CN104614723A - Vechicle radar for discriminating false target using variable wave and method for discriminating false target using it - Google Patents
Vechicle radar for discriminating false target using variable wave and method for discriminating false target using it Download PDFInfo
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- CN104614723A CN104614723A CN201410497833.3A CN201410497833A CN104614723A CN 104614723 A CN104614723 A CN 104614723A CN 201410497833 A CN201410497833 A CN 201410497833A CN 104614723 A CN104614723 A CN 104614723A
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- 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
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- 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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
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- 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
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- 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
- G01S7/35—Details of non-pulse systems
- G01S7/352—Receivers
- G01S7/354—Extracting wanted echo-signals
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- 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
- G01S7/411—Identification of targets based on measurements of radar reflectivity
- G01S7/412—Identification of targets based on measurements of radar reflectivity based on a comparison between measured values and known or stored values
Abstract
The invention discloses a vehicle radar for discriminating a false target using a variable wave and a method for discriminating the false target using it. The radar comprises a transmission part which receives a linear frequency-modulation pulse signal and generates and transmits a transmission signal, wherein the transmission signal is provided with a frequency corresponding to the linear frequency-modulation pulse signal; a receiving part which receives a reflected receiving signal reflected by a target and generates a beat frequency signal through the transmission signal transmitted by the transmission part and the receiving signal; a signal processing part which generates linear frequency-modulation pulse signals with different waveforms in all periods according to a stored linear frequency-modulation pulse curve, transmits the linear frequency-modulation pulse signal to the transmission part, receives and analyzes a beat frequency signal to obtain the target information, analyzes whether the target information is continuous so as to discriminate a real target and a fault target, and enables the real target as to the final target.
Description
Technical field
The present invention relates to vehicle radar, especially relate to and utilize Variable Waveform differentiate the vehicle radar of false target and utilize this false target method of discrimination.
Background technology
Radar installations exports RF signal, the RF signal reflex exported is in target, receive induction of signal target location and the speed of reflection, existing radar installations only uses with military purposes, but recently according to the various function do not provided before vehicle increase, installing radar installations at vehicle and become trend gradually, uses the radar possessed at vehicle mainly in order to provide the function as prevented collision, sense blind area, constant-speed traveling etc. from preventing security incident in advance.
Vehicle radar general FMCW (Frequency Modulated Continuous Wave, frequency modulation continuous wave) radar, fmcw radar generates fixing RF signal amplitude, and generate the FMCW signal of pioneer variable frequency, the modulation frequency signal of the FMCW signal combination adjusting amplitude generated, the signal of transmission modulating frequency, then receives the reflected signal of signal transmission, and the beat frequency rate in conjunction with pause (dwell) calculates distance and the speed of target object.
The FMCW signal of existing fmcw radar transmission continuous wave, wherein the FMCW signal of continuous wave is the frequency of the chirp pulse signal that linear transformation generates according to the linear impulsive curve set (Chirp Profile).That is, although transmit the FMCW signal of variable frequency, this is the change in one-period (Cycle), and generates the FMCW signal of same modality in each cycle.
But, each periodic transfer is as the identical FMCW signal of signal transmission, if receive reflected signal to calculate the distance of target and speed, then can detect the distance in each cycle and the little false target of speed fluctuation, the false target of detection also can be determined as final target by the worst situation.If false target is determined as final goal, then responding to is not that the radar of in esse imaginary object can provide information to imaginary object to user.This uses radar can produce to the user of steering vehicle and driver's warning based on the information of mistake, driver can be made when operational vehicle to do the judgement made mistake, therefore be serious obstacle key element in safe driving, cause the result greatly reducing reliability of radar.
