CN104635232A - Radar device and method for operating radar device - Google Patents
Radar device and method for operating radar device Download PDFInfo
- Publication number
- CN104635232A CN104635232A CN201410858037.8A CN201410858037A CN104635232A CN 104635232 A CN104635232 A CN 104635232A CN 201410858037 A CN201410858037 A CN 201410858037A CN 104635232 A CN104635232 A CN 104635232A
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- CN
- China
- Prior art keywords
- receiving
- branch
- radar equipment
- frequency
- amplifier
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
-
- 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
- G01S7/03—Details of HF subsystems specially adapted therefor, e.g. common to transmitter and receiver
Abstract
The invention relates to a radar device and a method for operating the radar device, and particularly provides a method for deterring the function of the receiving channel of the radar device. The radar device is configured to receive and send signals within a frequency band. The radar device is composed of a control unit, a transmitting path provided with a voltage-controlled oscillator, a power unit used for generating a sending signal, and a transmitting antenna used for radiating the sending signal, at least one receiving channel for receiving, processing and transmitting received signals. The at least one receiving channel is provided with at least one receiving antenna and at least one switcheable amplifier.
Description
Technical field
The present invention relates to a kind of radar equipment according to claim 1 preamble and the method for running radar equipment.
Background technology
Radar equipment can send and converge the electromagnetic wave of bunchy as main signal or send signal and the signal from a reflections off objects is received as Received signal strength, and evaluates described signal corresponding to diversified demand and use field.Here the information about object can be obtained, the such as relative distance of an object, relative motion between the transmitter of radar equipment and this object and also have the profile of this object.Radar equipment in flight monitors as weather radar, for the research purpose in uranology, anti-aerial target following, buildings monitor and vehicle-periphery in motor vehicle supervision and use, only enumerate some examples.Radar equipment is that can be designed as motion with static radar equipment.
Demand for the radar equipment that can use in the vehicle assisted system of motor vehicle is diversified, and particularly radar equipment is necessary can be no problemly integrated in motor vehicle.Here the sensor of radar equipment is preferably arranged in the region of the bumper of motor vehicle, such as, arrange after corresponding bumper.Can recognition object early for monitoring that vehicle-periphery needs, the reach thus for the radar sensor used proposes special demand.Need differentiation of objects well in addition, cause the high request of resolution of adjusting the distance thus, especially within closely.For realizing enough reach, the average transmitting power of radar equipment is an important parameter.Reach and range resolution are analyzed from Received signal strength, and described Received signal strength receives with at least one receiving cable in a receiving branch of radar equipment.Intensity, particularly may strongly fluctuate from the amplitude of the back scattered signal of object.Therefore, this receiving cable is be amplified in the signal received in receiving antenna to have an amplifier, described amplification its generally can switch between at least two amplifier stages.
From DE 10 2,011 055 693 A1, know a kind of radar equipment with a transmitting branch and a receiving branch, it is designed for and identifies that the passage of receiving cable is malfunctioning.Here the output of oscillator is connected with the input of the control module of radar equipment and control module is designed for and identifies that passage is malfunctioning.
Summary of the invention
Task of the present invention is, realizes a kind of radar equipment of improvement and a kind of method for reliably running this radar equipment.
This some utilization has the radar equipment of the feature of claim 1 and utilizes the method with method step according to claim 7 to realize.
