CN108267735A - Radar - Google Patents
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- CN108267735A CN108267735A CN201611261535.XA CN201611261535A CN108267735A CN 108267735 A CN108267735 A CN 108267735A CN 201611261535 A CN201611261535 A CN 201611261535A CN 108267735 A CN108267735 A CN 108267735A
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- 230000009466 transformation Effects 0.000 claims description 25
- 230000008054 signal transmission Effects 0.000 claims description 5
- 230000003321 amplification Effects 0.000 claims description 2
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 2
- 238000002592 echocardiography Methods 0.000 claims 1
- 238000009434 installation Methods 0.000 claims 1
- 238000005516 engineering process Methods 0.000 abstract description 7
- 238000000034 method Methods 0.000 description 13
- 238000003384 imaging method Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 238000010168 coupling process Methods 0.000 description 5
- 238000005859 coupling reaction Methods 0.000 description 5
- 230000008878 coupling Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
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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
- G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
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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
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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
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
Abstract
The invention discloses a kind of radars.Wherein, which includes：At least one transmitting antenna, for electromagnetic signals, wherein, the wavelength band of electromagnetic wave signal is millimeter wave frequency band, to detect the object around the vehicles；At least one reception antenna, for receiving through the reflected echo-signal of object around the vehicles, the wavelength band of echo-signal is millimeter wave frequency band；Wherein, at least one transmitting antenna is arranged according to preset distance on same straight line at least one reception antenna, so as to generate two-dimensional radar image after the object around the radar detection vehicles；Radar is mounted on the rear end of the vehicles, is detected with the object to vehicles rear.The present invention solve in the relevant technologies using camera as sensor obtain environment surrounding automobile two-dimensional image data by inside even from weather it is big the technical issues of.
Description
Technical field
The present invention relates to field of radar, in particular to a kind of radar.
Background technology
Using vehicle-mounted sensor, the two dimensional image number of motor vehicle environment is acquired and analyzed at any time in the process of moving
According to, so as to allow in advance driver perceive may generation danger, the comfortableness and security of car steering can be effectively increased.
In prior art, mainly environment surrounding automobile is perceived with vision camera.Its technical principle is, by taking the photograph
As head monitors motor vehicle environment object in real time, while is equipped with the distance that algorithm calculates object and vehicle, so as to fulfill vehicle
Deviate the functions such as warning, front truck anticollision, pedestrian detection in road.However obtain environment surrounding automobile using vision camera as sensor
Two-dimensional image data, have a disadvantage in that：It is vulnerable to the influence of the factors such as illumination, weather, such as in night, Qiang Guang, dense fog, sleet
It waits under environment, it is virtually impossible to work normally.In addition, the data volume obtained using vision camera as sensor is big, generated because calculating
Loss it is serious.
For it is above-mentioned the problem of, currently no effective solution has been proposed.
Invention content
An embodiment of the present invention provides a kind of radars, and vapour is obtained by sensor of camera in the relevant technologies at least to solve
The two-dimensional image data of vehicle ambient enviroment by inside even from weather it is big the technical issues of.
One side according to embodiments of the present invention provides a kind of radar, including：At least one transmitting antenna, is used for
Electromagnetic signals, wherein, the wavelength band of above-mentioned electromagnetic wave signal is millimeter wave frequency band, to detect around the vehicles
Object；At least one reception antenna, for receiving through the reflected echo-signal of object around the above-mentioned vehicles,
The wavelength band of above-mentioned echo-signal is millimeter wave frequency band, wherein, above-mentioned at least one transmitting antenna at least one connects with above-mentioned
It receives antenna to be arranged on same straight line according to preset distance, so that the object around the above-mentioned vehicles of above-mentioned radar detection
Two-dimensional radar image is generated afterwards, and above-mentioned radar is mounted on the rear end of the above-mentioned vehicles, with the mesh to above-mentioned vehicles rear
Mark object is detected.
Further, above-mentioned radar further includes：Radio-frequency module, with above-mentioned at least one transmitting antenna and above-mentioned at least one
Reception antenna couples, for handling the electromagnetic wave signal of above-mentioned at least one transmitting antenna transmitting and above-mentioned at least one reception day
The echo-signal that line receives.
