CN106569202A - Radar device - Google Patents
Radar device Download PDFInfo
- Publication number
- CN106569202A CN106569202A CN201610810357.5A CN201610810357A CN106569202A CN 106569202 A CN106569202 A CN 106569202A CN 201610810357 A CN201610810357 A CN 201610810357A CN 106569202 A CN106569202 A CN 106569202A
- Authority
- CN
- China
- Prior art keywords
- signal
- doppler
- distance
- radar installations
- doppler signal
- 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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/583—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets
- G01S13/584—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets adapted for simultaneous range and velocity measurements
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
- G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S13/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
- G01S13/341—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal wherein the rate of change of the transmitted frequency is adjusted to give a beat of predetermined constant frequency, e.g. by adjusting the amplitude or frequency of the frequency-modulating signal
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- 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
- G01S7/28—Details of pulse systems
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
And a radar device capable of stably measuring the speed from a short distance to a long distance is realized by a simple structure. The transmission / reception antenna (1) transmits a transmission wave obtained by modulating the short pulse signal to the target object, and receives the reflected wave. The baseband circuit (17) extracts a first Doppler signal representing a Doppler shift (frequency shift) component and a second Doppler signal representing an amplitude peak transition component from the reflected wave. The control unit (16) selectively fetches the first Doppler signal at the time of close measurement, selectively capturing the second Doppler signal at the time of remote measurement, and analyzing the acquired signal to detect the object speed.
Description
Technical field
The present invention relates to can use pulsed doppler signals from wide scope closely to remote stably
The radar installations of action.
Background technology
As the radar installations of finding speed in a wide range, it is known that radar installations disclosed in patent documentation 1.In patent text
In offering radar installations disclosed in 1, from the send wave of antenna output pulse signal modulation, its echo is received with antenna, be based on
To signal obtained from its detection, determine until the distance and speed of target object.
Specifically, with regard to pulse signal, FMCW (FM-Continuous Wave, Continuous Wave with frequency modulation) mensuration mode is prepared
Signal and pulse Doppler mensuration mode this 2 kinds of signal, when running at high speed, strobe pulse Doppler's mensuration mode,
When running at a low speed, FMCW mensuration modes are selected to carry out signal processing corresponding with speed.
【Patent documentation 1】Japanese Unexamined Patent Publication 2001-183449 publications
The content of the invention
FMCW mensuration modes are the modes of the beat frequency difference finding speed according to cline frequency modulating wave, and radar arrangement is simple,
But high performance FFT processs is needed, so presence is difficult to make response speed to accelerate such problem.In addition, in pulse Doppler
In mensuration mode, pulse signal is directly processed, so fast response time, separating property is particularly excellent, but if until object
The distance of body is short, then the signal level of echo is big, the saturation such as amplifying circuit, it is difficult to correctly extract Doppler signal.That is, deposit
The problem as stable velocity determination in closely becomes difficulty.
The present invention solves such problem, and its object is to provide one kind can be by simple structure from closely to remote
The radar installations of wide scope interior stably finding speed, distance till distance.
The radar installations of the present invention, it is characterised in that have：Receiving unit is sent, is sent according to energy towards target object
Enough carry out the modulation degree of the demodulation of Doppler shift (frequency shift (FS)) component and amplitude peak transition component to carry out impulse modulation and
The send wave for obtaining, and receive the echo reflected by the target object；Signal extraction unit, from by described reception is sent
The echo that unit is received, extracts the 1st Doppler signal and the expression amplitude peaks for representing the Doppler shift component
2nd Doppler signal of value transition component；And control unit, it is taken into the described 1st from the signal extraction Unit selection
Certain in Doppler signal and the 2nd Doppler signal, parses the signal that is taken into detect the speed of the target object.
In accordance with the invention it is possible to provide can stably determine from wide scope closely to remote away from
From the radar installations of, speed.
Description of the drawings
Fig. 1 is the block diagram of the radar installations of embodiments of the present invention example.
Fig. 2 (a)～(c) is the waveform comparison figure of the signal in present embodiment and past case.
