submodule, an algorithm submodule, a phase-locked loop submodule and a control submodule. An output device comprises a displayer, an alarm device and an emergency braking device. The operating method includes the steps of transmitting modulation triangular waves, allowing the two receiving antennas to collect real echo signals and virtual echo signals respectively, calculating distance information, speed information and azimuth information of targets through a MUSIC algorithm and target pairing, transmitting results to the PS module for synchronous display and directly controlling the alarm device and the braking device. Through the automotive anti-collision radar system with the two receiving antennas and the operating method, target azimuth can be obtained, the multi-target judging ability is improved, the computing speed is high, cost is low, reliability is high, and the automotive anti-collision radar system is simplified in structure, convenient to maintain, easy to upgrade and capable of reducing cost.
Description
Technical field
The present invention relates to automobile early warning technology field, be specially a kind of automobile anti-collision radar system and operation method of double reception antenna.
Background technology
Along with the fast development of urbanization and expressway construction, automobile has become the requisite vehicles in people's life.But automobile is in facilitating for people, has also hidden many potential safety hazards.Under this background, the research and development of automobile early warning technology become focus, and wherein the development of automobile anti-collision radar system has very important realistic meaning and using value.
Existing automobile collision avoidance radar adopts multiple technologies to realize, and due to ultrasound wave, laser, the infrared impact that is easily subject to inclement weather and environmental factor, cannot guarantee detection accuracy, thereby expert concentrates notice to be placed on microwave radar both at home and abroad.At present, abroad applied microwave radar in some high-grade automobiles, is applied to market and do not have at home ripe product.
Automobile collision avoidance radar adopts single antenna linear frequency modulation continuous wave system (LFMCW) conventionally.In the radar intermediate frequency signal receiving at radar receiver, not only contain target echo information, also contain noise signal and undesired signal, as protecting between the vehicle on contiguous track, track blocked, the trees in roadside and road sign and the billboard etc. setting up, these all form and disturb radar system, cause radar to make false judgment.The target azimuth of the radar receiver of single antenna detects poor performance cannot meet actual needs, has restricted the popularization and application of automobile collision avoidance radar.
Automobile radar anti-collision system is different from other radar systems, and it is real-time that it requires anti-collision radar system to have, the feature that processing speed is fast.The realization of collision avoidance radar signal processing circuit at present generally forms by any two in micro-control unit (MCU) chip, digital signal processor (DSP) chip or field programmable gate array (FPGA) chip.Combination with FPGA and DSP is the most common, because the programmable logic structure of FPGA can complete more function than MCU chip, there is good extendability, there is good capability of sequential control, have the advantages such as powerful parallel processing capability, fast operation, reliability are high, flexible in programming, the signal of DSP is processed special multiplier and high-speed register can have been assisted improper some computings on FPGA.But automobile collision avoidance radar all need to carry out man-machine interaction at PC PC end at present, makes like this system bulk very huge.Be unfavorable for that complete machine embeds automotive interior.And embedded control system based on ARM is the main flow direction of current Vehicle Electronic Control, if collision avoidance radar also adopts the process chip with ARM framework, there is the logic programmable ability of similar FPGA simultaneously, there is the special signal processing module of DPS, have Chip Operating System, to be beneficial to product maintenance, reduce the cost, improve practical value.
In the Chinese invention patent application that is 102353954A at publication number " linear frequency modulated continuous wave automobile anti-collision radar system and using method ", system is the bi-processor architecture of DSP and FPGA, the various algorithms of signal processing are reasonably allocated to DSP to the complicated rate average algorithm of employing space-time and FPGA processes, and takes full advantage of the advantage separately of DSP and FPGA.But because of algorithm complexity, realize very difficultly, and be still difficult to meet the specific (special) requirements of anti-collision radar system real-time and processing speed.Simultaneously too complicated because of hardware configuration, cost is high, is unfavorable for business promotion.
Summary of the invention
The object of the invention is for the collision avoidance radar existing in prior art the detectability in complex environment poor, direction finding ability, the problem such as the low and system hardware of target discrimination is complicated, design a kind of automobile anti-collision radar system of double reception antenna, radar echo signal processing main chip is the double-core ARM chip of embedded programmable logic block and the processing of special digital signal, microwave sends and receives the radar transceiver of combination and be furnished with 32 high performance chipses for data acquisition, and radar antenna comprises 2 independently independently emitting antennas of receiving antenna and 1.Simple to operate, real-time is good, and processing speed is fast, has realized target azimuth measurement, has improved target resolution characteristic.
Another object of the present invention is the operation method of the automobile anti-collision radar system of the above-mentioned double reception antenna of design, radar system periodic transmission modulated triangular wave, two receiving antennas gather echo simultaneously, each antenna carries out respectively MUSIC (multiple signal classification to received signal, English is Multiple Signal Classification) algorithm, matched and obtained target information by target, the target range finally obtaining according to different antennae changes acquisition azimuth of target.
The automobile anti-collision radar system of the double reception antenna of the present invention's design comprises microwave transmitting and receiving part, intermediate-freuqncy signal processing section, data-switching part, center-control processing section and power unit.Other various piece of power unit and system is connected, provides required voltage.Microwave transmitting and receiving part comprises emitting antenna, receiving antenna and radio-frequency signal processing module, emitting antenna, receiving antenna are connected with radio-frequency signal processing module, radio-frequency signal processing module signal after treatment, through intermediate-freuqncy signal processing section and data-switching part, accesses center-control processing section.Described data-switching part comprises D/A converter module and analog-to-digital conversion module.Center-control processing section connects input equipment and output device.Signal to be sent is controlled through data-switching part incoming radio frequency signal processing module in center-control processing section, is sent by emitting antenna.
Microwave transmitting and receiving part of the present invention comprises 2 independently independently emitting antennas of receiving antenna and 1.The distance of 2 receiving antennas, i.e. base length L=0.08m～0.15m.2 receiving antennas and 1 transmit antennas be incoming radio frequency signal processing module respectively.Each receiving antenna has I, Q two-way to receive signal, has 4 tunnels to receive signal.Sampling rate that the IQ of receiving antenna has received Structure Decreasing, has also reduced the requirement of the conversion chip to data conversion portion.Because retained phase information in the echoed signal of 2 receiving antennas, can judge according to this range information of target, and realize the measurement of bearing to target simultaneously.
Described receiving antenna and emitting antenna are a kind of narrow beam radar antennas, are plane microstrip antenna, and profile is small and exquisite.Not only energy saving at work, and be highly susceptible to being integrated in various circuit, is also easy to build in the installation environment in automobile module protection facility.
Described radio-frequency signal processing module is the radar transmit-receive chip of the K-wave band band VCO (voltage controlled oscillator) of radiofrequency signal list output dual input.
Center-control processing section comprises processing system modules and programmed logical module, hereinafter referred to as PS (Processing System) module and PL (Programmable Logic) module.
PS module comprises system submodule, data processing submodule and clock submodule.Data processing submodule is processed PL module the data obtained again, to obtain final target information.System submodule provides software operation platform for hardware system, and is furnished with at least one in serial ports, USB interface and VGA interface, in order to be connected with Input/Output Device and vehicle-mounted microcomputer.System starts the clock submodule in PS module while startup at first, starts whole system, and PL module is configured centered by software.
PL module comprises that modulation signal produces submodule, algorithm submodule, phaselocked loop submodule and controls submodule.Control submodule and connect the transmitting of control microwave receiving unit, intermediate-freuqncy signal processing section and data-switching part, also connect modulation signal and produce submodule and algorithm process submodule.Control submodule and coordinate the modulation signal generation submodule of its connection, the logical sequence of algorithm process submodule according to the Clock management of the phaselocked loop submodule in PL module, guarantee each submodule co-ordination.
It is that T, slope are that the modulation signal generation submodule of described PL module produces modulation period according to the instruction of controlling submodule
triangular modulation digital signal, wherein modulating bandwidth is B
a; Modulated digital signal exports data-switching part to, and digital signal is converted to simulating signal sends into the radio-frequency signal processing module of microwave transmitting and receiving part, is sent by emitting antenna.
The radiofrequency signal that the radio-frequency signal processing module of microwave transmitting and receiving part receives 2 receiving antennas is carried out algorithm process, is converted to intermediate-freuqncy signal, sends into intermediate-freuqncy signal processing section.
Power amplification is carried out to the echoed signal receiving in intermediate-freuqncy signal processing section, its signal power of sending into data-switching part is at least greater than an A/D quantization level, intermediate-freuqncy signal processing section also reduces the dynamic range of signal, and its pretreated signal amplitude is less than an A/D quantization level.