Further, above-mentioned radio-frequency module includes：Voltage controlled oscillator emits signal, and above-mentioned transmitting is believed for generating
Number above-mentioned at least one transmitting antenna is transmitted to, so that above-mentioned at least one transmitting antenna emits corresponding electromagnetic wave signal.
Further, above-mentioned radio-frequency module includes：Multiple first power amplifiers, are coupled respectively to above-mentioned voltage controlled oscillator
With each transmitting antenna in above-mentioned at least one transmitting antenna, the transmitting signal for being generated to above-mentioned voltage controlled oscillator amplifies
And amplified transmitting signal transmission to above-mentioned each transmitting antenna is emitted；Multiple second power amplifiers, difference coupling
The each reception antenna being bonded in frequency mixer and above-mentioned at least one reception antenna, for being connect to above-mentioned at least one reception antenna
The echo-signal of receipts is amplified, and amplified echo-signal is transmitted to above-mentioned frequency mixer；Above-mentioned frequency mixer, with above-mentioned pressure
Oscillator coupling is controlled, it is amplified above-mentioned for the transmitting signal for generating above-mentioned voltage controlled oscillator and through above-mentioned power amplifier
The echo-signal mixing that at least one reception antenna receives, the echo data after being mixed.
Further, above-mentioned radar further includes：Signal processing module is coupled with above-mentioned radio-frequency module, for receiving and locating
Manage the echo data after above-mentioned frequency mixer mixing.
Further, above-mentioned signal processing module includes：Transformation submodule, for by above-mentioned frequency mixer be mixed after echo
Data are by progress Fourier transformation at the first time, the first echo data after being converted；Computational submodule, for according to transformation
Above-mentioned first echo data afterwards determines pixel, and calculates apart from history and scatter strong according to the above-mentioned pixel determined
Degree；Submodule is generated, for generating two-dimensional radar image apart from history and above-mentioned scattering strength according to above-mentioned.
Further, the echo data after above-mentioned frequency mixer is mixed by above-mentioned transformation submodule according to the following formula presses first
Time carries out Fourier transformation, the first echo data after being converted：
S(f；K, l)=∫ s (t；k,l)exp(-j2πft)dt
Wherein, k represents k-th of transmitting antenna, and l represents l-th of reception antenna, s (t；K, l) represent above-mentioned echo data,
Wherein t represents fast time, S (f；K, l) represent the first echo data after transformation.
Further, it is right after above-mentioned computational submodule determines pixel according to the first echo data after above-mentioned transformation
Above-mentioned pixel calculates above-mentioned apart from history according to the following formula：
Wherein, above-mentioned pixel is expressed as (xn,yn) (n=1,2 ..., N)；Definition y-axis is above-mentioned vehicle motion side
To vector；X-axis is the direction vector that the above-mentioned vehicles are vertical with y-axis at it and are located in ground level；Represent k-th of transmitting
Antenna cuts course position；Represent l-th reception antenna cuts course position；xnAnd ynRepresent respectively above-mentioned pixel in x and
The coordinate of y-axis.
Further, it is right after above-mentioned computational submodule determines pixel according to the first echo data after above-mentioned transformation
Above-mentioned pixel calculates above-mentioned scattering strength according to the following formula and includes：
Wherein, above-mentioned pixel is expressed as (xn,yn) (n=1,2 ..., N)；B is transmitted signal bandwidth；T represents transmitting letter
Number time width；fcRepresent above-mentioned radar operating frequency；C represents propagation velocity of electromagnetic wave.
Further, above-mentioned at least one transmitting antenna is arranged in a plane packet with above-mentioned at least one reception antenna
It includes：It is arranged between above-mentioned at least one transmitting antenna according to the first preset distance；And/or between above-mentioned at least one reception antenna
It is arranged according to the second preset distance.
