CN108344998A - Vehicle-mounted multi-view mapping is away from speed measuring device and method - Google Patents
Vehicle-mounted multi-view mapping is away from speed measuring device and method Download PDFInfo
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- CN108344998A CN108344998A CN201810382395.4A CN201810382395A CN108344998A CN 108344998 A CN108344998 A CN 108344998A CN 201810382395 A CN201810382395 A CN 201810382395A CN 108344998 A CN108344998 A CN 108344998A
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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
- G01S13/93—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
- 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
- G01S2013/9321—Velocity regulation, e.g. cruise control
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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
- G01S2013/9325—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles for inter-vehicle distance regulation, e.g. navigating in platoons
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- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
Vehicle-mounted multi-view mapping is away from speed measuring device and method, belong to road environment object detection field, device includes shell, fixed substrate, power supply module, antenna system, signal emission module, signal receiving module, CAN communication module, communication interface and central controller, method is to air-launched saw tooth modulation electromagnetic wave signal, saw tooth modulation electromagnetic wave signal is reflected back when encountering the target in road environment, emit signal and reflection signal carries out Frequency mixing processing into difference frequency mixers simultaneously, exports difference frequency signal；AD samplings are carried out to difference frequency signal by the AD sampling input terminals of central controller, central controller calculates for realizing Fast Fourier Transform, the distance of target and speed, sends the distance of target after survey calculation and speed parameter to vehicle-mounted middle control unit；Device and method provided by the invention is capable of the distance parameter and speed parameter of measurement road environmental goals simultaneously, and can effectively improve the measurement accuracy under multi-target condition.
Description
Technical field
The invention belongs to road environment object detection field, more particularly, to a kind of vehicle-mounted multi-view mapping away from speed measuring device and
Method.
Background technology
With the development of society, automobile becomes the first choice of people's trip vehicles.It goes on a journey populous complicated traffic
Situation causes vehicle collision class traffic accident in China's to take place frequently.Vehicle collision class traffic accident has become China's traffic safety and administers
Problem.This problem equally annoyings Main Developed Countries in the world, and in order to solve this problem, international each major country input is big
Amount human and material resources develop anti-collision system for automobile, and it is auxiliary to be undoubtedly automobile intelligent to the research of road environment target detection
Help the core of control loop development.
It is well known that the basic function of radar is to find target and provide relevant information.It is by spatial emission
The specific signal of kind, then receives and processes the echo-signal of target to realize.Automobile collision avoidance radar can be in severe day
It works under gas, especially lower in visibility, it can judge objects ahead instead of human eye, it can be more played
Anticollision effectiveness.Automobile collision avoidance radar reduces Traffic Collision accident, reduces people's lives and properties damage to improving vehicle driving safety
Mistake plays important function.
Automobile collision avoidance radar has higher requirement as an automotive safety equipment to accuracy and real-time.One complete
Complete practical Radar Products not only want that the presence or absence of preceding object can be differentiated.It should also accurately tell number, position, Yi Jixiang
The distance and speed answered, and the size of intelligent differentiation danger.And current automobile collision avoidance radar often uses sawtooth wave
The millimetre-wave radar of hopping pattern, this kind of pattern can only realize distance measurement function, can not achieve the tachometric survey to target.Work as target
When movement, the speed of target can largely influence the accuracy to target range information measurement, under multi-target condition,
Such case is more notable.And traditional vehicle anti-collision radar is then continuous by signal generator alternate emission sawtooth wave and fixed frequency
Wave, to be measured while realization to target range with speed.But this method is realized to target component by hardware view
It measures, the cost is relatively high for Project Realization, and can not accurately complete the accurate measurement to multiple target in road environment.Therefore,
It needs to be improved existing automobile collision avoidance radar ranging and range rate method.
Invention content
The technical problem to be solved by the present invention is to：Only for the existing automobile collision avoidance radar based on saw wave modulator pattern
It can realize the defect that road environment target distance parameter measures, provide a kind of vehicle-mounted multi-view mapping away from speed measuring device and method, energy
The distance parameter and speed parameter of enough measurement road environmental goals simultaneously, and can effectively improve the survey under multi-target condition
Measure accuracy.
