CN105301592A - Automotive anti-collision radar system and multi-target identification algorithm utilizing same - Google Patents
Automotive anti-collision radar system and multi-target identification algorithm utilizing same Download PDFInfo
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- 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
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Abstract
The invention discloses an automotive anti-collision radar system and a multi-target identification algorithm utilizing same. The automotive anti-collision radar system comprises the components of a modulating circuit, a modulating mode controller, an FMCW/FSK double-function radar, a radar system switching unit, an RF front-end, an intermediate frequency processing module and a data processing module. The multi-target identification algorithm comprises six steps. The automotive anti-collision radar system and the multi-target identification algorithm are technologically advantageous in that on condition that calculation amount and hardware cost are not increased, clear multi-target detection matching can be realized in comparing the automotive anti-collision radar system with a system in which FM continuous wave radar modulation is singly used; and parameters of targets in a stationary state and a moving state can be simultaneously measured in comparing the automotive anti-collision radar system with the system in which frequency shift keying modulation is singly used, so that the radar system can simultaneously and effectively identify and detect one or a plurality of targets in the stationary state and the moving state.
Description
Technical field
The present invention relates to automobile collision avoidance radar technical field, particularly relate to a kind of automobile anti-collision radar system and adopt its multi-targets recognition algorithm.
Background technology
Exist easily produce difference frequency coupling fuzzy, be difficult to the shortcoming simultaneously detecting multiple target, in domestic and international existing car radar measuring system, often adopt Continuous Wave with frequency modulation (FMCW) radar as front-end detection sensor.Fmcw radar has the advantage of high sensitivity and High Range Resolution, but exist easily produce difference frequency coupling fuzzy, be difficult to the shortcoming simultaneously detecting multiple target.
Now conventional software settling mode is: carry out frequency spectrum matching treatment by computing method to the intermediate-freuqncy signal obtained at receiving end.Or at transmitting terminal by being set with the modulating mode of rule variable period or random variable period, then calculated the empty target eliminated multi-targets recognition and produce by the later stage.But these carry out for fmcw radar methods of improving because frequency spectrum coupling is difficult, modulation signal excessive cycle or the reason such as too complicated, operand all can be made to increase severely, make execution cycle long, influential system running speed, accuracy of detection also can be made to occur decline.Need high-performance hardware to realize, thus increase hardware cost.
Now conventional hardware solutions is: adopt the mode that in same investigative range, multi-section uses with system or different radar simultaneously, this mode will certainly make hardware cost significantly increase, and can produce interference problem.
Frequency shift keying (FSK), though radar can measure multiple moving target simultaneously, then can not detect during geo-stationary when between multiple goal, and its accuracy of detection is not high, need rely on later stage signal transacting when being used alone.
In recent years along with the development of Radar Technology, though many radars have FSK and FMCW two kinds of modulating modes simultaneously, in the same time, use a kind of modulating mode only.
Summary of the invention
The object of the invention is to solve the shortcoming existed in prior art, and a kind of automobile anti-collision radar system proposed and adopt its multi-targets recognition algorithm, this radar arrangement and algorithm not only can detect the distance speed of single goal, also identifiable design and detection multiobject distance speed.
The technical solution used in the present invention is:
A kind of automobile anti-collision radar system, comprises modulation circuit 11, modulating mode controller 17, Continuous Wave with frequency modulation FMCW/ frequency shift keying fsk dual-role radar 12, radar system switch 16, radio-frequency front-end 13, intermediate frequency process module 14, data processing module 15.Wherein,
Modulation circuit 11 is responsible for producing and is applicable to the modulation waveform wave band of fmcw radar and is applicable to the modulation waveform wave band of FSK radar.
Modulating mode controller 17 is responsible for controlling modulation circuit 11.Modulating mode controller 17 makes the output signal of modulation circuit 11 within a cycle by the time command received, both the modulation waveform wave band that a section is applicable to fmcw radar had been comprised, comprise again the modulation waveform wave band that a section is applicable to FSK radar, in other words, the modulation waveform wave band being applicable to fmcw radar and the modulation waveform band combination being applicable to FSK radar are the repetition modulation waveform of one-period.
Radar system switch 16 is responsible for synchronous with modulating mode controller 17, and radar system switch 16 switches the working system of FMCW/FSK dual-role radar 12 by the time command received.
FMCW/FSK dual-role radar 12 is responsible for having fmcw radar and FSK radar is difunctional, produces modulation signal.
The modulation signal that radio-frequency front-end 13 is responsible for FMCW/FSK dual-role radar 12 to export is exported by voltage controlled oscillator and transmits, and the echoed signal mixing in frequency mixer with obtaining after discovery target, exports the intermediate-freuqncy signal containing interference.
The intermediate-freuqncy signal containing interference that intermediate frequency process module 14 is responsible for radio-frequency front-end to export carries out the process such as amplification filtering, exports effective intermediate-freuqncy signal.
Data processing module 15 is responsible for pressing the instruction of modulating mode output time to modulating mode controller 17 and radar system switch 16.Effective intermediate-freuqncy signal is carried out the computational analysiss such as time-domain and frequency-domain, the target range velocity information needed for acquisition.Computing information is fed back to intermediate frequency process module 14, control the gain amplifier of the intermediate-freuqncy signal containing interference.