In embodiments of the present invention, using a kind of radar, including：At least one transmitting antenna, for emitting electromagnetic wave letter
Number, wherein, the wavelength band of above-mentioned electromagnetic wave signal is millimeter wave frequency band, to detect the object around the vehicles；At least
One reception antenna, for receiving through the reflected echo-signal of object around the above-mentioned vehicles, above-mentioned echo letter
Number wavelength band for millimeter wave frequency band, wherein, above-mentioned at least one transmitting antenna and above-mentioned at least one reception antenna according to
Preset distance is arranged on same straight line, so as to generate two dimension after the object around the above-mentioned vehicles of above-mentioned radar detection
Radar image, radar are mounted on the rear end of the above-mentioned vehicles, are detected, reached with the object to above-mentioned vehicles rear
It has arrived millimeter wave two-dimensional imaging radar and has obtained the two-dimensional image data of environment surrounding automobile not by the purpose of inside even from weather, from
And realizing can work normally under any light environment, any weather environment；Its data volume transmitted, which is much smaller than, to be based on regarding
Feel the prior art of camera, and the technique effect that calculation amount is moderate, and then solve in the relevant technologies using camera as sensing
Device obtain environment surrounding automobile two-dimensional image data by inside even from weather it is big the technical issues of.
Description of the drawings
Attached drawing described herein is used to provide further understanding of the present invention, and forms the part of the application, this hair
Bright illustrative embodiments and their description do not constitute improper limitations of the present invention for explaining the present invention.In the accompanying drawings：
Fig. 1 is a kind of schematic diagram of optional radar according to embodiments of the present invention；
Fig. 2 is the structure diagram according to a kind of optional radar of the present embodiment；
Fig. 3 is a kind of structure diagram of optional radio-frequency module according to embodiments of the present invention；
Fig. 4 is the flow chart according to a kind of optional signal processing module inter-process method of the present embodiment.
Specific embodiment
In order to which those skilled in the art is made to more fully understand the present invention program, below in conjunction in the embodiment of the present invention
The technical solution in the embodiment of the present invention is clearly and completely described in attached drawing, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
Member's all other embodiments obtained without making creative work should all belong to the model that the present invention protects
It encloses.
It should be noted that term " first " in description and claims of this specification and above-mentioned attached drawing, "
Two " etc. be the object for distinguishing similar, and specific sequence or precedence are described without being used for.It should be appreciated that it uses in this way
Data can be interchanged in the appropriate case, so as to the embodiment of the present invention described herein can in addition to illustrating herein or
Sequence other than those of description is implemented.In addition, term " comprising " and " having " and their any deformation, it is intended that cover
Cover it is non-exclusive include, be not necessarily limited to for example, containing the process of series of steps or unit, method, system, product or equipment
Those steps or unit clearly listed, but may include not listing clearly or for these processes, method, product
Or the intrinsic other steps of equipment or unit.
Embodiment 1
According to embodiments of the present invention, a kind of radar is provided, Fig. 1 is a kind of optional radar according to embodiments of the present invention
Schematic diagram, as shown in Figure 1, the radar includes：At least one transmitting antenna, for electromagnetic signals, wherein, electromagnetic wave
The wavelength band of signal is millimeter wave frequency band, to detect the object around the vehicles；At least one reception antenna, for connecing
It receives through the reflected echo-signal of object around the vehicles, the wavelength band of echo-signal is millimeter wave frequency band,
In, at least one transmitting antenna is arranged according to preset distance on same straight line at least one reception antenna, so that radar
Two-dimensional radar image is generated after detecting the object around the vehicles, radar is mounted on the rear end of the vehicles, with to traffic
The object at tool rear is detected.
That is, the radar including one or more transmitting antennas and one or more reception antennas can be to vehicles week
Object, the objects such as pedestrian, animal enclosed are detected, by the electromagnetic wave signal of the radar emission and reception through target
The wavelength band of the reflected echo-signal of object is millimeter wave frequency band, due to the radar operating wave length of millimeter wave frequency band, compared with
Small antenna size can obtain higher angular resolution.Millimeter wave two-dimensional imaging thunder mentioned by the embodiment of the present invention
It reaches, forms distance to high-resolution using broadband signal, form high-resolution using one-dimensional real array of apertures and cut course, realize radar two
Dimension imaging, as shown in Figure 1.Wherein, illustrate in one-dimensional real array of apertures such as Fig. 1, several transmitting antennas and several reception days
Line arranges point-blank, using millimetre-wave radar two-dimensional imaging radar, can realize distance to the high-resolution of cutting course.