Fig. 3 (a), (b) are the content comparison diagrams of the signal in present embodiment and past case.
Fig. 4 is the waveform explanatory diagram of the 1st Doppler signal and the 2nd Doppler signal.
Fig. 5 is the sequential chart of each signal in present embodiment.
Fig. 6 (a), (b) are the waveform comparison figures of signal when modulation degree is different.
The process step explanatory diagram of control unit when Fig. 7 is representational occupation mode.
【Symbol description】
1：Transmission/reception antennas；2：Impulse wave transmitter-receiver；3：High frequency generator；10：Peak holding circuit；11：Cut
Change circuit；16：Control unit；17：Baseband circuit.
Specific embodiment
Hereinafter, referring to the drawings, embodiments of the present invention example is illustrated.
Fig. 1 is the block diagram of the radar installations of embodiments of the present invention.The radar installations of present embodiment employs pulse
Doppler's mensuration mode, with as transmission/reception antennas 1, the impulse wave transmitter-receiver for sending receiving unit and function
2 and high frequency generator 3, the control unit 16 of function and play as signal extraction unit as control unit
The baseband circuit 17 of function.
High frequency generator 3 generates the high-frequency signal ripple shown in Fig. 2 (a), is entered into impulse wave transmitter-receiver 2.It is high
Frequency signal wave is the signal of 24.15 [GHz] in the present embodiment, but is not limited to the frequency.To impulse wave transmitter-receiver 2
Short pulse signal is also input into from control unit 16." short pulse signal " be pulse width be for about 5nsec～about 30nsec pulse
Signal.The high-frequency signal of 2 pairs of inputs of impulse wave transmitter-receiver applies extremely shallow modulation with short pulse signal, generates conduct and is adjusted
The transmission impulse wave of the send wave of system, it is radiated from transmission/reception antennas 1 towards target object." applying shallow modulation " is
Refer to：It is modulated with little modulation degree with short pulse signal.
For example, it is anti-by target object in order to increase in the general radar installations using pulse Doppler mensuration mode
The signal to noise ratio of next echo is emitted back towards, impulse modulation is carried out with about 0.5～about 0.8 modulation degree.In contrast, in this embodiment party
In formula, relatively shallowly modulated with about 0.02～about less than 0.4 modulation degree.Modulation degree is the signal level relative high frequency of pulse signal
The relative scale of the signal level of signal wave, so sending the waveform of impulse wave becomes the waveform for being similar to continuous wave.Impulse wave
Transmitter-receiver 2 is from transmission/reception antennas 1 towards the transmission impulse wave of the such waveform of target object radiation.Additionally, as with
The corresponding impulse wave transmitter-receiver 2 of shallow modulation, can use for example disclosed in Japanese Unexamined Patent Publication 2008-249498 publications
The circuit being made up of three-dB coupler and bifurcation equipment etc..
Fig. 2 (b) illustrates an example of the waveform from the transmission impulse wave of the output of impulse wave transmitter-receiver 2.Fig. 2 (c)
It is the transmission impulse waveform using the deep general pulse Doppler radar of the modulation degree illustrated to refer to.With regard to this enforcement
The transmission impulse wave of the radar installations of mode, due to applying shallow modulation, so high-power narrow-band when becoming modulation OFF
High-frequency signal.Therefore, send shown in impulse waveform such as Fig. 2 (b), become the waveform of close continuous wave (carrier wave).
The transmission impulse wave for being radiated is reflected by target object, is from echo of the transmission/reception antennas 1 as pulse type
Reflected impulse ripple is received.Impulse wave transmitter-receiver 2 reuses high-frequency signal ripple from high frequency generator 3 to reflecting arteries and veins
Rushing ripple carries out homodyne detection (direct detection), exports rectified signal.Fig. 3 (a) illustrates transmission impulse wave in present embodiment, anti-
Penetrate the sets of waveforms of impulse wave, rectified signal.The figure is sets of waveforms when modulation degree is shallow.Due to being applied with extremely shallow modulation, so
In rectified signal, Doppler as the Doppler radar respectively comprising CW (Continuous Wave, continuous wave) mode is inclined
Move the amplitude level component of (frequency displacement) component and the reflected impulse signal included in reflected impulse ripple.
