CN106054192A - Automobile crashproof millimeter wave radar system - Google Patents
Automobile crashproof millimeter wave radar system Download PDFInfo
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- CN106054192A CN106054192A CN201610341257.2A CN201610341257A CN106054192A CN 106054192 A CN106054192 A CN 106054192A CN 201610341257 A CN201610341257 A CN 201610341257A CN 106054192 A CN106054192 A CN 106054192A
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- 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
- 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 discloses an automobile crashproof millimeter wave radar system, comprising an antenna unit, a microwave front end and a signal processing unit, wherein the antenna unit is used for transmitting and receiving signals; the microwave front end is used for generating transmission signals, outputting local oscillator signals through a coupler, and obtaining intermediate frequency echo beating signals in a difference mode; an intermediate frequency conditioning circuit performs gain amplification on mixed intermediate frequency signals through an operational amplifier, and then outputs the mixed intermediate frequency signals to the signal processing unit; the signal processing unit is used for generating frequency scanning control signals and frequency scanning source control parameters, performing sampling and spectral analysis on beating signals inputted by the microwave front end, resolving speed, distance, phase and azimuth, performing communication through a CAN cable, and converting voltage. The radar system has a radial and transverse two-dimensional measurement capacity, and determines the existence of a danger object according to a safety criterion so as to reduce traffic accidents.
Description
Technical field
The invention belongs to automotive safety control field, be specifically related to a kind of automobile collision preventing millimetre-wave radar.
Background technology
Along with the economic and development of science and technology, building up of high-grade highway, auto industry is born from 19th-century latter stage
Since obtained development at full speed, kind and quantity and also increased exponentially, thing followed traffic congestion high speed traveling, cause
Car accident occurs again and again, and traffic safety problem has become the subject matter that the whole world is urgently to be resolved hurrily.Automobile collision avoidance radar, can be right
Road environment monitors in real time, and in case of emergency auxiliary driver makes correct process, effectively tries to forestall traffic accidents
Occur.
Research to automobile collision avoidance radar starts from the sixties in 20th century in the world, be developed so far achieved with a lot of achievements and
Be concentrated mainly on Europe, the United States, Deng developed country, such as TRW and Delphi of the U.S., the Continental (continent) of Germany and
The companies such as Bosch.The research of automobile collision avoidance radar technology is started late by China, mostly also in theoretical and project study rank
Section.
Prior art is during multi-targets recognition, and the operand of signal processing is big, calculates the cycle longer, it is difficult to meets and surveys
The requirement of amount real-time.
Summary of the invention
In order to solve the problems referred to above of the prior art, the present invention proposes a kind of automobile collision preventing millimetre-wave radar system,
The purpose of this radar system is to realize radially (distance and speed) and laterally (azimuth) two-dimensional measurement, when detections of radar is to existing
In the case of risk object, sending alarm, prompting driver takes corresponding brake measure in time, effectively reduces sending out of vehicle accident
Raw.Radar in technical scheme uses linear frequency modulation (LFM) to combine frequency shift keying (FSK) complex modulated continuous wave work
Making system, angular surveying aspect relies on three road reception antennas, utilizes phase method to realize the measurement of angle, it is achieved to target vehicle speed
Degree and the measurement of distance, operand when can reduce multi-targets recognition simultaneously and process cycle, thus there is well acquisition
Real-time.
The present invention uses following technical scheme:
A kind of automobile anti-collision radar system, including: antenna element, microwave front-end and signal processing unit；Wherein,
Described antenna element, including launching antenna and reception antenna, is used for launching and receiving signal；
Described microwave front-end, is used for producing transmitting signal, and exports local oscillation signal by bonder；To the echo letter received
Number through orthogonal merit divide output six road i/q signals, obtain the intermediate frequency echo Beat Signal of difference form；Intermediate frequency modulate circuit will mixing
After intermediate-freuqncy signal after operational amplifier carries out gain amplification, output to signal processing unit；
Described signal processing unit, is used for producing frequency sweep control signal and Sweep Source controls parameter；Microwave front-end is inputted
Beat Signal carry out sampling and spectrum analysis；Computing speed, distance, phase place and azimuth, according to safety criterion, mark danger
Target, carries out communication by CAN；And convert input voltage into the voltage required for the internal each functional module of radar.
Further, described antenna element, antenna body uses dual-mode antenna to separate, the design of co-structured body, receives and dispatches sky
Line all uses micro-strip radiation element array format, and riches all the way penetrates three tunnels receptions.
