CN104635216B - Using typical value in order to detect the fmcw radar system of target and its method - Google Patents

Using typical value in order to detect the fmcw radar system of target and its method Download PDF

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Publication number
CN104635216B
CN104635216B CN201410401409.4A CN201410401409A CN104635216B CN 104635216 B CN104635216 B CN 104635216B CN 201410401409 A CN201410401409 A CN 201410401409A CN 104635216 B CN104635216 B CN 104635216B
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signal
peak
frequency
peak signal
remaining
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CN104635216A (en
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姜恩奭
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Hyundai Mobis Co Ltd
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Hyundai Mobis Co Ltd
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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
    • 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
    • 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
    • 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 using typical value in order to detect the fmcw radar system of target and its method.According to the present invention in order to detect the fmcw radar system of target, including：Frequency generator, it produces a pair of FMCW waveforms being made up of positive chirp (up chirp) and time reversal chirp (down chirp), the FMCW waveforms is radiated by transmission antenna；Blender, it mixes the signal reflected from vehicle target with emission signal, and beat frequency rate is generated with its mixing resultant；ADC, it digitizes the beat frequency rate of generation；And signal processing part, it detects multiple peak signals in the digitized beat frequency rate in 1 chirp in signal, the representation signal calculated in multiple peak signals using its detection, calculate the distance and speed to the vehicle target.

Description

Using typical value in order to detect the fmcw radar system of target and its method
Technical field
The present invention relates to fmcw radar system, more particularly, to using typical value in order to detect the fmcw radar system of target System and its method.
Background technology
Fmcw radar, it is spatially to radiate FMCW waveforms to receive the signal reflected in target, passes through the letter with reception Number and obtain beat frequency rate (beat frequency) with the demodulation of the signal of radiation, obtain target using the beat frequency rate of acquisition The device of distance and speed.Herein, beat frequency rate includes the composition according to target range and the Doppler according to target velocity Frequency displacement.
In order to obtain distance and velocity information, the waveform (up of transmitting-receiving increase frequency form by this beat frequency rate Chirp, positive chirp) with reduce frequency form waveform (down chirp, negative sense chirp), pass through Distance and velocity information are obtained in the relational expression of the beat frequency rate obtained respectively.
But the situation of vehicle target is the curve target for having multiple pips, in a chirp (chirp) there can be substantial amounts of peak value, this can include realistic objective and void when being matched with another chirp by detection The multiple target of decoy is formed.This testing result, in the correct detection target range, speed in radar, it can cause to induce The result of error.
The content of the invention
(solving the problems, such as)
Therefore in order to solve this problem of the prior art, the present invention is provided using typical value to detect target The purpose of fmcw radar system and its method is, is set as surveying by a signal in order in multiple signals of target reflection Trial signal, compare the similar electrical conductance between the test signal of its setting and other signals in setting range, according to its ratio Relatively result makes it can extract a representation signal.
But the purpose of the present invention is not limited to the above-mentioned item referred to, does not refer to or another target can quilt from following record Technical staff is expressly understood that.
(means for solving problem)
In order to reach above-mentioned purpose, according to an of the invention viewpoint in order to detect the fmcw radar system of target, it may include： Frequency generator, it is produced by positive chirp (up chirp) and time negative sense chirp (down Chirp) a pair of the FMCW waveforms formed, launch the FMCW waveforms by transmission antenna；Blender, it will be anti-from vehicle target The signal penetrated is mixed with emission signal, and beat frequency rate is generated with its mixing resultant；ADC, it is by the beat frequency rate number of generation Word；And signal processing part, it detects multiple peaks in the digitized beat frequency rate in 1 chirp in signal Value signal, using a representation signal calculating in multiple peak signals of its detection, calculate the distance to the vehicle target With speed.
Preferably, if the signal processing part is to detect the multiple peak signal, it obtains the multiple of detection The characteristic information of peak signal, a peak signal is set as test signal, base in order in the multiple peak signal In the characteristic information of the multiple peak signal, it judges the test signal and on the basis of the test signal respectively Similarity between the remaining peak signal of setpoint frequency scope.