On the other hand, with induction angle, there is mutual inversely proportional characteristic at the distance of reaction of radar target.Namely, if increase distance of reaction at identical radar, then can reduce induction angle, if minimizing distance of reaction, then can increase induction angle in identical resolution, utilize this characteristic at No. 10-1998-067828th, KR published patent (1998.10.15 is open), radar is made to utilize various distance of reaction and induction angle to detect target, distance according to intending to respond to sets multiple pattern, transmit the FMCW signal with different degree of tilt by each pattern respectively, detection target capability can be changed according to pattern.
In addition, developing above-mentioned existing technology at No. 10-2012-0106567th, KR published patent (2012.09.26 is open), simultaneously in order to detect target at various distance of reaction and induction angle, generating mutually different multiple FMCW signals simultaneously.That is, generate 2 FMCW signals of corresponding closely pattern and remote pattern, the signal transmission exporting corresponding 2 FMCW signals receives reflected signal.
But above-mentioned technology all determines that each pattern divides other FMCW signal, therefore identical according to the chirp of each pattern.Further, according to design chirp to centered by the detection range of target, there is the limit of the corresponding scheme do not considered above-mentioned false target.
Summary of the invention
(problem that will solve)
The object that the invention provides vehicle radar is, generates the FMCW signal with the transformable chirp of each cycle difference, and exporting signal transmission can differentiate false target.
Another object of the present invention is to, the false target method of discrimination of vehicle radar is provided.
(means of dealing with problems)
In order to reach the vehicle radar of above-mentioned order according to the present invention one example, comprising: transport part, it receives chirp pulse signal and produces and radiate signal transmission, and described signal transmission has the frequency of corresponding described chirp pulse signal; Acceptance division, it receives the Received signal strength that described signal transmission reflects in target, utilizes the signal transmission that transmits in described transport part and described Received signal strength to generate beat signal; And signal processing part, it generates the described chirp pulse signal of the mutual different wave of each cycle difference according to the chirp curve preserved, its chirp pulse signal is transferred to described transport part, receive and analyze described beat signal to obtain the target information to described target, the described target information analyzing acquisition, whether repeatedly the cycle distinguishes realistic objective and false target continuously, is detected as final goal by the described target information of described realistic objective.
Described signal processing part, comprise: chirp pulse signal generating unit, it preserves described chirp curve, wherein said chirp curve specifies the described chirp pulse signal of the mutual different wave of each cycle difference, generates the chirp pulse signal according to each cycle; Received signal strength handling part, it receives described beat signal and utilizes the mode set to carry out signal transacting, obtains and comprises the speed of described target and the described target information of range information; And tracking process portion, it receives each cycle and divides target information described in other, differentiate that whether in the difference of target information described in the continuous print cycle be below the reference value that set, described target information below described reference value is set as the target information to described realistic objective, and residue target information is set as the target information to described false target.
Described tracking process portion, the situation more than the count value that the target information that is below described reference value of the difference of target information described in the continuous print cycle has set repeatedly, is detected as described final goal by described target information.
Described transport part, comprising: frequency generator, its corresponding described chirp pulse signal, produces the FMCW signal with the mutual different frequency of described each cycle difference as described signal transmission; Frequency divider, it distributes described signal transmission, and the signal transmission of the distribution as local signal is transferred to described acceptance division; And transmit antenna, described signal transmission is emitted to outside by it.
Described acceptance division, comprising: multiple receiving antenna, and it receives described Received signal strength respectively; Multiple mixer, it utilizes the difference on the frequency between described multiple Received signal strength and described local signal received respectively at described multiple receiving antenna, and Received signal strength described in downward conversion generates the beat signal with beat frequency rate; And AD converter, described beat signal is transformed to digital signal by it, by described digital data transmission to described signal processing part.