The present invention adopts the following technical scheme that realization：Vehicle-mounted multi-view mapping is away from speed measuring device, it is characterised in that：Including
Shell, fixed substrate, power supply module, antenna system, signal emission module, signal receiving module, CAN communication module, communication connect
Mouth and central controller,
The shell includes upper cover and shell, and upper cover is fixed on the shell by fixing screws；
The fixed substrate is fixed by screws in bottom in shell；
The power supply module is fixed in fixed substrate, power supply module respectively with signal emission module, signal receiving module,
The voltage input end of CAN communication module and central controller is connected；
The antenna system includes transmitting antenna and reception antenna, and transmitting antenna and reception antenna are fixed in upper cover side by side
Inside, wherein transmitting antenna are connected with the output end of power amplifier；The input terminal phase of the reception antenna and difference frequency mixers
Even；
The signal emission module is fixed in fixed substrate, and signal emission module includes saw-toothed wave generator, voltage-controlled shakes
Swing device, power divider and power amplifier；The saw-toothed wave generator output end is connected with the input terminal of voltage controlled oscillator；Institute
It states voltage controlled oscillator and generates frequency with the continuous cycles constant amplitude waveform changed in time by zigzag, voltage controlled oscillation for controlling
The output end of device is connected with the input terminal of power divider；The power divider is for will saw tooth modulation electromagnetic wave signal all the way
Energy is divided into the saw tooth modulation electromagnetic wave signal of two-way output equal energy, the output end of power divider respectively with power amplification
Device, the input terminal of difference frequency mixers are connected；
The signal receiving module is fixed in fixed substrate, and positioned at the lower section of signal emission module, and signal receives mould
Block includes difference frequency mixers, filter circuit and amplifying circuit, and wherein difference frequency mixers are believed for that will emit signal with target echo
Number frequency mixed, the beat frequency both obtained, the input terminal of filter circuit is connected with the output end of difference frequency mixers；
The input terminal of amplifying circuit is connected with the output end of filter circuit, and the AD samplings of the output end and central controller of amplifying circuit are defeated
Enter end to be connected；
The CAN communication module is fixed in fixed substrate, the input terminal of CAN communication module and the CAN of central controller
Communication output is connected, and the output end of CAN communication module is connected with communication interface；
The communication interface is mounted in housing sidewall, and communication interface is connect with vehicle-mounted CAN bus interface；
The central controller is fixed in fixed substrate, the AD of central controller sampling input terminal and amplifying circuit it is defeated
Outlet is connected；Central controller is used to calculate the distance and speed of target, the CAN communication output end and CAN of central controller
The input terminal of communication module is connected.
The antenna system is paster antenna.
The filter circuit uses low-pass filter circuit.
The microcontroller chip for the model XMC4400 that the central controller is produced using Infineon companies.
Vehicle-mounted multi-view mapping is away from speed-measuring method, it is characterised in that：This method uses the vehicle-mounted multi-view mark ranging and range rate
Device includes the following steps：
Step 1: saw-toothed wave generator exports saw tooth modulation electromagnetic wave signal, which passes through successively
Be divided into two-way saw tooth modulation electromagnetic wave signal after crossing voltage controlled oscillator, power divider, all the way saw tooth modulation electromagnetic wave signal into
Enter power amplifier, another way saw tooth modulation electromagnetic wave signal enters difference frequency mixers, and power amplifier is by received saw
Tooth modulated electromagnetic wave signal is handled, and transmitting antenna is transferred to after processing, by transmitting antenna to air-launched saw tooth modulation
Electromagnetic wave signal, when saw tooth modulation electromagnetic wave signal encounters the target in road environment, the surface of target, which is reflected back towards, to be come, and is connect
Antenna is received to receive the reflective serration modulated electromagnetic wave signal for carrying target information and be sent to difference frequency mixers；
Step 2: the signal received is carried out Frequency mixing processing and exports difference frequency signal by difference frequency mixers；
Step 3: the filtered circuit of difference frequency signal filters out noise signal, then passes through amplifying circuit and carry out difference frequency signal
Enhanced processing；