Wherein, the big bandwidth signal of radar emission realizes distance to high-resolution using pulse compression technique；Using one-dimensional real array of apertures,
The phase of different direction target echo is had differences, Wave beam forming processing is carried out to it, can realize the high-resolution for cutting course.
Millimeter wave two-dimensional imaging radar mentioned by the embodiment of the present invention, is placed in automobile rear, and distance is formed to height using broadband signal
It differentiates, forming high-resolution using one-dimensional real array of apertures cuts course, realizes radar two-dimensional imaging.
By the above-mentioned means, using a kind of radar, including：At least one transmitting antenna, for electromagnetic signals,
In, the wavelength band of above-mentioned electromagnetic wave signal is millimeter wave frequency band, to detect the object around the vehicles；It is at least one to connect
Antenna is received, for receiving through the reflected echo-signal of object around the above-mentioned vehicles, the wave of above-mentioned echo-signal
Long frequency range is millimeter wave frequency band；Wherein, above-mentioned at least one transmitting antenna and above-mentioned at least one reception antenna are according to pre- spacing
From being arranged on same straight line, so as to generate two-dimensional radar figure after the object around the above-mentioned vehicles of above-mentioned radar detection
Picture, radar are mounted on the rear end of the vehicles, are detected with the object to vehicles rear, have reached millimeter wave two dimension
Imaging radar obtains the two-dimensional image data of environment surrounding automobile not by the purpose of inside even from weather, it is achieved thereby that can be
It is worked normally under any light environment, any weather environment；Its data volume transmitted is existing much smaller than view-based access control model camera
Technology, and the technique effect that calculation amount is moderate, and then solve in the relevant technologies and obtain motor vehicle environment by sensor of camera
The two-dimensional image data of environment by inside even from weather it is big the technical issues of.
Optionally, radar further includes：Radio-frequency module is coupled at least one transmitting antenna and at least one reception antenna,
For handling the echo-signal that the electromagnetic wave signal of at least one transmitting antenna transmitting and at least one reception antenna receive.
Specifically, as shown in Fig. 2, Fig. 2 is according to a kind of structure diagram of optional radar of the present embodiment, wherein, thunder
Up to including K transmitting antenna and L reception antenna.Radio-frequency module configuration transmitting signal, emits electromagnetic wave by transmitting antenna；Electromagnetism
Wave receives target scattering signal, (i.e. echo-signal), and by radio frequency via the scattering of object in observation area by reception antenna
Echo data after module converts echo-signal is transmitted to signal processor (i.e. signal processing module).The reception of radio-frequency module
With transmitting chip integrated level height, entire radar radio-frequency front-end can be completed with a mm wave RF chip, based on highly integrated
The radar radio-frequency front-end of degree, complete machine radar cost are relatively low.
Optionally, radio-frequency module includes：Voltage controlled oscillator emits signal for generating, and will emit signal transmission to extremely
A few transmitting antenna, so that at least one transmitting antenna emits corresponding electromagnetic wave signal.Optionally, radio-frequency module includes：
Multiple first power amplifiers, each transmitting antenna being coupled respectively in voltage controlled oscillator and at least one transmitting antenna are used
It is sent out in the transmitting signal amplification generated to voltage controlled oscillator and by amplified transmitting signal transmission to each transmitting antenna
It penetrates；Multiple second power amplifiers, each reception antenna being coupled respectively in frequency mixer and at least one reception antenna, are used for
The echo-signal received at least one reception antenna is amplified, and amplified echo-signal is transmitted to frequency mixer；It is mixed
Frequency device, couples with voltage controlled oscillator, amplified extremely for the transmitting signal for generating voltage controlled oscillator and through power amplifier
The echo-signal mixing that a few reception antenna receives, the echo data after being mixed.
The realization method of radio-frequency module also there are many kinds of, provide a kind of optional embodiment in the present embodiment, have
Body, as shown in figure 3, Fig. 3 is a kind of structure diagram of optional radio-frequency module according to embodiments of the present invention；It can be by pressing
It controls oscillator and generates transmitting signal, emitted by power amplifier by transmitting antenna.Reception antenna receives target echo, by work(
Rate amplifier, and the transmitting signal generated with voltage controlled oscillator is mixed, finally by the radar return data transmission after mixing to letter
Number processor.
