CN104635216A - Representative value-based FMCW radar system and method therefore for detecting target - Google Patents
Representative value-based FMCW radar system and method therefore for detecting target Download PDFInfo
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- CN104635216A CN104635216A CN201410401409.4A CN201410401409A CN104635216A CN 104635216 A CN104635216 A CN 104635216A CN 201410401409 A CN201410401409 A CN 201410401409A CN 104635216 A CN104635216 A CN 104635216A
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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
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/583—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets
- G01S13/584—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets adapted for simultaneous range and velocity measurements
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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
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
- G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S13/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
- G01S13/341—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal wherein the rate of change of the transmitted frequency is adjusted to give a beat of predetermined constant frequency, e.g. by adjusting the amplitude or frequency of the frequency-modulating signal
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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
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
- G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S13/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
-
- 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
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
- G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S13/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
- G01S13/345—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal using triangular modulation
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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
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Signal Processing (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention discloses a representative value-based FMCW radar system and a method therefore for detecting a target. The FMCW radar system for detecting the target comprises a frequency generator used for generating a pair of the FMCW waveforms composed of a forward linear frequency modulation pulse via an up chirp and a reverse linear frequency modulation pulse via a down chirp, and then radiating the FMCW waveforms via a transmission antenna; a mixer used for mixing a reflected signal of a vehicle target with a radiated signal so as to generate a beat frequency rate based on a hybrid result; an ADC used for digitalizing the beat frequency rate; and a signal processing part.
Description
Technical field
The present invention relates to fmcw radar system, especially relating to fmcw radar system and the method thereof in order to detect target that utilize typical value.
Background technology
Fmcw radar, it spatially radiates the signal that FMCW waveform is received in target reflection, by obtaining beat frequency rate (beat frequency) with the signal received and with the signal receiving of radiation, the beat frequency rate obtained is utilized to obtain the distance of target and the device of speed.Here, beat frequency rate comprises the composition according to target range and the Doppler shift according to target velocity.
In order to be obtained distance and velocity information by this beat frequency rate, transmitting-receiving increases waveform (the up chirp of frequency form, forward chirp) with waveform (the down chirp reducing frequency form, negative sense chirp), obtain distance and velocity information by the relational expression at the beat frequency rate obtained respectively.
But, the situation of vehicle target is the curve target with multiple reflection spot, can have a large amount of peak values a chirp (chirp), this is when matching with another chirp, can form by detecting the multiple target comprising realistic objective and false target.This testing result, in the correct detection target range, speed of radar, can cause the result of bringing out error.
Summary of the invention
(problem that will solve)
Therefore in order to solve the problem of this prior art, the invention provides and utilize the object in order to the fmcw radar system and method thereof that detect target of typical value to be, be test signal by a signal sets in order in multiple signals of target reflection, similar electrical conductance between other signals in its test signal set of comparison and setting range, makes it can extract a representation signal according to its comparative result.
But object of the present invention is not limited to the above-mentioned item referred to, not refer to or another target clearly can be understood by technician from following record.
(means of dealing with problems)
In order to reach above-mentioned purpose, according to the fmcw radar system in order to detect target of the present invention one viewpoint, can comprise: frequency generator, it produces a pair FMCW waveform be made up of forward chirp (up chirp) and time negative sense chirp (down chirp), launches described FMCW waveform by transmit antenna; Mixer, the signal reflected from vehicle target mixes with emission signal by it, generates beat frequency rate with its mixing resultant; ADC, its described beat frequency rate digitizing that will generate; And signal processing part, it, at digitized described beat frequency rate, detects multiple peak signal in signal in 1 chirp, and the representation signal calculated in the multiple peak signals utilizing it to detect, calculates the distance to described vehicle target and speed.
Be preferably, if described signal processing part is for detect described multiple peak signal, then it obtains the characteristic information of the described multiple peak signal detected, in described multiple peak signal, in order a peak signal is set as test signal, based on the characteristic information of described multiple peak signal, its judge described test signal respectively and with described test signal as the similarity of benchmark between the residual peak value signal of setpoint frequency scope.
Be preferably, described characteristic information is frequency, angle, signal magnitude.