Further, described transmitting antenna launches signal outside radiated electromagnetic wave for receiving from microwave front-end；Described
Reception antenna and transmits to microwave front-end from the echo of front tested vehicle for reception.
Further, described microwave front-end, it is used for producing identical modulation slope, identical modulating bandwidth and one frequency of difference
The A sequence moved and B sequence transmission signal.
Further, described microwave front-end includes that crystal oscillator, phase locked source PLL, voltage controlled oscillator (VCO), loop are filtered
Ripple device, bonder, low-noise amplifier, frequency mixer, low pass filter and operational amplifier.
Further, described crystal oscillator is used for producing reference frequency, and outfan is divided into two, and a road is supplied to described
Phase locked source PLL is as reference frequency, and signal processing unit is delivered on another road.
Further, described phase locked source PLL, voltage controlled oscillator VCO and loop filter composition phase-locked loop circuit, generation is swept
Frequently signal, as launching signal output；
Swept-frequency signal is coupled a road as local oscillation signal by described bonder, delivers to front end frequency-variable module.
Further, described low-noise amplifier, for being amplified echo-signal；
Frequency mixer, for being mixed the signal after amplifying, thus obtains intermediate-freuqncy signal；
Intermediate-freuqncy signal is nursed one's health by low pass filter and operational amplifier, it is achieved its plus and blowup.
Further, described signal processing unit include analog to digital conversion circuit, DSP device, CAN interface circuit,
Warning circuit and power converting circuit etc.；
The echo intermediate-freuqncy signal that described microwave front-end is exported by analog-digital conversion circuit as described carries out analog digital conversion, after conversion
Digital signal enters DSP device；
Described DSP device carries out spectrum analysis to the digital signal of input, detects measured target frequency and phase place, and counts
Calculate distance, speed and the orientation angles of correspondence；
Described CAN interface circuit, it is achieved with extraneous bus communication；
Described warning circuit, according to the danger classes result of determination of described DSP device output, carries out sound and light alarm；
Described power converting circuit, is converted to the voltage required for the internal each functional module of radar by external input voltage.
According to technique scheme, beneficial effects of the present invention is as follows:
(1) range finding can be realized in single cycle, test the speed and multi-targets recognition function；
(2) transmiting signal source of the present invention uses PLL+VCO technology, has transmitted waveform flexible design, fm linearity
High.
Accompanying drawing explanation
Fig. 1 is automobile collision avoidance radar transmitted waveform schematic diagram in the present invention；
Characteristic curve when Fig. 2 is that in the present invention, automobile collision avoidance radar has distance and a velocity shifts；
Fig. 3 is automobile collision avoidance radar phase method angle measurement schematic diagram in the present invention；
Fig. 4 is automobile collision avoidance radar composition frame chart in the present invention；
Fig. 5 is automobile collision avoidance radar microwave front-end theory diagram in the present invention；
Fig. 6 is automobile collision avoidance radar signal processing unit theory diagram in the present invention.
Detailed description of the invention
With detailed description of the invention technical scheme done further details of explanation and explanation below in conjunction with the accompanying drawings.
The present invention uses linear frequency modulation (LFM) to combine frequency shift keying (FSK) complex modulated continuous wave working system, it is achieved that
Radially (distance and speed) and laterally (azimuth) two-dimensional measurement function.
In order to realize range finding and the function tested the speed within single modulation period, the present invention uses linear frequency modulation (LFM) to combine
Frequency shift keying (FSK) complex modulated continuous wave working system, as it is shown in figure 1, radar system is by antenna outside alternate emission A section
With B cross-talk pulse, the frequency of two signals presses linear rule change, and modulation slope is identical with modulation bandwidth, only differ from one little
Frequency displacement fstep.Reception antenna receives the echo-signal of the tested reflectance target identical with launching characteristics of signals, echo-signal simultaneously
Have, to launching, the delay τ that a distance is relevant between signal in time, frequency offsets the f of and velocity correlationd, such as figure
Shown in 2.
After mixing, sample in the fixed position of each subpulse Beat Signal, after FFT processes, find A, B sequence
The spectrum peak position of row and phase information,
After obtaining frequency and the phase information of measured target, the measurement of distance and speed can be realized.
