CN106772279A - A kind of vehicle-mounted millimeter wave radar anti-interference method and system - Google Patents
A kind of vehicle-mounted millimeter wave radar anti-interference method and system Download PDFInfo
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- CN106772279A CN106772279A CN201710079839.2A CN201710079839A CN106772279A CN 106772279 A CN106772279 A CN 106772279A CN 201710079839 A CN201710079839 A CN 201710079839A CN 106772279 A CN106772279 A CN 106772279A
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- wavelength
- millimeter wave
- millimetre
- radar
- wave radar
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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
- 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
- G01S7/36—Means for anti-jamming, e.g. ECCM, i.e. electronic counter-counter measures
-
- 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
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
-
- 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
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
A kind of vehicle-mounted millimeter wave radar anti-interference method, comprises the following steps：During traveling, the main transmitter of vehicle-mounted millimeter wave radar presses certain periodic emission millimeter wave for step 1, vehicle, and the wavelength of millimeter wave is controlled by wavelength control unit；Step 2：Millimetre-wave radar receiver receives the millimeter wave from the reflection of preceding object thing, and carries out millimetre wavelength analysis by millimetre wavelength analyzer；Step 3：The threshold value b of wavelength variation scope is set, if the wavelength variation scope b' of the wavelength y and wavelength y' for receiving of transmitting is less than threshold value b, then it is assumed that radar system now is subject to the interference of surrounding environment or there is artificial malicious attack.
Description
Technical field
The present invention relates to onboard sensor environment sensing security technology area, it is adaptable to be loaded with the vehicle of trailer-mounted radar, tool
Body is related to a kind of vehicle-mounted millimeter wave radar anti-interference method and system.
Background technology
In recent years, auxiliary drives and intelligent driving has turned into the new trend of vehicle development, and wherein trailer-mounted radar is in auxiliary
It is widely used in driving and intelligent driving, automobile collision preventing, adaptive cruise etc. is mainly used in aiding in driving,
It is mainly used in detection of barrier etc. in intelligent driving, trailer-mounted radar serves more next in the evolution of Vehicular intelligent
More important effect.
In the research process of trailer-mounted radar at this stage, the information security of trailer-mounted radar sensor lacks concern always,
The particularly research in millimetre-wave radar direction.Trailer-mounted radar occurs during application to be believed with the radar system of other vehicles
Number situation about interfering, meanwhile, Vehicular radar system also suffers from the interference of velocity radar, causes the Vehicular radar system cannot
Normal work.Additionally, during Vehicular intelligentization develops, intelligent vehicle is also possible to that artificial malicious attack can be subject to, special
It is not that radar system may be subject to the malicious interference of other radar systems so as to cause radar system to be paralysed, or even triggers traffic
Accident.
Anti-jamming Technology for Radar at this stage is concentrated mainly on the models such as time domain, frequency domain, spatial domain, polarizing field and multiple domain joint
Expansion is enclosed, typical such as space-time two-dimensional processes (STAP) technology can effectively detect clutter area mesh at a slow speed using the technology
Mark, but with disturbance type gradually increase and ambient noise it is gradually complicated, simple dependence STAP technologies are difficult to protect
Demonstrate,prove the detection accuracy of airborne radar.
The content of the invention
In order to overcome the deficiencies in the prior art, the invention provides a kind of vehicle-mounted millimeter wave radar anti-interference method and it is
System, the method combines many radar transmitters, and the active that radar can have both been carried out using different emission is anti-interference or carry out
Radar it is passive anti-interference, can realize filtering malice radar wave signal in environment using the system, can also realize to radar
The detection that ripple signal absorption is attacked and prevention.
In order to realize above-mentioned target, the present invention is adopted the following technical scheme that：
A kind of vehicle-mounted millimeter wave radar anti-interference method, comprises the following steps：
Step 1：During traveling, the main transmitter of vehicle-mounted millimeter wave radar is by certain periodic emission millimeter for vehicle
Ripple, the wavelength of millimeter wave is controlled by wavelength control unit；
Step 2：Millimetre-wave radar receiver receives the millimeter wave from the reflection of preceding object thing, and by millimetre wavelength
Analyzer carries out millimetre wavelength analysis；
Step 3：The threshold value b of wavelength variation scope is set, if the wavelength variation of the wavelength y and wavelength y' for receiving of transmitting
Scope b' is less than threshold value b, then it is assumed that radar system now is subject to the interference of surrounding environment or there is artificial malicious attack.
Further, if the wavelength variation scope of the wavelength y and wavelength y' for receiving launched in step 3 is less than threshold value
B', then perform following step；
Step 4：Millimetre-wave radar Energy Analyzer carries out energy spectrometer, analysis meter to the reflection millimeter-wave signal for receiving
The ENERGY E of the back wave for receiving is calculated, if ENERGY E meetsThen think that trailer-mounted radar signal is normal, instead
Then think that trailer-mounted radar signal is abnormal, wherein (Emin,Emax) it is the threshold range of energy, obtained by experimental calibration.