Preferably, the characteristic information is frequency, angle, signal magnitude.
Preferably, the signal processing part is in the characteristic information of the multiple peak signal, and based on frequency information, it is sentenced Whether the test signal of breaking is the frequency in length over pulling faces of cou plers with the remaining side peak signal, is believed in the multiple peak value Number characteristic information in, based on angle information, it judges whether in the test signal and the remaining peak signal be to be located at car Frequency in overall with, in the characteristic information of the multiple peak signal, based on signal magnitude information, it judges the test Signal magnitude between signal and the remaining peak signal whether be within the critical value set, according to its judged result, If judging similar between the test signal and the remaining peak signal, it is judged as class in the representation signal by described As except remaining peak signal.
Preferably, if the signal processing part is the test signal and the remaining peak signal is to be located at length over pulling faces of cou plers Interior frequency, is the frequency in vehicle overall with the test signal and the remaining peak signal, the test signal Signal magnitude between the remaining peak signal is within the critical value set, then it judges the test signal and institute State similar between remaining peak signal.
According to another viewpoint of the present invention in fmcw radar system in order to detect mesh calibration method, it may include：Produce by just A pair of the FMCW waveforms formed to chirp (up chirp) and time negative sense chirp (down chirp), The step of FMCW waveforms are radiated by transmission antenna；It will be mixed from the signal that vehicle target reflects with the signal radiated, with Its mixing resultant generates the step of beat frequency rate；By the digitized step of the beat frequency rate of generation；And in digitized institute Beat frequency rate is stated, multiple peak signals are detected in 1 chirp, calculating is utilized in multiple peak signals of its detection A representation signal, the step of calculating the distance and speed to the vehicle target.
Preferably, the step of calculating, if detecting the multiple peak signal, the multiple peak value of detection is obtained The characteristic information of signal, a peak signal is set as test letter in order in the multiple peak signal of the detection Number, based on the characteristic information of the multiple peak signal, the test signal is judged respectively and on the basis of the test signal The similarity between remaining peak signal in the frequency range set
Preferably, the characteristic information, it is frequency, angle, signal magnitude.
Preferably, the step of calculating is judged in the characteristic information of the multiple peak signal based on frequency information Whether the test signal is the frequency in length over pulling faces of cou plers with the remaining side peak signal, the multiple peak signal In characteristic information, judge the test signal with whether being to be located at vehicle overall with the remaining peak signal based on angle information Interior frequency, in the characteristic information of the multiple peak signal, the test signal and institute are judged based on signal magnitude information State whether the signal magnitude between remaining peak signal is within the critical value set, according to its judged result, if judging institute State similar between test signal and the remaining peak signal, be then judged as similar residual peak by described in the representation signal Except value signal.
Preferably, if the test signal and the remaining peak signal are in length over pulling faces of cou plers the step of the calculating Frequency, be the frequency in vehicle overall with the test signal and the remaining peak signal, the test signal with Signal magnitude between the remaining peak signal is within the critical value set, then judges that the test signal remains with described It is similar between remaining peak signal.
(The effect of invention)
By it, a signal is set as test letter by the present invention in order in the multiple signals reflected in target Number, compare the similar electric conductivity between the test signal of its setting and other signals in setting range, knot is compared according to it Fruit makes it extract a representation signal, and then the effect of correct target is can detect with non-detection of false target.
In addition, it is of the invention due to extracting the non-correct target of detection of false target detection of a representation signal, therefore have Reduce distance, the effect of the error of speed to target.
Brief description of the drawings
Fig. 1 is according to one embodiment of the invention, it is illustrated that the drawing schematically formed of fmcw radar system.
Fig. 2 is according to one embodiment of the invention, it is illustrated that the drawing of the FMCW waveforms of transmitting-receiving.
Fig. 3 is according to one embodiment of the invention, it is illustrated that the drawing of object detection method.