Be preferably, described signal processing part is in the characteristic information of described multiple peak signal, based on frequency information, it judges whether described test signal and described residue side peak signal are the frequencies being positioned at length over pulling faces of cou plers, in the characteristic information of described multiple peak signal, whether based on angle information, it judges in described test signal and described residual peak value signal is the frequency being positioned at vehicle overall with, in the characteristic information of described multiple peak signal, based on signal magnitude information, it judges whether the signal magnitude between described test signal and described residual peak value signal is within the critical value set, according to its judged result, if judge between described test signal and described residual peak value signal similar, then it is judged as except similar residual peak value signal at described representation signal by described.
Be preferably, if described signal processing part is described test signal and described residual peak value signal is the frequency being positioned at length over pulling faces of cou plers, the frequency being positioned at vehicle overall with in described test signal and described residual peak value signal, signal magnitude between described test signal and described residual peak value signal is within the critical value set, then it judges between described test signal and described residual peak value signal similar.
Another viewpoint according to the present invention at fmcw radar system in order to detect order calibration method, can comprise: produce a pair FMCW waveform be made up of forward chirp (up chirp) and time negative sense chirp (down chirp), radiated the step of described FMCW waveform by transmit antenna; The signal reflected from vehicle target is mixed with the signal of radiation, generates the step of beat frequency rate with its mixing resultant; By the digitized step of described beat frequency rate generated; And at digitized described beat frequency rate, in 1 chirp, detect multiple peak signal, in multiple peak signals that it detects, utilize a representation signal of calculating, calculate the step of distance to described vehicle target and speed.
Be preferably, the step of described calculating, if detect described multiple peak signal, then obtain the characteristic information of described multiple peak signal of detection, in described multiple peak signal of described detection, in order a peak signal is set as test signal, based on the characteristic information of described multiple peak signal, judge described test signal respectively and with described test signal as the similarity between the residual peak value signal of benchmark in the frequency range set
Be preferably, described characteristic information, it is frequency, angle, signal magnitude.
Be preferably, the step of described calculating is in the characteristic information of described multiple peak signal, judge whether described test signal and described residue side peak signal are the frequencies being positioned at length over pulling faces of cou plers based on frequency information, in the characteristic information of described multiple peak signal, judge in described test signal and described residual peak value signal whether be the frequency being positioned at vehicle overall with based on angle information, in the characteristic information of described multiple peak signal, within judging that whether signal magnitude between described test signal and described residual peak value signal is the critical value set based on signal magnitude information, according to its judged result, if judge between described test signal and described residual peak value signal similar, then be judged as except similar residual peak value signal at described representation signal by described.
Be preferably, if the described test signal of the step of described calculating and described residual peak value signal are the frequencies being positioned at length over pulling faces of cou plers, the frequency being positioned at vehicle overall with in described test signal and described residual peak value signal, signal magnitude between described test signal and described residual peak value signal is within the critical value set, then judge between described test signal and described residual peak value signal similar.
(effect of invention)
By it, a signal sets is test signal in order by the present invention in the multiple signals reflected in target, similar electric conductivity between other signals in its test signal set of comparison and setting range, make it extract a representation signal according to its comparative result, and then there is the effect that non-detection of false target can detect correct target.
In addition, the present invention, owing to extracting the correct target of a representation signal non-detection of false target detection, therefore has the effect reduced the distance of target, the error of speed.
Accompanying drawing explanation
Fig. 1 is according to one embodiment of the invention, the drawing schematically formed of diagram fmcw radar system.
Fig. 2 is according to one embodiment of the invention, the drawing of the FMCW waveform of diagram transmitting-receiving.
Fig. 3 is according to one embodiment of the invention, the drawing of diagram object detection method.
Fig. 4 is according to one embodiment of the invention, the drawing of diagram representation signal computing method.
Fig. 5 is according to one embodiment of the invention, in order to the drawing of test signal setting principle is described.
Fig. 6 is according to one embodiment of the invention, in order to the drawing of representation signal Computing Principle is described.
Fig. 7 a to Fig. 7 b is according to one embodiment of the invention, the drawing of diagram distance and the result of calculation of speed.