Step 4: carrying out AD samplings, AD samplings to amplified difference frequency signal by the AD sampling input terminals of central controller
Duration is known as detection cycle, and the time interval between adjacent two detection cycles is known as assay intervals cycle Tp；
Carry out spectrum analysis by fast fourier transform algorithm and obtain the centre frequencies of two adjacent detection cycle targets be respectively
fbWith fb', wherein
In formula (1) and formula (2), μ is saw wave modulator slope, TpFor assay intervals period, f0To emit the carrier frequency frequency of signal
Rate, C are the light velocity, the speed of target when V is first detection cycle, the distance of target when R is first detection cycle, and V ' is the
The speed of target when two detection cycles；
Assay intervals cycle TpThreshold value be less than 10ms, in assay intervals cycle TpInterior, the velocity variations value of target is ignored not
Meter, the centre frequency difference of adjacent two detection cycle targets are：
In formula (3), to pass through an assay intervals cycle TpThe displacement that target generates afterwards；
By formula (3) it is found that the speed parameter of target is：
By formula (1) it is found that the distance parameter of target is：
Step 6: same object matching in first detection cycle and second detection cycle, obtain n target it is adjacent two
The centre frequency difference Δ f of a detection cycle target1,Δf2,…,Δfi,…,Δfn, n is the target number in road environment,
N >=1,1≤i≤n, Δ fiFor i-th of target two adjacent detection cycles centre frequency difference；
It is i-th of target
The centre frequency of one detection cycle,For i-th of target second detection cycle centre frequency；
The speed parameter of corresponding target, respectively V=are worth to according to n two adjacent detection cycle center frequency differences
[V1,V2,…,Vi,…,Vn], whereinFurther according to i-th of target first detection cycle centre frequencyIt can get the distance parameter of target, R=[R1,R2,…,Ri,…,Rn], whereinIt is final to realize
Ranging of testing the speed under multi-target condition.
By above-mentioned design scheme, the present invention can bring following advantageous effect compared with prior art：
1, vehicle-mounted multi-view mapping of the present invention is realized away from speed measuring device under saw wave modulator pattern, is measured simultaneously
The distance and velocity information of road target, overcome traditional saw wave modulator trailer-mounted radar can only measurement distance defect；
2, since multi-Goal Measure speed-measuring method of the present invention is solved while being measured by the level of signal processing
The distance and speed of target, rather than this is solved the problems, such as by hardware view, therefore the present invention reduces and is to a certain extent
System cost；
3, multi-Goal Measure speed-measuring method of the present invention carries out frequency spectrum using Fast Fourier Transform (FFT) to mixed frequency signal
Analysis, this method calculation amount is small, can meet the requirement of real-time of vehicle anti-collision radar system.
Description of the drawings
Attached drawing described herein is used to provide further understanding of the present invention, and is constituted part of this application, this hair
Bright illustrative embodiments and their description explanation does not constitute the improper restriction of the present invention, in the accompanying drawings for understanding the present invention：
Fig. 1 is structural schematic block diagram of the vehicle-mounted multi-view mapping away from speed measuring device of the present invention.
Fig. 2 is Standard figure of the vehicle-mounted multi-view mapping of the present invention away from speed measuring device.
Fig. 3 is Structure explosion diagram of the vehicle-mounted multi-view mapping away from speed measuring device of the present invention.
Fig. 4 is first detection cycle spectrogram of the present invention.
Fig. 5 is second detection cycle spectrogram of the present invention.
Fig. 6 is the vehicle-mounted multi-view mapping of the present invention away from speed-measuring method flow diagram.
It is respectively marked in figure as follows：1- upper covers, 2- shells, 3- fixed substrates, 4- reception antennas, 5- transmitting antennas, 6- power supplies
Module, 7- signal emission modules, 8- signal receiving modules, 9-CAN communication modules, 10- communication interfaces, 11- central controllers,
12- saw-toothed wave generators, 13- voltage controlled oscillators, 14- power dividers, 15- power amplifiers, 16- difference frequency mixers, 17- filters
Wave circuit, 18- amplifying circuits.
Specific implementation mode
In order to avoid obscuring the essence of the present invention, there is no detailed for well known method, process, flow, element and circuit
Narration.
Refering to fig. 1, Fig. 2 and Fig. 3, vehicle-mounted multi-view mapping proposed by the present invention is away from speed measuring device, should from apparatus structure
Ranging and range rate device includes shell, fixed substrate 3, power supply module 6, antenna system, signal emission module 7, signal receiving module
8, CAN communication module 9, communication interface 10 and central controller 11.
