CN109283520A - More radar cooperation devices and its collaboration method in ADAS system - Google Patents
More radar cooperation devices and its collaboration method in ADAS system Download PDFInfo
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- CN109283520A CN109283520A CN201811222772.4A CN201811222772A CN109283520A CN 109283520 A CN109283520 A CN 109283520A CN 201811222772 A CN201811222772 A CN 201811222772A CN 109283520 A CN109283520 A CN 109283520A
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- radar
- data
- radars
- target
- adas system
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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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
-
- 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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
-
- 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
Abstract
The present invention relates to automobile-used millimetre-wave radar fields, more radar cooperation devices and its collaboration method specifically in ADAS system, including several radars, further includes: clock line synchro, for connecting several radars and transmitting the reference clock signal of radar；Data/address bus, for on the basis of clock line synchro to several radars realize be connected with each other and to several radar detections to data information be exchanged with each other, pass through high-speed bus or private cable, clock line synchro and data/address bus are established between multiple radars, clock line synchro can guarantee that multiple radars work under the same clock source, to guarantee that the receiving and transmitting signal of multiple radars is coherent, this is the basis that more radars cooperate, be exchanged with each other data of the data/address bus between radar provide channel, it ensure that radar detection result can merge into each other, increase target detection speed, improve measurement accuracy and reliability.
Description
Technical field
The present invention relates to automobile-used millimetre-wave radar fields, more radar cooperation devices and its cooperation part specifically in ADAS system
Method.
Background technique
As auxiliary drives, the development of automatic Pilot, millimetre-wave radar, millimeter wave thunder are mounted on more and more automobiles
Up to as sensor, main function is the barrier detected around vehicle body in some region, radar can detect target distance,
Speed, angle, amplitude information.According to functional requirement, how the radar quantity configured on a vehicle can be filled with up to 5 or more
Point using multiple radars advantage, be a very difficult thing, by working in coordination between multiple radars, it is available more
Add information abundant, respectively work independently than multiple radars more efficient, in the prior art, for the cooperation of many kinds of radar cooperation
Method, also all rests on the aggregation of data on surface, rather than is the data transmission cooperation under same timeline, has narrow-mindedness.
Summary of the invention
To solve the above-mentioned problems, the present invention proposes more radar cooperation devices and its collaboration method in ADAS system.
More radar cooperation devices in ADAS system, including several radars, further includes:
Clock line synchro, for connecting several radars and transmitting the reference clock signal of radar；
Data/address bus is connected with each other and for realizing on the basis of clock line synchro to several radars to several thunders
It is exchanged with each other up to the data information detected.
The optical fiber or coaxial cable that the clock line synchro is low using signal transmission delay, shake is small.
The data/address bus uses CAN bus or Ethernet.
The clock line synchro makes radar work in coherent mode.
For the data/address bus for intercoursing data between radar, data include intermediate measurement data and number of targets
According to.
The radar is five groups of radars being arranged on vehicle body, and the radar reference clock signal frequency is several MHz
To several hundred MHz.
The collaboration method of more radar cooperation devices in ADAS system, the specific steps of which are as follows:
(1) it connects: 5 groups of radars being linked together by clock line synchro；
(2) emit signal: each radar emits identical signal in the time slot of arrangement；
(3) data are exchanged: the target information that detects being exchanged by data/address bus between multiple radars and according to practical feelings
Condition movement.
Actual conditions in the step (3) are the radar detection of vehicle left front to a target, and target is just in front side
It from left to right moves, this target information can pass to vehicle right front radar by data/address bus, when target removes left front Fanglei
The investigative range reached, into right front radar coverage in when, right front radar can confirm this target immediately.
Actual conditions in the step (3) are target simultaneously by two or more radar detections to can be to multiple thunders
Target range, speed, angle information up to output are merged, and more accurate believable target component is obtained.
Actual conditions in the step (3) are that some radar breaks down in network, then adjacent radar can be with
The beam position of oneself is adjusted, trial substitutes the radar of failure.
The beneficial effects of the present invention are: passing through high-speed bus or private cable, it is same to establish clock between multiple radars
Line and data/address bus are walked, clock line synchro can guarantee that multiple radars work under the same clock source, to guarantee multiple thunders
The receiving and transmitting signal reached is coherent, this is the basis that more radars cooperate, and data/address bus is exchanged with each other number between radar
It according to channel is provided, ensure that radar detection result can merge into each other, increase target detection speed, improve measurement accuracy and can
By property.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is radar of the invention, clock line synchro, data/address bus distributed architecture schematic diagram.
Specific embodiment
In order to be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, below it is right
The present invention is further described.