(description of reference numerals)
110: signal processing part
120: frequency generator
130: transmit antenna
140: receiving antenna
150: mixer
160: filtrator
170：ADC
Specific implementation method
Hereinafter, with reference to the accompanying drawings of fmcw radar system and the method thereof in order to detect target that utilize typical value according to the embodiment of the present invention.Understanding operations according to the instant invention and using, being described in detail centered by required part.
In addition, in explanation inscape of the present invention, also other reference marks can be given to the inscape of same names according to drawing, even and if also identical reference marks can be given at mutually different drawings.But, even if do not mean that this inscape has mutually different functions according to embodiment in situation identical therewith yet, or in mutually different embodiments, there is identical function, the function of each inscape should judge based on the explanation to each inscape in this embodiment.
Especially, the new departure proposed in the present invention is at FMCW (Frequency Modulation Continuous Wave, Continuous Wave with frequency modulation) be test signal by a signal sets in order in multiple signals of reflecting in target of radar system, compare the similar electric conductivity between other signals in its test signal set and the scope set, make it extract a representation signal according to its comparative result.
Fig. 1 is according to one embodiment of the invention, the drawing schematically formed of diagram fmcw radar system.
As shown in Figure 1, signal processing part 110, frequency generator 120, transmit antenna 130, receiving antenna 140, mixer (mixer) 150, filtrator (filter) 160, ADC (Analog Digital Converter, analog digital converter) 170 etc. are comprised according to the formation of fmcw radar system of the present invention.
Signal processing part 110, it can provide the control signal in order to produce a pair FMCW waveform, a pair FMCW waveform, by the waveform forward chirp (up chirp) of the increase linear increasing frequency according to the time, is formed with the waveform negative sense chirp (down chirp) linearly reducing frequency according to the increase of time.
Frequency generator 120, if its reception control signal, produces FMCW waveform according to the control signal received, is radiated by the FMCW waveform of generation by transmit antenna 130.
Receiving antenna 140, it can be received in the signal of target reflection.At this moment, receive by multiple receiving antenna 140, with the time delay of the round distance of radar system and target, with the signal caused the frequency shift (FS) of target relative velocity.
Mixer 150, the signal of reception can be transformed to beat frequency rate (beat frequency) by it, and beat frequency rate has low frequency signal and the inhomogeneous signal of the difference on the frequency between signal transmission and Received signal strength.
Filtrator 160, it filters beat frequency rate, the beat frequency rate digitizing that ADC170 can will filter.
Signal processing part 110, if it receives digitized beat frequency rate, then based on the representation signal in the beat frequency rate received, can calculate the distance to vehicle target and speed.Fig. 2 is according to one embodiment of the invention, the drawing of the FMCW waveform of diagram transmitting-receiving.
As shown in Figure 2, show the signal transmission to each time and Received signal strength, and show the beat frequency rate to target range, speed.That is, the frequency of the time of the target received signal of signal and movement from transmission is shown.
This two beat frequency rates because there is frequency shift from the distance of target and relative velocity, (mathematical expression 1), (mathematical expression 2) display that can be following.
(mathematical expression 1)
(mathematical expression 2)
Here, f
burepresent the frequency to forward chirp, f
bd, be represent the frequency to negative sense chirp.BW represents bandwidth, T
mrepresent the residence time (dwell time), t
drepresent time delay, f
drepresent Doppler frequency, r represents the distance of target, and v represents relative velocity, (+) symbol represent with radar away from direction, (-) symbol represents the direction close with radar, and c represents the speed of light.
The actual radar system calculating distance of target and the situation of speed is utilized to utilize f
buwith f
bd, described (mathematical expression 1), (mathematical expression 2) are the simultaneous equationss of 2 for unknown number, therefore can show following r and v respectively as (mathematical expression 3), (mathematical expression 4).
(mathematical expression 4)
Fig. 3 is according to one embodiment of the invention, the drawing of diagram object detection method.
As shown in Figure 3, radiate a pair FMCW waveform be made up of forward chirp and negative sense chirp according to fmcw radar system of the present invention, the signal (S310) from vehicle target reflection can be received.
Afterwards, fmcw radar system generates beat frequency rate (S320) based on the signal of the signal received and radiation, can detect the multiple peak signals (S330) in 1 chirp in signal at its beat frequency rate generated.