For the shell for modules inside protective device, shell includes upper cover 1 and shell 2, and upper cover 1 passes through fixed spiral shell
Nail is fixed on shell 2；
The fixed substrate 3 is logical for fixing the power supply module 6, signal emission module 7, signal receiving module 8, CAN
Letter module 9 and central controller 11, fixed substrate 3 are fixed by screws in bottom in shell 2.
The power supply module 6 is fixed in fixed substrate 3, a series of by designing for providing power supply for whole device
Voltage conversion circuit provides corresponding rated operational voltage for modules in device, makes modules normal operation.Power supply mould
The voltage input end phase with signal emission module 7, signal receiving module 8, CAN communication module 9 and central controller 11 respectively of block 6
Even, it powers for modules.
It includes transmitting antenna 5 and reception antenna 4 that the antenna system, which uses paster antenna, antenna system, and the two is solid side by side
Due to the inside of upper cover 1, wherein transmitting antenna 5 is connected with the output end of power amplifier 15, for emitting the sawtooth tune generated
Electromagnetic wave signal processed；The reception antenna 4 is connected with the input terminal of difference frequency mixers 16, reflected by target for receiving
Saw tooth modulation electromagnetic wave signal；
The signal emission module 7 is fixed in fixed substrate 3, and signal emission module 7 includes saw-toothed wave generator 12, pressure
Control oscillator 13, power divider 14 and power amplifier 15；The saw-toothed wave generator 12 is for exporting required modulation
The output end of waveform, that is, saw tooth modulation electromagnetic wave signal, saw-toothed wave generator 12 is connected with the input terminal of voltage controlled oscillator 13；Institute
State voltage controlled oscillator 13 for control generation frequency with the continuous cycles constant amplitude waveform changed in time by zigzag, it is voltage-controlled to shake
The output end for swinging device 13 is connected with the input terminal of power divider 14；The power divider 14 is used for saw tooth modulation all the way
Electromagnetic wave signal energy is divided into the saw tooth modulation electromagnetic wave signal of two-way output equal energy, obtained two-way saw tooth modulation electromagnetism
Wave signal, all the way ingoing power amplifier 15, another way enter difference frequency mixers 16, the output end of power divider 14 respectively with
The input terminal of difference frequency mixers 16 is connected in power amplifier 15, signal receiving module 8；The power amplifier 15 is for amplifying
The power of saw tooth modulation electromagnetic wave signal is exported, the output end of power amplifier 15 is connected with transmitting antenna in antenna system 5；
The signal receiving module 8 is fixed in fixed substrate 3, is located at the lower section of signal emission module 7, and signal receives mould
Block 8 includes difference frequency mixers 16, filter circuit 17 and amplifying circuit 18, and wherein difference frequency mixers 16 will be for that will emit signal and mesh
The frequency of mark echo-signal is mixed, and the beat frequency of the two, input terminal and the reception antenna 4 of difference frequency mixers 16 are obtained
Output end is connected；Filter circuit 17 is used to be filtered input saw tooth modulation electromagnetic wave signal, since echo-signal exists
Other noise signals are inherently introduced while reception, to avoid influence of the noise signal to echo-signal, need to be filtered out, this
Filter circuit 17 in invention uses low-pass filter circuit, the input terminal of filter circuit 17 and the output end phase of difference frequency mixers 16
Even；Amplifying circuit 18 is for amplifying difference frequency signal, and since system power limits, the energy of difference frequency signal is smaller, is a millivolt rank
Tiny signal, difference frequency signal need to be amplified, the input terminal of amplifying circuit 18 is connected with the output end of filter circuit 17, puts
The output end of big circuit 18 is connected with the AD of central controller 11 sampling input terminals；
The CAN communication module 9 is fixed in fixed substrate 3, for being communicated with vehicle-mounted CAN bus, by meter
The distance of target and speed parameter send vehicle-mounted middle control unit, input terminal and the central controller 11 of CAN communication module 9 to after calculation
CAN communication output end be connected, the output end of CAN communication module 9 is connected with communication interface 10；
The communication interface 10 is mounted in housing sidewall, and communication interface 10 is fixed at shell nozzle, for the present invention
The connection of device and vehicle-mounted CAN bus interface；
AD of the central controller 11 for difference frequency signal is sampled, and the analog signal that signal receiving module 8 is exported turns
Digital signal is turned to, the AD sampling input terminals of central controller 11 are connected with the output end of amplifying circuit 18；The center control
Device 11 processed calculates for realizing Fast Fourier Transform, the distance of target and speed, and for the letter with CAN communication module 9
Breath transmission, the CAN communication output end of central controller 11 are connected with the input terminal of CAN communication module 9.The central controller 11
Using the microcontroller chip of the model XMC4400 of Infineon companies production.