Described radar equipment is designed for the signal in transmission and reception one frequency band and has following parts: a control module; Article one, there is a voltage controlled oscillator and one send the transmitting antenna of signal for radiation transmitting branch for generation of the power cell and one that send signal; There is the receiving branch for receiving, processing and transmit Received signal strength of at least one receiving cable, wherein, described at least one receiving cable has at least one receiving antenna and at least one switchable amplifier, wherein, control module and transmitting branch and be connected with receiving branch and be designed for and control transmitting branch and receiving branch, wherein, at least one switchable amplifier described of described at least one receiving cable arranges and is connected with receiving antenna on the input end of receiving cable.Here this amplifier is preferably directly connected with receiving antenna.This amplifier can be the first amplifier stage of receiving cable, wherein, ground connection can arrange other amplifier stage later.This amplifier decision design is used for working in 24GHz region and amplifies the signal of the frequency had within the scope of 24GHz.This switchable amplifier can switch and switch in the operation of the dynamic perfromance for mating Received signal strength between two values (high amplification and low amplification).This is because this amplifier must amplify the signal of varying strength at any time matchingly.Therefore switchable amplifier can amplify relatively weak signal with high amplification coefficient matchingly according to the signal applied on its input end and in low amplification coefficient situation, amplify the signal with large amplitude matchingly thus.Here particularly the signal with large amplitude can be detected without toning.Directly arranged on the input end of corresponding receiving branch by switchable amplifier, corresponding receiving cable can be encouraged by the control sequence formed targetedly and carry out the modulation that outputs signal thus.The excitation of at least one receiving cable is simplified and high with known radar equipment phase specific efficiency thus.Be in operation, radiation can send signal, there is the radar signal of the frequency in the scope being in such as 24GHz, and can in the receiving antenna of receiving branch, receive the signal from the reflections off objects vehicle-periphery and signal be amplified and samples (abgetastet).Advantageously, the Switchability of monitoring amplifier, because Switchability is such as because a kind of hardware fault possibility is restricted or possibility is malfunctioning.This causes the toning of amplifier or causes not amplifying signal completely when not identifying.Result is such as that range observation is deteriorated in a word.If the Switchability recognizing receiving cable is malfunctioning, then receiving cable can be placed in a kind of disturbance state, and prevent other, uncertain operation thus.The Switchability of amplifier can be monitored in the operation carrying out (laufenden) by arranging switchable amplifier on the input end of receiving cable, and confirmed Switchability usually can be applied when diagnosing receiving cable functional as additional information.
At least one switchable amplifier described is the switchable amplifier of low noise.The amplifier of low noise be called LNA (LNA:
low
noise
amplifier).
Preferably, at least one switchable amplifier described was arranged before a mixer arranged in receiving cable and a bandpass filter.Therefore, first Received signal strength can be exaggerated and then feed-in mixer or bandpass filter.Can modulate by the frequency of about 20kHz of Received signal strength thus.This makes it possible to run under the fixing oscillation frequency of about 24GHz again.Here this modulation also can be carried out with the amplitude being not equal to zero on the received signal.This is favourable, because on the output terminal of the receiving antenna of a receiving cable, also for the situation that there is not any radar target in sensor surrounding environment or vehicle-periphery, Received signal strength is such as not equal to zero due to the reflection on the bumper of vehicle.So in amplifier by it switching frequency produce component of signal be not equal to zero equally and be positioned at bandpass filter by frequency range.Therefore make it possible to independently in Received signal strength, measure switching frequency with vehicle-periphery or sensor surrounding environment.
Preferably arrange the microwave switch circuit (MMIC: single chip microwave integrated circuit) of a high-frequency switch circuit, particularly a monolithic, it is designed for, and performs the process of at least one Received signal strength and controls the power cell of transmitting branch.
Control module particularly have a digital signal processor (
digital
signal
processor:DSP), described digital signal processor have a signal processor interface (
signal
processor
interface:SPI), wherein, arrange second digital signal processor interface (SPI2), it is connected with at least one switchable amplifier and is designed on the input end of at least one receiving branch, is controlled by described signal processor.Digital signal processor can be computing unit.The switching frequency of the amplifier in receiving cable can be controlled by digital signal processor.Apply a frequency, the particularly frequency of a 20kHz preferably can to the Received signal strength of simulation here.Here on-time and break time can be respectively 25 μ s.
In addition, in radar equipment, bandpass filter can be arranged in described at least one receiving cable between mixer and digital signal processor, and it is particularly connected with an analog digital converter (ADC) of digital signal processor (DSP).The Received signal strength of simulation can be transformed to digital signal by ADC and continue process in digital signal processor, such as, can perform Fourier transform, to analyze the Received signal strength of digitizing.A spectrum shown in Figure 6 can be obtained after this Fourier analysis, it have one unique, there is spike relative to the large distance of basic noise level, make it possible to thus realize the diagnosis for the robust of the Switchability of amplifier.
Method for running radar equipment is designed for the functional of receiving branch that determine reception and process Received signal strength, that have at least one receiving cable especially, wherein, carry out the modulation of Received signal strength by a switching sequence, the switchable amplifier that this switching sequence is arranged on the input end of receiving cable applies.Preferably, described switching frequency has the frequency of 20kHZ.