Intermediate-freuqncy signal processing section analog echo signal after treatment is sent into data-switching part and is converted to I, Q tetra-railway digital signals and sends into the PL module of center-control processing section.I, the Q tetra-tunnel echoed signals of the algorithm submodule of PL module to 2 receiving antennas are carried out respectively MUSIC algorithm, target pairing, and target range velocity information is calculated and measurement of bearing, obtains final target information, and passes to PS module, carries out follow-up output processing.
Described output device is the display device for reference driver, and output device can also be vehicle alarming device and/or emergency braking apparatus.The final goal distance that the control submodule storage of the PL module of center-control processing section arranges and the early warning value of speed, the final goal distance and the velocity amplitude that calculate when this radar system reach early warning value, control submodule and start vehicle alarming device and/or emergency braking apparatus through system submodule, to avoid accident to occur.
The operation method of the automobile anti-collision radar system of double reception antenna of the present invention, after switching on power, the software initialization of PS module, and PL module is configured; Wait for the instruction that operating personnel bring into operation from input equipment input, if without instruction input, continue to wait for; After sign on input, control submodule and send the modulation signal generation submodule of control word to PL module.Concrete steps are as follows:
I, launch modulated triangular wave and gather echoed signal
Control submodule is inputted and be stored in to modulated triangular wave Parameter Programming, and the modulation signal of PL module produces submodule and produces triangular modulation digital signal according to the instruction of system submodule.Modulated digital signal exports data-switching part to, and digital signal is converted to simulating signal sends into the radio-frequency signal processing module of microwave transmitting and receiving part, is sent by emitting antenna.
The modulated triangular wave of launching is linear frequency modulation continuous wave LFMCW (English is Linear Frequency Modulation Continuous Wave), and be T its modulation period, and modulating bandwidth is B
a.Wherein
for the triangular wave ascent stage, its slope is
thereafter
cycle is triangular wave descending branch, and slope is
the centre carrier frequency transmitting is f
r.From the characteristic of LFMCW signal, echoed signal is still T for the cycle, and modulating bandwidth is B
atriangular wave, but its centre frequency is offset to f
r+ f
d, f
dthe Doppler shift causing for target travel.
Target echo enters the radio-frequency signal processing module of microwave transmitting and receiving part through receiving antenna, carries out lower mixing operation.From signal mixed frequency characteristic, after lower mixing, obtain Beat Signal, same target produces a spectrum peak in the triangular wave ascent stage
corresponding lower frequency sweep section produces a corresponding spectrum peak
△ f is determined by target range.The output signal of radio-frequency signal processing module enters the input end of intermediate-freuqncy signal processing section.
The automobile anti-collision radar system of double reception antenna of the present invention has two antenna A, B at a distance of L, and the echoed signal that each antenna receives is divided into two-way: the real part I signal of echoed signal and imaginary part Q signal, i.e. the echoed signal I of A antenna
a, Q
aechoed signal I with B antenna
b, Q
b.Acquisition process is carried out in intermediate-freuqncy signal processing section respectively Dui Si road signal.
II, target detection based on MUSIC (multiple signal classification) algorithm
The A antenna echo signal I in M cycle
a, Q
aechoed signal I with B antenna
b, Q
bafter the processing of completing steps I, the echo signal data in each cycle is carried out to MUSIC algorithm process, with the frequency spectrum of the corresponding target that obtains, two corresponding targets of spectrum peak.
The concrete operations of MUSIC algorithm are as follows:
To the real part data x (n) in first echo cycle of A antenna, the sampling number that n is echo.X (n) is set up to virtual matrix X (n),
M is Virtual array number, and the covariance matrix of X (n) is R
xx=E{X (n) X
h(n) }, in formula, E represents expectation computing, and H represents Matrix Calculating conjugation.To R
xxcarry out svd
In formula, ∑ represents signal characteristic value matrix, and O represents 0 matrix, σ
2i
n-rrepresent noise characteristic value matrix, the variance that wherein σ is noise, S is signal matrix, G is noise matrix.Finally try to achieve
N quantizes, and its scope is ultimate range and the corresponding frequency values of minor increment that receiving antenna is surveyed, and value interval will determine frequency accuracy, if will miss too greatly target place frequency, if too little calculated amount will increase.Gained S
aIbe output as row vector, length determines by receiving antenna detection range, and target range is at S
aIthere is one group of peak value in correspondence position.
To A antenna echo signal Q
adata carry out above-mentioned identical MUSIC algorithm and obtain S
aQ, to B antenna echo signal I
b, Q
bdata carry out the MUSIC algorithm identical with A antenna and obtain S
bI, S
bQ.
MUSIC algorithm the data obtained is temporary in the algorithm submodule of PL module.
III, target pairing
In step II, obtain one group of row vector that contains target range velocity information, A antenna echo signal is carried out to delivery processing,
obtain the frequency spectrum S of A antenna echo
a.
S
athree important parameters of matrix are the fuzzy velocity amplitude of spectral line amplitude ﹑ and distance value.
Before the transmitting modulated triangular wave of step I
for the triangular wave ascent stage, after
cycle is triangular wave descending branch, and the ascent stage of triangular modulation signal, descending branch are called frequency sweep, lower frequency sweep, by S
abe divided into two parts by upper and lower frequency sweep.Suppose to have N target, the peak value size of corresponding modulating signal ascent stage, descending branch is respectively D
u1d
u2d
u3... D
uN, D
d1d
d2d
d3... D
dN.
The absolute value of the upper and lower peak difference of spectral line obtaining according to the upper and lower frequency sweep section of modulation signal judges the distance value of target, according to the upper and lower peak value of spectral line with judge velocity amplitude.
The S obtaining
arespectively there is respectively N spectral line in corresponding N the target of upper and lower frequency sweep section, as the S of A antenna echo
athe spectral line of fuzzy Doppler frequency to meet upper and lower peak value absolute value identical, judge that their spectral line range value equates, be judged as the spectral line of same target, i.e. target pairing.
The S of B antenna echo
bthe target pairing of frequency spectrum and the S of above-mentioned A antenna echo
aprocessing procedure identical.
Distance and the velocity information of IV, calculating target
The A antenna echo that the modulated triangular wave of cycle T is collected and B antenna echo signal respectively by the data of the frequency sweep up and down pairing grouping of same target, are converted to respective frequencies value f by the numerical value of frequency sweep up and down of each target after the pairing of step III target,
f＝k*0.5+l
Wherein k is the position of target spectrum peak row vector, and l is search rate initial value.
Calculate the target range R of certain target i in N target according to the data of A antenna echo
aIwith target velocity v
aiformula as follows:
In formula, C is the light velocity,
for the S of T cycle A antenna echo
acertain target i spectrum peak place frequency of upper frequency sweep section,
for the S of T cycle A antenna echo
acertain target i spectrum peak place frequency of lower frequency sweep section, f
ofor the carrier frequency centre frequency transmitting, B
afor modulating bandwidth.
Calculate the R of certain target i according to the data of echo B
biand v
biaccount form and above-mentioned R
aiand v
aiaccount form identical.
V, target azimuth information extraction
The A that step III is obtained, the distance velocity information of the each target of B echo are reflected in a distance-speed dimension matrix Y, in practical application, radar range is much larger than launched microwave wavelength, therefore, meeting microwave far-field characteristic, is consistent for two measured speed of antenna AB of same target.
The angle that certain target i departs from A antenna spindle is
wherein R
aiand R
bibe respectively A, this target of B echo i distance that step VI obtains, L is the distance of two antennas, i.e. base length, θ
ifor this target departs from main tracking axis, i.e. the position angle of A antenna spindle, wherein left avertence is negative value, right avertence be on the occasion of.
The different situation of target range that in described step IV, AB echo detects under same speed has 2 kinds: the first situation is under same speed, only to have two spectrum peaks, and this A, B echo for same target obtains distance measure; Depart from the position angle calculating formula of main tracking axis by target in step V and try to achieve target deviation angle.The second situation is under same speed, to have multiple targets, and according to actual conditions, A, the B days line spectrum peak to peak values that different target distance causes are much larger than same target at AB days line spectrum peak to peak values, and target spectrum peak can cross occurrence.In native system antenna detection angle, due to base length, L is very little, and same target is paired appearance in Y matrix, and distance is very near, and two spectrum peaks that distance are less than to a certain threshold value Z are defaulted as same target.Z=Lsin (θ
max), L is base length, θ
maxfor antenna directional bearing angle maximal value.After target range coupling, the position angle calculating formula that same target is departed to main tracking axis by target in step V is tried to achieve target deviation angle.
Distance, speed and the azimuth information of the target that PL module obtains in step IV and V pass to PS module, and simultaneous display on display device, for reference driver.