Fig. 3 (b) is the sets of waveforms using the deep general radar installations of the modulation degree illustrated to refer to.Send pulse
Ripple is not continuous wave, so cannot be in order to be detected to Doppler shift component and the signal voltage of enough amplitudes.Its
As a result, Doppler shift component is not included in the waveform of rectified signal, the baseline of waveform becomes flat (DC components).Thus,
Rectified signal when modulation degree is deep becomes the signal for only representing amplitude level component.
In contrast, as shown in Fig. 3 (a), in the present embodiment, sending the close continuous wave of impulse wave.Therefore, obtain
In order to detect the signal voltage of Doppler shift component and enough amplitudes.As a result, comprising many in the waveform of rectified signal
General Le offset component and amplitude level component.That is, the baseline of waveform rises and falls (AC components).Thus, detection letter when modulation degree is shallow
Number become in addition to amplitude level component, be also represented by the signal of Doppler shift component.
Baseband circuit 17 is imported into by the rectified signal of the detection of impulse wave transmitter-receiver 2.Baseband circuit 17 is by detection
Signal branches into 2 kinds of rectified signals by branch circuit 4.The branch signal of one side is referred to as into the 1st rectified signal, by the opposing party's
Branch signal is referred to as the 2nd rectified signal.1st rectified signal is the letter of the continuous wave for representing that the frequency of Doppler shift component is low
Number, taken out by set wave filter in branch circuit 4.On the other hand, using the 2nd rectified signal as expression amplitude level
The signal of the impulse wave of component takes out.1st rectified signal is amplified by amplifier 5, is input to switching circuit 11.
2nd rectified signal is imported into screened circuit 6, and mensuration distance (time) signal outward is shielded (cut-out).Shielding
Circuit 6 in addition to the component of signal (reflected impulse signal) reflected from target object, is also wrapped due in rectified signal
Containing interference signal (sending the noise beyond the roundabout signal of impulse wave), so in order to optimize Signal separator, for by the latter's screen
The circuit for covering.Shielded signal according to exporting from control unit 16 is shielded.For shielding interference by screened circuit 6
2nd rectified signal of signal, is amplified by amplifier 7, is tapered to after service band with wave filter 8, by distributor circuit 9
Carry out 2 distribution.
One side of allocated signal is imported into peak holding circuit 10, and the opposing party is imported into amplifier 13.Input
After being exaggerated to the signal of amplifier 13, waveform shaping is carried out by wave filter 14, analog/digital is transformed to by ADC15,
It is input into as digital signal to control unit 16.The digital signal is the distance for representing transmission/reception antennas 1 and target object
Distance signal, by parsing the distance signal, range determination is carried out with control unit 16, and (calculating of distance value is processed, following phase
Together).
In peak holding circuit 10, by the holding signal from control unit 16, shaking for distributed signal is kept
The peak value (maximum) of width level component.Using the signal for being kept as the peak hold signal derived from from the 2nd rectified signal, pin
To every predetermined distance, switching circuit 11 is input to.
Switching circuit 11 selects the 1st detection amplified by amplifier 5 to believe by the selection signal exported from control unit 16
Number and from peak holding circuit 10 output peak hold signal in one party.Selected signal is by amplifier 12
After amplification, as analogue signal, control unit 16 is imported into.1st rectified signal of the simulation amplified by the amplifier 12
Become the 1st Doppler signal.On the other hand, peak hold signal is due to exporting at predetermined intervals, so if specified time limit,
It is then to represent that amplitude peak changes the analogue signal of component.Representing the analogue signal of the amplitude peak transition component becomes more than the 2nd
General Le signal.
