CN108267735B - Radar - Google Patents
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- CN108267735B CN108267735B CN201611261535.XA CN201611261535A CN108267735B CN 108267735 B CN108267735 B CN 108267735B CN 201611261535 A CN201611261535 A CN 201611261535A CN 108267735 B CN108267735 B CN 108267735B
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- 238000012545 processing Methods 0.000 claims description 21
- 230000009466 transformation Effects 0.000 claims description 11
- 238000003384 imaging method Methods 0.000 claims description 9
- 238000000034 method Methods 0.000 claims description 8
- 238000004364 calculation method Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 6
- 230000000007 visual effect Effects 0.000 description 5
- 238000005286 illumination Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000003672 processing method Methods 0.000 description 2
- 241001465754 Metazoa Species 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
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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 radar. Wherein, this radar includes: at least one transmitting antenna for transmitting electromagnetic wave signals, wherein the wavelength band of the electromagnetic wave signals is millimeter wave band so as to detect objects around the vehicle; the receiving antenna is used for receiving echo signals reflected by target objects around the vehicle, and the wavelength band of the echo signals is a millimeter wave band; at least one transmitting antenna and at least one receiving antenna are arranged on the same straight line according to a preset distance, so that a two-dimensional radar image is generated after the radar detects a target object around a vehicle; the radar is mounted at the rear end of the vehicle to detect objects behind the vehicle. The invention solves the technical problem that the two-dimensional image data of the surrounding environment of the automobile is greatly influenced by weather factors by taking the camera as a sensor in the related art.
Description
Technical Field
The invention relates to the field of radars, in particular to a radar.
Background
The sensor arranged on the automobile is utilized to collect and analyze two-dimensional image data around the automobile at any time in the driving process, so that a driver can perceive possible danger in advance, and the comfort and safety of automobile driving can be effectively improved.
In the prior art, the visual camera is mainly used for sensing the surrounding environment of the automobile. The technical principle is that the camera is used for monitoring objects around the automobile in real time and calculating the distance between the object and the automobile by matching with an algorithm, so that the functions of lane departure warning, front automobile collision prevention, pedestrian detection and the like are realized. However, the two-dimensional image data of the surrounding environment of the automobile is acquired by taking the visual camera as a sensor, which has the defects that: is easy to be influenced by factors such as illumination, weather and the like, and almost cannot work normally in environments such as night, strong light, heavy fog, rain and snow and the like. In addition, the data volume obtained by taking the visual camera as a sensor is large, and the loss generated by calculation is serious.
In view of the above problems, no effective solution has been proposed at present.
Disclosure of Invention
The embodiment of the invention provides a radar, which at least solves the technical problem that two-dimensional image data of the surrounding environment of an automobile is greatly influenced by weather factors by taking a camera as a sensor in the related art.
According to an aspect of an embodiment of the present invention, there is provided a radar including: at least one transmitting antenna for transmitting electromagnetic wave signals, wherein the wavelength band of the electromagnetic wave signals is millimeter wave band so as to detect objects around the vehicle; and the at least one receiving antenna is used for receiving echo signals reflected by the objects around the vehicle, the wavelength band of the echo signals is a millimeter wave band, wherein the at least one transmitting antenna and the at least one receiving antenna are arranged on the same straight line according to a preset distance, so that the radar detects the objects around the vehicle and then generates a two-dimensional radar image, and the radar is arranged at the rear end of the vehicle so as to detect the objects behind the vehicle.
Further, the radar further includes: and the radio frequency module is coupled with the at least one transmitting antenna and the at least one receiving antenna and is used for processing electromagnetic wave signals transmitted by the at least one transmitting antenna and echo signals received by the at least one receiving antenna.
Further, the radio frequency module includes: and the voltage-controlled oscillator is used for generating a transmitting signal and transmitting the transmitting signal to the at least one transmitting antenna so that the at least one transmitting antenna transmits a corresponding electromagnetic wave signal.
Further, the radio frequency module includes: a plurality of first power amplifiers respectively coupled to the voltage-controlled oscillator and each of the at least one transmitting antennas for amplifying the transmitting signal generated by the voltage-controlled oscillator and transmitting the amplified transmitting signal to each of the transmitting antennas for transmission; a plurality of second power amplifiers respectively coupled to the mixer and each of the at least one receiving antenna for amplifying the echo signals received by the at least one receiving antenna and transmitting the amplified echo signals to the mixer; and the mixer is coupled with the voltage-controlled oscillator and is used for mixing a transmitting signal generated by the voltage-controlled oscillator and an echo signal received by the at least one receiving antenna amplified by the power amplifier to obtain mixed echo data.