When output device comprises vehicle alarming device and/or emergency braking apparatus, operating personnel set alarm threshold from input equipment, are stored in the control submodule of PL module as the early warning value of target range and speed.Whether have data from the algorithm submodule of PL export the data receiver register of PS module, if having, it is carried out to early warning analysis if controlling submodule monitoring.Controlling submodule compares the distance of gained target, speed and azimuth information with early warning value, the final goal distance and the velocity amplitude that calculate when this anti-collision radar system reach early warning value, control submodule and start vehicle alarming device and/or emergency braking apparatus through system submodule, to avoid accident to occur.
Compared with prior art, the advantage of the automobile anti-collision radar system of double reception antenna of the present invention is: 1, microwave signal receiving unit has an emitting antenna and two receiving antennas, independently receive sendaisle, can obtain maximum gain, double reception antenna reception structure has I
ai
bq
aq
bfour road receiving cables, direction that can the detection of a target, improves multiple goal judgement; 2, microwave sends to receive and is combined into parts, saves hardware resource and cost, saves space, and energy consumption also decreases; 3, the programmed logical module of center-control processing section is uniprocessor structure, system has the advantages such as the capable processing of powerful Bing Neng Li ﹑ fast operation, this Di of Cheng ﹑ reliability are high, flexible in programming, native system is fast to the processing speed of radar signal, and real-time is good; Select the Embedded A P-SoC chip that integrated level is higher, improve Man machine interaction, construction cycle is short, and product is easy to upgrading, is convenient to product later maintenance, production cost is lower, reliability is higher, can make whole system become more small and exquisite, designs simplification, is more conducive to realization and the upgrading of system, reduce costs, improved commercial value; 4, native system itself is a complete embedded system, without host computer, data are further processed, can show and auto-alarm function to target from the signals collecting of antenna by complete independently, can also connect the emergency braking apparatus of automobile simultaneously, realize Braking mode.
Compared with prior art, the operation method advantage of the automobile anti-collision radar system of double reception antenna of the present invention is: 1, detect this method transmitting modulated triangular wave, the Processing Algorithm of design double echo signal, realize target orientation detection for target azimuth; 2, adopt MUSIC algorithm, in conjunction with the feature of linear frequency modulation continuous wave system (LFMCW) three angle-modulated signals symmetries, be that the caused ranging offset that is coupled of the distance speed of moving target has symmetry, carry out the pairing of target, be lifted at the ability that detects moving target under strong background clutter noise; 3, adopt high-precision MUSIC algorithm, obtain high-precision target signature parameter; Effectively promote under strong background noise the detectability of target echo; 4, according to the feature of LFMCW signal, change of distance causes the characteristic of echo frequency variation, has simplified the structure of target azimuth detection algorithm, makes whole system structure further be simplified under the condition of not losing radar performance.
Accompanying drawing explanation
Fig. 1 is the automobile anti-collision radar system embodiment general frame block diagram of this double reception antenna;
Fig. 2 is the center-control part-structure block diagram in Fig. 1;
Fig. 3 is the operation method embodiment process flow diagram of the automobile anti-collision radar system of double reception antenna.
Embodiment
Below in conjunction with drawings and Examples, the present invention is described in further detail.
The automobile anti-collision radar system embodiment of double reception antenna
The automobile anti-collision radar system embodiment overall architecture of this double reception antenna as shown in Figure 1, comprises microwave transmitting and receiving part, intermediate-freuqncy signal processing section, data-switching part, center-control processing section and power unit.Other various piece of power unit and system is connected, provides required voltage.
This routine microwave transmitting and receiving part comprises 1 independently independently receiving antenna AB and radio-frequency signal processing module of emitting antenna, 2, the distance of 2 receiving antenna AB of this example, i.e. base length L=0.12m.1 transmit antennas and 2 receiving antennas incoming radio frequency signal processing module respectively.A, two receiving antennas of B have I, Q two-way to receive signal, have 4 tunnels to receive signal incoming radio frequency signal processing module.
This routine receiving antenna and emitting antenna are a kind of narrow beam radar antennas, are plane microstrip antenna.Described radio-frequency signal processing module is the radar transmit-receive chip of the K-wave band band VCO (voltage controlled oscillator) of radiofrequency signal list output dual input.Be furnished with that riches all the way send passage He Si road receiving cable, i.e. the real part receiving cable I of A antenna echo signal
a, the imaginary part receiving cable Q of A antenna echo signal
a, the real part receiving cable I of B antenna echo signal
b, the imaginary part receiving cable Q of B antenna echo signal
b.The working frequency range of the radio-frequency signal processing module emitting electromagnetic wave carrier frequency in this example is 24GHz.
Radio-frequency signal processing module signal after treatment, through intermediate-freuqncy signal processing section and data-switching part, accesses center-control processing section.Described data-switching part comprises D/A converter module and analog-to-digital conversion module.Center-control processing section connects input equipment and output device.
This routine intermediate-freuqncy signal processing section comprises frequency domain dynamic compression circuit and intermediate frequency amplifier circuit.
Control processing section, center, center-control processing section is full programmable system on chip chip PA-SoC, and its structure as shown in Figure 2, comprises PS module and PL module.
PS module comprises data processing submodule, system submodule and clock submodule.Data processing submodule is processed PL module the data obtained again.This routine system submodule is furnished with serial ports, USB interface and VGA interface.
PL module comprises that modulation signal produces submodule, algorithm submodule, phaselocked loop submodule and controls submodule.Control submodule and connect the transmitting of control microwave receiving unit, intermediate-freuqncy signal processing section and data-switching part, also connect modulation signal and produce submodule and algorithm process submodule.Control submodule and coordinate the modulation signal generation submodule of its connection, the logical sequence of algorithm process submodule according to the Clock management of the phaselocked loop submodule in PL module, guarantee each submodule co-ordination.
It is that T, slope are that the modulation signal generation submodule of described PL module produces modulation period according to the instruction of controlling submodule
triangular modulation digital signal, wherein modulating bandwidth is B
a; Modulated digital signal exports data-switching part to, and digital signal is converted to simulating signal sends into the radio-frequency signal processing module of microwave transmitting and receiving part, is sent by emitting antenna.
The radiofrequency signal that the radio-frequency signal processing module of microwave transmitting and receiving part receives 2 receiving antennas is carried out algorithm process, is converted to intermediate-freuqncy signal, sends into intermediate-freuqncy signal processing section; Power amplification is carried out to the echoed signal receiving in intermediate-freuqncy signal processing section, and reduces the dynamic range of signal, and its signal power of sending into data-switching part is greater than an A/D quantization level.Intermediate-freuqncy signal processing section analog echo signal after treatment is converted to algorithm submodule in the PL module that I, Q tetra-railway digital signals send into center-control processing section PA-SoC chip through data-switching part.The algorithm submodule of PL module carries out respectively MUSIC algorithm to the echoed signal on 2 receiving antenna I, Q tetra-tunnels, target pairing, and target range velocity information is calculated and measurement of bearing, obtains final target information, and passes to PS module, carries out follow-up output processing.
This routine input equipment is keyboard and mouse.This routine output device is display device, vehicle alarming device and the emergency braking apparatus for reference driver.The final goal distance that the control submodule storage of the PL module of center-control processing section arranges and the early warning value of speed, the final goal distance and the velocity amplitude that calculate when this radar system reach early warning value, control submodule and start vehicle alarming device and emergency braking apparatus through system submodule.Microcomputer on serial ports, USB interface and the automobile of this routine system submodule configuration carries out data transmission.
The operation method embodiment of the automobile anti-collision radar system of double reception antenna
The employing train experiment of this method embodiment, the automobile anti-collision radar system embodiment of above-mentioned double reception antenna is fixed on static experiment porch as the experimental system of this method, two, front target carriage, experimental system 80m on first object vehicle distances experiment porch, speed is 10m/s, orientation :+3.4 °, the second target vehicle is apart from the experimental system 80.1m on experiment porch, stationary state, orientation: 0 °.When receiving antenna is surveyed remote target, gained echo power is less, and it is larger to survey gained echo power when close-in target.In the time that detection range is 100m, the power bracket of the intermediate-freuqncy signal of I/Q frequency mixer output is-80dBm～-20dBm that dynamic range is 60dB.
The flow process of this routine operation method as shown in Figure 3.
The operation method of the automobile anti-collision radar system of double reception antenna of the present invention, after switching on power, the software initialization of PS module, and PL module is configured; Wait for the instruction that operating personnel bring into operation from input equipment input, if without instruction input, continue to wait for; After sign on input, control submodule and send the modulation signal generation submodule of control word to PL module.Concrete steps are as follows:
This routine many antennas high precision automobile collision avoidance radar object run method comprises the following steps.