Fig. 4 is according to one embodiment of the invention, it is illustrated that the drawing of representation signal computational methods.
Fig. 5 is according to one embodiment of the invention, in order to illustrate the drawing of test signal setting principle.
Fig. 6 is according to one embodiment of the invention, in order to illustrate the drawing of representation signal Computing Principle.
Fig. 7 a to Fig. 7 b are according to one embodiment of the invention, it is illustrated that the drawing of distance and the result of calculation of speed.
(description of reference numerals)
110：Signal processing part
120：Frequency generator
130：Transmission antenna
140：Reception antenna
150：Blender
160：Filter
170：ADC
Specific implementation method
Hereinafter, be described with reference to it is according to embodiments of the present invention using typical value in order to detect the FMCW thunders of target Up to system and method.Understanding operations according to the instant invention and using, be described in detail centered on required part.
In addition, in the inscape of the explanation present invention, other can be also assigned according to drawing to the inscape of same names Reference marks, even and if can also assign identical reference marks in mutually different drawing.But even if with this identical Situation does not mean that this composition key element has mutually different function according to embodiment yet, or has in mutually different embodiment Identical function, the function of each inscape should be based on judging in the explanation to each inscape of the embodiment.
Especially, it is in FMCW (Frequency Modulation Continuous in new departure proposed by the present invention Wave, CW with frequency modulation) signal is set as test signal by radar system in order in multiple signals that target reflects, Compare its setting test signal with set in the range of other signals between similar electric conductivity, according to its comparative result It is set to extract a representation signal.
Fig. 1 is according to one embodiment of the invention, it is illustrated that the drawing schematically formed of fmcw radar system.
As shown in figure 1, signal processing part 110, frequency generator are included according to the composition of the fmcw radar system of the present invention 120th, transmission antenna 130, reception antenna 140, blender (mixer) 150, filter (filter) 160, ADC (Analog Digital Converter, analog digital converter) 170 etc..
Signal processing part 110, it can be provided to produce the control signal of a pair of FMCW waveforms, and a pair of FMCW waveforms are by root It is linear with the increase according to the time according to the waveform forward direction chirp (up chirp) of the increase linear increasing frequency of time The waveform negative sense chirp (down chirp) for reducing frequency is formed.
Frequency generator 120, FMCW waveforms are produced according to the control signal of reception if it receives control signal, will be produced FMCW waveforms can be radiated by transmission antenna 130.
Reception antenna 140, it can receive the signal in target reflection.At this moment, can be received by multiple reception antennas 140, With radar system and the time delay of the round distance of target, with the frequency shift (FS) to target relative velocity caused by signal.
Blender 150, the signal of reception can be transformed to beat frequency rate (beat frequency) by it, and beat frequency rate is tool There is the inhomogeneous signal of difference on the frequency between low frequency signal i.e. transmission signal and reception signal.
Filter 160, it filters beat frequency rate, and ADC170 can digitize the beat frequency rate of filtering.
Signal processing part 110, if its digitized beat frequency rate of reception, the representative letter in the beat frequency rate based on reception Number, the distance and speed to vehicle target can be calculated.Fig. 2 is according to one embodiment of the invention, it is illustrated that the FMCW waveforms of transmitting-receiving Drawing.
As shown in Figure 2, it is shown that to the transmission signal and reception signal of each time, and show to target range, The beat frequency rate of speed.That is, it is shown that from the signal and the frequency of the time of mobile target received signal of transmission.
This two beat frequency rates are because the distance from target and relative velocity have frequency shift, (mathematical expression that can be as follows 1), (mathematical expression 2) is shown.
(mathematical expression 1)
(mathematical expression 2)
Herein, fbuIt is to represent the frequency to positive chirp, fbd, represented to negative sense chirp Frequency.BW represents bandwidth, TmRepresent residence time (dwell time), tdRepresent time delay, fdRepresent Doppler frequency, r The distance of target is represented, v represents relative velocity, and (+) symbol represents to represent to connect with radar with the remote direction of radar, (-) symbol Near direction, c represent the speed of light.