Further, if the millimetre-wave radar receiver of step 2 is not received by reflected signal, following step is performed；
Step 5：Starting camera auxiliary detection device carries out short-range preceding object analyte detection, if detect front depositing
In barrier, then the distance of the distance that camera auxiliary detection device 5 is detected as preceding object thing is detected such as in short distance
Less than barrier, then it is assumed that do not exist obstacle in the relatively long distance of front.
The wavelength of the millimeter wave launched in step 1 meets sine relation curve, i.e.,：
Y=A sin t+B t ＞ 0
In above formula, y is the millimetre wavelength of transmitting, and the scope of wavelength is a~b mm, and meets B+A=b, B-A=a.
Wherein, the scope of the wavelength is 2~8mm.
The wavelength of the millimeter wave received in step 2 meets sine relation curve, i.e.,：
Y'=A sin t+ (B ± b') t ＞ 0
In above formula, y' is the wavelength for receiving, and b' is the mobility scale of wavelength.
Wherein, the threshold value b of the wavelength variation scope is 1mm.
A kind of vehicle-mounted millimeter wave radar anti-interference method of the invention mainly includes the main transmitter of millimetre-wave radar, millimeter
Ripple radar receiver, wavelength analysis device, millimeter wave Energy Analyzer and camera auxiliary detection device, described millimeter wave
The main transmitter of radar also includes launch wavelength controller, and the main transmitter of millimetre-wave radar can be controlled to launch different ripples
Long, described millimetre-wave radar receiver is used to be received from the millimeter wave of preceding object thing reflection, described millimeter wave energy point
Analyzer is used to analyze the energy of the millimeter wave from the reflection of preceding object thing for receiving, described camera auxiliary detection device
It is a set of independent preceding object analyte detection device, it is possible to achieve detection of obstacles closely.
The advantage of the invention is that：
(1) a kind of vehicle-mounted millimeter wave radar anti-interference method of the invention, for the intelligent development of vehicle, it is proposed that car
The safety-related concept of sensor information, when there are environmental information interference or artificial radar signal malicious attack, can be to dry
The information of disturbing is judged, and takes corresponding self diagnosis safeguard measure, and sends danger early warning, so as to ensure the radar letter of collection
It is number reliable and stable.
(2) a kind of vehicle-mounted millimeter wave radar anti-interference method of the invention, it is proposed that the millimeter wave thunder of application variable wavelength
Reach, can greatly reduce millimetre-wave radar and receive by detecting whether the MMW RADAR SIGNAL USING of transmitting meets transmitting rule
The risk of ambient condition information interference.
(3) a kind of vehicle-mounted millimeter wave radar anti-interference method of the invention, the reflection millimeter wave thunder received by analysis
Up to the energy of signal, further anti-Interference Analysis can be done to the Radar jam signal for receiving, it is ensured that system it is further
Stabilization.
(4) a kind of vehicle-mounted millimeter wave radar anti-interference method of the invention, by application camera auxiliary detection device, can
To in the presence of it there are the interference absorbed to MMW RADAR SIGNAL USING, the anti-interference of radar signal being carried out, so as to ensure
It is anti-interference that system can be realized attacking different radar signals.
Brief description of the drawings
Fig. 1 is a kind of inventive principle figure of vehicle-mounted millimeter wave radar anti-interference method of the invention.
Fig. 2 is a kind of structure drawing of device of vehicle-mounted millimeter wave radar anti-interference method of the invention.
Specific embodiment
Below in conjunction with drawings and Examples, the present invention is described in further detail.
As shown in Fig. 2 a kind of vehicle-mounted millimeter wave radar anti-interference method of the invention mainly includes millimetre-wave radar master
Transmitter 1, millimetre-wave radar receiver 2, wavelength analysis device 3, millimeter wave Energy Analyzer 4 and camera auxiliary detection dress
It is front vehicles that may be present in the present invention to put 5,6.
The main transmitter 1 of millimetre-wave radar also includes launch wavelength controller, can control the main transmitter of millimetre-wave radar
Launch different wavelength, the millimetre-wave radar of millimetre-wave radar emitter transmitting is controlled by launch wavelength controller
The scope of wavelength is 2~8mm, and wavelength meets sine relation curve over time, i.e.,：
Y=3sin t+5t ＞ 0
Y is the millimetre wavelength that millimetre-wave radar transmitter is launched in above formula.Millimeter wave thunder method receiver 2 is received and come from
The millimeter wave of preceding object thing reflection, and the wavelength of the back wave of reception can be analyzed by wavelength analysis device 3.