Receiving end receives I to two antennas of AB simultaneously
ai
bq
aq
bfour road signals.Become digital signal, sample frequency f through data-switching part
s, send into XC7Z020 chip.
I, launch modulated triangular wave and gather echoed signal
Control submodule is inputted and be stored in to modulated triangular wave Parameter Programming, and the modulation signal of PL module produces submodule and produces triangular modulation digital signal according to the instruction of controlling submodule.Modulated digital signal exports data-switching part to, and digital signal is converted to simulating signal sends into the radio-frequency signal processing module of microwave transmitting and receiving part, by the continuous emitting electromagnetic wave of emitting antenna.
The modulated triangular wave of this example transmitting is linear frequency modulation continuous wave LFMCW, and be T=1.6ms its modulation period, and modulating bandwidth is B
a=160MHz.Wherein
for the triangular wave ascent stage, its slope is
thereafter
cycle is triangular wave descending branch, and slope is
the centre carrier frequency transmitting is f
r=24GHz.The target range scope of receiving antenna is 1m～100m, and the velocity range of target is 0～150Km/h.
The automobile anti-collision radar system of this routine double reception antenna has two antenna A, B at a distance of L=0.12m (rice), the echoed signal that each antenna receives is divided into two-way: the real part I signal of echoed signal and imaginary part Q signal, i.e. the echoed signal I of A antenna
a, Q
aechoed signal I with B antenna
b, Q
b.Target echo enters the radio-frequency signal processing module of microwave transmitting and receiving part through A, B receiving antenna, carries out lower mixing operation.Send into intermediate-freuqncy signal processing section respectively Dui Si road signal carry out acquisition process.Sample frequency is f
s=512KHz.
II, target detection based on MUSIC algorithm
The A antenna echo signal I in M=16 cycle
a, Q
aechoed signal I with B antenna
b, Q
bafter the processing of completing steps I, the echo signal data in each cycle is carried out to MUSIC algorithm process, the frequency spectrum of the corresponding target obtaining, two corresponding targets of spectrum peak.
The concrete operations of MUSIC algorithm are as follows:
To the real part data x (n) in first echo cycle of A antenna, the sampling number that n=1024 is echo.X (n) is set up to virtual matrix X (n)
Virtual array number m=16, the covariance matrix of X (n) is R
xx=E{X (n) X
h(n) }, to R
xxcarry out svd
Obtaining S is that signal matrix G is noise matrix.Finally try to achieve
S
aIbe output as row vector, length determines by receiving antenna detection range, and target range can be at S
aIthere is one group of peak value in correspondence position, the algorithm submodule of PL module is temporary by the data obtained.
To A antenna echo signal Q
adata carry out above-mentioned identical MUSIC algorithm and obtain S
aQ, to B antenna echo signal I
b, Q
bdata carry out the MUSIC algorithm identical with A antenna and obtain S
bI, S
bQ.
This routine S
afor 16*1024 data, deposit in the RAM of algorithm submodule.
III, target pairing
S
a, S
brespectively there is respectively N spectral line in corresponding N the target of upper and lower frequency sweep section, as the S of A antenna echo
athe spectral line of fuzzy Doppler frequency to meet upper and lower peak value absolute value identical, judge that their spectral line range value equates, be judged as the spectral line of same target, i.e. target pairing.
The A antenna echo signal S that this routine step IV obtains
afrequency spectrum have three peak values, the row vector upward peak position of output is respectively 8,808,425.After pairing, having frequency sweep on two target first aims is 8, and lower frequency sweep is 808; On second target, frequency sweep is 425, and lower frequency sweep is 425.Equally, B antenna echo signal S
bfrequency spectrum have three peak values, the row vector upward peak of output is respectively 679,647,425.After pairing, having frequency sweep on two target first aims is 8, and lower frequency sweep is 808; On second target, frequency sweep is 425, and lower frequency sweep is 425.
Distance and the velocity information of IV, calculating target
A antenna echo and B antenna echo signal after step V target pairing, the packet of frequency sweep up and down of same target.
Upper and lower each target frequency sweep numerical value is converted to respective frequencies value, and formula is as follows:
f＝k*4+l
Wherein k is target spectrum row vector position, place, peak, at this routine A antenna echo signal S
afrequency spectrum in peak value be 8,808,425; L is search rate initial value, l=51700 in this example;
Frequency sweep frequency on first aim
be 51732, lower frequency sweep frequency
be 54932;
Frequency sweep frequency on second target
be 53400, lower frequency sweep frequency
be 53400;
Further calculate target range and speed.
Range formula is
C=3*10 in this example
8,
represent the S of T cycle A antenna echo
athe spectrum peak place frequency of i target in N target of upper frequency sweep section,
represent the S of T cycle A antenna echo
athe spectrum peak place frequency of i target.The distance that this example solves first object is R
a1=79.998m, the distance R of the second target
a2=80.1m.
Speed formula is
Carrier frequency adopts its wavelength X=0.0125 of 24GHz in this example,
represent the upper swept-frequency signal of i target,
represent the lower swept-frequency signal of i target.Solve the speed V of first object
a1=10m/s (meter per second), the speed V of the second target
a2=0m/s.
Adopt same computing method, by B antenna echo signal S
bspectrum peak first aim distance R
b1=79.998m, speed V
b1=10m/s, second target distance R
b2=80.1m, speed V
b2=0m/s.
When in the data result of calculation of two receiving antennas, when the distance of same target is different, take A antenna data result of calculation as realistic objective distance, with the azimuthal information of next step VII take A antenna as benchmark corresponding.
V, target azimuth information extraction
Formula is calculated at position angle:
Wherein L is base length, L=0.12m in this example, R
anrepresent i distance value in N target of A antenna echo signal gained, R
bnrepresent i distance value in N target of B antenna echo signal gained.
Step VI is obtained to 2 target range R
a1, R
b1and R
a2, R
b2substitution formula, solves first aim and departs from A antenna spindle azimuth angle theta respectively
1=3.4 degree, second target departs from A antenna spindle azimuth angle theta
2=0 degree.
The operation method embodiment running experiment result of the automobile anti-collision radar system of this double reception antenna is: find altogether 2 targets, the result of calculation that this method obtains be first object apart from 79.998m, speed 10m/s, depart from A antenna spindle position angle for+3.4 degree.The second target range 80.1m, speed 0m/s, departing from A antenna spindle position angle is 0 degree.In actual experiment environment, first object distance is 80m, and speed is 10m/s, and position angle is+3.4 degree.Second target distance is 80.1m, and speed is 0m/s, and position angle is 0 degree.
Comparative example
Adopt identical experiment condition with the operation method embodiment of the automobile anti-collision radar system of above-mentioned double reception antenna, by the modulated triangular wave automobile collision avoidance radar detection system of traditional single receiving antenna as a comparison system be fixed on static experiment porch, test with two, front target carriage.Comparison system 81m on first object vehicle distances experiment porch, relative velocity is 9.05m/s, and the second target vehicle is apart from the comparison system 81m on experiment porch, and speed is 0.1m/s.
This comparative example experimental result is: find altogether 2 targets, distance is 81m and 81m, and speed is 9.05m/s and 0.1m/s, without orientation detectability.
By the operation method embodiment of the automobile anti-collision radar system of this double reception antenna and the experimental result of comparative example, can obviously find out that method of the present invention has improved object ranging rate accuracy effectively than the modulated triangular wave automobile collision avoidance radar operation method of traditional single receiving antenna, has increased direction-measuring function simultaneously.
Distance, speed and the azimuth information of the target that the present embodiment PL module obtains in step VI and VII pass to PS module, and simultaneous display on display device, for reference driver.
This routine output device comprises vehicle alarming device and emergency braking apparatus, and operating personnel set alarm threshold from input equipment, is stored in the control submodule of PL module as the early warning value of target range and speed.Whether have data from the algorithm submodule of PL export the data receiver register of PS module, if having, it is carried out to early warning analysis if controlling submodule monitoring.Controlling submodule compares the distance of gained target, speed and azimuth information with early warning value, the final goal distance and the velocity amplitude that calculate when this anti-collision radar system reach early warning value, control submodule and start vehicle alarming device and emergency braking apparatus through system submodule, avoid accident to occur.
Above-described embodiment, is only the specific case that object of the present invention, technical scheme and beneficial effect are further described, and the present invention is not defined in this.All any modifications of making, be equal to replacement, improvement etc., within being all included in protection scope of the present invention within scope of disclosure of the present invention.