Fourier transform can be applied to received signal in the method, after Received signal strength being detected, carry out fast fourier transform (FFT) especially.By Fourier transform can on receiving cable the Received signal strength of analysis mode in an analog fashion.The place that particularly can be not equal to zero in time signal realizes the value frequency spectrum of time signal.
Different from the another kind of method of applicant, in the method for the invention, the frequency (VCO frequency) of oscillator is constant, but oscillator constant operation at frequencies and only one is had and determines that the switching sequence of frequency is supplied to amplifier.The frequency of oscillator is such as 24GHz.
Favourable design proposal is in addition illustrated by accompanying drawing below and is illustrated by dependent claims.
Accompanying drawing explanation
Describe the present invention based at least one embodiment below with reference to the accompanying drawings in detail.Wherein:
Fig. 1 illustrates the radar equipment in 2.0 generations of applicant,
Fig. 2 illustrates the structure of the radar equipment in 3.0 and 3.5 generations according to applicant,
Fig. 3 illustrates the schematic diagram of the switching sequence of reception amplifier,
Fig. 4 illustrates the chart of the switching sequence of the frequency of the voltage controlled oscillator (VCO) of the functional method for diagnosing receiving cable,
Fig. 5 illustrates the time signal of the receiving cable when quick switched amplifier,
Fig. 6 illustrates the value frequency spectrum of the time signal of Fig. 5.
Embodiment
Fig. 1 illustrate applicant 2.0 generation radar equipment 1 structure.Radar equipment 1 has the receiving branch 3 that a transmitting branch 2 and at least one has two receiving cable 3a and 3b.Also provided is calibration branch road 4.Calibration branch road 4 has a frequency divider 5, and the latter is connected with frequency counter 6.
Transmitting branch 2 has an oscillator 7, preferably voltage controlled oscillator 7 (
voltage
controlled
oszillator:VCO oscillator), it is with the frequency operation of 24GHZ.In addition, transmitting branch 2 has the sub-analog converter of a number (ADC) 8, itself and signal processor interface (
signal
processor
interface:SPI) 9 connect.Arrange respectively in each receiving cable 3a, 3b in receiving branch 3 amplifier 10a, 10b preferred low-noise amplifier 10a and 10b (
low
noise
amplifier:LNA); Mixer 11a, a 11b and bandpass filter 12a, a 12b.Switchable amplifier 13a and 13b is set respectively after bandpass filter 12a, 12b.
Calibration branch road 4, transmitting branch 2 and receiving branch 3 and digital signal processor (
digital
signal
processor:DSP) 14 connect, and wherein, calibration branch road 4 is connected with frequency counter 6, and transmitting branch 2 is connected with SPI interface 9, receiving branch 3 and analog digital converter 15 (ADC:
analog
digital
converter) connect.Switchable amplifier 13 is connected with the GPIO contact pin 16 (universal input exports General Purpose Input Output:GPIO) distributing to DSP 14.Switchable amplifier 13 can switch between two amplifier stages.If switchable amplifier 13 under first amplifier stage with a little amplification coefficient, then can detect the Received signal strength with large amplitude, the toning of amplifier 13 more Specifically not occur.If switchable amplifier 13 under the pattern of the second amplifier stage with large amplifier coefficient, then can detect more weak signal.The dynamic range of amplifier 13 can be improved thus.Switchable amplifier 13 can switch periodically.
Fig. 2 illustrate applicant 3.0 generation radar equipment 20, it has one for generation of sending the transmitting branch 21 of signal and one for receiving the receiving branch 22 of Received signal strength.Receiving branch 22 has a first receiving cable 22a and the second receiving cable 22b.Transmitting branch 21 and receiving branch 22 and digital signal processor (DSP:
digital
signal
processor) 24 connect.