Millimeter wave Energy Analyzer 4 can analyze the energy of the millimeter wave from the reflection of preceding object thing for receiving.
Camera auxiliary detection device 5 is a set of independent preceding object analyte detection device, it is possible to achieve before closely
Square detection of obstacles.
It is as shown in Figure 1 broad flow diagram of the invention, the key step of the invention is as follows：
Step 1：Vehicle controls the main transmitter of vehicle-mounted millimeter wave radar during traveling by launch wavelength controller
Launch millimeter wave by the frequency of setting, the wavelength of millimeter wave is controlled by wavelength control unit, the wavelength of the millimeter wave of transmitting meets
Sine relation curve, i.e.,：
Y=3sin t+5t ＞ 0
Step 2：Judge whether to deposit and receive reflected signal, step 3 is performed if it there is reflected signal, otherwise perform step
5
Step 3：Millimetre-wave radar receiver 2 receives the millimeter wave from the reflection of preceding object thing, and by millimeter wave ripple
Analyzer long 3 carries out millimetre wavelength analysis.Because the millimetre wavelength launched meets sine relation curve, therefore the millimeter for receiving
Ripple wavelength should also meet sine relation curve, i.e., should have：
Y'=3sin t+ (5 ± 1) t ＞ 0
In above formula, y' is the wavelength for receiving, and the back wave wavelength for receiving has the mobility scale of 1mm, in this scope
It is interior it is believed that the back wave that detects is regular reflection, otherwise it is assumed that radar system now be subject to surrounding environment interference or
In the presence of the malicious attack thought.
Step 4：The millimeter-wave signal applied energy analyzer 4 of the reflection to receiving does further energy spectrometer, point
The energy signal that analysis calculates the back wave for receiving is E0, because the same frequency ripple of various location transmission is passed through air dielectric
Defeated rear energy is different, therefore the reflected energy signal E for receiving0Should be in certain scope, i.e.,：
(E in above formula1,E2) it is the scope of energy, obtained by experimental calibration.
Step 5：The malicious attack that above-mentioned steps can effectively suppress the interference of surrounding MMW RADAR SIGNAL USING or think
Signal, in the presence of it there are the attack absorbed to millimetre-wave radar transmission signal, namely MMW RADAR SIGNAL USING is received
Device can can't detect MMW RADAR SIGNAL USING.If MMW RADAR SIGNAL USING receiver can't detect millimetre-wave radar reflected signal,
It is that front does not exist barrier, or there is the absorbed attack of MMW RADAR SIGNAL USING, now, is aided in using camera
Detection means 5 carries out short-range preceding object analyte detection, if detecting front has barrier, camera auxiliary detection dress
The distance of 5 distances for detecting as preceding object thing is put, such as barrier is can't detect in short distance, then it is assumed that front longer-range
From interior in the absence of obstacle.
The disturbed risk of vehicle-mounted millimeter wave can greatly be reduced by above-mentioned 5 step, while can also realize to being disliked in environment
Meaning radar wave signal is detected, additionally, attack detecting and the prevention absorbed to radar wave signal can be also realized, so as to ensure that
The information security of vehicle-mounted millimeter wave radar signal.
Claims (8)
1. a kind of vehicle-mounted millimeter wave radar anti-interference method, it is characterised in that comprise the following steps：
During traveling, the main transmitter of vehicle-mounted millimeter wave radar presses certain periodic emission millimeter wave, milli for step 1, vehicle
The wavelength of metric wave is controlled by wavelength control unit；
Step 2：Millimetre-wave radar receiver receives the millimeter wave from the reflection of preceding object thing, and is analyzed by millimetre wavelength
Instrument carries out millimetre wavelength analysis；
Step 3：The threshold value b of wavelength variation scope is set, if the wavelength variation scope of the wavelength y and wavelength y' for receiving of transmitting
B' is less than threshold value b, then it is assumed that radar system now is subject to the interference of surrounding environment or there is artificial malicious attack.
2. the method for claim 1, it is characterised in that if the wavelength y launched in step 3 is with the wavelength y''s for receiving
Wavelength variation scope is less than threshold value b', then perform following step；
Step 4：Millimetre-wave radar Energy Analyzer carries out energy spectrometer to the reflection millimeter-wave signal for receiving, and analysis meter is calculated
The ENERGY E of the back wave for receiving, if ENERGY E meetsThen think that trailer-mounted radar signal is normal, otherwise then
Think that trailer-mounted radar signal is abnormal, wherein (Emin,Emax) it is the threshold range of energy, obtained by experimental calibration.