The situation of the distance and speed that calculate target using actual radar system can utilize fbuWith fbd, (the mathematical expression 1), (mathematical expression 2) is that unknown number is the simultaneous equations of 2, therefore can be shown respectively such as (mathematical expression 3), (mathematical expression 4) following R and v.
(mathematical expression 4)
Fig. 3 is according to one embodiment of the invention, it is illustrated that the drawing of object detection method.
Linearly adjusted with negative sense by positive chirp as shown in figure 3, being radiated according to the fmcw radar system of the present invention A pair of FMCW waveforms that frequency pulse is formed, the signal (S310) from vehicle target reflection can be received.
Afterwards, signal of the fmcw radar system based on reception and the signal generation beat frequency rate (S320) of radiation, in its life Into beat frequency rate can detect multiple peak signals (S330) in 1 chirp in signal.
Afterwards, the similarity between multiple peak signals of the fmcw radar system based on detection, multiple peak value letters can be calculated A representation signal (S340) in number.
Afterwards, if fmcw radar system calculates a representation signal, can be calculated pair using a representation signal of calculating The distance of vehicle target and speed (S350).
Fig. 4 is according to one embodiment of the invention, it is illustrated that the drawing of representation signal computational methods.
As described in Figure 4, fmcw radar system obtain detection multiple peak signals characteristic information, such as frequency, angle, Signal magnitude etc. (S341), a peak signal in multiple peak signals of detection can be set as test signal (S342).
Afterwards, the characteristic information of peak signal of the fmcw radar system based on acquisition, with the test signal set and survey The frequency range (S343) set is set on the basis of trial signal, the remaining peak value in the frequency range of setting can be judged respectively Similarity between signal.
Fig. 5 is according to one embodiment of the invention, in order to illustrate the drawing of test signal setting principle.
As shown in figure 5, multiple peak signals are detected in the signal received in 1 chirp, multiple peaks of detection A peak signal is set as test signal in value signal, on the basis of the test signal of setting, it can be appreciated that set and set Fixed frequency range Test_Bin (test box).
At this moment, frequency range can determine according to the chirp waveform etc. of the total length of vehicle, radar.
Specifically, fmcw radar system can determine whether a test signal with remaining based on the frequency information in characteristic information Whether remaining peak signal is the frequency (S344) in length over pulling faces of cou plers.
Afterwards, if fmcw radar system judges it is the frequency in length over pulling faces of cou plers with the result of judgement, based on spy Property information in angle information, can determine whether a test signal and remaining peak signal are the frequencies in vehicle overall with (S345)。
On the contrary, if fmcw radar system judges it is the frequency not in the length over pulling faces of cou plers, can be confirmed whether to have remaining Peak signal (S348).
At this moment, if one test signal of fmcw radar system and each frequency difference of remaining peak signal are to have set model Within enclosing, then judge it is the frequency in vehicle overall with.
Afterwards, if fmcw radar system judges it is the frequency in vehicle overall with the result of judgement, based on characteristic Signal magnitude information in information, it can determine whether the signal magnitude between a test signal and remaining peak signal is similar (S346)。
On the contrary, if fmcw radar system judges to be not located at the frequency within vehicle overall with, it can be confirmed whether there is residue Peak signal (S348).
At this moment, if one test signal of fmcw radar system and each angle difference of remaining peak signal are to have set model Within enclosing, then judge it is the frequency within vehicle overall with.
Afterwards, if fmcw radar system judges that signal magnitude is similar with judged result, being identified as same vehicle target can By (S347) except suitable peak signal.
On the contrary, if fmcw radar system judges that signal magnitude is not similar with judged result, can be confirmed whether to have remaining Peak signal (S348).
At this moment, if one test signal of fmcw radar system signal magnitude difference each with remaining peak signal is being set Within the scope of fixed, then judge that signal magnitude is similar.