The input end of modulation circuit 11 is connected with the output terminal of modulating mode controller 17.
The output terminal of modulation circuit 11 output terminal, radar system switch 16 is connected with the input end of FMCW/FSK dual-role radar 12 respectively.
The output terminal of FMCW/FSK dual-role radar 12 is connected through the input end of radio-frequency front-end 13 with intermediate frequency process module 14.
Intermediate frequency process module 14 is connected with data processing module 15, and two-way communication.
The output terminal of data processing module 15 is connected with the input end of radar system switch 16 with modulating mode controller 17 respectively.
Modulating mode controller 17 is connected with radar system switch 16, and two-way communication.
Adopt the multi-targets recognition algorithm of automobile anti-collision radar system of the present invention, carry out as follows:
Step 1: by the modulating mode of artificial setting, input setting-up time instruction by data processing module 15 to modulating mode controller 17.Modulation circuit 11 is controlled by modulating mode controller 17, the time command received by modulating mode controller 17 makes the output signal of modulation circuit 11 within a cycle, and this output signal comprises the modulation waveform wave band that a section is applicable to fmcw radar, the modulation waveform wave band of FSK radar is applicable to one section, in other words, the modulation waveform wave band being applicable to fmcw radar and the modulation waveform band combination being applicable to FSK radar are the repetition modulation waveform of one-period.
Step 2: by the modulating mode of artificial setting, setting-up time instruction is inputted to radar system switch 16 by data processing module 15, make radar system switch 16 synchronous with modulating mode controller 17, switch the working system of FMCW/FSK dual-role radar 12 by the time command received.
Step 3: in step 1, the sensor of the FMCW/FSK dual-role radar 12 after the modulation waveform input step 2 that modulation circuit 11 produces controls, obtains modulation signal.
Step 4: by radio-frequency front-end 13, the modulation signal of step 3 gained is converted to the intermediate-freuqncy signal containing interference.The described intermediate-freuqncy signal containing interference is containing the information such as required target range speed, but simultaneously containing high frequency spurs item be subject to noise and the small intermediate-freuqncy signal of amplitude.
Step 5: by the IF signal processing of intermediate frequency process module 14 pairs of step 4 gained, obtains effective intermediate-freuqncy signal.Described effective intermediate-freuqncy signal be after filtration except high frequency spurs item, noise and through amplification after, may be used for calculate intermediate-freuqncy signal.
Step 6: by data processing module 15 to by the effective intermediate-freuqncy signal analyzing and processing of step 5 gained, obtain the distance velocity information of the single or multiple targets of required geo-stationary and/or relative motion state.Carried out the calculating of amplifying parameters containing the intermediate-freuqncy signal disturbed by data processing module 15 pairs of step 4 gained, and by this parameter feedback to IF signal processing module 14.
Preferably, in a kind of automobile anti-collision radar system of the present invention:
Radio-frequency front-end 13 comprises voltage controlled oscillator and frequency mixer.
Intermediate frequency process module 14 comprises filtering circuit, variable gain amplifier, peak-detector circuit, adc circuit.
Data processing module 15 comprises DAC-circuit, fifo circuit, is the data processor circuit of core by DSP or FPGA.
Preferably, adopt the modulation signal in the multi-targets recognition algorithm of automobile anti-collision radar system of the present invention, in step 1, the modulating mode of artificial setting is the modulation feature simultaneously with fmcw radar and FSK radar.Wherein, the modulation waveform being applicable to fmcw radar is the composite wave of sawtooth wave, triangular wave or sawtooth wave and triangular wave, and the modulation waveform being applicable to FSK radar is step waveform.
In step 3, containing one section of wave band being applicable to fmcw radar modulation waveform and one section of formula being applicable to the modulation signal of the wave band of FSK radar modulation waveform be:
formula 1
Wherein, f
0for the centre frequency of signal, Δ f is the bandwidth of radar, and T is the modulation signal cycle, and a=2 Δ f/T is the slope of the audio range frequency change being applicable to fmcw radar modulation waveform.
In step 4, in radio-frequency front-end 13 voltage controlled oscillator export transmit for:
formula 2
The echoed signal obtained after the above-mentioned chance target that transmits is:
formula 3
Wherein
a r affected amplitude after signal is emitted through antenna propagation from oscillator, n
rt () is noise signal.
Preferably, in the multi-targets recognition algorithm adopting automobile anti-collision radar system of the present invention, in step 6, the effective intermediate-freuqncy signal of analyzing and processing can obtain the distance velocity information of the single or multiple targets of geo-stationary and relative motion state, and detailed process is as follows:
A () is when single or multiple target and radar geo-stationary, the intermediate-freuqncy signal that radar system obtains by being applicable to fmcw radar modulation waveform wave band in modulation signal, after being calculated by intermediate frequency process and Fast Fourier Transform (FFT), obtain each peak value f of intermediate-freuqncy signal spectrogram of this wave band
mi, wherein i=1,2..... are the quantity finding target.Thus obtain the distance of single or multiple static target
, i=1,2......Wherein Δ f is the bandwidth of radar, and T is the modulation signal cycle, and c is the light velocity.
