CN108398684A - A method of it reducing ground and isolation strip and Automobile Millimeter Wave Radar is interfered - Google Patents
A method of it reducing ground and isolation strip and Automobile Millimeter Wave Radar is interfered Download PDFInfo
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- CN108398684A CN108398684A CN201810029496.3A CN201810029496A CN108398684A CN 108398684 A CN108398684 A CN 108398684A CN 201810029496 A CN201810029496 A CN 201810029496A CN 108398684 A CN108398684 A CN 108398684A
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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
- G01S7/023—Interference mitigation, e.g. reducing or avoiding non-intentional interference with other HF-transmitters, base station transmitters for mobile communication or other radar systems, e.g. using electro-magnetic interference [EMI] reduction techniques
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Abstract
The method that Automobile Millimeter Wave Radar is interfered in reduction ground and the isolation strip of the present invention, including：Step 1 sends out transmitting signal, which encounters object and generate return signal；Step 2 receives return signal；Step 3 exports intermediate-freuqncy signal after being mixed return signal with local oscillation signal；Step 4 is by intermediate-freuqncy signal respectively into the fast Fourier transform of row distance and Doppler；Step 5 forms the range Doppler two-dimensional spectrum of intermediate-freuqncy signal；Step 6 ties up information from the distance dimension information and speed extracted in range Doppler two-dimensional spectrum on the target location, and dimension information of adjusting the distance carries out constant false alarm processing using ranking method；Step 7, ranking method constant false alarm treated speed dimension information carries out constant false alarm processing using cell-average method, obtains the detection threshold value of target location；Step 8, final detection threshold value is obtained according to the false-alarm probability of setting；Step 9, the size of multilevel iudge target location and final detection threshold value；Step 10, judgement target location whether there is object.
Description
Technical field
The present invention relates to a kind of methods reducing radar chaff, are specifically related to a kind of reduction ground and isolation strip in automobile
To the method for millimetre-wave radar interference in operational process.
Background technology
In traditional Radar Signal Detection, what detection always carried out in the presence of interference, when these chaff interferents
When mixing with the echo of object, the judgement of object can be made to become very difficult.In traditional radar system usually
It is handled using constant false alarm (CFAR) to solve the problems, such as this, that is, the invariable false alerting kept constant is filtered interference echo.
But since the echo of object is mixed in clutter environment, will target be buried if the thresholding formulated is excessively high
In strong clutter, false dismissal is caused, strong clutter is will result in if the thresholding formulated is too low and is reported by mistake object signal, cause void
It is alert.
Currently, conventional radar systems mainly utilize the constant false alarm processing after two-dimensional distance Doppler to reduce interference, but make
The operation of radar can be interfered with the surface state of different roads in the process and the return signal of road center isolation strip, example
It such as receives channel and is blocked rising with invariable false alerting, lead to false dismissal or false-alarm.
Invention content
The present invention is to generate interference to orthodox car radar to solve the return signal on above-mentioned ground and isolation strip, is caused
The problem of false dismissal or false-alarm of object return signal, and it is an object of the present invention to provide a kind of reduction ground and isolation strip to Automobile Millimeter Wave
The method of radar chaff.
The method provided by the invention for reducing ground and isolation strip and interfering Automobile Millimeter Wave Radar, drove a vehicle for improving
Recognition efficiency of the Automobile Millimeter Wave Radar to object in journey, which is characterized in that include the following steps：Step 1, using automobile milli
Transmitter in metre wave radar sends out transmitting signal, which generates return after encountering ground, isolation strip and object
Signal；Step 2, it is exported into Automobile Millimeter Wave Radar after receiving return signal using the receiver in Automobile Millimeter Wave Radar
Frequency mixer；Step 3, the local oscillation signal sent out the local oscillator in return signal and Automobile Millimeter Wave Radar using frequency mixer
The signal processor in intermediate-freuqncy signal to Automobile Millimeter Wave Radar is exported after mixing；Step 4, intermediate frequency is believed using signal processor
Number respectively into row distance-fast Fourier transform and Doppler-fast Fourier transform processing, each intermediate-freuqncy signal is accordingly obtained
Apart from peak value and Doppler's peak value；Step 5, all intermediate-freuqncy signals are formed into distance dimension apart from peak value, by all intermediate-freuqncy signals
Doppler's peak value composition speed dimension, form the distance-Doppler two-dimensional spectrum of intermediate-freuqncy signal；Step 6, Automobile Millimeter Wave Radar
Theoretical scanning range is made of multiple scanning elements, and each scanning element is a target location, is carried from distance-Doppler two-dimensional spectrum
The distance on the target location is taken to tie up information and speed dimension information, and dimension information of adjusting the distance is carried out using ranking method at constant false alarm
Reason, obtaining ranking method constant false alarm on target location, treated apart from dimension information and speed dimension information；Step 7, it will be obtained in step 6
Ranking method constant false alarm treated speed dimension information carry out constant false alarm processing using cell-average method, obtain target location
Detection threshold value, the detection threshold value include accordingly apart from peak value and Doppler peak；Step 8, according to preset false-alarm probability
Obtain the final detection threshold value of target location；Step 9, multilevel iudge target location apart from peak value and Doppler's peak value with it is final
The size of detection threshold value；Step 10, judgement target location whether there is object, when the peak value of target location is not less than most final inspection
Judgement target location is there are object when surveying threshold value, the judgement target position when the peak value of target location is less than final detection threshold value
It sets place and object is not present.