Receiving branch 22 have respectively in each receiving cable 22a and 22b switchable amplifier 28a, a 28b, particularly a low noise amplifier 28a, 28b (LNA:
low
noise
amplifier); With mixer 29a, a 29b.Respective mixer 29a, 29b are connected with bandpass filter 30a, a 30b, and wherein, pretreated signal can feed-in digital signal processor 24 after bandpass filter 30a, 30b.At this, measuring-signal digital signal processor (
digital
signal
processor:DSP) 24 ADC (
analog digital converter) in be transformed to digital signal.Transmitting branch 21 by a digital simulation converter controller 32 (DAC controller) and digital to analog converter (DAC) 33 control, wherein, the signal of DAC 33 be imported directly a voltage controlled oscillator (
voltage
controlled
oszillator:VCO) 34.This VCO 34 has a high frequency oscillator, particularly a 24GHz oscillator.In addition, arrange a frequency divider 35 be connected with VCO 34, described frequency divider is connected with the frequency counter 36 of DSP 24.Secondary signal processor interface (serial peripheral interface: SPI) 37 is connected with switchable low noise amplifier (LNA) 28a and 28b and can controls the circuit of low noise amplifier 28a and 28b.
Fig. 3 illustrates an on off sequence 38.Y-axis 39 illustrates the position of LNA 28a and 28b.Value 40 above relates to maximum amplifier coefficient, and value 41 below relates to minimum amplifier coefficient.The duration 41 of on off sequence represents in x-axis 42, and the residence time of a switching position is generally 25 μ s.Reception amplifier 28a and 28b switches targetedly and fast the Modulation and Amplitude Modulation causing Received signal strength.Apply the component of signal that has the frequency of 20kHz respectively can to the Received signal strength of the simulation of receiving cable 22a and 22b by this process.
Fig. 4 represents a chart, and it represents the first signal 43 and secondary signal 44.The length of corresponding signal 43,44 is 0.8ms.First signal 43 is here 90MHz for the frequency interval of secondary signal 44.In this case for calibration can use a kind of frequency counting method on frequency counter 36, the method can provide the adjustment to multiple independent digital to analog converter value or frequency such as 24GHz.Here each independent frequency keeps constant in the time remaining length of such as 0.8ms.The high efficiency counting of the corresponding frequency on controlled digital to analog converter is carried out within this time.
Fig. 5 illustrates the time signal 45 that when switching corresponding LNA 28a, 28b fast with the switching sequence of Fig. 3 under for the constant VCO frequency of the sensor surrounding environment without radar target is exemplary.Switchable amplifier 28a, 28b of arranging on the input end of receiving cable 22a, 22b apply the modulation that switching sequence causes the Received signal strength to the frequency with 20kHz.The switching sequence with the frequency of 20kHz shown in Figure 3 obviously can be found out in time signal 45.Signal structure simply and do not comprise any component produced by the switching of oscillator frequency.Therefore the detection of the LNA switching frequency of 20kHz is carried out in time signal 45.The circuit of VCO frequency by arranging switchable amplifier 28a, 28b and no longer needing before bandpass filter 30a, 30b.VCO frequency can be adjusted to constant.
For the value frequency spectrum of the time signal 45 shown in Figure 6 that gets across.The spectrum component of the sub-signal 46 determined by the switching of LNA 28a and 28b can be in sight as obvious spike 47 at Frequency point 256 place.This is obvious advantage relative to the typical value frequency spectrum special to applicant in a kind of as another kind of method, and this another kind of method comprises multiple spike.The amplitude of the spike of Frequency point 47 is significantly outstanding from basis in addition, and gives prominence to from underlying noise level 46 thus.Therefore, it is possible to reliably detect spike 47 in frequency field.This causes the Switchability robustly diagnosing LNA 28a and 28b.