In order to reach above-mentioned purpose, according to the false target method of discrimination of the vehicle radar of the present invention one example, according to the false target method of discrimination of vehicle radar with transport part, acceptance division and signal processing part, comprise: described signal processing part is according to the chirp curve preserved, each cycle generates the described chirp pulse signal of mutual different wave respectively, described chirp pulse signal is transferred to the step of described transport part; Described transport part is received in the chirp pulse signal of described signal processing part transmission, produces and radiates the step of the signal transmission of the frequency with corresponding described chirp pulse signal; Institute's acceptance division receives the Received signal strength that described signal transmission reflects in target, utilizes the signal transmission that transmits in described transport part and described Received signal strength to generate the step of beat signal; Described signal processing part receives and analyzes described beat signal, obtains the step of the target information to described target; And analyze the described target information obtained and distinguish realistic objective and false target in the cycle repeatedly whether continuously, the described target information of described realistic objective will be detected as to the step of final goal.
The described step being detected as final goal, comprising: receive described beat signal and utilize the mode set to carry out signal transacting, obtains the step comprising the speed of described target and the described target information of range information; Differentiate whether the difference of target information is set below reference value described in the continuous print cycle, described target information below described reference value is set as the target information to described realistic objective, and residue target information is set as the step of the target information to described false target; The target information of described realistic objective will be set as to the step of final goal information.
The described step being set as final goal, be the target information of below described reference value in the difference of target information described in the continuous print cycle, the situation repeatedly more than the count value set, is detected as described final goal by described target information.
(effect of invention)
Therefore, the Variable Waveform that utilizes of the present invention differentiates the vehicle radar of false target and utilizes this false target method of discrimination, the FMCW signal of the chirp that each cycle generation is mutually different, the signal transmission exporting corresponding FMCW signal analyzes reflected signal, and then can differentiate according to each periodic distance and the large false target of speed fluctuation, therefore reduce false target is detected as final goal and the danger of the security incident produced can improve its reliability.
Accompanying drawing explanation
Fig. 1 is according to one embodiment of the invention, the formation of diagram vehicle radar.
Fig. 2 is the temporal frequency relation of diagram to the Received signal strength of signal transmission.
Fig. 3 is an example of the frequency spectrum at each chirp.
Fig. 4 is the example of diagram according to chirp pulse signal of the present invention.
Fig. 5 is according to one embodiment of the invention, the false target method of discrimination of diagram vehicle radar.
Specific implementation method
In order to the object fully understanding the present invention and operating advantage of the present invention and reach according to implementing the present invention, should only with reference to the accompanying drawing of the example preferred embodiment of the present invention and the content recorded at accompanying drawing.
Below, with reference to accompanying drawing, the preferred embodiment of the present invention be described and then describe the present invention in detail, but the present invention can realize various different form, and be not limited to the embodiment of explanation, omit part unrelated to the invention to clearly state the present invention in addition, the identical reference marks of drawing shows identical parts.
When instructions certain part overall " comprises " certain inscape, as long as no the special record opposed just not by except other inscapes, but mean and also can comprise other inscapes.In addition, the term of " portion ", " device ", " module ", " block " etc. recorded at instructions means at least one function of process or operation, and this can utilize hardware or software, or combined with hardware and software realize.
Fig. 1 is according to one embodiment of the invention, the formation of diagram vehicle radar, and has transport part 100, acceptance division 200 and signal processing part 300.
Transport part 100, has: frequency generator 110, and it receives chirp pulse signal from signal processing part 300, generates the signal transmission of corresponding chirp pulse signal; Frequency divider 120, it distributes signal transmission, and the signal distributed is transferred to acceptance division 200 as local signal; And transmit antenna (Tx), signal transmission is emitted to outside by it.
Acceptance division 200, has: multiple receiving antenna (Rx), and its signal transmission received respectively as Received signal strength is reflected in the reflected signal of target; Multiple mixer (MIXER), it will pass through the Received signal strength of corresponding receiving antenna transmission in multiple receiving antenna in (Rx), the local signal utilizing the frequency divider 120 in transport part 100 to transmit and the difference on the frequency downward conversion Received signal strength of Received signal strength, and then generation has beat frequency rate (beat frequency) (f
b) beat frequency (beat) signal; Multiple filtrator (FL), its beat signal generated respectively at multiple mixer (MIXER) removes noise; And multiple AD converter (ADC), the beat signal removing noise at multiple filtrator (FL) is respectively transformed to digital signal, by its digital data transmission to signal processing part 300 by it.