B, when single target and radar generation relative motion, by the Doppler shift obtained in the arbitrary wave band of modulation signal, obtains target relative velocity v=f
dλ/2, wherein f
dfor Doppler shift, λ is radar wavelength.
C is when multiple target and radar generation relative motion time, the Doppler shift that radar system occurs by being applicable to FSK radar modulation waveform wave band in modulation signal, each moving target of identifiable design, by obtaining the distance of each target after filtering, Fast Fourier Transform (FFT) calculating and modulation /demodulation
, wherein i=1,2..... Δ φ
ifor the phase differential of each echo signal, B is radar bandwidth.
Preferably, in the multi-targets recognition algorithm of a kind of automobile anti-collision radar system of the present invention and employing thereof, in step 6, amplifying parameters feedback procedure is: the variable gain amplifier of intermediate-freuqncy signal in IF signal processing module 14 containing interference carries out pre-amplification, input peak-detector circuit detection signal amplitude, the signal amplitude of digital quantity is obtained after input adc circuit carries out analog to digital conversion, the calculating of amplifying parameters is carried out in input data processing module 15, the control signal that digital-to-analog conversion becomes analog quantity is carried out by the DAC-circuit in data processing module 15, the variable gain amplifier fed back in IF signal processing module 14 completes the amplification process of the intermediate-freuqncy signal containing interference.
Preferably, the finding range that automobile anti-collision radar system of the present invention detects target is 0-150m, and the scope of testing the speed is 0-220km/h, and error allowed band is ± 10%; The centre frequency of FMCW/FSK dual-role radar 12 is 10-90GHz, and wavelength is 3-30mm, and carrier bandwidths is 5-200MHz, and tuning sensitivity is 100-400MHz/V.The modulation period of modulation signal is 4-400us.
Beneficial effect:
Although multiple moving target can be measured for existing collision avoidance radar simultaneously, but then can not the technical barrier of correct amount during geo-stationary when between multiple goal, the present invention is directed to the demand of the single or multiple targets effectively identifying simultaneously and detect static and/or motion state, on the basis not increasing hardware cost and calculated amount, in conjunction with fmcw radar and FSK radar advantage separately, propose a kind of automobile anti-collision radar system and adopt its multi-targets recognition algorithm, precision and the efficiency requirements of the single or multiple targets detecting Stillness and motion state can be met.
To the present invention is directed in current anti-collision system for automobile the deficiency of multiple goal aspect that conventional fmcw radar effectively identifies at the same time and detects Stillness and motion state, based on the synergy of FSK radar, propose a kind of radar system structure and algorithm thereof.This algorithm adopted within a modulation period, be applicable to waveform wave band that fmcw radar modulates and another section by one section and be applicable to the modulation system of waveform band combination that FSK radar modulates, utilize the cyclical variation feature of frequency modulating signal to realize effective Distance geometry velocity measuring to the single goal of stationary state and/or motion state or multiple goal respectively, and do not increase hardware cost and calculated amount.
The present invention is in conjunction with the modulation feature of fmcw radar and FSK radar, when target occurs, radar system effectively can identify the single or multiple targets of geo-stationary and/or relative motion state by front semiperiod of modulation signal and later half cycle, after carrying out corresponding filtering process and data processing, required distance velocity information can be obtained.Simultaneously, the present invention is not when increasing calculated amount and hardware cost, compared with single system using frequency modulated continuous wave radar to modulate, multi-target detection can be made to mate clear and definite, compared with single system using frequency shift keying radar to modulate, the target component of Stillness and motion state can be measured simultaneously, make radar system can effectively identify simultaneously and detect the single or multiple targets of Stillness and motion state.
The present invention utilizes Matlab to emulate proposed algorithm and verify, shows that this algorithm accurately can not only catch institute's detection of a target, and has higher precision in the measurements, be applicable to automobile collision avoidance radar measurement under steam.
Accompanying drawing explanation
Fig. 1 is the theory diagram of structure of the present invention.
Fig. 2 is radar modulation signal figure of the present invention.
Fig. 3 is the simulated spectrum figure that radar system of the present invention finds to obtain after distance 30m and 90m bis-target under stationary state.As seen from Figure 3, at 9.766KHz and 29.88KHz place there is peak value in Fourier transform, can be 29.298m and 89.64m in the hope of distance now, be respectively 2.3% and 4.4%, with the error of actual range all in error allowed band.
Fig. 4 is under radar system of the present invention finds motion state, the non-demodulation simulated spectrum figure obtained after distance 10m, speed 18.5m/s and distance 100m, speed 36m/s bis-target.
Fig. 5 is the signal waveforms will obtained after the target demodulation of 10m, speed 18.5m/s under motion state in Fig. 4.
Fig. 6 is the signal waveforms will obtained after the target demodulation of 100m, speed 36m/s under motion state in Fig. 4.