In above formula, R: measured target distance；
V: measured target is relative to this vehicle speed；
Measured target phase contrast；
Δ R: distance by radar resolution；
Δ v: radar speed resolution；
fstep: launch the difference on the frequency between two series of sub-pulses of signal；
K: Beat Signal frequency spectrum point；
N: subpulse number；
In the realization of angle measurement function, automobile collision avoidance radar uses that riches all the way penetrates, and the antenna that three tunnels receive utilizes phase method real
The measurement of existing measured target angle.Fig. 3 is shown in by phase method angle measurement schematic diagram, and being located at θ direction has a measured target, antenna 1,2 it
Between distance be d12, the distance between antenna 1,3 is d13, then there is wave path-difference Δ R in the signal that antenna is received12With Δ R13, by
Fig. 3 understands:
In above formula:
Phase contrast between reception antenna 1 and reception antenna 2；
d12: the distance between reception antenna 1 and reception antenna 2；
θ: measured target angle；
Phase contrast between reception antenna 1 and reception antenna 3；
d13: the distance between reception antenna 1 and reception antenna 3；
N:Integer part divided by 2 π gained business；
Then calculated by formula (4)And determine θ.
Introduce the automobile collision avoidance radar in the specific embodiment of the invention below in conjunction with Fig. 4, Fig. 4 gives this automobile collision preventing
The composition frame chart of radar.Anticollision Radar have to possess radially (distance and speed) and horizontal (azimuth) two-dimensional measurement ability,
And judged by safety criterion, in the case of dangerous target, send warning.
This automobile collision avoidance radar includes: antenna element (1), microwave front-end (2) and signal processing unit (3), wherein:
Described antenna element (1), uses dual-mode antenna to separate, and co-structured body scheme, dual-mode antenna all uses micro-strip to radiate
Element array form, this kind of design more disclosure satisfy that the requirement of miniaturization, low-loss, high-gain；Launch antenna for before microwave
Signal outside radiated electromagnetic wave are launched in end (2) reception, and reception antenna and transmits extremely from the echo of front vehicles for reception
Microwave front-end (2)；
Described microwave front-end (2), transmitting branch is used for producing swept-frequency signal, and antenna element is passed through as launching signal in a road
(1) directly export, couple another road and deliver to receiving branch as local oscillation signal；The echo of receiving branch reception antenna unit (1)
Signal, through frequency-conversion processing and intermediate frequency modulate circuit, delivers to signal processing unit (3)；
Further, described microwave front-end, it is used for producing identical modulation slope, identical modulating bandwidth and one frequency of difference
The A sequence moved and B sequence transmission signal.In target-rich environment, the complex modulated continuous wave working system of this LFM+FSK is than single
Pure LFM mode is simple, and real-time is good, has the strongest multi-sources distinguishing ability simultaneously.
Described signal processing unit (3), is used for producing the frequency sweep control signal of microwave front-end (2) and Sweep Source controls ginseng
Number.Realizing the power distribution to each extension set, the Beat Signal inputting microwave front-end (2) is sampled and spectrum analysis；Solve
Calculation speed, distance, phase place and azimuth, according to safety criterion, identify risk object, and realized and the external world by CAN
Communication.
Fig. 5 is the theory diagram that the present invention is embodied as microwave front-end in detailed rules and regulations (2), and it includes crystal oscillator (21),
Phase locked source PLL (22), voltage controlled oscillator (23) and loop filter (24) and bonder (25), power splitter (26), low noise is put
The modules such as big device (27), frequency mixer (28), and operational amplifier (29).
Crystal oscillator (21) in microwave front-end (2) is used for producing reference frequency source, and outfan is divided into two, and a road carries
Supplying described phase-locked loop pll (22) as reference frequency, signal processing unit is delivered on another road.Phase locked source PLL (22), voltage-controlled shakes
The swept-frequency signal swinging device (23) and loop filter (24) composition phase-locked loop circuit generation directly exports as launching signal；Separately
Outward, transmitting signal is coupled a road and is divided into three roads to frequency-variable module as local oscillation signal through power splitter (26) by bonder (25)；Return
Ripple signal through antenna element (1) three road receiving branch, low-noise amplifier (27) Hou Yu tri-road local oscillation signal through frequency mixer (28),
Form six road I/Q intermediate-freuqncy signals.Six road i/q signals realize gain through operational amplifier (29) and amplify, and deliver to signal processing sampling.
Fig. 6 is the theory diagram that the present invention is embodied as signal processing unit in detailed rules and regulations (3), and it mainly includes ADC (31),
DSP (32), CAN (33), warning circuit (34) and power converting circuit (35).