Further, the radar further includes: and the signal processing module is coupled with the radio frequency module and is used for receiving and processing the echo data mixed by the mixer.
Further, the signal processing module includes: the transformation submodule is used for carrying out Fourier transformation on the echo data mixed by the mixer according to the first time to obtain transformed first echo data; the calculation sub-module is used for determining pixel points according to the transformed first echo data and calculating distance history and scattering intensity according to the determined pixel points; and the generation submodule is used for generating a two-dimensional radar image according to the distance history and the scattering intensity.
Further, the transformation submodule performs fourier transformation on the echo data mixed by the mixer according to the following formula at a first time to obtain transformed first echo data:
S(f；k,l)＝∫s(t；k,l)exp(-j2πft)dt
wherein k represents the kth transmitting antenna, l represents the ith receiving antenna, S (t; k, l) represents the echo data, wherein t represents the fast time, and S (f; k, l) represents the transformed first echo data.
Further, after determining a pixel point according to the transformed first echo data, the computing sub-module computes the distance history for the pixel point according to the following formula:
wherein the pixel point is expressed as (x) n ,y n ) (n=1, 2,., N); defining a y-axis as the motion direction vector of the vehicle; the x-axis is the direction vector of the vehicle in the direction perpendicular to the y-axis and positioned in the ground plane;representing the heading position of the kth transmitting antenna; />Representing the heading position of the first receiving antenna; x is x n And y n The coordinates of the pixel points on the x and y axes are shown.
Further, after the calculating submodule determines a pixel point according to the transformed first echo data, calculating the scattering intensity for the pixel point according to the following formula includes:
wherein the pixel point is expressed as (x) n ,y n ) (n=1, 2,., N); b is the bandwidth of the transmitted signal; t represents the time width of the transmitted signal; f (f) c Representing the radar operating frequency; c represents the propagation velocity of electromagnetic waves.
Further, arranging the at least one transmitting antenna and the at least one receiving antenna in a plane includes: the at least one transmitting antenna is arranged according to a first preset distance; and/or the at least one receiving antennas are arranged according to a second preset distance.
In an embodiment of the present invention, a radar is used, including: at least one transmitting antenna for transmitting electromagnetic wave signals, wherein the wavelength band of the electromagnetic wave signals is millimeter wave band so as to detect objects around the vehicle; the radar system comprises at least one receiving antenna, a radar, a millimeter wave two-dimensional imaging radar, a receiving antenna and a receiving antenna, wherein the receiving antenna is used for receiving echo signals reflected by targets around the vehicle, the wavelength band of the echo signals is a millimeter wave band, the at least one transmitting antenna and the at least one receiving antenna are arranged on the same straight line according to a preset distance, so that the radar detects the targets around the vehicle and then generates a two-dimensional radar image, the radar is arranged at the rear end of the vehicle to detect the targets behind the vehicle, and the purpose that the millimeter wave two-dimensional imaging radar obtains two-dimensional image data of the surrounding environment of the vehicle without being influenced by weather factors is achieved, so that normal operation under any illumination environment and any weather environment is realized; the method has the technical effects that the transmitted data volume is far smaller than that of the prior art based on the visual camera and the calculated volume is moderate, so that the technical problem that the two-dimensional image data of the surrounding environment of the automobile is greatly influenced by weather factors by taking the camera as a sensor in the related art is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation on the invention. In the drawings:
FIG. 1 is a schematic diagram of an alternative radar according to an embodiment of the present invention;
fig. 2 is a block diagram of an alternative radar according to the present embodiment;
FIG. 3 is a schematic diagram of an alternative RF module according to an embodiment of the invention;
fig. 4 is a flowchart of an alternative internal processing method of the signal processing module according to the present embodiment.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
According to an embodiment of the present invention, there is provided a radar, fig. 1 is a schematic diagram of an alternative radar according to an embodiment of the present invention, as shown in fig. 1, the radar including: at least one transmitting antenna for transmitting electromagnetic wave signals, wherein the wavelength band of the electromagnetic wave signals is millimeter wave band so as to detect objects around the vehicle; the radar detection system comprises at least one receiving antenna, a radar, a sensor and a sensor, wherein the at least one receiving antenna is used for receiving echo signals reflected by objects around a vehicle, the wavelength band of the echo signals is a millimeter wave band, the at least one transmitting antenna and the at least one receiving antenna are arranged on the same straight line according to a preset distance, so that a two-dimensional radar image is generated after the radar detects the objects around the vehicle, and the radar is arranged at the rear end of the vehicle so as to detect the objects behind the vehicle.