Claims (10)
1. the automobile anti-collision radar system of double reception antenna, comprises microwave transmitting and receiving part, intermediate-freuqncy signal processing section, data-switching part, center-control processing section and power unit; Other various piece of power unit and system is connected, provides required voltage; Microwave transmitting and receiving part comprises emitting antenna, receiving antenna and radio-frequency signal processing module, emitting antenna, receiving antenna are connected with radio-frequency signal processing module, radio-frequency signal processing module signal after treatment, through intermediate-freuqncy signal processing section and data-switching part, accesses center-control processing section; Described data-switching part comprises D/A converter module and analog-to-digital conversion module; Center-control processing section connects input equipment and output device; Signal to be sent is controlled through data-switching part incoming radio frequency signal processing module in center-control processing section, is sent by emitting antenna; It is characterized in that:
Described microwave transmitting and receiving part comprises 2 independently independently emitting antennas of receiving antenna and 1,2 receiving antennas and 1 transmit antennas incoming radio frequency signal processing module respectively.
2. the automobile anti-collision radar system of double reception antenna according to claim 1, is characterized in that:
The distance of described 2 receiving antennas, i.e. base length L=0.08m～0.15m.
3. the automobile anti-collision radar system of double reception antenna according to claim 1, is characterized in that:
Described receiving antenna and emitting antenna are a kind of narrow beam radar antennas, are plane microstrip antenna.
4. the automobile anti-collision radar system of double reception antenna according to claim 1, is characterized in that:
Described radio-frequency signal processing module is the radar transmit-receive chip of the K-wave band band voltage controlled oscillator of radiofrequency signal list output dual input.
5. the automobile anti-collision radar system of double reception antenna according to claim 1, is characterized in that:
Described center-control processing section comprises processing system modules and programmed logical module, hereinafter referred to as PS module and PL module;
PS module comprises data processing submodule, system submodule and clock submodule; System submodule is furnished with at least one in serial ports, USB interface and VGA interface;
PL module comprises that modulation signal produces submodule, algorithm submodule, phaselocked loop submodule and controls submodule; Control submodule and connect the transmitting of control microwave receiving unit, intermediate-freuqncy signal processing section and data-switching part, also connect modulation signal and produce submodule and algorithm process submodule.
6. the automobile anti-collision radar system of double reception antenna according to claim 1, is characterized in that:
Described output device is the display device for reference driver, and output device also has vehicle alarming device and/or emergency braking apparatus.
7. according to the operation method of the automobile anti-collision radar system of the double reception antenna described in any one in claim 1 to 6, it is characterized in that:
After switching on power, the software initialization of PS module, and PL module is configured; Wait for the instruction that operating personnel bring into operation from input equipment input, if without instruction input, continue to wait for; After sign on input, control submodule and send the modulation signal generation submodule of control word to PL module; Concrete steps are as follows:
I, launch modulated triangular wave and gather echoed signal
Control submodule is inputted and be stored in to modulated triangular wave Parameter Programming, and the modulation signal of PL module produces submodule and produces triangular modulation digital signal according to the instruction of system submodule; Modulated digital signal exports data-switching part to, and digital signal is converted to simulating signal sends into the radio-frequency signal processing module of microwave transmitting and receiving part, is sent by emitting antenna;
The modulated triangular wave of launching is linear frequency modulation continuous wave LFMCW, and be T its modulation period, and modulating bandwidth is B
a; Wherein
for the triangular wave ascent stage, its slope is
thereafter
cycle is triangular wave descending branch, and slope is
the centre carrier frequency transmitting is f
r; Due to the characteristic of LFMCW signal, echoed signal is still T for the cycle, and modulating bandwidth is B
atriangular wave, its centre frequency is offset to f
r+ f
d, f
dthe Doppler shift causing for target travel;
Target echo enters the radio-frequency signal processing module of microwave transmitting and receiving part through receiving antenna, carries out lower mixing operation; After lower mixing, obtain Beat Signal, same target produces a spectrum peak in the triangular wave ascent stage
corresponding lower frequency sweep section produces a corresponding spectrum peak
△ f is determined by target range; The output signal of radio-frequency signal processing module enters the input end of intermediate-freuqncy signal processing section;
The automobile anti-collision radar system of double reception antenna has two antenna A, B at a distance of L, and the echoed signal that each antenna receives is divided into two-way: the real part I signal of echoed signal and imaginary part Q signal, i.e. the echoed signal I of A antenna
a, Q
aechoed signal I with B antenna
b, Q
b; Acquisition process is carried out in intermediate-freuqncy signal processing section respectively Dui Si road signal;
II, target detection based on MUSIC algorithm
The A antenna echo signal I in M cycle
a, Q
aechoed signal I with B antenna
b, Q
bafter the processing of completing steps I, the echo signal data in each cycle is carried out to MUSIC algorithm process, obtain the frequency spectrum of corresponding target, two corresponding targets of spectrum peak;
The concrete operations of MUSIC algorithm are as follows:
To the real part data x (n) in first echo cycle of A antenna, the sampling number that n is echo; X (n) is set up to virtual matrix X (n),
M is Virtual array number, and the covariance matrix of X (n) is R
xx=E{X (n) X (n)
h, in formula, E represents expectation computing, H represents Matrix Calculating conjugation;
To R
xxcarry out svd
In formula, ∑ represents signal characteristic value matrix, and O represents 0 matrix, σ
2i
n-rrepresent noise characteristic value matrix, the variance that wherein σ is noise, S is signal matrix, G is noise matrix; Finally try to achieve
N quantizes, and its scope is ultimate range and the corresponding frequency values of minor increment that receiving antenna is surveyed;
S
aIbe output as row vector, length is surveyed detection range by receiving antenna and is determined, target range is at S
aIthere is one group of peak value in correspondence position;
To A antenna echo signal Q
adata carry out above-mentioned identical MUSIC algorithm and obtain S
aQ, to B antenna echo signal I
b, Q
bdata carry out the MUSIC algorithm identical with A antenna and obtain S
bI, S
bQ;
MUSIC algorithm the data obtained is temporary in the algorithm submodule of PL module;
III, target pairing
In step II, obtain one group of row vector that contains target range velocity information, A antenna echo signal carried out to delivery processing,
obtain the frequency spectrum S of A antenna echo
a;
S
athree important parameters of matrix are the fuzzy velocity amplitude of spectral line amplitude ﹑ and distance value;
Before the transmitting modulated triangular wave of step I
for the triangular wave ascent stage, after
cycle is triangular wave descending branch, and the ascent stage of triangular modulation signal, descending branch are called frequency sweep, lower frequency sweep, by S
abe divided into two parts by upper and lower frequency sweep, suppose to have N target, the peak value size of corresponding modulating signal ascent stage, descending branch is respectively D
u1d
u2d
u3... D
uN, D
d1d
d2d
d3... D
dN;
The absolute value of the upper and lower peak difference of spectral line obtaining according to the upper and lower frequency sweep section of modulation signal judges the distance value of target, according to the upper and lower peak value of spectral line with judge velocity amplitude;
The S obtaining
arespectively there is respectively N spectral line in corresponding N the target of upper and lower frequency sweep section, as the S of A antenna echo
athe spectral line of fuzzy Doppler frequency to meet upper and lower peak value absolute value identical, judge that their spectral line range value equates, be judged as the spectral line of same target, i.e. target pairing;
The frequency spectrum S of B antenna echo
bthe S of target pairing and above-mentioned A antenna echo
aprocessing procedure identical;
Distance and the velocity information of IV, calculating target
The A antenna echo that the modulated triangular wave of cycle T is collected and B antenna echo signal respectively by the data of the frequency sweep up and down pairing grouping of same target, are converted to respective frequencies value f by the numerical value of frequency sweep up and down of each target after the pairing of step III target,
f＝k*0.5+l
Wherein k is target spectrum row vector position, peak, and l is search rate initial value;
Calculate the target range R of certain target i in N target according to the data of A antenna echo
aIwith target velocity v
aiformula as follows:
In formula, C is the light velocity,
for the S of T cycle A antenna echo
acertain target i spectrum peak place frequency of upper frequency sweep section,
for the S of T cycle A antenna echo
acertain target i spectrum peak place frequency of lower frequency sweep section, f
ofor the carrier frequency centre frequency transmitting, B
afor modulating bandwidth;
Calculate the R of certain target i according to the data of echo B
biand v
biaccount form and above-mentioned R
aiand v
aiaccount form identical;
V, target azimuth information extraction
The A that step III is obtained, the distance velocity information of the each target of B echo are reflected in a distance-speed dimension matrix Y,
The angle that certain target i departs from A antenna spindle is
wherein R
aiand R
bibe respectively this target i distance obtaining according to A, B echo in step IV, L is the distance of two antennas, i.e. base length, θ
ifor this target departs from main tracking axis, i.e. the position angle of A antenna spindle, wherein left avertence is negative value, right avertence be on the occasion of.