Signal processing part 300, has: chirp generating unit 310, and it generates chirp pulse signal according to the chirp curve set, and its chirp pulse signal is transferred to transport part 100; Received signal strength handling part 320, it is received in multiple digital signals that acceptance division 200 transmits, and utilizes the transverse axis position of digital signal calculating as the target of target information of reception, vertical axial position and speed; And tracking process portion 300, it receives and analyzes the information of target responded at Received signal strength handling part 320, follows the trail of the target that each cycle responds to respectively.
Generate chirp pulse signal in the present invention according to chirp curve and radiate signal transmission, receive the reflected signal being reflected in target as the signal transmission of Received signal strength, operation judges value detects final goal during to tracking process portion 330 is 1 cycle (cycle).Further, chirp curve is preserved, with the form making each cycle change chirp pulse signal respectively in chirp generating unit 310 of the present invention as table 1 sets.
(table 1)
Received signal strength handling part 320 is suitable for Windowing (form), FFT (Fast Fourier Transform in the digital signal that acceptance division 100 transmits, fast fourier transform), DBF (Digital BeamForming, digital beam froming), CFAR (Constant False Alarm Ratio, constant false alarm rate), distance-velocity computation process, calculate the transverse axis position of the target as target information, vertical axial position and speed.Described Windowing, FFT, DBF, CFAR, distance-velocity computation process are known technologies, here will not be described in detail.
Tracking process portion 330, its through Filtration Goal information, generate target, confirm before adjacency, the process that maintains target, delete target, detect final goal of target information and present target information, carry out management objectives information.
Generate mutually different chirp pulse signals respectively in signal processing part 300 chirp generating unit 310 each cycle of the present invention and its chirp pulse signal is transferred to transport part 100, therefore the frequency also corresponding chirp pulse signal of signal transmission that radiates respectively of each cycle, change exports its frequency.Like this, the Received signal strength handling part 320 of signal processing part 300 receives the reflected signal of the signal transmission of variable frequency and Received signal strength to obtain target information, at this moment in the comprised false target information that the target information obtained is identical with described prior art, but the target information that the present invention is based on tracking process portion 330 and measure during multiple cycle, be easy to distinguish realistic objective and false target, the target information to false target can be eliminated, this is because the vehicle radar of the present invention alterable each cycle different from existing radar divide the frequency of other signal transmission.
Radiate the situation of the frequency of signal transmission respectively in the same manner as described existing radar each cycle, even if multiple cycle detects the target information to false target repeatedly, generation that also can be similar is to the target information of false target.If multiple cycle detects the similar target information to false target repeatedly, then radar is not divided into the means of false target, is therefore identified as realistic objective and maintains target information, and be determined as final goal.
But, if as the frequency of each cycle of the present invention difference alterable signal transmission, then that the frequency changing signal transmission respectively in each cycle also obtains difference little target information Absorbable organic halogens to the target information of realistic objective, even if such as change the frequency of signal transmission, the distance of the target information target obtained in cycle before can maintain the distance within 100m with the difference of the target range obtained in cycle now, even if this is because change the frequency of signal transmission during 1 cycle, the physically big-difference that do not produce of the distance of realistic objective.
In contrast respectively big-difference is produced to the target information of false target each cycle, false target is not in esse target, and major part is the situation of the noise that produces according to surrounding enviroment or the characteristic induction according to signal transmission and Received signal strength, if therefore change the frequency of signal transmission, even if the target information then obtained before the target information obtained afterwards disappears or obtains, the target information that difference each cycle very large obtains respectively can be produced, therefore whether repeated detection goes out target information in tracking process portion 330, can preferentially differentiate false target information.