The method provided by the invention for reducing ground and isolation strip and interfering Automobile Millimeter Wave Radar, can also have in this way
Feature, it is characterised in that：Wherein, the ranking method constant false alarm processing in step S6 includes following sub-step：Step 6-1, in advance
The reference unit quantity of setpoint distance dimension is N；The distance dimension information for the target location extracted is carried out ascending order row by step 6-2
Row；Step 6-3, ranking method constant false alarm handling result of the data as target location after taking ascending order to arrange at the positions 0.75N.
The method provided by the invention for reducing ground and isolation strip and interfering Automobile Millimeter Wave Radar, can also have in this way
Feature, it is characterised in that：Wherein, the processing of cell-average method constant false alarm includes following sub-step in step 7：Step 7-1, in advance
The reference unit quantity of setting speed dimension is M；Step 7-2, M ranking method constant false alarm treated speed is tieed up information and is taken before extracting
Average value, the cell-average method constant false alarm handling result as target location；Step 7-3, the ranking method of target location is permanent empty
The detection threshold value of alert handling result and the cell-average method constant false alarm handling result of target location collectively as target location.
The method provided by the invention for reducing ground and isolation strip and interfering Automobile Millimeter Wave Radar, can also have in this way
Feature, it is characterised in that：Wherein, step 8 includes following sub-step：Step 8-1, according to scheduled false-alarm probability PfaObtain phase
The threshold factor a answeredosca,Step 8-2, according to threshold factor aoscaCalculate final detection threshold
Value, detection threshold value × threshold factor a of final detection threshold value=target locationosca。
The method provided by the invention for reducing ground and isolation strip and interfering Automobile Millimeter Wave Radar, can also have in this way
Feature, it is characterised in that：Wherein, Automobile Millimeter Wave Radar is frequency modulated continuous wave radar.
The method provided by the invention for reducing ground and isolation strip and interfering Automobile Millimeter Wave Radar, can also have in this way
Feature, it is characterised in that：Wherein, transmitting signal is linear FM signal.
The effect of invention
Transmitter in the present invention in Automobile Millimeter Wave Radar sends out transmitting signal；The return that frequency mixer receives receiver
Output intermediate frequency letter after signal is mixed with the local oscillation signal that local oscillator is sent out；Signal processor is by intermediate-freuqncy signal respectively into line-spacing
From-fast Fourier transform and Doppler-fast Fourier transform processing, obtain forming apart from peacekeeping Doppler's peak value group apart from peak value
At the distance-Doppler two-dimensional spectrum of speed；From distance dimension information and the speed extracted in distance-Doppler two-dimensional spectrum on target location
Degree ties up information, and adjusts the distance and tie up information using ranking method progress constant false alarm processing, then the speed dimension information after sequence is used list
First method of average carries out constant false alarm processing, obtains the detection threshold value of target location；Target is obtained according to preset false-alarm probability
The final detection threshold value of position；Target location is compared apart from peak value and Doppler's peak value and the size of final detection threshold value
Compared with determining whether that object whether there is.