3. the method for claim 1, it is characterised in that
If the millimetre-wave radar receiver of step 2 is not received by reflected signal, following step is performed；
Step 5：Starting camera auxiliary detection device carries out short-range preceding object analyte detection, if detecting front has barrier
Hinder thing, then the distance of the distance that camera auxiliary detection device 5 is detected as preceding object thing such as can't detect in short distance
Barrier, then it is assumed that do not exist obstacle in the relatively long distance of front.
4. the method for claim 1, it is characterised in that the wavelength of the millimeter wave launched in step 1 meets sine relation
Curve, i.e.,：
Y=A sin t+B t ＞ 0
In above formula, y is the millimetre wavelength of transmitting, and the scope of wavelength is a~b mm, and meets B+A=b, B-A=a.
5. method as claimed in claim 4, it is characterised in that the scope of wavelength is 2~8mm.
6. method as claimed in claim 4, it is characterised in that the wavelength of the millimeter wave received in step 2 meets sine relation
Curve, i.e.,：
Y'=A sin t+ (B ± b') t ＞ 0
In above formula, y' is the wavelength for receiving, and b' is the mobility scale of wavelength.
7. method as claimed in claim 6, it is characterised in that the threshold value b of wavelength variation scope is 1mm.
8. a kind of vehicle-mounted millimeter wave Radar cross-section redaction system for implementing the method as described in claim any one of 1-7, including milli
The main transmitter of metre wave radar, millimetre-wave radar receiver, wavelength analysis device, millimeter wave Energy Analyzer and camera auxiliary
Detection means, it is characterised in that：
The main transmitter of described millimetre-wave radar also includes launch wavelength controller, can control the main transmitter of millimetre-wave radar
Launch different wavelength,
Described millimetre-wave radar receiver is used to be received from the millimeter wave of preceding object thing reflection,
Described millimeter wave Energy Analyzer is used to analyze the energy of the millimeter wave from the reflection of preceding object thing for receiving,
Described camera auxiliary detection device is a set of independent preceding object analyte detection device, it is possible to achieve barrier closely
Hinder analyte detection.
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| CN201710079839.2A CN106772279B (en) | 2017-02-15 | 2017-02-15 | A kind of vehicle-mounted millimeter wave radar anti-interference method and system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107697102A (en) * | 2017-09-01 | 2018-02-16 | 南京理工大学 | Information gathering, identification and the caution system of high-speed railway foreign body intrusion |
| CN109659669A (en) * | 2019-01-11 | 2019-04-19 | 上海英恒电子有限公司 | A kind of Radar cross-section redaction antenna, method, system and vehicle |
| CN110712645A (en) * | 2019-10-18 | 2020-01-21 | 北京经纬恒润科技有限公司 | Method and system for predicting relative position of target vehicle in blind area |
| CN110824440A (en) * | 2019-11-11 | 2020-02-21 | 深圳市维力谷无线技术股份有限公司 | Method and device for avoiding mutual interference between vehicle-mounted millimeter wave radar vehicles |
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| CN104793208A (en) * | 2015-03-25 | 2015-07-22 | 王方圆 | Automotive anti-collision radar detection method with anti-interference and multi-target recognizing performance |
| WO2015182594A1 (en) * | 2014-05-26 | 2015-12-03 | 株式会社デンソー | Vehicle-mounted radar device |
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| US20080231496A1 (en) * | 2007-03-20 | 2008-09-25 | Denso Corporation | Method for determining noise floor level and radar using the same |
| WO2015182594A1 (en) * | 2014-05-26 | 2015-12-03 | 株式会社デンソー | Vehicle-mounted radar device |
| CN104793208A (en) * | 2015-03-25 | 2015-07-22 | 王方圆 | Automotive anti-collision radar detection method with anti-interference and multi-target recognizing performance |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107697102A (en) * | 2017-09-01 | 2018-02-16 | 南京理工大学 | Information gathering, identification and the caution system of high-speed railway foreign body intrusion |
| CN109659669A (en) * | 2019-01-11 | 2019-04-19 | 上海英恒电子有限公司 | A kind of Radar cross-section redaction antenna, method, system and vehicle |
| CN110712645A (en) * | 2019-10-18 | 2020-01-21 | 北京经纬恒润科技有限公司 | Method and system for predicting relative position of target vehicle in blind area |
| CN110824440A (en) * | 2019-11-11 | 2020-02-21 | 深圳市维力谷无线技术股份有限公司 | Method and device for avoiding mutual interference between vehicle-mounted millimeter wave radar vehicles |
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| CN106772279B (en) | 2018-03-23 |
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Effective date of registration: 20211126 Address after: 100176 901, 9th floor, building 2, yard 10, KEGU 1st Street, Beijing Economic and Technological Development Zone, Daxing District, Beijing Patentee after: BEIJING TAGE IDRIVER TECHNOLOGY CO.,LTD. Address before: 100191 No. 37, Haidian District, Beijing, Xueyuan Road Patentee before: BEIHANG University |
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