Afterwards, fmcw radar system, based on the similarity between the multiple peak signals detected, can calculate a representation signal (S340) in multiple peak signal.
Afterwards, if fmcw radar system calculates a representation signal, then utilize calculating representation signal can calculate distance to vehicle target and speed (S350).
Fig. 4 is according to one embodiment of the invention, the drawing of diagram representation signal computing method.
As described in Figure 4, fmcw radar system obtains the characteristic information of the multiple peak signals detected, such as frequency, angle, signal magnitude etc. (S341), can be set as test signal (S342) by a peak signal in the multiple peak signals detected.
Afterwards, fmcw radar system is based on the characteristic information of the peak signal obtained, with the frequency range (S343) that the test signal set and test signal have set as benchmark sets, the similarity between the residual peak value signal in the frequency range of setting can be judged respectively.
Fig. 5 is according to one embodiment of the invention, in order to the drawing of test signal setting principle is described.
As shown in Figure 5, multiple peak signal is detected in the signal received in 1 chirp, in the multiple peak signals detected, a peak signal is set as test signal, with the test signal set as benchmark, the frequency range Test_Bin (test box) setting and set can be recognized.
At this moment, frequency range can according to decisions such as the chirp waveforms of the total length of vehicle, radar.
Specifically, fmcw radar system, based on the frequency information in characteristic information, can judge whether a test signal and residual peak value signal are the frequencies (S344) being positioned at length over pulling faces of cou plers.
Afterwards, if fmcw radar system judges it is the frequency being positioned at length over pulling faces of cou plers with the result judged, then based on the angle information in characteristic information, can judge whether a test signal and residual peak value signal are the frequencies (S345) being positioned at vehicle overall with.
On the contrary, if fmcw radar system judges it is the frequency not being positioned at length over pulling faces of cou plers, then remaining peak signal (S348) can be confirmed whether.
At this moment, if each frequency difference of fmcw radar system test signal and residual peak value signal is within setting range, then judge it is the frequency being positioned at vehicle overall with.
Afterwards, if fmcw radar system judges it is the frequency being positioned at vehicle overall with the result judged, then based on the signal magnitude information in characteristic information, the signal magnitude whether similar (S346) between a test signal and residual peak value signal can be judged.
On the contrary, if fmcw radar system judges it is not be positioned at the frequency within vehicle overall with, then remaining peak signal (S348) can be confirmed whether.
At this moment, if each angle difference of fmcw radar system test signal and residual peak value signal is within setting range, then judge it is be positioned at the frequency within vehicle overall with.
Afterwards, if with judged result, fmcw radar system judges that signal magnitude is similar, being then identified as same vehicle target can by (S347) except suitable peak signal.
On the contrary, if with judged result, fmcw radar system judges that signal magnitude is not similar, then remaining peak signal (S348) can be confirmed whether.
At this moment, if each signal magnitude difference of fmcw radar system test signal and residual peak value signal is within the scope set, then judge that signal magnitude is similar.
Afterwards, fmcw radar system, with this similarity judged result, can calculate the representation signal (S349) of a peak signal.That is, fmcw radar system is according to judging homophylic result, and a peak signal is not calculated as representation signal.
Fig. 6 is according to one embodiment of the invention, in order to the drawing of representation signal Computing Principle is described.
As shown in Figure 6, left side drawing is that diagram can at various signal of the radar signal of vehicle target bounce transmission.That is, owing to being not point target but curve target, therefore various reflection spot can be produced according to the angle of radar and vehicle.
Further, right side drawing be a diagram that the measured data can supporting this hypothesis.Illustrate the signal that 1 wave beam is reflected with actual vehicle target in the radar signal that 1 chirp radiates, the signal through multiple frequency detecting can be confirmed.
Show the representation signal of the signal calculating received in this 1 chirp, can recognize in the various signals reflected at vehicle target and only calculate a representation signal.
Here, the meaning of detection signal refers to the critical value of this signal beyond the CFAR (Constants False Alarm Rate, constant false alarm rate) by the Relation acquisition with periphery frequency index.
Afterwards, fmcw radar system utilizes the representation signal of calculating from 1 chirp that vehicle target reflects, and can calculate the distance to vehicle target and speed.