Afterwards, fmcw radar system can calculate the representation signal of a peak signal with this similarity judged result (S349).That is, a peak signal except not is calculated as representing letter by fmcw radar system according to homophylic result is judged Number.
Fig. 6 is according to one embodiment of the invention, in order to illustrate the drawing of representation signal Computing Principle.
As shown in fig. 6, left side drawing is that diagram can be in various signal of the radar signal of vehicle target transmission and reflection. That is, due to be not point target but curve target, therefore various pip can be produced according to the angle of radar and vehicle.
Further, right side drawing be a diagram that the measured data that can support this hypothesis.Illustrate for 1 wave beam in 1 line Property frequency modulation on pulse radiation the signal that is reflected with actual vehicle target of radar signal, confirm by multiple frequency detectings Signal.
Show the representation signal of the signal of change received out of this 1 chirp, it can be appreciated that in vehicle mesh Mark in the various signals of reflection and only calculate a representation signal.
Herein, detection signal is meant that the signal beyond by the Relation acquisition with periphery frequency index CFAR (Constants False Alarm Rate, constant false alarm rate) critical value.
Afterwards, can using the representation signal calculated in 1 chirp that fmcw radar system reflects from vehicle target Calculate the distance and speed to vehicle target.
Fig. 7 a to Fig. 7 b are according to one embodiment of the invention, it is illustrated that the drawing of distance and the result of calculation of speed.
Reference picture 7a, it is shown that do not calculate the situation of typical value according to the fmcw radar of the present invention, utilize 3 linear frequency modulations Pulse is calculated to the distance of vehicle target and the result of speed.
Reference picture 7b, it is shown that the situation of typical value is calculated according to the fmcw radar of the present invention, uses 3 linear frequency modulation arteries and veins Punching is calculated to the distance of vehicle target and the result of speed.
A representation signal in the signal that vehicle target reflects only is utilized according to the fmcw radar of the present invention, therefore not Detection of false target can detect correct target.
On the other hand, describe and all inscapes for being formed in present invention mentioned above embodiment are combined into one Or combine to operate, the present invention is not necessary to be defined in this embodiment, as long as that is, in the range of the object of the invention, The combination of its all inscapes selectivity can be operated more than one.In addition, its all inscape can be embodied as respectively One independent hardware, but can also be used as computer program to realize, computer program has the one part of each inscape Or all combinations of selectivity, perform the program module in part or all of function of one or more hardware combinations.In addition, It is stored in this identical computer program such as the preservation media of the readable in computer such as USB holders, CD CDs, flash memory (Computer Readable Media) is read and carried out by computer, and then can realize embodiments of the invention.As computer journey The preservation media of sequence, it may include magnetic recording medium, optical recording media, carrier media etc..
In embodiments illustrated above as one example, if there is usual knowledge in the technical field belonging to the present invention Technical staff no more than the present invention essential characteristic range, modification and deformation that can be various.Therefore, disclosed in the present invention Embodiment be not configured to limit the technological thought of the present invention, but in order to illustrate, this is not intended to define according to this embodiment The technological thought of invention.Protection scope of the present invention should explain according to following request scope, and with its equivalents All technological thoughts should be interpreted that be included in the present invention interest field.

Claims (8)

  1. It is 1. a kind of in order to detect the fmcw radar system of target, it is characterised in that including：
    Frequency generator, it produces a pair of FMCW ripples being made up of positive chirp and time negative sense chirp Shape, the FMCW waveforms are radiated by transmission antenna；
    Blender, it mixes the signal reflected from vehicle target with emission signal, and beat frequency rate is generated with its mixing resultant；
    ADC, it digitizes the beat frequency rate of generation；And
    Signal processing part, it detects multiple peak values in the digitized beat frequency rate in a chirp in signal Signal, using a representation signal calculating in multiple peak signals of its detection, calculate to the distance of the vehicle target with Speed,
    The signal processing part,
    If detecting the multiple peak signal, it obtains the characteristic information of the multiple peak signal of detection,
    A peak signal is set as test signal in order in the multiple peak signal,
    Based on the characteristic information of the multiple peak signal, it judges the test signal and using the test signal as base respectively The accurate similarity between the remaining peak signal of setpoint frequency scope,
    If a test signal within the scope of having set, judges letter with each signal magnitude difference of remaining peak signal Number size is similar.
