CN106772279B - 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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- CN106772279B CN106772279B CN201710079839.2A CN201710079839A CN106772279B CN 106772279 B CN106772279 B CN 106772279B CN 201710079839 A CN201710079839 A CN 201710079839A CN 106772279 B CN106772279 B CN 106772279B
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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
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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
- G01S13/86—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 front obstacle reflection, 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 y of transmitting and the wavelength y' wavelength variation scope b' received are less than threshold value b, then it is assumed that radar system now by surrounding environment interference or artificial malicious attack be present.
Description
Technical field
The present invention relates to onboard sensor environment sensing security technology area, the vehicle suitable for being loaded with 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 aiding in
It is widely used in driving and intelligent driving, automobile collision preventing, adaptive cruise etc. is mainly used in auxiliary drives,
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 Vehicular radar system can not
Normal work.In addition, during Vehicular intelligentization develops, intelligent vehicle is also possible to can be special by artificial malicious attack
It is not that radar system may be caused radar system to be paralysed by the malicious interference of other radar systems, 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, clutter area mesh at a slow speed can be effectively detected using the technology
Mark, but gradually increasing and the gradual complexity of ambient noise with disturbance type, simple is difficult to protect by STAP technologies
Demonstrate,prove the detection accuracy of airborne radar.
The content of the invention
For 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, this method combines more 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 be realized using the system and malice radar wave signal in environment is filtered out, can also realized to radar
The detection and prevention of ripple signal absorption attack.
In order to realize above-mentioned target, the present invention adopts the following technical scheme that：
A kind of vehicle-mounted millimeter wave radar anti-interference method, comprises the following steps：
Step 1：For vehicle during traveling, the main transmitter of vehicle-mounted millimeter wave radar presses certain periodic emission millimeter
Ripple, the wavelength of millimeter wave are controlled by wavelength control unit；
Step 2：Millimetre-wave radar receiver receives the millimeter wave from front obstacle reflection, and passes through millimetre wavelength
Analyzer carries out millimetre wavelength analysis；
Step 3：The threshold value b of wavelength variation scope is set, if the wavelength y of transmitting and the wavelength y' received wavelength variation
Scope b' is less than threshold value b, then it is assumed that radar system now by surrounding environment interference or artificial malicious attack be present.
Further, if the wavelength y launched in step 3 and the wavelength y' received wavelength variation scope are 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 received
The ENERGY E of the back wave received 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) be energy threshold range, 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：Start camera auxiliary detection device and carry out short-range preceding object analyte detection, front is deposited if detecting
In barrier, then the distance that camera auxiliary detection device 5 detects is the distance of front obstacle, as detected in short distance
Less than barrier, then it is assumed that obstacle is not present in the relatively long distance of front.
The wavelength for 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 received, 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 present 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 for the millimeter wave received from front obstacle reflection, described millimeter wave energy point
Analyzer is used for the energy for analyzing the millimeter wave from front obstacle reflection received, described camera auxiliary detection device
For a set of independent front obstacle detection means, 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, can be to dry when there are environmental information interference or artificial radar signal malicious attack
Disturb information to judge, and take corresponding self diagnosis safeguard measure, and send danger early warning, so as to ensure the radar of collection letter
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 using the millimeter wave thunder of variable wavelength
Reach, can by detect transmitting MMW RADAR SIGNAL USING whether meet transmitting rule, greatly reduce millimetre-wave radar by
The risk of ambient condition information interference.
(3) a kind of vehicle-mounted millimeter wave radar anti-interference method of the invention, by analyzing the reflection millimeter wave thunder received
Up to the energy of signal, further anti-Interference Analysis can be done to the Radar jam signal received, ensure that the further of system
Stabilization.
(4) a kind of vehicle-mounted millimeter wave radar anti-interference method of the invention, can by applying camera auxiliary detection device
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
System can be realized to the anti-interference of different radar signals attack.
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 present invention.
Fig. 2 is a kind of structure drawing of device of vehicle-mounted millimeter wave radar anti-interference method of the present invention.
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 present 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
5,6 are put as front vehicles that may be present in the present invention.
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 front obstacle 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 front obstacle reflection received.
Camera auxiliary detection device 5 is a set of independent front obstacle detection means, it is possible to achieve before closely
Square detection of obstacles.
It is as follows for the broad flow diagram of the present invention, the key step of the invention as shown in Figure 1：
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, and 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 reflected signal be present, otherwise performs step
5
Step 3：Millimetre-wave radar receiver 2 receives the millimeter wave from front obstacle reflection, and passes through millimeter wave ripple
Long analyzer 3 carries out millimetre wavelength analysis.Because the millimetre wavelength of transmitting meets sine relation curve, therefore the millimeter received
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 received, and the back wave wavelength received has 1mm mobility scale, 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 by surrounding environment interference or
In the presence of the malicious attack thought.