In addition, even if repeatedly number detects target information, if each cycle divides the difference of other target information very large, then can differentiate that this target information is the target information to false target, if such as radar produces the target information range-to-go in cycle acquisition before, be more than 1km with the target information range-to-go obtained in cycle now, then radar can differentiate that it is false target.
For this reason, tracking process portion 330 divides the difference of other target information to be large or I setting reference value to differentiate each cycle, and reference value is different according to the cycle.That is, if the cycle is long, can reference value be increased, if the cycle is short, can reference value be reduced.Because the cycle is the time of induction targets, if the cycle is short, (such as 1ms) be induction targets more often, if the frequency of then induction targets of contrary cycle long (such as, 100ms) is low.Foregoing describing the reference value as specific range value, but reference value also can be set as scope.
Tracking process portion 330, it can utilize aforesaid way to differentiate false target, and in order to the detection number of times of accuracy count enable target.That is, the detection number of times of the target information that the accumulative difference of counting is little, is only the situation of more than the reference count value (such as, 4) set in count value, makes it be determined as realistic objective and can analyze false target.
Fig. 2 is the temporal frequency relation of diagram to the Received signal strength of signal transmission.
At the frequency relation that Fig. 2 (a) is between diagram signal transmission and Received signal strength, (b) is the frequency difference between signal transmission and Received signal strength, i.e. beat frequency rate (f
b),
A () to divide into linear positive frequency modulation on pulse (up-chirp) and negative-chirp pulse (down-chirp), wherein linear positive frequency modulation on pulse (up-chirp) be signal transmission according to the pioneer increase frequency of the increase of time, negative-chirp pulse (down-chirp) is that signal transmission is according to the pioneer minimizing frequency of the increase of time.
At (b) illustrated beat signal (f
b) be can divide into linear positive frequency modulation on pulse beat frequency (f according to linear positive frequency modulation on pulse and negative-chirp pulse
bu) and linear positive frequency modulation on pulse beat frequency (f
bd), linear positive frequency modulation on pulse beat frequency (f
bu) and linear positive frequency modulation on pulse beat frequency (f
bd) be expressed as mathematical expression 1 and mathematical expression 2.
(mathematical expression 1)
(mathematical expression 2)
(here, BW is broadband, T
m(dwell) time of pausing, t
dtime delay, f
ddoppler frequency, f
bulinear positive frequency modulation on pulse beat frequency, f
bdbe linear positive frequency modulation on pulse beat frequency, the distance of r target, v is relative velocity, and c is the speed of light.)
Relative velocity (v), if target to from radar away from direction move; there is positive value, if move to close direction, there is negative value.
Then, when signal processing part 300 calculates when obtaining target information the distance of target and speed, linear positive frequency modulation on pulse beat frequency (f is utilized
bu) and linear positive frequency modulation on pulse beat frequency (f
bd) obtain target information.
Signal processing part 300 is that be included in target information with distance (r) that is target and relative velocity (v) in order to obtain, and derives mathematical expression 3 and 4 from mathematical expression 1 and 2.
(mathematical expression 3)
(mathematical expression 4)
Further, utilize mathematical expression 3 and 4 obtain as target information with the distance of target and the speed of target.
Fig. 3 is an example of the frequency spectrum at each chirp.
At the frequency spectrum that Fig. 3 solid line is display radar signal, dotted line is display CFAR critical value, what exceed CFAR critical value in solid black lines in addition is the signal detected, at Fig. 3 as the beat signal obtained for 2 chirp pulse signals, is assumed to be existence 2 target conditions.Here, 2 chirps are linear positive frequency modulation on pulse and negative-chirp pulse.
If at frequency called after F (k, j) that kth time detects by jth chirp, then each frequency can be shown as follows.The beat frequency rate of the signal detected at first chirp is F (1,1), F (2,1), and the beat frequency rate of the signal detected at second chirp is F (1,2), F (2,2).