8. the operation method of the automobile anti-collision radar system of double reception antenna according to claim 7, is characterized in that:
Described step IV, the different situation of target range that A, B echo detect under same speed has 2 kinds: the first situation is under same speed, only to have two spectrum peaks, this A, B echo that is same target obtains different distance measured value, departs from the position angle calculating formula of main tracking axis try to achieve target deviation angle by target in step V; The second situation has multiple targets for working as under same speed, A, the B days line spectrum peak to peak values that different target distance causes at AB days line spectrum peak to peak values, will be defaulted as same target, Z=Lsin (θ much larger than same target apart from two spectrum peaks that are less than threshold value Z
max), L is base length, θ
maxfor antenna directional bearing angle maximal value; After target range coupling to same target by step V in the target position angle of departing from main tracking axis calculate formula and try to achieve target deviation angle.
9. the operation method of the automobile anti-collision radar system of double reception antenna according to claim 8, is characterized in that:
Distance, speed and the azimuth information of the target that described PL module obtains in step IV and V pass to PS module, simultaneous display on display device.
10. the operation method of the automobile anti-collision radar system of double reception antenna according to claim 8, is characterized in that:
When output device comprises vehicle alarming device and/or emergency braking apparatus, operating personnel set alarm threshold from input equipment, are stored in the control submodule of PL module as the early warning value of target range and speed; Whether have data from the algorithm submodule of PL export the data receiver register of PS module, if having, it is carried out to early warning analysis if controlling submodule monitoring; Controlling submodule compares the distance of gained target, speed and azimuth information with early warning value, the final goal distance and the velocity amplitude that calculate when this anti-collision radar system reach early warning value, control submodule and start vehicle alarming device and/or emergency braking apparatus through system submodule.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410171083.0A CN103913742B (en) | 2014-04-25 | 2014-04-25 | The automobile anti-collision radar system of double reception antenna and operation method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410171083.0A CN103913742B (en) | 2014-04-25 | 2014-04-25 | The automobile anti-collision radar system of double reception antenna and operation method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103913742A true CN103913742A (en) | 2014-07-09 |
| CN103913742B CN103913742B (en) | 2016-01-13 |
Family
ID=51039568
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410171083.0A Expired - Fee Related CN103913742B (en) | 2014-04-25 | 2014-04-25 | The automobile anti-collision radar system of double reception antenna and operation method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103913742B (en) |
Cited By (44)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104198985A (en) * | 2014-09-24 | 2014-12-10 | 中国电子科技集团公司第五十四研究所 | Single antenna direction-finding method |
| CN104316928A (en) * | 2014-11-04 | 2015-01-28 | 成都锐新科技有限公司 | High-precision microwave radar ranging system |
| CN104359475A (en) * | 2014-11-07 | 2015-02-18 | 成都锐新科技有限公司 | Portable microwave navigator |
| CN104569959A (en) * | 2013-10-29 | 2015-04-29 | 现代摩比斯株式会社 | Vehicle radar system and operating method thereof |
| CN104793190A (en) * | 2015-03-24 | 2015-07-22 | 王方圆 | Multi-automobile anti-collision radar conflict inhibition system based on channel monitoring mechanism |
| CN104849701A (en) * | 2015-05-29 | 2015-08-19 | 桂林电子科技大学 | Clutter suppression method of vehicle-mounted anti-collision radar system |
| CN105677019A (en) * | 2015-12-29 | 2016-06-15 | 大连楼兰科技股份有限公司 | Gesture recognition sensor and operating method thereof |
| CN105786185A (en) * | 2016-03-12 | 2016-07-20 | 浙江大学 | Non-contact type gesture recognition system and method based on continuous-wave micro-Doppler radar |
| CN106054192A (en) * | 2016-05-20 | 2016-10-26 | 北京华航无线电测量研究所 | Automobile crashproof millimeter wave radar system |
| CN106054193A (en) * | 2016-05-24 | 2016-10-26 | 深圳市雷博泰克科技有限公司 | Around-vehicle multi-target detection method, processor and millimeter wave radar system |
| CN106680810A (en) * | 2016-12-31 | 2017-05-17 | 北京工业大学 | Three-dimensional through-wall target imaging radar system |
| CN107045127A (en) * | 2015-11-04 | 2017-08-15 | 恩智浦有限公司 | Embedded communication certification |
| CN107121675A (en) * | 2017-05-04 | 2017-09-01 | 成都猫道科技有限公司 | Long-range displacement measuring device, system and method with clutter recognition function |
| CN107533134A (en) * | 2015-04-15 | 2018-01-02 | 音频像素有限公司 | Method and system for the position of at least detection object in space |
| CN107589406A (en) * | 2016-07-07 | 2018-01-16 | 英飞凌科技股份有限公司 | Radar system and its method |
| CN107783121A (en) * | 2016-08-25 | 2018-03-09 | 大连楼兰科技股份有限公司 | Pilotless automobile anti-collision radar system signal processing system and method based on combined waveform |
| CN107783099A (en) * | 2016-08-25 | 2018-03-09 | 大连楼兰科技股份有限公司 | Rotor wing unmanned aerial vehicle short distance CAS signal processing system and method based on combined waveform |
| CN107783118A (en) * | 2016-08-25 | 2018-03-09 | 大连楼兰科技股份有限公司 | The avoiding collision of fixed-wing unmanned plane multiple target CAS based on millimetre-wave radar |
| CN107783132A (en) * | 2016-08-25 | 2018-03-09 | 大连楼兰科技股份有限公司 | Autonomous driving vehicle anticollision millimetre-wave radar system and signal processing method |
| CN107783084A (en) * | 2016-08-25 | 2018-03-09 | 大连楼兰科技股份有限公司 | CFAR detection and data processing platform (DPP) |
| CN107783091A (en) * | 2016-08-25 | 2018-03-09 | 大连楼兰科技股份有限公司 | Autonomous driving vehicle anticollision MMW RADAR SIGNAL USING processing method |
| CN107783113A (en) * | 2016-08-25 | 2018-03-09 | 大连楼兰科技股份有限公司 | Pilotless automobile complex environment anti-collision radar system and signal processing method based on combined waveform |
| CN107783133A (en) * | 2016-08-25 | 2018-03-09 | 大连楼兰科技股份有限公司 | The fixed-wing unmanned plane CAS and avoiding collision of millimetre-wave radar |
| CN107783125A (en) * | 2016-08-25 | 2018-03-09 | 大连楼兰科技股份有限公司 | Rotor wing unmanned aerial vehicle anticollision millimetre-wave radar system and signal processing method |
| CN107800512A (en) * | 2017-11-03 | 2018-03-13 | 英特格灵芯片(天津)有限公司 | A kind of signal supervisory instrument and method |
| CN107831489A (en) * | 2017-12-04 | 2018-03-23 | 武汉拓宝科技股份有限公司 | A kind of continuous wave 4D radars and its measurement multi-target method |
| CN108169724A (en) * | 2016-12-08 | 2018-06-15 | 南京理工大学 | Automobile anti-collision radar system and method based on real signal digital beam froming |
| CN108333566A (en) * | 2018-02-07 | 2018-07-27 | 哈尔滨工业大学 | A kind of portable radar test system and test method based on ZYNQ |
| CN108627803A (en) * | 2017-03-17 | 2018-10-09 | 南京理工大学 | Spectral pair method based on Wave beam forming and pair system |
| CN108627837A (en) * | 2017-03-15 | 2018-10-09 | 北京行易道科技有限公司 | Automobile anti-collision radar system |
| CN108983210A (en) * | 2018-06-13 | 2018-12-11 | 桂林电子科技大学 | A kind of car radar angle-measuring method |
| CN109084647A (en) * | 2018-07-26 | 2018-12-25 | 湖北三江航天红林探控有限公司 | The closely fried control device for detonation of electric of long-range detection and method |