Namely, the radar comprising one or more transmitting antennas and one or more receiving antennas can detect objects, pedestrians, animals and other objects around a vehicle, the wavelength band of electromagnetic wave signals transmitted by the radar and received echo signals reflected by the objects is a millimeter wave band, and the smaller antenna size can obtain higher angular resolution due to the short working wavelength of the radar in the millimeter wave band. The millimeter wave two-dimensional imaging radar provided by the embodiment of the invention forms a distance direction high resolution by using a broadband signal, forms a high resolution tangential course by using a one-dimensional real aperture array, and realizes radar two-dimensional imaging, as shown in figure 1. The one-dimensional real aperture array is as shown in fig. 1, a plurality of transmitting antennas and a plurality of receiving antennas are arranged on the same straight line, and the millimeter wave radar two-dimensional imaging radar is utilized to realize high resolution of distance direction and heading direction. The radar transmits a large bandwidth signal, and the distance direction high resolution is realized by utilizing a pulse compression technology; the one-dimensional real aperture array is utilized to form wave beams for processing the phase difference of the target echoes in different directions, so that the high resolution of the tangential heading can be realized. The millimeter wave two-dimensional imaging radar provided by the embodiment of the invention is arranged at the rear of an automobile, forms a distance direction high resolution by using a broadband signal, forms a high resolution heading by using a one-dimensional real aperture array, and realizes radar two-dimensional imaging.
In the above manner, a radar is adopted, comprising: at least one transmitting antenna for transmitting electromagnetic wave signals, wherein the wavelength band of the electromagnetic wave signals is millimeter wave band so as to detect objects around the vehicle; the receiving antenna is used for receiving echo signals reflected by the objects around the vehicle, and the wavelength band of the echo signals is a millimeter wave band; the radar is arranged at the rear end of the vehicle to detect the target object behind the vehicle, so that the purpose that the millimeter wave two-dimensional imaging radar acquires the two-dimensional image data of the surrounding environment of the vehicle and is not influenced by weather factors is achieved, and normal operation in any illumination environment and any weather environment is realized; the method has the technical effects that the transmitted data volume is far smaller than that of the prior art based on the visual camera and the calculated volume is moderate, so that the technical problem that the two-dimensional image data of the surrounding environment of the automobile is greatly influenced by weather factors by taking the camera as a sensor in the related art is solved.
Optionally, the radar further comprises: and the radio frequency module is coupled with the at least one transmitting antenna and the at least one receiving antenna and is used for processing electromagnetic wave signals transmitted by the at least one transmitting antenna and echo signals received by the at least one receiving antenna.
Specifically, as shown in fig. 2, fig. 2 is a block diagram of an alternative radar according to the present embodiment, where the radar includes K transmitting antennas and L receiving antennas. The radio frequency module is configured with a transmitting signal, and electromagnetic waves are transmitted by the transmitting antenna; the electromagnetic wave is scattered by a target object in the observation area, a receiving antenna receives a target scattering signal (namely an echo signal), and the radio frequency module transmits echo data converted by the echo signal to a signal processor (namely a signal processing module). The receiving and transmitting chips of the radio frequency module are high in integration level, the whole radar radio frequency front end can be completed by one millimeter wave radio frequency chip, and the whole radar is relatively low in cost based on the high-integration level radar radio frequency front end.