If calculate distance-speed by the combination of the frequency detected at each chirp, be then detected as table 2 and there are 4 distances, velocity information ((R1, V1), (R2, V2), (R3, V3), (R4, V4)) target.
The signal detected at each chirp is 2 and distance-speed of calculating is 4, therefore can know and create 2 false targets, if detect F (1 at same target, 1) with F (1, 2), F (2 is detected at same target, 1) with F (2, 2), then at F (1, 1) with F (1, 2) (the R1 calculated, V1), at F (2, 1) with F (2, 2) (the R4 calculated, V4) be realistic objective information, and at F (1, 1) with F (2, 2) (the R2 calculated, V2), with at F (2, 1) with F (1, 2) (the R3 calculated, V3) be false target.
Accordingly, the target information passed on directly is not utilized as final goal in tracking process portion 330 at Received signal strength handling part 320, but to detect target through the number of times of various cycle set, then uses as final goal.In addition, analyze with in the similarity of the target information (transverse axis distance, Z-axis distance, speed) of other cycle detections, set the reference range (round-off error scope) set, only be judged as same target in the situation of difference within reference range of the target information of each cycle detection, increase the count value to this target, but be judged as other targets in the situation being determined as more than reference range, do not increase the count value to this target.
Tracking process portion 330 is only that the situation of more than the reference count value set is determined as realistic objective and is set as final goal in count value, but is that situation below the reference count value that set is determined as false target and is not set as final goal in count value.
Fig. 4 is the example of diagram according to chirp pulse signal of the present invention.
In order to reduce the impact of false target, the chirp pulse signal of more than 3 can be utilized, but the number of chirp pulse signal more increases, then the time in a cycle also increases simultaneously, therefore require the method for the minimizing false target at the chirp limited.In order to solve the problem, it is interval that cycle as each in table 1 has different chirps respectively, and its situation generates the chirp pulse signal as Fig. 4.
The method utilizing the chirp pulse signal of Fig. 4 to differentiate false target is described, if the frequency detected in kth time is appointed as F (k, j, i) at the jth time Chirp in the i-th cycle, then can shows each frequency as follows.
Frequency first chirp first time in 1 cycle is detected: F (1,1,1), the frequency that second time detects: F (2,1,1).
Frequency second chirp first time in 1 cycle is detected: F (1,2,1), the frequency that second time detects: F (2,2,1).
Frequency first chirp first time in 2 cycles is detected: F (1,1,2), the frequency that second time detects: F (2,1,2).
Frequency second chirp first time in 2 cycles is detected: F (1,2,2), the frequency that second time detects: F (2,2,2).
Frequency first chirp first time in 3 cycles is detected: F (1,1,3), the frequency that second time detects: F (2,1,3).
Frequency second chirp first time in 3 cycles is detected: F (1,2,3), the frequency that second time detects: F (2,2,3).
If secondary identical to the frequency kth that same target is corresponding with chirp in each cycle, be realistic objective (R1, V1) in the target information of each cycle detection, (R4, V4), false target is (R2, V2), (R3, V3).Realistic objective (R1, V1), (R4, V4) according to the distance R of cycle detection, the variation of speed V is little, is therefore detected as final goal in tracking process portion 330, but at false target (R2, V2), the situation of (R3, V3), the distance R of detection, the variation of speed V according to BW (broadband), T
m(dwell time) alters a great deal, if therefore BW and the T that determines respectively of each cycle
mchange be greater than reference range, then the false target (R2, V2) will detected, the variation according to each cycle of (R3, V3) increases, and can stop and be detected as final goal in tracking process portion 330.
If each cycle uses identical chirp curve respectively, then false target (R2, V2), (R3, V3) little according to the variation of each cycle, be detected as final goal in lock-on process, but if each cycle being suitable for foregoing invention has the radar system of different chirp curves respectively, then reduce and in lock-on process, false target can be detected as final goal (exploration false target).
Fig. 5 is according to one embodiment of the invention, the false target method of discrimination of diagram vehicle radar.