Dimension of adjusting the distance in the above method carries out constant false alarm processing using ranking method, and this method is aobvious in the effect of anti-interference aspect
It writes, can effectively reduce shadowing effect.Distance dimension is avoided there are when multiple objects, object can be improved to jamming power
Estimated value, cause the raising of the final detection threshold value in target zone so that object is shielded, and then generate false dismissal and ask
Topic.Constant false alarm processing is carried out using cell-average method to speed dimension in the present invention, reduces the amount of entire signal processor, reduces
Judge the required time, improves the reaction speed of radar and the recognition efficiency to object.The present invention solves well
The problem of signal blockage caused by the signal of the reflection on ground and isolation strip and report false-alarm, improves effective object identification
Rate avoids false dismissal and false-alarm.
Description of the drawings
Fig. 1 is the flow chart for reducing the method that Automobile Millimeter Wave Radar is interfered in ground and isolation strip；
Fig. 2 is the flow chart of ranking method constant false alarm processing；
Fig. 3 is the flow chart of cell-average method constant false alarm processing；And
Fig. 4 is the flow chart for obtaining final detection threshold value.
Specific implementation mode
It is real below in order to make the technical means, the creative features, the aims and the efficiencies achieved by the present invention be easy to understand
Example combination attached drawing is applied to a kind of group reducing the method that Automobile Millimeter Wave Radar is interfered in ground and isolation strip provided by the invention
It is specifically addressed at, operation principle and advantageous effect.
Automobile Millimeter Wave Radar in the present embodiment is frequency modulated continuous wave radar, and transmitting signal is linear FM signal.
Fig. 1 is the flow chart for reducing the method that Automobile Millimeter Wave Radar is interfered in ground and isolation strip.
As shown in Figure 1, the method that Automobile Millimeter Wave Radar is interfered on the reduction ground and isolation strip in the present embodiment includes
Following steps：
Step S1 sends out transmitting signal using the transmitter in Automobile Millimeter Wave Radar, the transmitting signal encounter ground, every
From return signal is generated after band and object, subsequently into step S2.
Step S2 is exported after receiving return signal using the receiver in Automobile Millimeter Wave Radar to Automobile Millimeter Wave Radar
In frequency mixer, subsequently into step S3.
Step S3, frequency mixer mix the local oscillation signal that return signal is sent out with the local oscillator in Automobile Millimeter Wave Radar
Intermediate-freuqncy signal S is exported after frequencyIF,2D(t) to the signal processor in Automobile Millimeter Wave Radar, subsequently into step S4.
Intermediate-freuqncy signal SIF,2D(t) it can be expressed as：
Intermediate-freuqncy signal SIF,2D(t) it is also denoted as：
T in above formulaRPIIndicate that intermediate-freuqncy signal recurrence interval, L indicate the number of intermediate-freuqncy signal, fcIndicate linear FM signal
Initial frequency, R indicate distance, v indicate speed, c indicate the light velocity, l indicate first of intermediate-freuqncy signal, B indicate CW with frequency modulation thunder
The bandwidth of operation reached, T indicate the frequency modulation period of frequency modulated continuous wave radar, TcIndicate the duration of each intermediate-freuqncy signal.
Step S4, to each intermediate-freuqncy signal according to fA=1/TAAfter sampling, two-dimensional Fourier's change is carried out to the intermediate-freuqncy signal
It changes, i.e., obtains the distance of each intermediate-freuqncy signal at row distance-fast Fourier transform and Doppler-fast Fourier transform respectively
Peak value k and Doppler peak value p, f in above formulaAIndicate the sample frequency of each intermediate-freuqncy signal, TAIndicate the sampling of each intermediate-freuqncy signal
Time, subsequently into step S5.
That is, formula (2) obtains following formula after two-dimensional Fourier transformation：
N in above formulaZAnd LZRepresenting matrix S2DSize, therefore formula (3) and can be expressed as：
Formula (4) is calculated can obtain intermediate-freuqncy signal apart from peak value k and Doppler's peak value p：
Step 5, all intermediate-freuqncy signals apart from peak value k composition distance dimension, Doppler's peak value p compositions of all intermediate-freuqncy signals
Speed is tieed up, and the distance-Doppler two-dimensional spectrum of intermediate-freuqncy signal is formed, subsequently into step S6.