  2. It is 2. according to claim 1 in order to detect the fmcw radar system of target, it is characterised in that
    The characteristic information, it is frequency, angle, signal magnitude.
  3. It is 3. according to claim 2 in order to detect the fmcw radar system of target, it is characterised in that
    The signal processing part,
    In the characteristic information of the multiple peak signal, based on frequency information, it judges the test signal and the remaining side Whether peak signal is the frequency in length over pulling faces of cou plers,
    In the characteristic information of the multiple peak signal, based on angle information, it judges the test signal and the residual peak Whether it is the frequency in vehicle overall with value signal,
    In the characteristic information of the multiple peak signal, based on signal magnitude information, it judges that the test signal remains with described Signal magnitude between remaining peak signal whether be within the critical value set,
    According to its judged result, if judging similar between the test signal and the remaining peak signal, it is in the generation It is judged as in table signal by described except similar remaining peak signal.
  4. It is 4. according to claim 3 in order to detect the fmcw radar system of target, it is characterised in that
    The signal processing part,
    If the test signal and the remaining peak signal are the frequencies in length over pulling faces of cou plers, the test signal with it is described It is the frequency in the vehicle overall with remaining peak signal, the signal between the test signal and the remaining peak signal Size is within the critical value set, then it judges similar between the test signal and the remaining peak signal.
  5. 5. one kind is in fmcw radar system in order to detect mesh calibration method, it is characterised in that including：
    A pair of FMCW waveforms being made up of positive chirp and time negative sense chirp are produced, by transmitting day Line radiates the step of FMCW waveforms；
    Will from the signal that vehicle target reflects with radiate signal mix, with its mixing resultant generation beat frequency rate the step of；
    By the digitized step of the beat frequency rate of generation；And
    In the digitized beat frequency rate, multiple peak signals are detected in a chirp, in the multiple of its detection Using the representation signal calculated in peak signal, the step of calculating the distance and speed to the vehicle target,
    The step calculated,
    If detecting the multiple peak signal, the characteristic information of the multiple peak signal of detection is obtained,
    A peak signal is set as test signal in order in the multiple peak signal of the detection,
    Based on the characteristic information of the multiple peak signal, the test signal is judged respectively and on the basis of the test signal The similarity between remaining peak signal in the frequency range set,
    If a test signal within the scope of having set, judges letter with each signal magnitude difference of remaining peak signal Number size is similar.
  6. 6. it is according to claim 5 in fmcw radar system in order to detect mesh calibration method, it is characterised in that
    The characteristic information, it is frequency, angle, signal magnitude.
  7. 7. it is according to claim 6 in fmcw radar system in order to detect mesh calibration method, it is characterised in that
    The step calculated,
    In the characteristic information of the multiple peak signal, the test signal and the remaining side peak are judged based on frequency information Whether value signal is the frequency in length over pulling faces of cou plers,
    In the characteristic information of the multiple peak signal, judge that the test signal is believed with the remaining peak value based on angle information Whether it is the frequency in vehicle overall with number,
    In the characteristic information of the multiple peak signal, the test signal and the residue are judged based on signal magnitude information Signal magnitude between peak signal whether be within the critical value set,
    According to its judged result, if judge it is similar between the test signal and the remaining peak signal, in the representative It is judged as in signal by described except similar remaining peak signal.
  8. 8. it is according to claim 7 in fmcw radar system in order to detect mesh calibration method, it is characterised in that
    The step calculated,
    If the test signal and the remaining peak signal are the frequencies in length over pulling faces of cou plers, the test signal with it is described It is the frequency in the vehicle overall with remaining peak signal, the signal between the test signal and the remaining peak signal Size is within the critical value set, then judges similar between the test signal and the remaining peak signal.
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