False target method of discrimination referring to figs. 1 through Fig. 4, Fig. 5 be the chirp generating unit 310 of priority signal handling part 300 according to the chirp curve preserved, generate the chirp pulse signal (S10) according to cycle sequences.At the multiple chirp curves of chirp generating unit 310 of the present invention preservation different from existing technology according to cycle sequences, the cycle sequences according to correspondence generates chirp pulse signal and the transport part of being transmitted.That is, according to the chirp pulse signal preserving chirp each cycle and generate respectively mutual different shape, and its chirp pulse signal signal is exported.
Transport part 100 generates the FMCW signal of corresponding chirp pulse signal and it radiates as signal transmission, distributes signal transmission simultaneously and the signal transmission of distribution is transferred to acceptance division 200 (S20) as local signal.Here, chirp pulse signal each cycle is mutually different, and therefore signal transmission has mutually different frequencies respectively corresponding to its each cycle.
Then, the signal transmission received as Received signal strength is reflected in the reflected signal of target, utilizes the difference on the frequency downward conversion Received signal strength of local signal and Received signal strength, and then generates and have beat frequency (beatfrequency) (f
b) beat frequency (beat) signal, beat signal is transformed to digital signal, by its digital data transmission to signal processing part 300 (S30).
The Received signal strength handling part 320 of signal processing part 300 receives digital signal, and analyze its digital signal extraction target information (S40), then the target information obtained at Received signal strength handling part 320 is followed the trail of in the tracking process portion 330 of signal processing part 300, differentiation is realistic objective or false target, realistic objective is detected as final goal (S50).At this moment, the goal-setting detected during 1 cycle is not final goal by tracking process portion 330, will the goal-setting of continuous detecting be only final goal during the cycle of set point number (such as, more than 3 times).That is, counting obtains targeted number be only the goal-setting having set more than reference count value by count value is final goal.Here, the target of continuous detecting is only had to refer to the target information of the target in cycle acquisition before and to the difference between the target information obtained in next cycle of continuous print, situation within the reference value set, be determined as the information to same target, be judged as YES the target of continuous detecting.
Then, differentiate whether the operation of radar stops (S60).If if do not stop the operation of radar, then increase cycle times with the chirp pulse signal (S70) making chirp generating unit 310 be created on chirp curve next cycle corresponding, then generate the chirp pulse signal (S10) corresponding to the cycle times again increased according to chirp curve.
Result is, the false target method of discrimination of vehicle radar of the present invention, signal transmission is radiated by the FMCW signal that the cycle generates mutual different frequency respectively according to the chirp configuration file set, the continuity analyzing the target information obtained at Received signal strength distinguishes realistic objective and false target, therefore be easy to eliminate false target and only realistic objective be set as final goal, prevent the maloperation according to false target, security when improving the reliability of radar and then improve vehicle operating.
Method according to the present invention can be embodied as the code of readable in computer in the recording medium that computer can be utilized to read, the recording medium of readable in computer comprises the pen recorder of all kinds of the preservation data that can be read by computer system.Recording medium, such as, have ROM, RAM, CD-ROM, disk, floppy disk, optical data storage devices etc., also comprise in addition and be embodied as carrier wave (such as, passing through Internet Transmission) form.In addition, the recording medium of readable in computer is dispersed in the computer system connected with network, preserves the code implemented with the mode readable in computer of dispersion.
With reference to describing the present invention in drawing illustrated embodiment, but this is only exemplary, and the technician in the art with usual knowledge should understand other embodiments that from then on can perform various distortion and equalization.
Therefore, the technical protection scope that the present invention is real should decide according to the technological thought of additional registration request scope.