The theoretical scanning range of step S6, Automobile Millimeter Wave Radar are made of multiple scanning elements, and each scanning element is one
Target location S is extracted in target location from the distance-Doppler two-dimensional spectrum of intermediate-freuqncy signal2DOn (k, p) distance dimension information and
Speed ties up information, and dimension information of adjusting the distance carries out constant false alarm processing using ranking method, obtains the distance after sorting on target location
It ties up information and speed ties up information, subsequently into step S7.
Fig. 2 is the flow chart of ranking method constant false alarm processing.
As shown in Fig. 2, the ranking method constant false alarm processing in step S6 includes following sub-step：
The reference unit quantity of step 6-1, preset distance dimension are N；
The distance dimension information for the target location extracted is carried out ascending order arrangement by step 6-2；
That is, S2D(k,p(1))<S2D(k,p(2))<…<S2D(k,p(N)), (7)
Step 6-3, the data S after taking ascending order to arrange at the positions 0.75N2D(k,p(0.75N)) sequence as target location
Method constant false alarm handling result.
Step 7, the speed dimension information after the sequence obtained in step 6 is subjected to constant false alarm processing using cell-average method,
The detection threshold value of target location is obtained, which includes accordingly apart from peak value and Doppler peak, subsequently into step 8.
Fig. 3 is the flow chart of cell-average method constant false alarm processing.
As shown in figure 3, the processing of cell-average method constant false alarm includes following sub-step in step 7：
Step 7-1, the reference unit quantity for presetting speed dimension are M；
Step 7-2, M ranking method constant false alarm treated speed is tieed up information and is averaged before extracting, as target location
Cell-average method constant false alarm handling result；
That is,
Step 7-3, by the cell-average method constant false alarm of the ranking method constant false alarm handling result of target location and target location
Handling result collectively as target location detection threshold value μk,p,
That is,
Step 8, according to preset false-alarm probability PfaObtain the final detection threshold value T of target locationk,p。
Fig. 4 is the flow chart for obtaining final detection threshold value.
As shown in figure 4, step 8 includes following sub-step：
Step 8-1, according to scheduled false-alarm probability PfaObtain corresponding threshold factor aosca
Step 8-2, according to the threshold factor a in formula (8)oscaCalculate final detection threshold value Tk,p,
Tk,p=aosca·μk,p, (11).
Step 9, by target location apart from peak value k and Doppler's peak value p and final detection threshold value Tk,pSize compared
Compared with judgement, subsequently into step 10 and step 11.
Step 10, judge target location when the peak value of target location is not less than final detection threshold value there are objects.
Step 11, judge that object is not present in target location when the peak value of target location is less than final detection threshold value.
That is,
The effect of embodiment
Transmitter in the present invention in Automobile Millimeter Wave Radar sends out transmitting signal；The return that frequency mixer receives receiver
Output intermediate frequency letter after signal is mixed with the local oscillation signal that local oscillator is sent out；Signal processor is by intermediate-freuqncy signal respectively into line-spacing
From-fast Fourier transform and Doppler-fast Fourier transform processing, obtain forming apart from peacekeeping Doppler's peak value group apart from peak value
At the distance-Doppler two-dimensional spectrum of speed；From distance dimension information and the speed extracted in distance-Doppler two-dimensional spectrum on target location
Degree ties up information, and adjusts the distance and tie up information using ranking method progress constant false alarm processing, then the speed dimension information after sequence is used list
First method of average carries out constant false alarm processing, obtains the detection threshold value of target location；Target is obtained according to preset false-alarm probability
The final detection threshold value of position；Target location is compared apart from peak value and Doppler's peak value and the size of final detection threshold value
Compared with determining whether that object whether there is.
Dimension of adjusting the distance in the above method carries out constant false alarm processing using ranking method, and this method is aobvious in the effect of anti-interference aspect
It writes, can effectively reduce shadowing effect.Distance dimension is avoided there are when multiple objects, object can be improved to jamming power
Estimated value, cause the raising of the final detection threshold value in target zone so that object is shielded, and then generate false dismissal and ask
Topic.Constant false alarm processing is carried out using cell-average method to speed dimension in the present invention, reduces the amount of entire signal processor, reduces
Judge the required time, improves the reaction speed of radar and the recognition efficiency to object.The present invention solves well
The problem of signal blockage caused by the signal of the reflection on ground and isolation strip and report false-alarm, improves effective object identification
Rate avoids false dismissal and false-alarm.
The above embodiment is the preferred case of the present invention, is not intended to limit protection scope of the present invention.