Fig. 7 a to Fig. 7 b is according to one embodiment of the invention, the drawing of diagram distance and the result of calculation of speed.
With reference to Fig. 7 a, show the situation not calculating typical value according to fmcw radar of the present invention, utilize 3 chirps to calculate the distance of vehicle target and the result of speed.
With reference to Fig. 7 b, show the situation calculating typical value according to fmcw radar of the present invention, use 3 chirps to calculate the distance of vehicle target and the result of speed.
According to the representation signal that fmcw radar of the present invention only utilizes in the signal of vehicle target reflection, therefore non-detection of false target can detect correct target.
On the other hand, describe and all inscapes being formed in the embodiment of the present invention described above are combined into one or combine and operate, the present invention is not necessary to be defined in this embodiment, as long as namely within the scope of the object of the invention, also its all inscape optionally can be operated in conjunction with more than one.In addition, its all inscape can be embodied as an independently hardware respectively, but also can be used as computer program to realize, computer program have by each inscape its part or all optionally combine, perform the program module of part or all function in one or more hardware combinations.In addition, the preservation media (Computer Readable Media) that computer program identical is therewith kept at as readable in computers such as USB reservoir, CD CD, flash memories are read by computer and carry out, and then can realize embodiments of the invention.As the preservation media of computer program, magnetic recording medium, optical recording media, carrier media etc. can be comprised.
In embodiment described above as one example, if the technician that the technical field belonging to the present invention has usual knowledge is being no more than internal characteristic range of the present invention, amendment that can be various and distortion.Therefore, not to limit technological thought of the present invention in embodiment disclosed by the invention, but in order to illustrate, not be to limit technological thought of the present invention according to this embodiment.Protection scope of the present invention should be explained according to following request scope, and should be interpreted as being be included in interest field of the present invention with all technological thoughts in its equivalents.
Claims (10)
1. in order to detect a fmcw radar system for target, it is characterized in that, comprising:
Frequency generator, it produces a pair FMCW waveform be made up of forward chirp (up chirp) and time negative sense chirp (down chirp), radiates described FMCW waveform by transmit antenna;
Mixer, the signal reflected from vehicle target mixes with emission signal by it, generates beat frequency rate with its mixing resultant;
ADC, its described beat frequency rate digitizing that will generate; And
Signal processing part, it, at digitized described beat frequency rate, detects multiple peak signal in signal in 1 chirp, and the representation signal calculated in the multiple peak signals utilizing it to detect, calculates the distance to described vehicle target and speed.
2. the fmcw radar system in order to detect target according to claim 1, is characterized in that,
Described signal processing part,
If detect described multiple peak signal, then it obtains the characteristic information of the described multiple peak signal detected,
In described multiple peak signal, in order a peak signal is set as test signal,
Based on the characteristic information of described multiple peak signal, its judge described test signal respectively and with described test signal as the similarity of benchmark between the residual peak value signal of setpoint frequency scope.
3. the fmcw radar system in order to detect target according to claim 2, is characterized in that,
Described characteristic information, it is frequency, angle, signal magnitude.
4. the fmcw radar system in order to detect target according to claim 3, is characterized in that,
Described signal processing part,
In the characteristic information of described multiple peak signal, based on frequency information, it judges whether described test signal and described residue side peak signal are the frequencies being positioned at length over pulling faces of cou plers,
In the characteristic information of described multiple peak signal, whether based on angle information, it judges in described test signal and described residual peak value signal is the frequency being positioned at vehicle overall with,
In the characteristic information of described multiple peak signal, based on signal magnitude information, it judges whether the signal magnitude between described test signal and described residual peak value signal is within the critical value set,
According to its judged result, if judge between described test signal and described residual peak value signal similar, then it is judged as except similar residual peak value signal by described in described representation signal.
5. the fmcw radar system in order to detect target according to claim 4, is characterized in that,
Described signal processing part,
If described test signal and described residual peak value signal are the frequencies being positioned at length over pulling faces of cou plers, the frequency being positioned at vehicle overall with in described test signal and described residual peak value signal, signal magnitude between described test signal and described residual peak value signal is within the critical value set, then it judges between described test signal and described residual peak value signal similar.