Claims (8)
1. a vehicle radar, is characterized in that, comprising:
Transport part, it receives chirp pulse signal and produces and radiate signal transmission, and described signal transmission has the frequency of corresponding described chirp pulse signal;
Acceptance division, it receives the Received signal strength that described signal transmission reflects in target, utilizes the signal transmission that transmits in described transport part and described Received signal strength to generate beat signal; And
Signal processing part, it generates the described chirp pulse signal of the mutual different wave of each cycle difference according to the chirp curve preserved, its chirp pulse signal is transferred to described transport part, receive and analyze described beat signal to obtain the target information to described target, the described target information analyzing acquisition, whether repeatedly the cycle distinguishes realistic objective and false target continuously, is detected as final goal by the described target information of described realistic objective.
2. vehicle radar according to claim 1, is characterized in that,
Described signal processing part, comprising:
Chirp pulse signal generating unit, it preserves the described chirp pulse signal of specifying the mutual different wave of each cycle difference, generates the chirp pulse signal according to each cycle;
Received signal strength handling part, it receives described beat signal and utilizes the mode set to carry out signal transacting, obtains and comprises the speed of described target and the described target information of range information; And
Tracking process portion, it receives each cycle and divides target information described in other, differentiate that whether in the difference of target information described in the continuous print cycle be below the reference value that set, described target information below described reference value is set as the target information to described realistic objective, and residue target information is set as the target information to described false target.
3. vehicle radar according to claim 2, is characterized in that,
Described tracking process portion,
Be the target information of below described reference value in the difference of target information described in the continuous print cycle, the situation more than count value repeatedly set, is detected as described final goal by described target information.
4. vehicle radar according to claim 1, is characterized in that,
Described transport part, comprising:
Frequency generator, its corresponding described chirp pulse signal, produces the FMCW signal with the mutual different frequency of described each cycle difference as described signal transmission;
Frequency divider, it distributes described signal transmission, and the signal transmission of the distribution as local signal is transferred to described acceptance division; And
Transmit antenna, described signal transmission is emitted to outside by it.
5. vehicle radar according to claim 4, is characterized in that,
Described acceptance division, comprising:
Multiple receiving antenna, it receives described Received signal strength respectively;
Multiple mixer, it utilizes the difference on the frequency between described multiple Received signal strength and described local signal received respectively at described multiple receiving antenna, and Received signal strength described in downward conversion generates the beat signal with beat frequency rate; And
AD converter, described beat signal is transformed to digital signal by it, by described digital data transmission to described signal processing part.
6. a vehicle false target method of discrimination for thunder method, as the false target method of discrimination of vehicle radar with transport part, acceptance division and signal processing part, is characterized in that, comprising:
Described signal processing part is according to the chirp curve preserved, and each cycle generates the described chirp pulse signal of mutual different wave respectively, described chirp pulse signal is transferred to the step of described transport part;
Described transport part is received in the chirp pulse signal of described signal processing part transmission, produces and radiates the step of the signal transmission of the frequency with corresponding described chirp pulse signal;
Institute's acceptance division receives the Received signal strength that described signal transmission reflects in target, utilizes the signal transmission that transmits in described transport part and described Received signal strength to generate the step of beat signal;
Described signal processing part receives and analyzes described beat signal, obtains the step of the target information to described target; And
Whether the described target information that analysis obtains is continuous distinguishes realistic objective and false target in the cycle repeatedly, the described target information of described realistic objective will be detected as to the step of final goal.
7. the false target method of discrimination of vehicle radar according to claim 6, is characterized in that,
The described step being detected as final goal, comprising:
Receiving described beat signal utilizes the mode set to carry out signal transacting, obtains the step comprising the speed of described target and the described target information of range information;
Differentiate whether the difference of target information is set below reference value described in the continuous print cycle, described target information below described reference value is set as the target information to described realistic objective, and residue target information is set as the step of the target information to described false target;
The target information of described realistic objective will be set as to the step of final goal information.
8. the false target method of discrimination of vehicle radar according to claim 7, is characterized in that,
The described step being set as final goal,
Be the target information of below described reference value in the difference of target information described in the continuous print cycle, the situation repeatedly more than the count value set, is detected as described final goal by described target information.
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