Control unit 16 is taken into each Doppler signal, by FFT process carry out velocity determination (process of calculating speed, with
Under it is identical), but each Doppler signal frequency change it is little, so FFT process in less spend the time.That is, can be with short
Response speed carry out stable velocity determination.The selection signal that control unit 16 will be transmitted to switching circuit 11, is being taken into the 1st
It is set as " H " level during Doppler signal, " L " level is set as when 2 Doppler signal is taken into.
Branch circuit 4, peak holding circuit 10 etc. are simple circuit structures, so baseband circuit 17 also becomes conventional
Radar installations on the easy structure that also can easily carry.Therefore, it is possible to suppress cost increase.
In addition, the 1st Doppler signal, the 2nd Doppler signal and distance signal are extracted respectively simultaneously.Therefore, it is possible to
Range determination is carried out based on distance signal, according to as a result, can arbitrarily set in advance and afterwards modifiable
The reference value of distance is border, if be located further forward than the distance, the 1st Doppler signal is optionally extracted, if it exceeds should
Border, then it is possible optionally to extract occupation mode as the 2nd Doppler signal.That is, the 1st Doppler signal is used as
In-plant velocity determination signal, by the 2nd Doppler signal the fortune that remote velocity determination signal is used separately is used as
With being possible.In the following description, the reference value of above-mentioned distance is referred to as into " switching distance ".
Fig. 4 illustrates the waveform example of the 1st Doppler signal and the 2nd Doppler signal.In figure, reflected impulse signal be
The signal from target object reflection included in reflected impulse ripple, is the basic signal for becoming the 2nd Doppler signal.More than 1st
The signal that general Le signal and the 2nd Doppler signal are all due to the speed of identical target object and produce, although defeated
Go out variant in voltage level, but become the Doppler signal (frequency component) of identical type.
In control unit 16, by ADC15, carry out having used based on the reflected impulse signal for receiving it is digital away from
Carry out away from FFT from the range determination of the target object of signal and the 1st Doppler signal or the 2nd Doppler signal to extracting
The velocity determination of the target object of reason.In the present embodiment, Doppler signal is directly extracted in baseband circuit 17, to extracting
Doppler signal carry out FFT process carrying out velocity determination.The Doppler signal of extraction becomes the sine wave of low frequency, so
In control unit 16, it is not necessary to high speed and wide band FFT process, complicated software processes.In addition, in high-frequency signal ripple
Sending setting of structure, the modulation degree of circuit used in receiving etc. etc. also becomes simple, it is possible to suppressing cost increase.
Next, the content of the various signal processing in the radar installations of explanation present embodiment.Fig. 5 is by control unit
The sequential chart of each signal of the control of part 16, transverse axis is the time, and the longitudinal axis is signal level.The level of each signal is set to CMOS
(complementary metal oxide semiconductor) level.I.e. " H " level is 3.3 [v], and " L " level is 0
[v]。
Control unit 16 is to supply pulse width T1 of impulse wave transmitter-receiver 2 (=20nsec), interval T2 (=4 μ sec)
Short pulse signal.Rectified signal is generated synchronously with the interval T2 of the short pulse signal, but is removed in the rectified signal sometimes
Beyond reflected impulse signal, also include the interference signal being made up of the roundabout of transmission impulse wave, saturation etc..In the example of Fig. 5
In, before reflected impulse signal, the interference ripple comprising pulse width T5 synchronous with short pulse signal.Therefore, control unit
16 after the rising edge of short pulse signal, till during generation interference ripple, exports for shielding interference signal
Shielded signal.Shielded signal is set to pass through signal in " H " level, in " L " level by signal cut, in distance
Time point before measure necessarily becomes " H " level.The width T3 of shielded signal was set to before the width T4 of signal is kept
15～30nsec, afterwards 15～30nsec.It is intended that keeping to the impact of state no interference signal in peak holding circuit 10
Reflected impulse signal.In the present example, make width T3 become 50nsec, make the shielding time started (until the rising of shielded signal
The time on edge) T6 become to send pulse width add the time obtained from several 10nsec.Specifically, it is set as 40nsec,
But these times are to illustrate.Every interval, T2 also exports shielded signal.