6. at fmcw radar system in order to detect an order calibration method, it is characterized in that, comprising:
Produce a pair FMCW waveform be made up of forward chirp (up chirp) and time negative sense chirp (down chirp), radiated the step of described FMCW waveform by transmit antenna;
The signal reflected from vehicle target is mixed with the signal of radiation, generates the step of beat frequency rate with its mixing resultant;
By the digitized step of described beat frequency rate generated; And
At digitized described beat frequency rate, in 1 chirp, detect multiple peak signal, in multiple peak signals that it detects, utilize a representation signal of calculating, calculate the step of distance to described vehicle target and speed.
7. according to right want described in 6 at fmcw radar system in order to detect order calibration method, it is characterized in that,
The step of described calculating,
If detect described multiple peak signal, then obtain the characteristic information of described multiple peak signal of detection,
In described multiple peak signal of described detection, in order a peak signal is set as test signal,
Based on the characteristic information of described multiple peak signal, judge described test signal respectively and with described test signal as the similarity between the residual peak value signal of benchmark in the frequency range set.
8. according to claim 7 at fmcw radar system in order to detect order calibration method, it is characterized in that,
Described characteristic information, it is frequency, angle, signal magnitude.
9. according to claim 8 at fmcw radar system in order to detect order calibration method, it is characterized in that,
The step of described calculating,
In the characteristic information of described multiple peak signal, judge whether described test signal and described residue side peak signal are the frequencies being positioned at length over pulling faces of cou plers based on frequency information,
In the characteristic information of described multiple peak signal, judge in described test signal and described residual peak value signal whether be the frequency being positioned at vehicle overall with based on angle information,
In the characteristic information of described multiple peak signal, judge whether the signal magnitude between described test signal and described residual peak value signal is within the critical value set based on signal magnitude information,
According to its judged result, if judge between described test signal and described residual peak value signal similar, be then judged as except similar residual peak value signal by described in described representation signal.
10. according to claim 9 described at fmcw radar system in order to detect order calibration method, it is characterized in that,
The step of described calculating,
If described test signal and described residual peak value signal are the frequencies being positioned at length over pulling faces of cou plers, the frequency being positioned at vehicle overall with in described test signal and described residual peak value signal, signal magnitude between described test signal and described residual peak value signal is within the critical value set, then judge between described test signal and described residual peak value signal similar.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1020130134103A KR102202354B1 (en) | 2013-11-06 | 2013-11-06 | Fmcw radar system for detecting target using representative value and method thereof |
| KR10-2013-0134103 | 2013-11-06 |
Publications (2)
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| CN105738872A (en) * | 2016-01-31 | 2016-07-06 | 中国人民解放军国防科学技术大学 | Nonlinear processing method for suppressing false target based on double V-chirp |
| CN108844870A (en) * | 2018-08-08 | 2018-11-20 | 重庆交通大学 | PM based on optical fiber structure10And PM2.5Detection instrument device and system |
| CN113050080A (en) * | 2021-02-05 | 2021-06-29 | 北京冠群桦成信息技术有限公司 | Single-transmitting and double-receiving millimeter wave frequency modulation continuous wave transmitting and receiving system |
| WO2021184382A1 (en) * | 2020-03-20 | 2021-09-23 | 华为技术有限公司 | Beat frequency signal processing method and apparatus |
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| KR102049402B1 (en) * | 2015-11-09 | 2019-11-27 | 한국전자통신연구원 | Method and apparatus for processing signal based CFAR in radar system |
| KR102697424B1 (en) | 2016-11-07 | 2024-08-21 | 삼성전자주식회사 | Representative waveform providing apparatus and method |
| KR102451286B1 (en) * | 2017-12-07 | 2022-10-06 | 주식회사 에이치엘클레무브 | Apparatus and method for detecting target |
| KR102355382B1 (en) * | 2019-12-10 | 2022-01-25 | 세종대학교산학협력단 | Device and method for Signal Analysis of Lidar System |
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| KR102202354B9 (en) | 2021-09-17 |
| KR20150052556A (en) | 2015-05-14 |
| KR102202354B1 (en) | 2021-01-13 |
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