Fig. 7 is amplifying parameters process of feedback figure of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
See Fig. 1, a kind of automobile anti-collision radar system, comprises modulation circuit 11, modulating mode controller 17, Continuous Wave with frequency modulation FMCW/ frequency shift keying fsk dual-role radar 12, radar system switch 16, radio-frequency front-end 13, intermediate frequency process module 14, data processing module 15.Wherein,
Modulation circuit 11 is responsible for producing and is applicable to the modulation waveform wave band of fmcw radar and is applicable to the modulation waveform wave band of FSK radar.
Modulating mode controller 17 is responsible for controlling modulation circuit 11.Modulating mode controller 17 makes the output signal of modulation circuit 11 within a cycle by the time command received, both the modulation waveform wave band that a section is applicable to fmcw radar had been comprised, comprise again the modulation waveform wave band that a section is applicable to FSK radar, in other words, the modulation waveform wave band being applicable to fmcw radar and the modulation waveform band combination being applicable to FSK radar are the repetition modulation waveform of one-period.
Radar system switch 16 is responsible for synchronous with modulating mode controller 17, and radar system switch 16 switches the working system of FMCW/FSK dual-role radar 12 by the time command received.
FMCW/FSK dual-role radar 12 is responsible for having fmcw radar and FSK radar is difunctional, produces modulation signal.
The modulation signal that radio-frequency front-end 13 is responsible for FMCW/FSK dual-role radar 12 to export is exported by voltage controlled oscillator and transmits, and the echoed signal mixing in frequency mixer with obtaining after discovery target, exports the intermediate-freuqncy signal containing interference.
The intermediate-freuqncy signal containing interference that intermediate frequency process module 14 is responsible for radio-frequency front-end to export carries out the process such as amplification filtering, exports effective intermediate-freuqncy signal.
Data processing module 15 is responsible for pressing the instruction of modulating mode output time to modulating mode controller 17 and radar system switch 16.Effective intermediate-freuqncy signal is carried out the computational analysiss such as time-domain and frequency-domain, the target range velocity information needed for acquisition.Computing information is fed back to intermediate frequency process module 14, control the gain amplifier of the intermediate-freuqncy signal containing interference.
The input end of modulation circuit 11 is connected with the output terminal of modulating mode controller 17.
The output terminal of modulation circuit 11 output terminal, radar system switch 16 is connected with the input end of FMCW/FSK dual-role radar 12 respectively.
The output terminal of FMCW/FSK dual-role radar 12 is connected through the input end of radio-frequency front-end 13 with intermediate frequency process module 14.
Intermediate frequency process module 14 is connected with data processing module 15, and two-way communication.
The output terminal of data processing module 15 is connected with the input end of radar system switch 16 with modulating mode controller 17 respectively.
Modulating mode controller 17 is connected with radar system switch 16, and two-way communication.
Furtherly, radio-frequency front-end 13 comprises voltage controlled oscillator and frequency mixer.
Intermediate frequency process module 14 comprises filtering circuit, variable gain amplifier, peak-detector circuit, adc circuit.
Data processing module 15 comprises DAC-circuit, fifo circuit, is the data processor circuit of core by DSP or FPGA.
Adopt the multi-targets recognition algorithm of automobile anti-collision radar system of the present invention, carry out as follows:
Step 1: by the modulating mode of artificial setting, input setting-up time instruction by data processing module 15 to modulating mode controller 17.Modulation circuit 11 is controlled by modulating mode controller 17, the time command received by modulating mode controller 17 makes the output signal of modulation circuit 11 within a cycle, and this output signal comprises the modulation waveform wave band that a section is applicable to fmcw radar, the modulation waveform wave band of FSK radar is applicable to one section, in other words, the modulation waveform wave band being applicable to fmcw radar and the modulation waveform band combination being applicable to FSK radar are the repetition modulation waveform of one-period.
Step 2: by the modulating mode of artificial setting, setting-up time instruction is inputted to radar system switch 16 by data processing module 15, make radar system switch 16 synchronous with modulating mode controller 17, switch the working system of FMCW/FSK dual-role radar 12 by the time command received.
Step 3: in step 1, the sensor of the FMCW/FSK dual-role radar 12 after the modulation waveform input step 2 that modulation circuit 11 produces controls, obtains modulation signal.
Step 4: by radio-frequency front-end 13, the modulation signal of step 3 gained is converted to the intermediate-freuqncy signal containing interference.The described intermediate-freuqncy signal containing interference is containing the information such as required target range speed, but simultaneously containing high frequency spurs item be subject to noise and the small intermediate-freuqncy signal of amplitude.
Step 5: by the IF signal processing of intermediate frequency process module 14 pairs of step 4 gained, obtains effective intermediate-freuqncy signal.Described effective intermediate-freuqncy signal be after filtration except high frequency spurs item, noise and through amplification after, may be used for calculate intermediate-freuqncy signal.
Step 6: by data processing module 15 to by the effective intermediate-freuqncy signal analyzing and processing of step 5 gained, obtain the distance velocity information of the single or multiple targets of required geo-stationary and relative motion state.Calculated by the amplifying parameters of data processing module 15 pairs of step 4 gained containing the intermediate-freuqncy signal of interference, and by this parameter feedback to IF signal processing module 14.