Reference numerals list
1 radar equipment
2 transmitting branch
3 3a, 3b receiving branchs
4 calibration branch roads
5 frequency dividers
6 frequency counters
7 voltage controlled oscillators
8 digital to analog converters (DAC)
9 signal processor interface
10a, 10b low noise amplifier: LNA, not switchable
11a, 11b mixer
12a, 12b bandpass filter
The switchable amplifier of 13a, 13b
14 digital signal processors
15 analog digital converters (ADC)
16 signal processor interface: general pin
20 3.0,3.5 generation radar equipment
21 transmitting branch
22 receiving branchs
22a, 22b receiving antenna
24 digital signal processors (DSP)
The switchable low noise amplifier of 28a, 28b, LNA
29a, 29b mixer
30a, 30b bandpass filter
31 analog digital converters, ADC
32 signal processor interface: SPI 1
33 digital to analog converters, DAC
34 voltage controlled oscillators, VCO
35 frequency dividers
36 frequency counters
37 signal processor interface: SPI 2
38 switching signals
The Y-axis of 39 Fig. 3
40 maximal values
41 minimum value
The x-axis of 42 Fig. 3
43 first signals
44 secondary signals
45 time signals
46 sub-signals
47 at the spike of the sub-signal 46 at Frequency point 256 place
Claims (10)
1., for sending and receive the radar equipment of the signal in a frequency band, described radar equipment has:
-control module (24),
-transmitting branch (21), described transmitting branch has voltage controlled oscillator (34) and for generation of sending the power cell of signal and sending the transmitting antenna of signal for radiation,
-receiving branch (22), described receiving branch has at least one receiving cable (22a, 22b), for receiving, process and transmitting Received signal strength, wherein, described at least one receiving cable (22a, 22b) has at least one receiving antenna (23a, 23b) and at least one switchable amplifier (28a, 28b)
-wherein, control module (24) is connected with transmitting branch (21) with receiving branch (22), and is designed for control transmitting branch (21) and receiving branch (22),
-wherein, at least one switchable amplifier (28a, 28b) described of described at least one receiving cable (22) arranges and is connected with receiving antenna (23a, 23b) on the input end of receiving cable (22a, 22b).
2. radar equipment according to claim 1, is characterized in that, at least one switchable amplifier (28a, 28b) described is low noise, switchable amplifier (LNA).
3. radar equipment according to claim 1 and 2, it is characterized in that, arrange before the mixer (29a, 29b) that at least one switchable amplifier (28a, 28b) described is arranged in receiving cable (22a, 22b) and before bandpass filter (30a, 30b).
4. according to the radar equipment one of the claims Suo Shu, it is characterized in that, high-frequency switch circuit is set, particularly single chip microwave on-off circuit (MMIC: single chip microwave integrated circuit), it is designed for the process performing at least one Received signal strength and the power cell controlling transmitting branch (22).
5. according to the radar equipment one of the claims Suo Shu, it is characterized in that, control module (24) has the digital signal processor (DSP) comprising at least one signal processor interface (SPI) (32,37), wherein, arrange second digital interface (SPI2) (37), described second digital interface is connected with at least one switchable amplifier (28a, 28b) described and is designed for and controlled by digital signal processor (24) on the input end of at least one receiving branch (22a, 22b).
6. according to the radar equipment one of the claims Suo Shu, it is characterized in that, in described at least one receiving cable (22a, 22b), bandpass filter (30a, 30b) is arranged between mixer (29a, 29b) and digital signal processor (24), is particularly connected with analog digital converter (ADC) (31) of digital signal processor (DSP) (24).
7. for running the method for radar equipment, especially for determine to receive and process Received signal strength, the receiving branch (22) with at least one receiving cable (22a, 22b) functional, wherein, on the input end of receiving cable (22), the modulation of Received signal strength is carried out by switching sequence (38).
8. method according to claim 7, is characterized in that, is applied to by described switching sequence (38) on a switchable amplifier (28a, 28b) arranged on the input end of described at least one receiving cable.
9. the method according to claim 7 or 8, is characterized in that, described switching sequence has the frequency of about 20kHz, and described frequency is in passing through in scope of bandpass filter (30a, 30b).
10. according to the method one of claim 7 to 9 Suo Shu, it is characterized in that, after Received signal strength being detected, perform Fourier transform, particularly perform fast fourier transform (FFT).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410858037.8A CN104635232A (en) | 2013-10-18 | 2014-10-17 | Radar device and method for operating radar device |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102013517.9 | 2013-10-18 | ||
| CN201410858037.8A CN104635232A (en) | 2013-10-18 | 2014-10-17 | Radar device and method for operating radar device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104635232A true CN104635232A (en) | 2015-05-20 |
Family
ID=53267117
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410858037.8A Pending CN104635232A (en) | 2013-10-18 | 2014-10-17 | Radar device and method for operating radar device |
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|---|---|
| CN (1) | CN104635232A (en) |
Cited By (1)
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| CN106872946A (en) * | 2015-12-10 | 2017-06-20 | 罗伯特·博世有限公司 | Method for running the radar equipment for motor vehicle |
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