Reflected impulse signal is generated during shielded signal is " H " level, during this period, is protected from the output of control unit 16
Hold signal.With pulse width T4, every interval T2, output repeatedly keeps signal.Peak holding circuit 10 is configured in " H " level
When start (charging) reflected impulse signal amplitude peak holding, terminate in " L " level (electric discharge) holding, keep signal quilt
It is set as sending impulse wave, is have passed through mensuration distance (carrying out the distance of the measure of speed) the corresponding time with setting
The time point of T7 becomes rising edge.As a result, peak hold signal, i.e. the 2nd Doppler signal become expression amplitude peak transition
The signal of component.Keep the width T4 of signal more shorter than pulse width T1 for sending impulse wave.Its reason is, if believing holding
Number width T4 be equal to pulse width T1 or wider, then cannot most preferably keep.In the present example, T4 is set as
15nsec。
1st Doppler signal is shielded signal, keeps altogether irrelevant and unrelated with the reflected impulse signal company of signal
Continuous waveform.On the other hand, the 2nd Doppler signal is to rely on the level of reflected impulse signal, as long as not output reflection pulse letter
Number signal then not exported.Therefore, shielded closely under, do not export the 2nd Doppler signal.Therefore, passing through
Switching distance divide closely in, only using the 1st Doppler signal that do not affected by reflected impulse signal, interference signal.
Fig. 6 (a), (b) illustrate transmission impulse wave, reflected impulse ripple, rectified signal, the 1st Doppler of closely measure
The waveform example of signal.Fig. 6 (a) be modulation degree it is shallow to 0.05 situation example, (b) be modulation degree it is somewhat deep to 0.2 situation
Example.Horizontal axis representing time T (sec).Distance till target object is in the example in the figures 5m.Although understand be
The target object of identical distance, but according to modulation degree the 1st Doppler signal amplitude level component variation.Accordingly, as
Desired occupation mode, being capable of, example variable using the condition for while making modulation degree shoal to be measured, making target object
The occupation mode as making modulation degree variable in the measure that big target object is reflected in car etc..I.e., additionally it is possible to using near
Apart from when modulation degree is somewhat deepened and suppress the saturation of signal to determine such occupation mode.In addition, in present embodiment
Radar installations in, also carry out the measure of the distance of target object, so can also adopt according to the distance of target object, automatically
Carry out the selection of Doppler signal and occupation mode as the change of modulation degree.
The process step example of the control unit 16 when Fig. 7 illustrates representational occupation mode.As premise, low coverage is carried out
From the closely pattern for determining and the remote pattern for carrying out telemetering, it is set to, in rated condition, internally implement mould
Formula shifts to carry out velocity determination.
Control unit 16 is initially set (S1) first.That is, in closely pattern, it is set as modulation degree 0.05, choosing
Signal 3.3 [v] (selecting the 1st Doppler signal) is selected, in remote pattern, is set as modulation degree 0.5, selection signal 0 [v]
(selecting the 2nd Doppler signal).It is to improve the essence of range determination by the purpose that the modulation degree under remote pattern is set to 0.5
Degree, but it is also possible in the same manner as closely pattern, be set as modulation degree 0.05.It is acquiescently in remote pattern, shielding is wide
Degree is set as 50nsec, shielding time started T6 is set as 40nsec, switching distance is set as into 8m.
Judge the setting of mensuration distance whether as automatic (S2) after control unit 16.The setting of switching distance is except automatic
Be set to it is variable beyond, additionally it is possible to user regularly sets.(the S2 in the case of automatically："Yes"), control unit 16 sets
Shielded signal (S3), the distance (S4) of measure object object.The width T3 of shielded signal is changed and is set as 100nsec.This is
In order to carry out range determination in a wide range, the distance substantially of target object is grasped.During not measurement distance, return to
S4(S5："No").(the S5 at the end of the measurement of distance："Yes"), judge whether measured distance is to switch more than distance
(S6).Situation, i.e. target object more than switching distance is present in (S6 in the case of distant place："Yes"), control unit 16 enters
Row holding signal setting corresponding with measured distance and shielded signal setting (S7).That is, setting is until keep signal
The time (T7) of rising edge and the shielding time started T6 of shielded signal and width.Now, shield width to return to
50nSec, by the extraction and FFT process (S9) of the 2nd Doppler signal, carries out velocity determination (S10).