Furtherly, in step 1, the modulating mode of artificial setting is the modulation feature simultaneously with fmcw radar and FSK radar.Wherein, the modulation waveform being applicable to fmcw radar is the composite wave of sawtooth wave, triangular wave or sawtooth wave and triangular wave, and the modulation waveform being applicable to FSK radar is step waveform.
In step 3, containing one section of wave band being applicable to fmcw radar modulation waveform and one section of formula being applicable to the modulation signal of the wave band of FSK radar modulation waveform be:
formula 1
Wherein, f
0for the centre frequency of signal, Δ f is the bandwidth of radar, and T is the modulation signal cycle, and a=2 Δ f/T is the slope of the audio range frequency change being applicable to fmcw radar modulation waveform.
In step 4, in radio-frequency front-end 13 voltage controlled oscillator export transmit for:
formula 2
The echoed signal obtained after the above-mentioned chance target that transmits is:
formula 3
Wherein
a r affected amplitude after signal is emitted through antenna propagation from oscillator, n
rt () is noise signal.
Furtherly, in step 6, the effective intermediate-freuqncy signal of analyzing and processing can obtain the distance velocity information of the single or multiple targets of geo-stationary and relative motion state, and detailed process is as follows:
A () is when single or multiple target and radar geo-stationary, the intermediate-freuqncy signal that radar system obtains by being applicable to fmcw radar modulation waveform wave band in modulation signal, after being calculated by intermediate frequency process and Fast Fourier Transform (FFT), obtain each peak value f of intermediate-freuqncy signal spectrogram of this wave band
mi, wherein i=1,2..... are the quantity finding target.Thus obtain the distance of single or multiple static target
, i=1,2......Wherein Δ f is the bandwidth of radar, and T is the modulation signal cycle,
for the light velocity.
B, when single target and radar generation relative motion, by the Doppler shift obtained in the arbitrary wave band of modulation signal, obtains target relative velocity v=f
dλ/2, be wherein Doppler shift, λ is radar wavelength.
C is when multiple target and radar generation relative motion time, the Doppler shift that radar system occurs by being applicable to FSK radar modulation waveform wave band in modulation signal, each moving target of identifiable design, by obtaining the distance of each target after filtering, Fast Fourier Transform (FFT) calculating and modulation /demodulation
, wherein i=1,2..... Δ φ
ifor the phase differential of each echo signal, B is radar bandwidth.
As seen from Figure 4, Doppler shift is respectively 3.047KHz and 5.977KHz, can be calculated target velocity and is respectively 18.1m/s, 35.7m/s, and relative error is respectively 4% and 3%, all in error allowed band.
Can calculate distance by phase differential in Fig. 5 is 9.62m, and error is 3.8%, in error allowed band.
Can calculate distance by phase differential in Fig. 6 is 91.4m, and error is 9.6%, in error allowed band.
See Fig. 7, furtherly, in step 6, amplifying parameters feedback procedure is: the variable gain amplifier of intermediate-freuqncy signal in IF signal processing module 14 containing interference carries out pre-amplification, input peak-detector circuit detection signal amplitude, the signal amplitude of digital quantity is obtained after input adc circuit carries out analog to digital conversion, the calculating of amplifying parameters is carried out in input data processing module 15, the control signal that digital-to-analog conversion becomes analog quantity is carried out by the DAC-circuit in data processing module 15, the variable gain amplifier fed back in IF signal processing module 14 completes the amplification process of the intermediate-freuqncy signal containing interference.
Furtherly, the finding range that automobile anti-collision radar system detects target is 0-150m, and the scope of testing the speed is 0-220km/h, and error allowed band is ± 10%.The centre frequency of FMCW/FSK dual-role radar 12 is 10-90GHz, and wavelength is 3-30mm, and carrier bandwidths is 5-200MHz, and tuning sensitivity is 100-400MHz/V.The modulation period of modulation signal is 4-400us.
Now be further described below in conjunction with hardware of the present invention, method characteristic: Fig. 1 is the radar arrangement that the present invention adopts, comprise modulation circuit 11, modulating mode controller 17, Continuous Wave with frequency modulation/frequency shift keying dual-role radar 12, radar system switch 16, radio-frequency front-end 13, intermediate frequency process module 14 and data processing module 15.
Modulation module controller 17 controls modulation circuit 11, makes modulation circuit 11 export modulation waveform by the temporal regularity of modulating mode setting.Radar system switch 16 is synchronous with modulation module controller 17, switches the working system of Continuous Wave with frequency modulation/frequency shift keying dual-role radar 12 by the temporal regularity of modulating mode setting.The modulation waveform that modulation circuit 11 exports inputs controlled Continuous Wave with frequency modulation/frequency shift keying dual-role radar sensor 12, makes it export modulation signal.Modulation signal through transmitting of exporting of radio-frequency front-end 13 with find target after the echoed signal that obtains carry out mixing, obtain the intermediate-freuqncy signal containing interference.Effective intermediate-freuqncy signal is obtained after IF signal processing module 14 processes.Effective intermediate-freuqncy signal, after data processing module 15 analyzing and processing, obtains the distance velocity information of the single or multiple targets of required geo-stationary and relative motion state, and output feedback signal is to IF signal processing module 14 simultaneously, to ensure counting accuracy.