The echo intermediate-freuqncy signal that described microwave front-end is exported by analog-digital conversion circuit as described ADC (31) carries out analog digital conversion,
Digital signal after conversion enters DSP device；
Described DSP (32) device carries out spectrum analysis to the digital signal of input, detects measured target frequency and phase place,
And calculate distance, speed and the orientation angles of correspondence；
Described CAN (33) bus interface circuit, it is achieved with extraneous bus communication, receive the information such as this vehicle speed, attitude, and
Outwardly feed back distance, speed and orientation angles measurement result and danger classes etc..
Described warning circuit (34), according to the danger classes result of determination of described DSP device output, carries out sound and light alarm；
Described power converting circuit (35), needed for being converted to the internal each unit of radar by the+12V voltage of outside for radar input
+ 5V ,+6V ,+3.3V ,+1.3V ,+1.8V and+1.2V etc..
ADC (31) in signal processing unit (3) realizes sampling intermediate frequency six road i/q signal, is then fed into DSP
(32) carry out the resolving of speed and distance in, then realized and extraneous communication by CAN (33).Warning circuit (34),
The danger classes result of determination exported according to described DSP device (32), carries out sound and light alarm；Described power converting circuit (35),
Power supply is provided for each extension set of described automobile collision avoidance radar.
Described automobile anti-collision radar system uses the complex modulated continuous wave working system of LFM+FSK.At multiple target ring
In border, this transmitting signal form is algorithmically simple than simple LFM mode, when providing the identification of preciousness for vehicle crashproof
Between, real-time is good, has the strongest multi-sources distinguishing ability simultaneously.
Above-mentioned detailed description of the invention is only used for explaining and explanation technical scheme, but can not constitute right
The restriction required.It will be apparent to those skilled in the art that and carry out any simply changing on the basis of technical scheme
Become or replace and the new technical scheme that obtains, all falling under the scope of the present invention.
Claims (9)
1. an automobile anti-collision radar system, it is characterised in that described system includes: at antenna element, microwave front-end and signal
Reason unit；Wherein,
Described antenna element, including launching antenna and reception antenna, is used for launching and receiving signal；
Described microwave front-end, is used for producing transmitting signal, and exports local oscillation signal by bonder；To the echo-signal warp received
Orthogonal merit divides output six road i/q signals, obtains the intermediate frequency echo Beat Signal of difference form；Intermediate frequency modulate circuit is by after mixing
Intermediate-freuqncy signal is after operational amplifier carries out gain amplification, and output is to signal processing unit；
Described signal processing unit, is used for producing frequency sweep control signal and Sweep Source controls parameter；Difference to microwave front-end input
Clap signal to carry out sampling and spectrum analysis；Computing speed, distance, phase place and azimuth, according to safety criterion, the dangerous mesh of mark
Mark, carries out communication by CAN；And convert input voltage into the voltage required for the internal each functional module of radar.
2. the system as claimed in claim 1, it is characterised in that described antenna element, antenna body uses receiving-transmitting antenna separating
From the design of, co-structured body, dual-mode antenna all uses micro-strip radiation element array format, and riches all the way penetrates three tunnels and receive.
3. the system as claimed in claim 1, it is characterised in that described transmitting antenna launches signal for receiving from microwave front-end
And outside radiated electromagnetic wave；Described reception antenna and transmits to microwave front-end from the echo of front tested vehicle for reception.
4. the system as claimed in claim 1, it is characterised in that described microwave front-end, is used for producing identical modulation slope, identical
Modulating bandwidth and the difference A sequence of one frequency displacement and B sequence transmission signal.
5. the system as claimed in claim 1, it is characterised in that described microwave front-end include crystal oscillator, phase locked source PLL,
Voltage controlled oscillator (VCO), loop filter, bonder, low-noise amplifier, frequency mixer, low pass filter and operational amplifier.
6. system as claimed in claim 5, it is characterised in that described crystal oscillator is used for producing reference frequency, outfan
Being divided into two, a road is supplied to described phase locked source PLL as reference frequency, and signal processing unit is delivered on another road.
7. system as claimed in claim 5, it is characterised in that described phase locked source PLL, voltage controlled oscillator VCO and loop filtering
Device composition phase-locked loop circuit, produces swept-frequency signal, as launching signal output；
Swept-frequency signal is coupled a road as local oscillation signal by described bonder, delivers to front end frequency-variable module.