Optionally, radar further includes：Signal processing module is coupled with radio-frequency module, is mixed for receiving and processing frequency mixer
Echo data after frequency.Wherein, the internal processing mode of signal processing module (i.e. signal processor) also there are many kinds of, Fig. 4 is carried
A kind of optional mode is supplied, Fig. 4 is the stream according to a kind of optional signal processing module inter-process method of the present embodiment
Cheng Tu, k-th transmitting antenna electromagnetic signals, and the radar return data s received by l-th reception antenna
(t；K, l) it represents, wherein t represents the fast time.
Optionally, signal processing module includes：Transformation submodule, for the echo data after frequency mixer is mixed by first
Time carries out Fourier transformation, the first echo data after being converted；Computational submodule, for according to first time after transformation
Wave number is calculated according to determining pixel, and according to the pixel determined apart from history and scattering strength；Submodule is generated, for root
According to apart from history and scattering strength generation two-dimensional radar image.
Optionally, the echo data after frequency mixer is mixed by transformation submodule according to the following formula carries out Fu by first time
In leaf transformation, the first echo data after being converted：
S(f；K, l)=∫ s (t；K, l) exp (- j2 π ft) dt, wherein, k represents k-th of transmitting antenna, and l represents to connect for l-th
Receive antenna, s (t；K, l) represent echo data, wherein t represents fast time, S (f；K, l) represent the first echo data after transformation.
Optionally, after computational submodule determines pixel according to the first echo data after transformation, to pixel according to
The following formula is calculated apart from history：
Wherein, pixel is expressed as (xn,yn)(n
=1,2 ..., N)；Definition y-axis is vehicle motion direction vector；X-axis is vertical with y-axis at it for the vehicles and positioned at ground
Direction vector in plane；Represent k-th transmitting antenna cuts course position；Represent l-th reception antenna cuts course
Position；xnAnd ynRepresent pixel in x and the coordinate of y-axis respectively.
Optionally, after computational submodule determines pixel according to the first echo data after transformation, to pixel according to
The following formula calculates scattering strength and includes：
Wherein, pixel is expressed as (xn,yn) (n=1,2 ..., N)；B is transmitted signal bandwidth；When T represents transmitting signal
It is wide；fcRepresent radar operating frequency；C represents propagation velocity of electromagnetic wave.
Optionally, at least one transmitting antenna is arranged in a plane at least one reception antenna and includes：It is at least one
It is arranged between transmitting antenna according to the first preset distance；And/or according to the second pre- spacing between above-mentioned at least one reception antenna
From arrangement.Wherein, the first pre-determined distance and the second pre-determined distance may be the same or different, the first pre-determined distance and/or
Two pre-determined distances can be the half of wavelength, might be less that the half of wavelength.
The embodiments of the present invention are for illustration only, do not represent the quality of embodiment.
In the above embodiment of the present invention, all emphasize particularly on different fields to the description of each embodiment, do not have in some embodiment
The part of detailed description may refer to the associated description of other embodiment.
In several embodiments provided herein, it should be understood that disclosed technology contents can pass through others
Mode is realized.Wherein, the apparatus embodiments described above are merely exemplary, such as the division of the module, Ke Yiwei
A kind of division of logic function, can there is an other dividing mode in actual implementation, for example, multiple module or components can combine or
Person is desirably integrated into another system or some features can be ignored or does not perform.Another point, shown or discussed is mutual
Between coupling, direct-coupling or communication connection can be INDIRECT COUPLING or communication link by some interfaces, unit or module
It connects, can be electrical or other forms.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (10)
1. a kind of radar, which is characterized in that including：
At least one transmitting antenna, for electromagnetic signals, wherein, the wavelength band of the electromagnetic wave signal is millimeter wave
Frequency range, to detect the object around the vehicles；
At least one reception antenna, for receiving through the reflected echo-signal of object around the vehicles, institute
The wavelength band for stating echo-signal is millimeter wave frequency band,
Wherein, it is straight at least one reception antenna to be arranged in same according to preset distance at least one transmitting antenna
On line, so as to two-dimensional radar image is generated after object described in the radar detection around the vehicles, the radar installation
In the rear end of the vehicles, detected with the object to the vehicles rear.