(S6 in the case of near the distance for determining is present in less than situation, the i.e. target object of switching distance："No"),
Control unit 16 is transferred to closely pattern (S8), carries out the extraction and FFT process (S9) of the 1st Doppler signal, enters scanning frequency
Degree determines (S10).The result of velocity determination, if speed data (S11："Yes"), then terminate to process.If no data
(S11："No"), then again from the process that range determination is repeatedly same.
In S2, (S2 in the case of being fixed in mensuration distance："No"), control unit 16 is implemented by reason user
Mensuration distance manually sets (S21).Then, holding signal setting corresponding with set mensuration distance, shielding letter are carried out
Number setting (S22).Afterwards, judge whether the mensuration distance for having manually set is to switch apart from following (S23).Less than switching away from
(the S23 in the case of："No"), closely pattern (S24) is transferred to, carry out the extraction and FFT process of the 1st Doppler signal
(S25) velocity determination (S26), is carried out.In S23, (the S23 in the case where being more than switching distance："Yes"), with the mould of former state
Formula, carries out the extraction and FFT process (S25) of the 2nd Doppler signal, carries out velocity determination (S26).After velocity determination,
The distance (S27) of measure object object.It is (S28 in the range of range determination in the distance for determining："Yes") and have speed data
In the case of (S29："Yes"), the speed data is set to effectively and end process.In the case where range determination scope is outer
(S28："No") or there is no the situation (S29 of speed data："No") under, return to S25.Its object is to eliminate flase drop
Survey and improve precision.Range determination scope is set to mensuration distance ± 1.5m.For example, mensuration distance is being set as into 10m's
In the case of, range determination scope becomes the scope of 8.5m～11.5m.
So, in general radar installations, target object closely in the presence of, the signal level of reflected impulse ripple
Become big, the saturation of enlarging section becomes problem, but in the radar installations of present embodiment, can be by modulating during short pulse signal
Modulation degree, adjust Doppler signal sensitivity, so not producing such problem.
In addition, in the radar installations of present embodiment, by applying to adjust with the little short pulse of modulation degree to high-frequency signal
System, and homodyne detection is used, can simultaneously obtain the Doppler signal based on the frequency displacement being substantially equal to CW modes and carry
Doppler signal this 2 kinds of Doppler signals that peak holding circuit and the amplitude peak based on reflected impulse signal offset, so
Doppler signal can arbitrarily be selected according to mensuration distance.
Now, additionally it is possible to obtain the reflected impulse signal of target object, it is possible to by reflected impulse signal, it is right to detect
Distance, moving direction (in front and back) as object, by these detections, automatically, when closely can select based on frequency displacement
Doppler signal, at remote (distance to a declared goal), selects the Doppler signal based on amplitude peak skew.
Further, since the Doppler signal of Direct Disposal low frequency, so in control unit 16, without the need for the FFT of high speed, RF
The circuit structure in portion also becomes simple in homodyne detection, it is possible to suppressing cost increase.
So, according to present embodiment, using the teaching of the invention it is possible to provide how general the pulse only by using a transmission antenna for receiving 1 is
Mensuration mode is strangled, from closely to the stably radar installations of the low price of mensuration distance and speed at a distance.
Additionally, in the present embodiment, illustrate to parse distance signal setting switching distance or make its variable example,
But can also become based on distance signal, the moving direction of detection object object, based on the moving direction and distance that detect, if
Fixed switching distance makes its variable structure.In addition, in the present embodiment, illustrate to have used using for 24 [GHz] bands
The example of the situation of the high-frequency signal of frequency, but the high-frequency signal of 79 [GHz] bands can also be used.