| CN109222983A (en) * | 2018-09-13 | 2019-01-18 | 上海宇佑船舶科技有限公司 | A kind of form monitoring method based on nanometer wave technology |
| 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 |
| CN109901177A (en) * | 2017-12-07 | 2019-06-18 | 北京万集科技股份有限公司 | A kind of method and device of improving laser radar range finding ability |
| CN109959928A (en) * | 2017-12-25 | 2019-07-02 | 大连楼兰科技股份有限公司 | Oil pipeline patrol UAV radar altimeter system |
| WO2020082985A1 (en) * | 2018-10-25 | 2020-04-30 | 华为技术有限公司 | Detection method, device, and system |
| CN111679284A (en) * | 2020-06-16 | 2020-09-18 | 中国计量大学 | Double-laser ranging device and method for moving target measurement |
| CN111880170A (en) * | 2020-08-14 | 2020-11-03 | 石家庄铁道大学 | LFMCW radar ranging system based on ARM |
| CN112098986A (en) * | 2014-12-30 | 2020-12-18 | 德克萨斯仪器股份有限公司 | Multiple chirp generation in radar systems |
| RU2761928C1 (en) * | 2021-03-26 | 2021-12-14 | Общество с ограниченной ответственностью "Научно-производственное предприятие "ИТЭЛМА" (ООО "НПП "ИТЭЛМА") | Radar sensor for vehicle collision prevention |
| CN114755630A (en) * | 2022-03-23 | 2022-07-15 | 中山大学 | Frequency modulation continuous wave radar based on SOC |
| CN117250619A (en) * | 2023-11-08 | 2023-12-19 | 烟台初心航空科技有限公司 | Low false alarm high reliable anticollision radar device |
| CN117949945A (en) * | 2024-03-25 | 2024-04-30 | 南京隼眼电子科技有限公司 | Double-antenna millimeter wave radar super-resolution target positioning method and device |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4931799A (en) * | 1989-04-24 | 1990-06-05 | Hughes Aircraft Company | Short-range radar transceiver employing a FET oscillator |
| CN1400474A (en) * | 2002-08-16 | 2003-03-05 | 中国科学院上海微系统与信息技术研究所 | All-solid integrated smalltype millimeter-ware anticollision radar equipment |
| CN101373218A (en) * | 2008-08-28 | 2009-02-25 | 阮树成 | Millimeter wave time-division passive frequency modulation multichannel colliding-proof radar for car |
| CN102353954A (en) * | 2011-06-30 | 2012-02-15 | 桂林电子科技大学 | Linear frequency-modulated continuous wave automobile anti-collision radar system and using method thereof |
| CN102866387A (en) * | 2012-10-16 | 2013-01-09 | 清华大学 | Millimeter wave frequency modulated continuous wave (FMCW) two-unit phased array distance and velocity measurement monolithic radar transceiver |
| CN103207395A (en) * | 2013-03-26 | 2013-07-17 | 南京理工大学 | Driving anti-collision radar device for automobile |
| CN103257346A (en) * | 2013-05-15 | 2013-08-21 | 桂林电子科技大学 | Automotive anti-collision radar multi-target detecting method and system |
| CN203881944U (en) * | 2014-04-25 | 2014-10-15 | 桂林电子科技大学 | Automobile crashproof radar system with double receiving antennae |
-
2014
- 2014-04-25 CN CN201410171083.0A patent/CN103913742B/en not_active Expired - Fee Related
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4931799A (en) * | 1989-04-24 | 1990-06-05 | Hughes Aircraft Company | Short-range radar transceiver employing a FET oscillator |
| CN1400474A (en) * | 2002-08-16 | 2003-03-05 | 中国科学院上海微系统与信息技术研究所 | All-solid integrated smalltype millimeter-ware anticollision radar equipment |
| CN101373218A (en) * | 2008-08-28 | 2009-02-25 | 阮树成 | Millimeter wave time-division passive frequency modulation multichannel colliding-proof radar for car |
| CN102353954A (en) * | 2011-06-30 | 2012-02-15 | 桂林电子科技大学 | Linear frequency-modulated continuous wave automobile anti-collision radar system and using method thereof |
| CN102866387A (en) * | 2012-10-16 | 2013-01-09 | 清华大学 | Millimeter wave frequency modulated continuous wave (FMCW) two-unit phased array distance and velocity measurement monolithic radar transceiver |
| CN103207395A (en) * | 2013-03-26 | 2013-07-17 | 南京理工大学 | Driving anti-collision radar device for automobile |
| CN103257346A (en) * | 2013-05-15 | 2013-08-21 | 桂林电子科技大学 | Automotive anti-collision radar multi-target detecting method and system |
| CN203881944U (en) * | 2014-04-25 | 2014-10-15 | 桂林电子科技大学 | Automobile crashproof radar system with double receiving antennae |
Cited By (65)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104569959B (en) * | 2013-10-29 | 2017-06-13 | 现代摩比斯株式会社 | Vehicle radar system and its method for running |
| CN104569959A (en) * | 2013-10-29 | 2015-04-29 | 现代摩比斯株式会社 | Vehicle radar system and operating method thereof |
| CN104198985A (en) * | 2014-09-24 | 2014-12-10 | 中国电子科技集团公司第五十四研究所 | Single antenna direction-finding method |
| CN104316928A (en) * | 2014-11-04 | 2015-01-28 | 成都锐新科技有限公司 | High-precision microwave radar ranging system |
| CN104359475A (en) * | 2014-11-07 | 2015-02-18 | 成都锐新科技有限公司 | Portable microwave navigator |
| CN112098986A (en) * | 2014-12-30 | 2020-12-18 | 德克萨斯仪器股份有限公司 | Multiple chirp generation in radar systems |
| CN104793190A (en) * | 2015-03-24 | 2015-07-22 | 王方圆 | Multi-automobile anti-collision radar conflict inhibition system based on channel monitoring mechanism |
| CN107533134A (en) * | 2015-04-15 | 2018-01-02 | 音频像素有限公司 | Method and system for the position of at least detection object in space |
| CN107533134B (en) * | 2015-04-15 | 2021-04-27 | 音频像素有限公司 | Camera, audio sound system, method and system for detecting position of object |
| CN104849701A (en) * | 2015-05-29 | 2015-08-19 | 桂林电子科技大学 | Clutter suppression method of vehicle-mounted anti-collision radar system |
| CN104849701B (en) * | 2015-05-29 | 2017-06-27 | 桂林电子科技大学 | A kind of clutter suppression method of vehicle anti-collision radar system |
| CN107045127B (en) * | 2015-11-04 | 2022-01-11 | 恩智浦有限公司 | Embedded communication authentication |
| CN107045127A (en) * | 2015-11-04 | 2017-08-15 | 恩智浦有限公司 | Embedded communication certification |
| CN105677019A (en) * | 2015-12-29 | 2016-06-15 | 大连楼兰科技股份有限公司 | Gesture recognition sensor and operating method thereof |
| CN105677019B (en) * | 2015-12-29 | 2018-11-16 | 大连楼兰科技股份有限公司 | A kind of gesture identification sensor and its working method |
| CN105786185A (en) * | 2016-03-12 | 2016-07-20 | 浙江大学 | Non-contact type gesture recognition system and method based on continuous-wave micro-Doppler radar |
| CN105786185B (en) * | 2016-03-12 | 2019-01-18 | 浙江大学 | Non-contact gesture identifying system and method based on continuous wave micro-doppler radar |
| CN106054192A (en) * | 2016-05-20 | 2016-10-26 | 北京华航无线电测量研究所 | Automobile crashproof millimeter wave radar system |
| CN106054193A (en) * | 2016-05-24 | 2016-10-26 | 深圳市雷博泰克科技有限公司 | Around-vehicle multi-target detection method, processor and millimeter wave radar system |
| CN107589406A (en) * | 2016-07-07 | 2018-01-16 | 英飞凌科技股份有限公司 | Radar system and its method |
| CN107783121B (en) * | 2016-08-25 | 2021-02-12 | 大连楼兰科技股份有限公司 | Unmanned automobile anti-collision radar system signal processing system and method based on combined waveform |
| CN107783133B (en) * | 2016-08-25 | 2021-07-16 | 大连楼兰科技股份有限公司 | Anti-collision system and anti-collision method for fixed-wing unmanned aerial vehicle of millimeter wave radar |
| CN107783091A (en) * | 2016-08-25 | 2018-03-09 | 大连楼兰科技股份有限公司 | Autonomous driving vehicle anticollision MMW RADAR SIGNAL USING processing method |
| CN107783113A (en) * | 2016-08-25 | 2018-03-09 | 大连楼兰科技股份有限公司 | Pilotless automobile complex environment anti-collision radar system and signal processing method based on combined waveform |
| CN107783133A (en) * | 2016-08-25 | 2018-03-09 | 大连楼兰科技股份有限公司 | The fixed-wing unmanned plane CAS and avoiding collision of millimetre-wave radar |
| CN107783125A (en) * | 2016-08-25 | 2018-03-09 | 大连楼兰科技股份有限公司 | Rotor wing unmanned aerial vehicle anticollision millimetre-wave radar system and signal processing method |
| CN107783084A (en) * | 2016-08-25 | 2018-03-09 | 大连楼兰科技股份有限公司 | CFAR detection and data processing platform (DPP) |