8. the system as according to any one of claim 1-7, it is characterised in that described low-noise amplifier, for echo
Signal is amplified；
Frequency mixer, for being mixed the signal after amplifying, thus obtains intermediate-freuqncy signal；
Intermediate-freuqncy signal is nursed one's health by low pass filter and operational amplifier, it is achieved its plus and blowup.
9. the system as according to any one of claim 1-8, it is characterised in that described signal processing unit includes that modulus turns
Change circuit, DSP device, CAN interface circuit, warning circuit and power converting circuit etc.；
Analog-digital conversion circuit as described, carries out analog digital conversion, after conversion for the echo intermediate-freuqncy signal exported by described microwave front-end
Digital signal enter DSP device；
Described DSP device, for the digital signal of input is carried out spectrum analysis, detects measured target frequency and phase place, and
Calculate distance, speed and the orientation angles of correspondence；
Described CAN interface circuit, for realizing and extraneous bus communication；
Described warning circuit, according to the danger classes result of determination of described DSP device output, carries out sound and light alarm；
Described power converting circuit, is converted to the voltage required for the internal each functional module of radar by external input voltage.
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| CN107356919A (en) * | 2017-07-04 | 2017-11-17 | 上海通趣科技有限公司 | The radar and its length distance measurement method of length distance measurement can be carried out simultaneously |
| CN107271982A (en) * | 2017-07-31 | 2017-10-20 | 广东工业大学 | A kind of object detection method and device based on millimeter wave |
| CN107515387B (en) * | 2017-08-31 | 2020-05-08 | 北京无线电测量研究所 | Double-excitation signal generation method and system |
| CN107515387A (en) * | 2017-08-31 | 2017-12-26 | 北京无线电测量研究所 | A kind of double excitation signal creating method and system |
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| CN107831489A (en) * | 2017-12-04 | 2018-03-23 | 武汉拓宝科技股份有限公司 | A kind of continuous wave 4D radars and its measurement multi-target method |
| CN109959928B (en) * | 2017-12-25 | 2023-11-14 | 大连楼兰科技股份有限公司 | Unmanned aerial vehicle radar altimeter system for petroleum pipeline inspection |
| CN109959928A (en) * | 2017-12-25 | 2019-07-02 | 大连楼兰科技股份有限公司 | Oil pipeline patrol UAV radar altimeter system |
| CN108693531A (en) * | 2018-03-22 | 2018-10-23 | 合肥晟泰克汽车电子股份有限公司 | The processing method of automobile anti-collision radar system |
| CN109031307A (en) * | 2018-07-30 | 2018-12-18 | 米传科技（上海）有限公司 | Vehicle-mounted millimeter wave anti-collision radar system and obstacle detection method |
| CN109031307B (en) * | 2018-07-30 | 2022-07-08 | 米传科技（上海）有限公司 | Vehicle-mounted millimeter wave anti-collision radar system and obstacle detection method |
| CN109471109A (en) * | 2018-10-19 | 2019-03-15 | 芜湖易来达雷达科技有限公司 | A kind of method of the civilian adaptive ADAS of millimetre-wave radar coverage diagram |
| CN109581352A (en) * | 2018-12-10 | 2019-04-05 | 南京莱斯电子设备有限公司 | A kind of super-resolution angle measuring system based on millimetre-wave radar |
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| CN109669166A (en) * | 2019-01-08 | 2019-04-23 | 长沙莫之比智能科技有限公司 | The small-sized MIMO radar sensor of short distance in high-precision wide wave beam |
| CN109946699A (en) * | 2019-02-25 | 2019-06-28 | 安富利电子科技(中国)有限公司 | A kind of millimetre-wave radar measurement method and device |
| CN110068810A (en) * | 2019-05-06 | 2019-07-30 | 成都泰格微电子研究所有限责任公司 | A kind of low-power consumption millimetre-wave radar detection system |
| CN110927710A (en) * | 2020-02-17 | 2020-03-27 | 长沙瑞感电子科技有限公司 | High-precision high-resolution radar sensor and radar echo signal processing method |
| CN112099015A (en) * | 2020-08-26 | 2020-12-18 | 浙江理工大学 | Adaptive waveform design method for improving millimeter wave radar detection estimation performance |
| CN112099015B (en) * | 2020-08-26 | 2024-02-09 | 浙江理工大学 | Self-adaptive waveform design method for improving millimeter wave radar detection estimation performance |
| CN114779253A (en) * | 2022-04-18 | 2022-07-22 | 深圳市七洲电子有限公司 | Method and system for actively preventing rear vehicle collision |
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