The invention also provides a kind of vehicle-mounted multi-view mappings away from speed-measuring method, includes the following steps：
Step 1: exporting required saw tooth modulation electromagnetic wave signal, saw tooth modulation electromagnetic wave by saw-toothed wave generator 12
Signal generates the continuous cycles constant amplitude waveform that frequency changes with zigzag is pressed in time by the control of voltage controlled oscillator 13, with
Afterwards, saw tooth modulation electromagnetic wave signal is input to power divider 14, and power divider 14 believes saw tooth modulation electromagnetic wave all the way
Number energy is divided into the saw tooth modulation electromagnetic wave signal of two-way output equal energy, obtained two-way saw tooth modulation electromagnetic wave signal,
Ingoing power amplifier 15 all the way, another way enter difference frequency mixers 16, and saw tooth modulation electromagnetic wave signal passes through power amplifier
After 15, by transmitting antenna 5 to air-launched saw tooth modulation electromagnetic wave signal, referred to as emit signal afterwards, when saw tooth modulation electricity
When magnetostatic wave signal encounters the target in road environment, the surface of target, which can be reflected back towards, to be come；
It is adopted Step 2: carrying out echo signal by reception antenna 4 by the reflected saw tooth modulation electromagnetic wave signal of target
Collection, it is rear referred to as to receive signal, in collected receptions signal feeding difference frequency mixers 16, at the same by step 1 through work(
The another way saw tooth modulation electromagnetic wave signal that rate distributor 14 obtains is sent into difference frequency mixers 16, is reached transmitting signal and is received
The Frequency mixing processing of signal exports mixed frequency signal, i.e. difference frequency signal；
Step 3: since noise signal can produce bigger effect the tachometric survey of the distance and target of road target, because
This, difference frequency signal needs filtered circuit 17 to carry out filtering out for noise signal, since system power limits, the energy of difference frequency signal
Smaller, difference frequency signal is amplified processing by amplifying circuit 18；
Step 4: AD samplings are carried out to amplified difference frequency signal by the AD sampling input terminals of central controller 11, so as to
Follow-up differential frequency signal processing, AD sampling durations are known as detection cycle, the time between adjacent two detection cycles
Interval is known as assay intervals cycle Tp；
Step 5: in conjunction with Fig. 4 and Fig. 5, spectrum analysis is carried out by fast fourier transform algorithm, it is adjacent to obtain
The centre frequency of target is respectively f in two detection cyclesbWith fb', two center spectrum values can be respectively by first detection cycle
It is obtained with the spectrogram of second detection cycle, respectively
In formula, μ is saw wave modulator slope, TpFor assay intervals period, f0To emit the carrier frequency of signal, c is light
Speed, the speed of target when V is first detection cycle, the distance of target when R is first detection cycle, V ' are second detection
The speed of target when the period；
Assay intervals cycle TpThreshold value be less than 10ms, in assay intervals cycle TpIt is interior, it can be approximately considered in assay intervals week
Phase TpInterior, the velocity variations value of target is ignored, i.e. V ≈ V '.The then center frequency difference of two adjacent detection cycle targets
Value is:
In formula, Δ R is by an assay intervals cycle TpThe displacement that target generates afterwards.