2. radar according to claim 1, which is characterized in that the radar further includes：
Radio-frequency module is coupled at least one transmitting antenna and at least one reception antenna, for handle it is described extremely
The echo-signal that the electromagnetic wave signal and at least one reception antenna of few transmitting antenna transmitting receive.
3. radar according to claim 2, which is characterized in that the radio-frequency module includes：
Voltage controlled oscillator emits signal for generating, and by the transmitting signal transmission at least one transmitting antenna, with
At least one transmitting antenna is made to emit corresponding electromagnetic wave signal.
4. radar according to claim 3, which is characterized in that the radio-frequency module includes：
Multiple first power amplifiers are coupled respectively to each in the voltage controlled oscillator and at least one transmitting antenna
Transmitting antenna, for the transmitting signal amplification generated to the voltage controlled oscillator and by amplified transmitting signal transmission to described
Each transmitting antenna is emitted；
Multiple second power amplifiers are coupled respectively to each reception day in frequency mixer and at least one reception antenna
Line, the echo-signal for being received at least one reception antenna are amplified, and amplified echo-signal is transmitted
To the frequency mixer；
The frequency mixer is coupled with the voltage controlled oscillator, for the transmitting signal for generating the voltage controlled oscillator and through institute
State the echo-signal mixing that the amplified at least one reception antenna of power amplifier receives, the number of echoes after being mixed
According to.
5. radar according to claim 4, which is characterized in that the radar further includes：
Signal processing module is coupled with the radio-frequency module, for receiving and processing the echo data after the frequency mixer mixing.
6. radar according to claim 5, which is characterized in that the signal processing module includes：
Transformation submodule carries out Fourier transformation by first time for the echo data after the frequency mixer is mixed, obtains
The first echo data after transformation；
Computational submodule, for determining pixel, and according to determining according to first echo data after transformation
Pixel is calculated apart from history and scattering strength；
Submodule is generated, for generating two-dimensional radar image apart from history and the scattering strength according to described.
7. radar according to claim 6, which is characterized in that the transformation submodule is according to the following formula by the mixing
Echo data after device mixing is by progress Fourier transformation at the first time, the first echo data after being converted：
S(f；K, l)=∫ s (t；K, l) exp (- j2 π ft) dt,
Wherein, k represents k-th of transmitting antenna, and l represents l-th of reception antenna, s (t；K, l) represent the echo data, wherein t
Represent fast time, S (f；K, l) represent the first echo data after transformation.
8. radar according to claim 6, which is characterized in that the computational submodule is according to first time after the transformation
It is described apart from history according to the following formula calculating to the pixel after wave number is according to pixel is determined：
Wherein, the pixel is expressed as (xn,yn) (n=1,2 ..., N)；Definition y-axis is the vehicle motion direction
Vector；X-axis is the direction vector that the vehicles are vertical with y-axis at it and are located in ground level；Represent k-th of transmitting day
Line cuts course position；Represent l-th reception antenna cuts course position；xnAnd ynRepresent the pixel in x and y respectively
The coordinate of axis.
9. radar according to claim 6, which is characterized in that the computational submodule is according to first time after the transformation
After wave number is according to pixel is determined, the scattering strength is calculated according to the following formula to the pixel and is included：
Wherein, the pixel is expressed as (xn,yn) (n=1,2 ..., N)；B is transmitted signal bandwidth；T represents transmitting signal
Time width；fcRepresent the radar operating frequency；C represents propagation velocity of electromagnetic wave.
10. radar according to claim 1, which is characterized in that at least one transmitting antenna with it is described at least one
Reception antenna is arranged in a plane and includes：
It is arranged between at least one transmitting antenna according to the first preset distance；And/or
It is arranged between at least one reception antenna according to the second preset distance.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611261535.XA CN108267735B (en) | 2016-12-30 | 2016-12-30 | Radar |
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|---|---|---|---|
| CN201611261535.XA CN108267735B (en) | 2016-12-30 | 2016-12-30 | Radar |
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| CN108267735B CN108267735B (en) | 2024-03-26 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111679267A (en) * | 2020-08-17 | 2020-09-18 | 陕西耕辰科技有限公司 | Automatic driving system and obstacle detection system thereof |
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