Optionally, the radio frequency module includes: and the voltage-controlled oscillator is used for generating a transmitting signal and transmitting the transmitting signal to the at least one transmitting antenna so that the at least one transmitting antenna transmits a corresponding electromagnetic wave signal. Optionally, the radio frequency module includes: the first power amplifiers are respectively coupled to the voltage-controlled oscillator and each transmitting antenna in the at least one transmitting antenna and are used for amplifying the transmitting signals generated by the voltage-controlled oscillator and transmitting the amplified transmitting signals to each transmitting antenna for transmitting; a plurality of second power amplifiers respectively coupled to the mixer and each of the at least one receiving antenna for amplifying the echo signals received by the at least one receiving antenna and transmitting the amplified echo signals to the mixer; and the mixer is coupled with the voltage-controlled oscillator and is used for mixing the transmitting signal generated by the voltage-controlled oscillator and the echo signal received by the at least one receiving antenna amplified by the power amplifier to obtain mixed echo data.
There are various implementation manners of the radio frequency module, and an alternative implementation manner is provided in this embodiment, specifically, as shown in fig. 3, fig. 3 is a schematic structural diagram of an alternative radio frequency module according to an embodiment of the present invention; the transmit signal may be generated by a voltage controlled oscillator and transmitted by a transmit antenna through a power amplifier. The receiving antenna receives the target echo, passes through the power amplifier, mixes with the transmitting signal generated by the voltage-controlled oscillator, and finally transmits the mixed radar echo data to the signal processor.
Optionally, the radar further comprises: and the signal processing module is coupled with the radio frequency module and is used for receiving and processing the echo data after the frequency mixing of the frequency mixer. There are various processing manners inside the signal processing module (i.e., the signal processor), fig. 4 provides an alternative manner, fig. 4 is a flowchart of an alternative processing method inside the signal processing module according to the present embodiment, the kth transmitting antenna transmits electromagnetic wave signals, and radar echo data received by the lth receiving antenna is denoted by s (t; K, L), where t represents fast time.
Optionally, the signal processing module includes: the transformation submodule is used for carrying out Fourier transformation on the echo data mixed by the mixer according to the first time to obtain transformed first echo data; the calculation sub-module is used for determining pixel points according to the transformed first echo data and calculating distance history and scattering intensity according to the determined pixel points; and the generation submodule is used for generating a two-dimensional radar image according to the distance history and the scattering intensity.
Optionally, the transforming submodule performs fourier transform on the echo data after the frequency mixing by the mixer according to the following formula at a first time to obtain transformed first echo data:
s (f; k, l) = ≡s (t; k, l) exp (-j 2 pi ft) dt, where k represents the kth transmitting antenna, l represents the ith receiving antenna, S (t; k, l) represents echo data, where t represents fast time, and S (f; k, l) represents transformed first echo data.
Optionally, after the calculating submodule determines the pixel point according to the transformed first echo data, the distance history is calculated for the pixel point according to the following formula:
wherein the pixel point is expressed as (x n ,y n ) (n=1, 2,., N); defining a y-axis as a vehicle motion direction vector; the x-axis is the direction vector of the vehicle in the direction perpendicular to the y-axis and in the ground plane; />Representing the heading position of the kth transmitting antenna; />Representing the heading position of the first receiving antenna; x is x n And y n Representing the coordinates of the pixel point in the x and y axes, respectively.
Optionally, after the calculating submodule determines the pixel point according to the transformed first echo data, calculating the scattering intensity for the pixel point according to the following formula includes:
wherein the pixel point is expressed as (x n ,y n ) (n=1, 2,., N); b is the bandwidth of the transmitted signal; t represents the time width of the transmitted signal; f (f) c Representing radar operating frequency; c represents the propagation velocity of electromagnetic waves.
Optionally, arranging the at least one transmitting antenna and the at least one receiving antenna in one plane comprises: at least one transmitting antenna is arranged according to a first preset distance; and/or the at least one receiving antennas are arranged according to a second preset distance. The first preset distance and the second preset distance may be the same or different, and the first preset distance and/or the second preset distance may be half of the wavelength or less than half of the wavelength.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
In the foregoing embodiments of the present invention, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed technology content may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the modules may be divided into a logic function, and there may be other division manners in actual implementation, for example, multiple modules or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.