From the above equation, we can see that the speed parameter of target can be obtained by this centre frequency difference Δ f, target velocity parameter is asked
Leading formula isPass through the centre frequency of first detection cycle againIt can get the distance of target
The derivation formula of parameter, the distance parameter of target is
Step 6: in conjunction with Fig. 6, under multi-target condition, the spectrogram of echo-signal will produce multiple frequency peaks,
The centre frequency of multiple targets to occur simultaneously in the spectrogram of such first detection cycle and second detection cycle, due to
The echo power of same target is similar, i.e. the corresponding power peak approximation phase of same target its centre frequency in spectrogram
Together, i.e., in figures 4 and 5, P1≈P1′,P2≈P2′,…,Pi≈Pi′,…,Pn≈Pn', wherein n is the target in road environment
Number, n >=1,1≤i≤n, PiFor power peak of i-th of target corresponding to the centre frequency of first detection cycle, Pi′
For power peak of i-th of target corresponding to the centre frequency of second detection cycle.First is realized in combination with this feature
Same mesh in same object matching in a detection cycle and second detection cycle, first detection cycle and second detection cycle
Mark matching, centre frequency difference Δ f of the n target of acquisition in two adjacent detection cycle targets1,Δf2,…,Δfi,…,
Δfn, n is the target number in road environment, n >=1,1≤i≤n, Δ fiIt is i-th of target in two adjacent detection cycles
Centre frequency difference；
It is i-th of target
The centre frequency of one detection cycle,For i-th of target second detection cycle centre frequency.
The speed parameter of corresponding target, respectively V are worth in two adjacent detection cycle center frequency differences according to n
=[V1,V2,...,Vi,...,Vn], whereinFurther according to i-th of target first detection cycle centre frequencyIt can get the distance parameter of target, R=[R1,R2,...,Ri,...,Rn], whereinIt is final to realize
The distance measurement function that tests the speed under multi-target condition.
Obviously, the above embodiment of the present invention be only to clearly illustrate example of the present invention, and not be pair
The restriction of embodiment of the present invention for those of ordinary skill in the art on the basis of the above description can be with
It makes other variations or changes in different ways, all embodiments can not be exhaustive here, it is every to belong to the present invention
Technical solution changes and variations that derived from still in protection scope of the present invention row.
Claims (5)
1. vehicle-mounted multi-view mapping is away from speed measuring device, it is characterised in that：Including shell, fixed substrate (3), power supply module (6), antenna
System, signal emission module (7), signal receiving module (8), CAN communication module (9), communication interface (10) and central controller
(11),
The shell includes upper cover (1) and shell (2), and upper cover (1) is fixed on by fixing screws on shell (2)；
The fixed substrate (3) is fixed by screws in shell (2) interior bottom；
The power supply module (6) is fixed in fixed substrate (3), power supply module (6) respectively with signal emission module (7), signal
The voltage input end of receiving module (8), CAN communication module (9) and central controller (11) is connected；
The antenna system includes transmitting antenna (5) and reception antenna (4), and transmitting antenna (5) and reception antenna (4) are fixed side by side
Inside in upper cover (1), wherein transmitting antenna (5) are connected with the output end of power amplifier (15)；The reception antenna (4) with
The input terminal of difference frequency mixers (16) is connected；
The signal emission module (7) is fixed in fixed substrate (3), and signal emission module (7) includes saw-toothed wave generator
(12), voltage controlled oscillator (13), power divider (14) and power amplifier (15)；Saw-toothed wave generator (12) output end
It is connected with the input terminal of voltage controlled oscillator (13)；The voltage controlled oscillator (13) generates frequency in time by saw for controlling
The continuous cycles constant amplitude waveform of dentation variation, the input terminal phase of the output end and power divider (14) of voltage controlled oscillator (13)
Even；The power divider (14) is used to saw tooth modulation electromagnetic wave signal energy all the way being divided into the saw that two-way exports equal energy
Tooth modulated electromagnetic wave signal, the output end of power divider (14) respectively with power amplifier (15), difference frequency mixers (16)
Input terminal is connected；
The signal receiving module (8) is fixed in fixed substrate (3), and positioned at the lower section of signal emission module (7), and signal connects
It includes difference frequency mixers (16), filter circuit (17) and amplifying circuit (18) to receive module (8), and wherein difference frequency mixers (16) are used for
Transmitting signal is mixed with the frequency of target echo signal, obtains the beat frequency of the two, the input of filter circuit (17)
End is connected with the output end of difference frequency mixers (16)；The output end phase of the input terminal of amplifying circuit (18) and filter circuit (17)
Even, the output end of amplifying circuit (18) is connected with the AD of central controller (11) sampling input terminals；
The CAN communication module (9) is fixed in fixed substrate (3), the input terminal and central controller of CAN communication module (9)
(11) CAN communication output end is connected, and the output end of CAN communication module (9) is connected with communication interface (10)；
The communication interface (10) is mounted in housing sidewall, and communication interface (10) is connect with vehicle-mounted CAN bus interface；
The central controller (11) is fixed in fixed substrate (3), AD sampling input terminals and the amplification of central controller (11)
The output end of circuit (18) is connected；Central controller (11) is used to calculate the distance and speed of target, central controller (11)
CAN communication output end be connected with the input terminal of CAN communication module (9).