Claims (10)
1. a kind of radar installations, it is characterised in that include：
Send receiving unit, towards target object send according to can carry out Doppler shift component and amplitude peak transition component
The modulation degree of demodulation carry out send wave obtained from impulse modulation, and receive the echo reflected by the target object；
Signal extraction unit, from the echo received by the transmission receiving unit, extracts and represents the Doppler shift point
1st Doppler signal and the expression amplitude peak of amount change the 2nd Doppler signal of component；And
Control unit, from the signal extraction unit, is optionally taken into the 1st Doppler signal and the 2nd Doppler
Certain in signal, parses the signal that is taken into detect the speed of the target object.
2. radar installations according to claim 1, it is characterised in that：The send wave is to use pulse width to be 30nsec
Following short pulse signal according to less than 0.5 modulation degree be modulated obtained from high-frequency signal ripple.
3. radar installations according to claim 2, it is characterised in that：The modulation degree is variable.
4. the radar installations described in any one in claims 1 to 3, it is characterised in that：
The signal extraction unit is configured to from the echo also extract the distance signal for representing distance,
Described control unit parses the distance signal to detect the distance of the antenna and the target object, according to detecting
Distance be whether more than predetermined value, to select certain in the 1st Doppler signal and the 2nd Doppler signal
It is individual.
5. radar installations according to claim 4, it is characterised in that：Described control unit parses the distance signal to examine
The moving direction of the target object is surveyed, based on the moving direction for detecting and the distance, the 1st Doppler letter is selected
Number and the 2nd Doppler signal in certain.
6. radar installations according to claim 5, it is characterised in that：Described control unit differentiates whether the distance is pre-
More than the reference value for first determining, in the case where being more than the reference value, the 2nd Doppler signal is selected, less than institute
In the case of stating reference value, the 1st Doppler signal is selected.
7. the radar installations described in any one in claim 1 to 6, it is characterised in that：The signal extraction unit
2 branches are carried out to the echo, the 1st Doppler signal can be extracted from a branch signal, can be from another point
Supported signal extracts the 2nd Doppler signal.
8. radar installations according to claim 7, it is characterised in that：The signal extraction unit can be will be described another
After during individual branch signal shielding is certain, the 2nd Doppler signal is extracted.
9. radar installations according to claim 8, it is characterised in that：The signal extraction unit is maintained at the shielding
The amplitude peak of the pulse signal for occurring afterwards, extracts the amplitude peak for being kept as the 2nd Doppler signal.
10. radar installations according to claim 9, it is characterised in that：The arteries and veins used to keep the amplitude peak
The width of holding signal of shape is rushed less than the pulse width included in the send wave.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2015200521A JP6400556B2 (en) | 2015-10-08 | 2015-10-08 | Radar equipment |
| JP2015-200521 | 2015-10-08 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106569202A true CN106569202A (en) | 2017-04-19 |
Family
ID=58531768
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610810357.5A Pending CN106569202A (en) | 2015-10-08 | 2016-09-08 | Radar device |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP6400556B2 (en) |
| CN (1) | CN106569202A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110596712A (en) * | 2018-06-12 | 2019-12-20 | 爱信精机株式会社 | Object detection device and object detection system |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023021756A1 (en) * | 2021-08-19 | 2023-02-23 | ソニーグループ株式会社 | Information processing system, information processing device, and information processing method |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0937239A (en) * | 1995-07-20 | 1997-02-07 | Fujitsu General Ltd | Satellite use antenna changeover device |