Claims (6)
1. a kind of method for reducing ground and isolation strip and interfering Automobile Millimeter Wave Radar, for improving vapour described in driving conditions
Recognition efficiency of the vehicle millimetre-wave radar to object, which is characterized in that include the following steps：
Step 1, transmitting signal is sent out using the transmitter in the Automobile Millimeter Wave Radar, which encounters describedly
Return signal is generated after face, the isolation strip and the object；
Step 2, it is exported to automobile milli after receiving the return signal using the receiver in the Automobile Millimeter Wave Radar
Frequency mixer in metre wave radar；
Step 3, the return signal and the local oscillator in the Automobile Millimeter Wave Radar are sent out using the frequency mixer
Local oscillation signal mixing after output intermediate-freuqncy signal to the Automobile Millimeter Wave Radar in signal processor；
Step 4, using the signal processor by the intermediate-freuqncy signal respectively into row distance-fast Fourier transform and Doppler-
Fast Fourier transform handle, accordingly obtain each intermediate-freuqncy signal apart from peak value and Doppler's peak value；
Step 5, the described of all intermediate-freuqncy signals is formed into distance dimension apart from peak value, described in all intermediate-freuqncy signals
Doppler's peak value forms speed dimension, forms the distance-Doppler two-dimensional spectrum of the intermediate-freuqncy signal；
Step 6, the theoretical scanning range of the Automobile Millimeter Wave Radar is made of multiple scanning elements, and each scanning element is one
Distance dimension information and speed dimension information on the target location are extracted in a target location from the distance-Doppler two-dimensional spectrum,
And constant false alarm processing is carried out using ranking method to the distance dimension information, it obtains ranking method constant false alarm on the target location and handles
Distance dimension information and speed afterwards ties up information；
Step 7, by the ranking method constant false alarm obtained in step 6, treated that speed dimension information is carried out using cell-average method
Constant false alarm processing, obtains the detection threshold value of the target location, which includes accordingly apart from peak value and Doppler peak；
Step 8, the final detection threshold value of the target location is obtained according to preset false-alarm probability；
Step 9, the size apart from peak value and Doppler's peak value and the final detection threshold value of target location described in multilevel iudge；
Step 10, judge that the target location whether there is the object, when the peak value of the target location is not less than described
The target location is judged when final detection threshold value there are the object, when the peak value of the target location be less than it is described most
Judge that the object is not present in the target location when whole detection threshold value.
2. the method according to claim 1 for reducing ground and isolation strip and interfering Automobile Millimeter Wave Radar, feature exist
In：
Wherein, the ranking method constant false alarm processing in the step S6 includes following sub-step：
Step 6-1, the reference unit quantity for presetting the distance dimension is N；
The distance dimension information for the target location extracted is carried out ascending order arrangement by step 6-2；
Step 6-3, the data after taking ascending order to arrange at the positions 0.75N are handled as the ranking method constant false alarm of the target location
As a result.
3. the method according to claim 2 for reducing ground and isolation strip and interfering Automobile Millimeter Wave Radar, feature exist
In：
Wherein, the processing of cell-average method constant false alarm includes following sub-step in the step 7：
Step 7-1, the reference unit quantity for presetting the speed dimension is M；
Step 7-2, treated that the speed ties up information is averaged for M ranking method constant false alarm before extracting, as the target
The cell-average method constant false alarm handling result of position；
Step 7-3, the cell-average method of the ranking method constant false alarm handling result of the target location and the target location is permanent
Detection threshold value of the false-alarm handling result collectively as the target location.
4. the method according to claim 3 for reducing ground and isolation strip and interfering Automobile Millimeter Wave Radar, feature exist
In：
Wherein, the step 8 includes following sub-step：
Step 8-1, according to scheduled false-alarm probability PfaObtain corresponding threshold factor aosca
Step 8-2, according to threshold factor aoscaCalculate the final detection threshold value, the final detection threshold value=target position
The detection threshold value set × threshold factor aosca。
5. the method according to claim 1 for reducing ground and isolation strip and interfering Automobile Millimeter Wave Radar, feature exist
In：
Wherein, the Automobile Millimeter Wave Radar is frequency modulated continuous wave radar.
6. the method according to claim 1 for reducing ground and isolation strip and interfering Automobile Millimeter Wave Radar, feature exist
In：
Wherein, the transmitting signal is linear FM signal.
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