Claims (6)
1. A radar, comprising:
at least one transmitting antenna for transmitting electromagnetic wave signals, wherein the wavelength band of the electromagnetic wave signals is millimeter wave band so as to detect objects around the vehicle;
at least one receiving antenna for receiving echo signals reflected by objects around the vehicle, the wavelength band of the echo signals being millimeter wave band,
the method for detecting the target object in the vehicle comprises the steps of arranging at least one transmitting antenna and at least one receiving antenna on the same straight line according to a preset distance, enabling the radar to detect the target object around the vehicle to generate a two-dimensional radar image, forming a distance direction to be high-resolution by using a broadband signal, forming a high-resolution heading by using a one-dimensional real aperture array, realizing radar two-dimensional imaging, arranging the radar at the rear end of the vehicle to detect the target object behind the vehicle, wherein the arrangement of the at least one transmitting antenna and the at least one receiving antenna on the same straight line according to the preset distance comprises the following steps: at least one transmitting antenna is arranged according to a first preset distance; and/or the at least one receiving antenna is arranged according to a second preset distance, wherein the first preset distance and/or the second preset distance is half of a wavelength;
the radar further includes: a radio frequency module, the radio frequency module comprising: the voltage-controlled oscillator is used for generating a transmitting signal and transmitting the transmitting signal to the at least one transmitting antenna so that the at least one transmitting antenna transmits a corresponding electromagnetic wave signal;
the radar further comprises a signal processing module, wherein the signal processing module comprises a transformation submodule, and the transformation submodule carries out Fourier transformation on echo data after frequency mixing of the mixer according to the following formula at a first time to obtain transformed first echo data:
S(f；k,l)＝∫s(t；k,l)exp(-j2πft)dt，
wherein k represents a kth transmitting antenna, l represents a ith receiving antenna, S (t; k, l) represents the echo data, wherein t represents a fast time, and S (f; k, l) represents the transformed first echo data;
the signal processing module further comprises a calculation sub-module, and after the calculation sub-module determines the pixel point according to the transformed first echo data, calculating the scattering intensity for the pixel point according to the following formula comprises:
wherein the pixel point is expressed as (x) n ,y n ) (n=1, 2,., N); b is the bandwidth of the transmitted signal; t represents the time width of the transmitted signal; f (f) c Representing the radar operating frequency; c represents the propagation velocity of electromagnetic waves, R (k, l; x) n ,y n ) Representing distance history, x n And y n And respectively representing the coordinates of the pixel points on the x and y axes.
2. The radar of claim 1, further comprising:
and the radio frequency module is coupled with the at least one transmitting antenna and the at least one receiving antenna and is used for processing electromagnetic wave signals transmitted by the at least one transmitting antenna and echo signals received by the at least one receiving antenna.
3. The radar of claim 2, wherein the radio frequency module comprises:
a plurality of first power amplifiers respectively coupled to the voltage-controlled oscillator and each of the at least one transmitting antennas, for amplifying the transmitting signal generated by the voltage-controlled oscillator and transmitting the amplified transmitting signal to each transmitting antenna for transmission;
a plurality of second power amplifiers respectively coupled to the mixer and each of the at least one receiving antenna for amplifying the echo signals received by the at least one receiving antenna and transmitting the amplified echo signals to the mixer;
the mixer is coupled with the voltage-controlled oscillator and is used for mixing a transmitting signal generated by the voltage-controlled oscillator and an echo signal received by the at least one receiving antenna amplified by the power amplifier to obtain mixed echo data.
4. A radar according to claim 3, further comprising:
and the signal processing module is coupled with the radio frequency module and is used for receiving and processing the echo data mixed by the mixer.
5. The radar of claim 4, wherein the signal processing module comprises:
the transformation submodule is used for carrying out Fourier transformation on the echo data after the frequency mixing of the frequency mixer according to the first time to obtain transformed first echo data;
the calculation sub-module is used for determining pixel points according to the transformed first echo data and calculating distance history and scattering intensity according to the determined pixel points;
and the generation submodule is used for generating a two-dimensional radar image according to the distance history and the scattering intensity.
6. The radar of claim 5, wherein the computing sub-module, after determining a pixel from the transformed first echo data, computes the range history for the pixel according to the following formula:
wherein the pixel point is expressed as (x) n ,y n ) (n=1, 2,., N); defining a y-axis as the vehicle motion direction vector; the x-axis is the direction vector of the vehicle in the direction perpendicular to the y-axis and in the ground plane;representing the heading position of the kth transmitting antenna; />Representing the heading position of the first receiving antenna; x is x n And y n And respectively representing the coordinates of the pixel points on the x and y axes.
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