2. vehicle-mounted multi-view mapping according to claim 1 is away from speed measuring device, it is characterised in that：The antenna system is patch
Antenna.
3. vehicle-mounted multi-view mapping according to claim 1 is away from speed measuring device, it is characterised in that：The filter circuit (17) is adopted
Use low-pass filter circuit.
4. vehicle-mounted multi-view mapping according to claim 1 is away from speed measuring device, it is characterised in that：The central controller (11)
Using the microcontroller chip of the model XMC4400 of Infineon companies production.
5. vehicle-mounted multi-view mapping is away from speed-measuring method, it is characterised in that：This method is using described in any one of claim 1-4
Vehicle-mounted multi-view mapping includes the following steps away from speed measuring device：
Step 1: saw-toothed wave generator (12) exports saw tooth modulation electromagnetic wave signal, which passes through successively
It is divided into two-way saw tooth modulation electromagnetic wave signal after crossing voltage controlled oscillator (13), power divider (14), all the way saw tooth modulation electromagnetism
Wave signal ingoing power amplifier (15), another way saw tooth modulation electromagnetic wave signal enter difference frequency mixers (16), power amplification
Device (15) handles received saw tooth modulation electromagnetic wave signal, and transmitting antenna (5) is transferred to after processing, passes through transmitting
Antenna (5) is to air-launched saw tooth modulation electromagnetic wave signal, when saw tooth modulation electromagnetic wave signal encounters the target in road environment,
The surface of target, which is reflected back towards, to be come, and reception antenna (4) receives the reflective serration modulated electromagnetic wave signal for carrying target information
And it is sent to difference frequency mixers (16)；
Step 2: the signal received is carried out Frequency mixing processing and exports difference frequency signal by difference frequency mixers (16)；
Step 3: the filtered circuit of difference frequency signal (17) filters out noise signal, then passes through amplifying circuit (18) and carry out difference frequency
The enhanced processing of signal；
Step 4: carrying out AD samplings to amplified difference frequency signal by the AD sampling input terminals of central controller, AD samplings are held
The continuous time is known as detection cycle, and the time interval between adjacent two detection cycles is known as assay intervals cycle Tp；Pass through
Fast fourier transform algorithm carries out spectrum analysis and obtains the centre frequency of two adjacent detection cycle targets to be respectively fbWith
f′b, wherein
In formula (1) and formula (2), μ is saw wave modulator slope, TpFor assay intervals period, f0To emit the carrier frequency of signal, c
For the light velocity, the speed of target when V is first detection cycle, the distance of target when R is first detection cycle, V ' is second
The speed of target when detection cycle；
Assay intervals cycle TpThreshold value be less than 10ms, in assay intervals cycle TpInterior, the velocity variations value of target is ignored,
The centre frequency difference of two adjacent detection cycle targets is：
In formula (3), to pass through an assay intervals cycle TpThe displacement that target generates afterwards；
By formula (3) it is found that the speed parameter of target is：
By formula (1) it is found that the distance parameter of target is：
Step 6: same object matching in first detection cycle and second detection cycle, obtains two adjacent inspections of n target
Survey the centre frequency difference Δ f of target cycle1,Δf2,...,Δfi,...,Δfn, n is the target number in road environment, n
>=1,1≤i≤n, Δ fiFor i-th of target two adjacent detection cycles centre frequency difference；
,
For i-th of target first detection cycle centre frequency,It is i-th of target in second detection cycle
Frequency of heart；
The speed parameter of corresponding target, respectively V=[V are worth to according to n two adjacent detection cycle center frequency differences1,
V2,...,Vi,...,Vn], whereinFurther according to i-th of target first detection cycle centre frequencyIt can get the distance parameter of target, R=[R1,R2,...,Ri,...,Rn], whereinIt is final to realize the ranging of testing the speed under multi-target condition.
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