Step 4：The millimeter-wave signal applied energy analyzer 4 of reflection to receiving does further energy spectrometer, point
The energy signal that analysis calculates the back wave received is E0, because the same frequency ripple transmitted at diverse location passes through air dielectric
Energy is different after defeated, therefore the reflected energy signal E received0Should be in certain scope, i.e.,：
(E in above formula1,E2) be energy scope, 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 receives
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 barrier is not present in front, or the absorbed attack of MMW RADAR SIGNAL USING be present, 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 that 5 distances detected are front obstacle is put, as can't detect barrier in short distance, then it is assumed that front longer-range
Obstacle is not present from interior.
The disturbed risk of vehicle-mounted millimeter wave can greatly be reduced by above-mentioned 5 step, while can also be realized to being disliked in environment
Meaning radar wave signal is detected, in addition, the attack detecting absorbed to radar wave signal and prevention can be also realized, so as to ensure that
The information security of vehicle-mounted millimeter wave radar signal.
Claims (3)
1. a kind of vehicle-mounted millimeter wave radar anti-interference method, it is characterised in that comprise the following steps：
Step 1：Vehicle controls the main transmitter of vehicle-mounted millimeter wave radar by setting during traveling, by launch wavelength controller
Fixed frequency transmitting millimeter wave, the wavelength of millimeter wave are controlled by wavelength control unit, and the wavelength of the millimeter wave of transmitting meets sine
Relation curve, i.e.,：
Y=3sint+5 t ＞ 0
Step 2：Judge whether to deposit and receive reflected signal, step 3 is performed if it reflected signal be present, otherwise perform step 5；
Step 3：Millimetre-wave radar receiver (2) receives the millimeter wave from front obstacle reflection, and passes through millimetre wavelength
Analyzer (3) carries out millimetre wavelength analysis, because the millimetre wavelength of transmitting meets sine relation curve, therefore the millimeter received
Ripple wavelength should also meet sine relation curve, i.e., should have：
Y'=3sint+ (5 ± 1) t ＞ 0
In above formula, y' is the wavelength received, and the back wave wavelength received has 1mm mobility scale, within this range may be used
The back wave for thinking to detect is regular reflection, otherwise it is assumed that the interference or presence of radar system now by surrounding environment
The malicious attack thought；
Step 4：The millimeter-wave signal applied energy analyzer (4) of reflection to receiving does further energy spectrometer, analysis
The energy signal for calculating the back wave received is E0, because the same frequency ripple transmitted at diverse location is through air dielectric transmission
Energy is different afterwards, therefore the reflected energy signal E received0Should be in certain scope, i.e.,：
<mrow>
<msub>
<mi>E</mi>
<mn>0</mn>
</msub>
<mo>&Subset;</mo>
<mrow>
<mo>(</mo>
<msub>
<mi>E</mi>
<mn>1</mn>
</msub>
<mo>,</mo>
<msub>
<mi>E</mi>
<mn>2</mn>
</msub>
<mo>)</mo>
</mrow>
</mrow>
(E in above formula1,E2) be energy scope, obtained by experimental calibration；
Step 5：Above-mentioned steps can effectively suppress the interference of surrounding MMW RADAR SIGNAL USING or the malicious attack signal thought,
In the presence of it there are the attack absorbed to millimetre-wave radar transmission signal, namely MMW RADAR SIGNAL USING receiver can be examined
MMW RADAR SIGNAL USING is not detected, if MMW RADAR SIGNAL USING receiver can't detect millimetre-wave radar reflected signal, or be
Barrier is not present in front, or the absorbed attack of MMW RADAR SIGNAL USING be present, now, detection dress is aided in using camera
Put (5) and carry out short-range preceding object analyte detection, front has barrier, camera auxiliary detection device if detecting
(5) distance detected is the distance of front obstacle, as can't detect barrier in short distance, then it is assumed that front longer-range
Obstacle is not present from interior.
2. the method as described in claim 1, it is characterised in that the wavelength for the millimeter wave launched in step 1 meets sine relation
Curve, y are the millimetre wavelength of transmitting, and its wave-length coverage is 2~8mm.
3. a kind of vehicle-mounted millimeter wave Radar cross-section redaction system for implementing the method as described in claim any one of 1-2, 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 for the millimeter wave received from front obstacle reflection,
Described millimeter wave Energy Analyzer is used for the energy for analyzing the millimeter wave from front obstacle reflection received,
Described camera auxiliary detection device is a set of independent front obstacle detection means, can realize barrier closely
Hinder analyte detection.
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| 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 |
| CN109659669B (en) * | 2019-01-11 | 2020-11-20 | 上海英恒电子有限公司 | Radar anti-interference antenna, method and system and vehicle |
| CN110712645B (en) * | 2019-10-18 | 2021-07-23 | 北京经纬恒润科技股份有限公司 | 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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| JP4356758B2 (en) * | 2007-03-20 | 2009-11-04 | 株式会社デンソー | FMCW radar |
| JP2015224899A (en) * | 2014-05-26 | 2015-12-14 | 株式会社デンソー | On-vehicle radar system |
| 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 |
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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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