| JP2005156440A (en) * | 2003-11-27 | 2005-06-16 | Tdk Corp | Doppler radar apparatus |
| CN1673770A (en) * | 2004-03-22 | 2005-09-28 | 富士通天株式会社 | Radar apparatus |
| CN103513245A (en) * | 2012-06-21 | 2014-01-15 | 古野电气株式会社 | Radar device and method of processing reflection signal |
| CN104297748A (en) * | 2014-10-20 | 2015-01-21 | 西安电子科技大学 | Before-radar-target-detecting tracking method based on track enhancing |
| WO2015045224A1 (en) * | 2013-09-27 | 2015-04-02 | パナソニック株式会社 | Radar apparatus and object detection method |
| CN104937436A (en) * | 2013-02-01 | 2015-09-23 | 三菱电机株式会社 | Radar device |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS56133669A (en) * | 1980-03-25 | 1981-10-19 | Toshiba Corp | Pulse and cw radar device |
| JPS58120333A (en) * | 1982-01-11 | 1983-07-18 | Oki Electric Ind Co Ltd | Acoustic signal reception system |
| GB0019825D0 (en) * | 2000-08-12 | 2000-09-27 | Secr Defence | Signal processing |
| JP2007256095A (en) * | 2006-03-23 | 2007-10-04 | Omron Corp | Measuring instrument and method |
| JP2014211330A (en) * | 2013-04-17 | 2014-11-13 | 三菱電機株式会社 | Target tracking device and target tracking method |
-
2015
- 2015-10-08 JP JP2015200521A patent/JP6400556B2/en not_active Expired - Fee Related
-
2016
- 2016-09-08 CN CN201610810357.5A patent/CN106569202A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0937239A (en) * | 1995-07-20 | 1997-02-07 | Fujitsu General Ltd | Satellite use antenna changeover device |
| JP2005156440A (en) * | 2003-11-27 | 2005-06-16 | Tdk Corp | Doppler radar apparatus |
| CN1673770A (en) * | 2004-03-22 | 2005-09-28 | 富士通天株式会社 | Radar apparatus |
| CN103513245A (en) * | 2012-06-21 | 2014-01-15 | 古野电气株式会社 | Radar device and method of processing reflection signal |
| CN104937436A (en) * | 2013-02-01 | 2015-09-23 | 三菱电机株式会社 | Radar device |
| WO2015045224A1 (en) * | 2013-09-27 | 2015-04-02 | パナソニック株式会社 | Radar apparatus and object detection method |
| CN104297748A (en) * | 2014-10-20 | 2015-01-21 | 西安电子科技大学 | Before-radar-target-detecting tracking method based on track enhancing |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110596712A (en) * | 2018-06-12 | 2019-12-20 | 爱信精机株式会社 | Object detection device and object detection system |
Also Published As
| Publication number | Publication date |
|---|---|
| JP6400556B2 (en) | 2018-10-03 |
| JP2017072519A (en) | 2017-04-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103091672B (en) | There is the radar installations of different working modes | |
| EP1757953B1 (en) | FM-CW radar system | |
| US7460058B2 (en) | Radar | |
| US8947647B2 (en) | Range-resolved vibration using large time-bandwidth product LADAR waveforms | |
| US7006033B2 (en) | Pulse radar apparatus | |
| US20170153315A1 (en) | In-vehicle radar apparatus | |
| US8742975B2 (en) | System and method for microwave ranging to a target in presence of clutter and multi-path effects | |
| CN102565780A (en) | Method of determining threshold for detection of peak frequency and object information producing apparatus | |
| US10754019B2 (en) | Pulse radar device | |
| CN110235017A (en) | For determining the spacing of object and the method for speed | |
| JP5554384B2 (en) | FMCW radar apparatus and signal processing method for FMCW radar | |
| CN114296141A (en) | Multi-target vital sign detector and detection method thereof | |
| JP6343356B2 (en) | Signal processing apparatus, radar apparatus, and signal processing method | |
| CN106569202A (en) | Radar device | |
| KR102219087B1 (en) | Indoor situation recognition system and method using FMCW radar | |
| JP2023083611A (en) | Radar device | |
| JP3663623B2 (en) | Radar equipment | |
| JP3973036B2 (en) | Pulse radar equipment | |
| US20230082258A1 (en) | Radar measuring device and method with dual radar signal generation | |
| JP3750458B2 (en) | FM-CW radar equipment | |
| KR101634455B1 (en) | Radar using linear frequency modulation signal and noise signal, and method for controlling the same | |
| JP2008249498A (en) | Radar system | |
| JP5150113B2 (en) | Radar equipment | |
| JP2010066111A (en) | Radar device | |
| JP2012202949A (en) | Pulse radar device and method for controlling the same |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170419 |