Fig. 2 is the period of change of frequency modulating signal of the present invention, in diagram linear relationship.It is within a modulation period, is applicable to the wave band of FSK radar modulation waveform in conjunction with one section of wave band being applicable to fmcw radar modulation waveform and another section, has the two modulation feature.The formula of modulation signal is:
(formula 1)
Wherein, f
0for the centre frequency of signal, Δ f is the bandwidth of radar, and a=2 Δ f/T is the slope of front semiperiod sawtooth wave audio range frequency change
What above-mentioned modulation signal was exported by the voltage controlled oscillator of automobile collision avoidance radar radio-frequency front-end transmits and can be expressed as:
(formula 2)
Find that the echoed signal after target can be expressed as:
(formula 3)
Wherein A
raffected amplitude after signal is emitted through antenna propagation from oscillator, n
rt () is noise signal.
For the single or multiple targets of geo-stationary, in the later half cycle step wave-wave section of modulation waveform, Doppler shift does not occur, but radar system can utilize the intermediate-freuqncy signal obtained in front semiperiod sawtooth wave wave band to obtain target information.Its S that transmits
11can be expressed as:
(formula 4)
Echoed signal S
21for:
(formula 5)
The intermediate-freuqncy signal S ' obtained after filtering after mixing
1for:
(formula 6)
Make f
0t
d-Δ ft
d/ 2-Δ ft
d2/T=φ
1, A
ta
r=A
m, then intermediate-freuqncy signal S '
1can be expressed as:
(formula 7)
From formula 6, comprise target range information
t djust in expression formula.Fast Fourier Transform (FFT) FFT calculating is carried out to intermediate-freuqncy signal, just can draw the frequency information of signal, at certain f
m=Δ ft
d/ T place obtains maximal value, and the peak value that each target obtains is f
mi, wherein i=1,2....., for finding the quantity of target, now the distance of each target can be expressed as:
(formula 8)
Δ f is the bandwidth of radar, and T is the modulation signal cycle, and c is the light velocity.
Therefore, the range information of target can the peak value place of the from then on intermediate-freuqncy signal spectrogram of wave band obtain.
When single target and radar generation relative motion, identical by the Doppler shift obtained in the arbitrary wave band of modulation signal, target relative velocity v=f can be tried to achieve
dλ/2, wherein f
dfor Doppler shift, λ is radar wavelength.
When target and radar have relative motion, although also can target information be captured by the front semiperiod, there will be false target when multiple target occurs, now can capture obvious target information by later half cycle step wave-wave section.
Now transmitting of radar can be expressed as:
(formula 9)
Wherein f
2=f
0+ B/2, f
1=f
0-B/2, n=0,1,2 ...
When objects ahead being detected, echoed signal is:
(formula 10)
Wherein n=0,1,2 ... .., f
d1, f
d2for the Doppler shift under same target different-waveband
Signal after mixing:
(formula 11)
Waveform after mixing removes high frequency and DC terms after bandpass filtering, and the intermediate-freuqncy signal that noise signal obtains is:
Wherein n=0,1,2 ... ..,
the phase place of two sections of intermediate-freuqncy signals.
Because
, can obtain
(formula 13)
(formula 14)
From formula above, the velocity information v of target is by Doppler shift f
d1, f
d2obtain.Wherein λ
1, λ
2for wavelength, by the frequency f of radar harmonic ringing
1, f
2calculate and obtain.The harmonic ringing frequency that millimeter-wave automotive anti-collision radar is commonly used is between 10GHz-90GHz, radar modulating bandwidth Δ f of the present invention is megahertz rank, therefore, corresponding to the intermediate-freuqncy signal that a target obtains, the signal decomposed out has identical Doppler shift.
When there is multiple different motion object in front, the object that speed is different then has different Doppler shifts, multiple target identifications of friction speed is come by the frequency spectrum analyzing unlike signal.
By (12) formula S '
2known, intermediate-freuqncy signal can be demodulated to again two almost identical signals of phase place difference, frequency, can be obtained the range information of target thus, by the phase differential and difference on the frequency analyzing these two signals as shown in (15) formula
(formula 15)
The distance of multiple target
, wherein i=1,2.... Δ φ
ifor the phase differential of each echo signal,
bfor radar bandwidth.
So far, the multiobject identification under motion state and measuring and calculating can be completed.
In order to prove algorithm feasibility of the present invention, carried out matlab emulation experiment, experiment is the measurement carried out the multiple goal of geo-stationary and relative motion.
Each correlation parameter by selected: modulation period is set to 400us, and carrier bandwidths Δ f is set to 10MB, and centre frequency is set to 24GHz, and fundamental wavelength is set to about 12mm.Tuning sensitivity is set to Kv=200MHz/V, substitute in the program of matlab entirety emulation, to transmitting, echoed signal and respectively analog simulation is carried out to the intermediate-freuqncy signal of the target gained under different motion state and different distance, final simulation result can be obtained.
First the multiple goal of stationary state is detected, the tested distance of target is respectively 30m and 90m, now in the past the frequency spectrum of intermediate-freuqncy signal that obtains of semiperiod is as shown in Figure 3, there is peak value in 9.766KHz and 29.88KHz place Fourier transform as seen, by formula 8, can be 29.298m and 89.64m in the hope of the distance recorded now, error be respectively 2.3% and 4.4%, all in error allowed band.