| CN107783091B (en) * | 2016-08-25 | 2021-08-03 | 大连楼兰科技股份有限公司 | Anti-collision millimeter wave radar signal processing method for automatic driving automobile |
| CN107783084B (en) * | 2016-08-25 | 2020-11-17 | 大连楼兰科技股份有限公司 | Constant false alarm detection and data processing platform |
| CN107783118A (en) * | 2016-08-25 | 2018-03-09 | 大连楼兰科技股份有限公司 | The avoiding collision of fixed-wing unmanned plane multiple target CAS based on millimetre-wave radar |
| CN107783125B (en) * | 2016-08-25 | 2021-04-20 | 大连楼兰科技股份有限公司 | Rotor unmanned aerial vehicle anti-collision millimeter wave radar system and signal processing method |
| CN107783099A (en) * | 2016-08-25 | 2018-03-09 | 大连楼兰科技股份有限公司 | Rotor wing unmanned aerial vehicle short distance CAS signal processing system and method based on combined waveform |
| CN107783132A (en) * | 2016-08-25 | 2018-03-09 | 大连楼兰科技股份有限公司 | Autonomous driving vehicle anticollision millimetre-wave radar system and signal processing method |
| CN107783121A (en) * | 2016-08-25 | 2018-03-09 | 大连楼兰科技股份有限公司 | Pilotless automobile anti-collision radar system signal processing system and method based on combined waveform |
| CN108169724A (en) * | 2016-12-08 | 2018-06-15 | 南京理工大学 | Automobile anti-collision radar system and method based on real signal digital beam froming |
| CN106680810B (en) * | 2016-12-31 | 2019-06-07 | 北京工业大学 | Three-dimensional target imaging radar system through walls |
| CN106680810A (en) * | 2016-12-31 | 2017-05-17 | 北京工业大学 | Three-dimensional through-wall target imaging radar system |
| CN108627837A (en) * | 2017-03-15 | 2018-10-09 | 北京行易道科技有限公司 | Automobile anti-collision radar system |
| CN108627803A (en) * | 2017-03-17 | 2018-10-09 | 南京理工大学 | Spectral pair method based on Wave beam forming and pair system |
| CN108627803B (en) * | 2017-03-17 | 2021-10-08 | 南京理工大学 | Spectrum pairing method and system based on beam forming |
| CN107121675A (en) * | 2017-05-04 | 2017-09-01 | 成都猫道科技有限公司 | Long-range displacement measuring device, system and method with clutter recognition function |
| 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 |
| CN107800512A (en) * | 2017-11-03 | 2018-03-13 | 英特格灵芯片(天津)有限公司 | A kind of signal supervisory instrument and method |
| CN107831489A (en) * | 2017-12-04 | 2018-03-23 | 武汉拓宝科技股份有限公司 | A kind of continuous wave 4D radars and its measurement multi-target method |
| CN109901177B (en) * | 2017-12-07 | 2020-12-18 | 北京万集科技股份有限公司 | Method and device for improving laser radar ranging capability |
| CN109901177A (en) * | 2017-12-07 | 2019-06-18 | 北京万集科技股份有限公司 | A kind of method and device of improving laser radar range finding ability |
| CN109959928A (en) * | 2017-12-25 | 2019-07-02 | 大连楼兰科技股份有限公司 | Oil pipeline patrol UAV radar altimeter system |
| CN109959928B (en) * | 2017-12-25 | 2023-11-14 | 大连楼兰科技股份有限公司 | Unmanned aerial vehicle radar altimeter system for petroleum pipeline inspection |
| CN108333566B (en) * | 2018-02-07 | 2021-07-16 | 哈尔滨工业大学 | ZYNQ-based portable radar test system and test method |
| CN108333566A (en) * | 2018-02-07 | 2018-07-27 | 哈尔滨工业大学 | A kind of portable radar test system and test method based on ZYNQ |
| CN108983210A (en) * | 2018-06-13 | 2018-12-11 | 桂林电子科技大学 | A kind of car radar angle-measuring method |
| CN109084647A (en) * | 2018-07-26 | 2018-12-25 | 湖北三江航天红林探控有限公司 | The closely fried control device for detonation of electric of long-range detection and method |
| CN109222983A (en) * | 2018-09-13 | 2019-01-18 | 上海宇佑船舶科技有限公司 | A kind of form monitoring method based on nanometer wave technology |
| US11754668B2 (en) | 2018-10-25 | 2023-09-12 | Huawei Technologies Co., Ltd. | Detection method, detection apparatus, and system |
| WO2020082985A1 (en) * | 2018-10-25 | 2020-04-30 | 华为技术有限公司 | Detection method, device, and system |
| CN111679284B (en) * | 2020-06-16 | 2024-02-09 | 中国计量大学 | Dual-laser ranging device and method for moving object measurement |
| CN111679284A (en) * | 2020-06-16 | 2020-09-18 | 中国计量大学 | Double-laser ranging device and method for moving target measurement |
| CN111880170A (en) * | 2020-08-14 | 2020-11-03 | 石家庄铁道大学 | LFMCW radar ranging system based on ARM |
| CN111880170B (en) * | 2020-08-14 | 2021-11-30 | 石家庄铁道大学 | LFMCW radar ranging system based on ARM |
| RU2761928C1 (en) * | 2021-03-26 | 2021-12-14 | Общество с ограниченной ответственностью "Научно-производственное предприятие "ИТЭЛМА" (ООО "НПП "ИТЭЛМА") | Radar sensor for vehicle collision prevention |
| CN114755630A (en) * | 2022-03-23 | 2022-07-15 | 中山大学 | Frequency modulation continuous wave radar based on SOC |
| CN117250619A (en) * | 2023-11-08 | 2023-12-19 | 烟台初心航空科技有限公司 | Low false alarm high reliable anticollision radar device |
| CN117250619B (en) * | 2023-11-08 | 2024-01-26 | 烟台初心航空科技有限公司 | Low false alarm high reliable anticollision radar device |
| CN117949945A (en) * | 2024-03-25 | 2024-04-30 | 南京隼眼电子科技有限公司 | Double-antenna millimeter wave radar super-resolution target positioning method and device |
| CN117949945B (en) * | 2024-03-25 | 2024-06-04 | 南京隼眼电子科技有限公司 | Double-antenna millimeter wave radar super-resolution target positioning method and device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103913742B (en) | 2016-01-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103913742B (en) | The automobile anti-collision radar system of double reception antenna and operation method | |
| CN103257346B (en) | Automotive anti-collision radar multi-target detecting method and system | |
| CN202171644U (en) | Portable civil imaging monitoring radar and radar system | |
| CN112162283B (en) | Multi-target detection system of full-road-section networking traffic radar | |
| CN107783123B (en) | System and method for processing collision-proof millimeter wave radar signal in complex environment of unmanned vehicle | |
| CN207867031U (en) | Radar sensor, Terrain Following System for plant protection drone terrain following | |
| CN207586425U (en) | A kind of light high reliability low latitude unmanned plane early warning detection radar system | |
| CN203012135U (en) | Frequency-modulated continuous wave radar system | |
| CN201886149U (en) | Anti-collision detector for millimeter wave radar | |
| Lim et al. | Lane-by-Lane traffic monitoring using 24.1 GHz FMCW radar system | |
| CN203881944U (en) | Automobile crashproof radar system with double receiving antennae | |
| CN107783116A (en) | Pilotless automobile complex environment anticollision millimetre-wave radar system | |
| CN203535221U (en) | Vehicular millimeter wave anticollision radar system | |
| CN107783115A (en) | The remote complex environment anticollision millimetre-wave radar system of rotor wing unmanned aerial vehicle | |
| CN107817532A (en) | A kind of millimeter wave sensor and Smart Detector | |
| CN209117871U (en) | A kind of automobile anti-collision radar system | |
| CN109633651A (en) | 77G unmanned plane avoidance radar | |
| CN107783114A (en) | The remote complex environment anticollision MMW RADAR SIGNAL USING processing system of rotor wing unmanned aerial vehicle and method | |
| CN106772384A (en) | A kind of single polarization millimeter wave cloud detection radar system and meteorologic survey method | |
| CN107783121A (en) | Pilotless automobile anti-collision radar system signal processing system and method based on combined waveform | |
| CN111736150A (en) | Detection method for remote low-power-consumption bird detection radar | |
| CN112782662A (en) | Dynamic gesture recognition monitoring facilities | |
| CN203259653U (en) | Multi-target detection system of automotive anti-collision radar | |
| CN111812651A (en) | FPGA-based FMCW millimeter wave radar ranging chip system | |
| CN107783132A (en) | Autonomous driving vehicle anticollision millimetre-wave radar system and signal processing method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160113 |