When target and radar generation relative motion, analyzed by the later half cycle, the tested distance 10m of one of them target, tested speed 18.5m/s, when the tested distance 100m of another target, tested speed 36m/s, the frequency spectrum of the intermediate-freuqncy signal of non-demodulation as shown in Figure 4.Known Doppler shift is respectively 3.047KHz and 5.977KHz, and can calculate target velocity and be respectively 18.1m/s, 35.7m/s, relative error is respectively 4% and 3%.As shown in Figure 5, Figure 6, can calculate two distances and be respectively 9.62m and 91.4m, error is respectively 3.8% and 9.6%, all in error allowed band for two signals after demodulation and its phase differential.
Simulation result shows, this multi-targets recognition algorithm in this paper, and its performance reaches set design object, can accurately identify simultaneously and detect the velocity and distance information of single or multiple target.
The above; be only the present invention's preferably embodiment; but protection scope of the present invention is not limited thereto; anyly be familiar with those skilled in the art in the technical scope that the present invention discloses; be equal to according to technical scheme of the present invention and inventive concept thereof and replace or change, all should be encompassed within protection scope of the present invention.
Claims (7)
1. an automobile anti-collision radar system, is characterized in that: comprise modulation circuit (11), modulating mode controller (17), Continuous Wave with frequency modulation (FMCW)/frequency shift keying (FSK) dual-role radar (12), radar system switch (16), radio-frequency front-end (13), intermediate frequency process module (14), data processing module (15); Wherein,
Modulation circuit (11) is responsible for producing and is applicable to the modulation waveform wave band of fmcw radar and is applicable to the modulation waveform wave band of FSK radar;
Modulating mode controller (17) is responsible for controlling modulation circuit (11); Modulating mode controller (17) makes the output signal of modulation circuit (11) within a cycle by the time command received, both the modulation waveform wave band that a section is applicable to fmcw radar had been comprised, comprise again the modulation waveform wave band that a section is applicable to FSK radar, in other words, the modulation waveform wave band being applicable to fmcw radar and the modulation waveform band combination being applicable to FSK radar are the repetition modulation waveform of one-period;
Radar system switch (16) is responsible for synchronous with modulating mode controller (17), and radar system switch (16) switches the working system of FMCW/FSK dual-role radar (12) by the time command received;
FMCW/FSK dual-role radar (12) is responsible for having fmcw radar and FSK radar is difunctional, produces modulation signal;
The modulation signal that radio-frequency front-end (13) is responsible for FMCW/FSK dual-role radar (12) to export is exported by voltage controlled oscillator and transmits, and the echoed signal mixing in frequency mixer with obtaining after discovery target, exports the intermediate-freuqncy signal containing interference;
The intermediate-freuqncy signal containing interference that intermediate frequency process module (14) is responsible for radio-frequency front-end to export carries out the process such as amplification filtering, exports effective intermediate-freuqncy signal;
Data processing module (15) is responsible for pressing the instruction of modulating mode output time to modulating mode controller (17) and radar system switch (16); Effective intermediate-freuqncy signal is carried out the computational analysiss such as time-domain and frequency-domain, the target range velocity information needed for acquisition; Computing information is fed back to intermediate frequency process module (14), control the gain amplifier of the intermediate-freuqncy signal containing interference;
The input end of modulation circuit (11) is connected with the output terminal of modulating mode controller (17);
The output terminal of modulation circuit (11) output terminal, radar system switch (16) is connected with the input end of FMCW/FSK dual-role radar (12) respectively;
The output terminal of FMCW/FSK dual-role radar (12) is connected through the input end of radio-frequency front-end (13) with intermediate frequency process module (14);
Intermediate frequency process module (14) is connected with data processing module (15), and two-way communication;
The output terminal of data processing module (15) is connected with the input end of radar system switch (16) with modulating mode controller (17) respectively;
Modulating mode controller (17) is connected with radar system switch (16), and two-way communication.
2. a kind of automobile anti-collision radar system according to claim 1, is characterized in that:
Radio-frequency front-end (13) comprises voltage controlled oscillator and frequency mixer;
Intermediate frequency process module (14) comprises filtering circuit, variable gain amplifier, peak-detector circuit, adc circuit;
Data processing module (15) comprises DAC-circuit, fifo circuit, is the data processor circuit of core by DSP or FPGA.
3. adopt the multi-targets recognition algorithm of automobile anti-collision radar system described in claim 1 or 2, it is characterized in that: carry out as follows:
Step 1: by the modulating mode of artificial setting, by data processing module (15) to the instruction of modulating mode controller (17) input setting-up time; Modulation circuit (11) is controlled by modulating mode controller (17), the time command received by modulating mode controller (17) makes the output signal of modulation circuit (11) within a cycle, and this output signal comprises the modulation waveform wave band that a section is applicable to fmcw radar, the modulation waveform wave band of FSK radar is applicable to one section, in other words, the modulation waveform wave band being applicable to fmcw radar and the modulation waveform band combination being applicable to FSK radar are the repetition modulation waveform of one-period;
Step 2: by the modulating mode of artificial setting, by data processing module (15) to the instruction of radar system switch (16) input setting-up time, make radar system switch (16) synchronous with modulating mode controller (17), switch the working system of FMCW/FSK dual-role radar (12) by the time command received;
Step 3: in step 1, the sensor of the FMCW/FSK dual-role radar (12) after the modulation waveform input step 2 that modulation circuit (11) produces controls, obtains modulation signal;
Step 4: by radio-frequency front-end (13), the modulation signal of step 3 gained is converted to the intermediate-freuqncy signal containing interference; The described intermediate-freuqncy signal containing interference is containing the information such as required target range speed, but simultaneously containing high frequency spurs item be subject to noise and the small intermediate-freuqncy signal of amplitude;
Step 5: by intermediate frequency process module (14) to the IF signal processing of step 4 gained, obtain effective intermediate-freuqncy signal; Described effective intermediate-freuqncy signal be after filtration except high frequency spurs item, noise and through amplification after, may be used for calculate intermediate-freuqncy signal;
Step 6: by data processing module (15) to by the effective intermediate-freuqncy signal analyzing and processing of step 5 gained, obtain the distance velocity information of the target of required geo-stationary and/or relative motion state; By data processing module (15), step 4 gained is carried out to the calculating of amplifying parameters containing the intermediate-freuqncy signal disturbed, and by this parameter feedback to IF signal processing module (14).
4. adopt the multi-targets recognition algorithm of automobile anti-collision radar system according to claim 3, it is characterized in that:
In step 1, the modulating mode of artificial setting is the modulation feature simultaneously with fmcw radar and FSK radar; Wherein, the modulation waveform being applicable to fmcw radar is the composite wave of sawtooth wave, triangular wave or sawtooth wave and triangular wave, and the modulation waveform being applicable to FSK radar is step waveform;
In step 3, containing one section of wave band being applicable to fmcw radar modulation waveform and one section of formula being applicable to the modulation signal of the wave band of FSK radar modulation waveform be:
(formula 1)
Wherein,
for the centre frequency of signal,
for the bandwidth of radar,
for the modulation signal cycle,
for being applicable to the slope of the audio range frequency change of fmcw radar modulation waveform;
In step 4, what voltage controlled oscillator exported in the radio-frequency front-end (13) transmit for:
(formula 2)
The echoed signal obtained after the above-mentioned chance target that transmits is:
(formula 3)
Wherein
a r affected amplitude after signal is emitted through antenna propagation from oscillator,
for noise signal.
5. adopt the multi-targets recognition algorithm of automobile anti-collision radar system according to claim 3, it is characterized in that:
In step 6, the effective intermediate-freuqncy signal of analyzing and processing can obtain the distance velocity information of the single or multiple targets of geo-stationary and relative motion state, and detailed process is as follows:
A () is when single or multiple target and radar geo-stationary, the intermediate-freuqncy signal that radar system obtains by being applicable to fmcw radar modulation waveform wave band in modulation signal, after being calculated by intermediate frequency process and Fast Fourier Transform (FFT), obtain each peak value of intermediate-freuqncy signal spectrogram of this wave band
, wherein
for finding the quantity of target; Thus obtain the distance of single or multiple static target
,
; Wherein
for the bandwidth of radar,
for the modulation signal cycle,
for the light velocity;
B (), when single target and radar generation relative motion, by the Doppler shift obtained in the arbitrary wave band of modulation signal, obtains target relative velocity
, wherein
for Doppler shift,
for radar wavelength;
C () is when multiple target and radar generation relative motion time, the Doppler shift that radar system occurs by being applicable to FSK radar modulation waveform wave band in modulation signal, each moving target of identifiable design, by obtaining the distance of each target after filtering, Fast Fourier Transform (FFT) calculating and modulation /demodulation
, wherein
for the phase differential of each echo signal,
bfor radar bandwidth.
6. adopt the multi-targets recognition algorithm of automobile anti-collision radar system according to claim 3, it is characterized in that:
In step 6, amplifying parameters feedback procedure is: the variable gain amplifier of intermediate-freuqncy signal in IF signal processing module (14) containing interference carries out pre-amplification, input peak-detector circuit detection signal amplitude, the signal amplitude of digital quantity is obtained after input adc circuit carries out analog to digital conversion, the calculating of amplifying parameters is carried out in input data processing module (15), the control signal that digital-to-analog conversion becomes analog quantity is carried out by the DAC-circuit in data processing module (15), the variable gain amplifier fed back in IF signal processing module (14) completes the amplification process of the intermediate-freuqncy signal containing interference.
7. adopt the multi-targets recognition algorithm of automobile anti-collision radar system according to claim 3, it is characterized in that: the finding range that automobile anti-collision radar system detects target is 0-150m, and the scope of testing the speed is 0-220km/h, and error allowed band is ± 10%; The centre frequency of FMCW/FSK dual-role radar (12) is 10-90GHz, and wavelength is 3-30mm, and carrier bandwidths is 5-200MHz, and tuning sensitivity is 100-400MHz/V; The modulation period of modulation signal is 4-400us.
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