Embodiment one:
As shown in Figure 1, more radar cooperation devices in ADAS system, including several radars 1, further includes:
Clock line synchro 2, for connecting several radars 1 and transmitting the reference clock signal of radar 1；
Data/address bus 4 is connected with each other and for realizing on the basis of clock line synchro 2 to several radars 1 to several
The data information that a radar 1 detects is exchanged with each other.
By clock line synchro 2 in two radars 1 for vehicle left front and right front, it is equivalent to and extends measurement base
Line length can work in spatial diversity mode, can be improved measurement quality.
By high-speed bus or private cable, clock line synchro 2 and data/address bus 4 are established between multiple radars 1, when
Clock line synchro 2 can guarantee that multiple radars 1 work under the same clock source, so that guaranteeing the receiving and transmitting signal of multiple radars 1 is
Coherent, this is the basis that more radars 1 cooperate, data/address bus 4 between radar 1 be exchanged with each other data provide it is logical
Road ensure that 1 detection result of radar can merge into each other, and increase target detection speed, improve measurement accuracy and reliability.
The optical fiber or coaxial cable that the clock line synchro 2 is low using transmission delay, shake is small.
The data/address bus 4 uses CAN bus or Ethernet.
The clock line synchro 2 makes the work of radar 1 in coherent mode.
For the data/address bus 4 for intercoursing data between radar 1, data include intermediate measurement data and number of targets
According to such as the intermediate-freuqncy signal after sampling, these data can be made full use of by radar 1 other in bus.
Under the control of clock line synchro 2, the receiving and transmitting signal of multiple radars 1 is carried out by certain timing, the spy of multiple radars 1
Surveying result can be intercoursed by data/address bus 4, according to detection result, the running parameter of adjusting and optimizing radar 1.
The receiving and transmitting signal frequency of multiple radars 1 can adjust according to clock sync signal, the Working mould of multiple radars 1
Formula can be synchronized according to clock to switch.
The radar 1 is five groups of radars 1 being arranged on vehicle body 3, and the 1 reference clock signal frequency of radar is several
MHz to several hundred MHz.
The collaboration method of more 1 cooperation devices of radar in ADAS system, the specific steps of which are as follows:
(1) it connects: 5 groups of radars 1 being linked together by clock line synchro 2；
(2) emit signal: each radar 1 emits identical signal in the time slot of arrangement；
(3) data are exchanged: passing through data/address bus 4 between multiple radars 1 and exchanges the target information detected and according to reality
Situation movement.
In the time slot of arrangement in the step (2), emitting identical signal is to exchange number of echoes by data/address bus 4
According to each radar 1 can not only obtain echo-signal when oneself transmitting, it is also possible to returning when obtaining the transmitting of other radars 1
Wave signal, data more abundant, can improve target acquisition precision when working independently than each radar 1.
Actual conditions in the step (3) are that vehicle left front radar 1 detects a target, and target is just in front side
It from left to right moves, this target information can pass to vehicle right front radar 1 by data/address bus 4, when target removes left front
The investigative range of radar 1, into 1 investigative range of right front radar in when, right front radar 1 can confirm this target immediately,
It does not need to do additional confirmation work again, increases target detection speed.
Embodiment two:
As shown in Figure 1, more radar cooperation devices in ADAS system, including several radars 1, further includes:
Clock line synchro 2, for connecting several radars 1 and transmitting the reference clock signal of radar 1；
Data/address bus 4 is connected with each other and for realizing on the basis of clock line synchro 2 to several radars 1 to several
The data information that a radar 1 detects is exchanged with each other.
By clock line synchro 2 in two radars 1 for vehicle left front and right front, it is equivalent to and extends measurement base
Line length can work in spatial diversity mode, can be improved measurement quality.
By high-speed bus or private cable, clock line synchro 2 and data/address bus 4 are established between multiple radars 1, when
Clock line synchro 2 can guarantee that multiple radars 1 work under the same clock source, so that guaranteeing the receiving and transmitting signal of multiple radars 1 is
Coherent, this is the basis that more radars 1 cooperate, data/address bus 4 between radar 1 be exchanged with each other data provide it is logical
Road ensure that 1 detection result of radar can merge into each other, and increase target detection speed, improve measurement accuracy and reliability.
The optical fiber or coaxial cable that the clock line synchro 2 is low using transmission delay, shake is small.
The data/address bus 4 uses CAN bus or Ethernet.
The clock line synchro 2 makes the work of radar 1 in coherent mode.
For the data/address bus 4 for intercoursing data between radar 1, data include intermediate measurement data and number of targets
According to such as the intermediate-freuqncy signal after sampling, these data can be made full use of by radar 1 other in bus.
Under the control of clock line synchro 2, the receiving and transmitting signal of multiple radars 1 is carried out by certain timing, the spy of multiple radars 1
Surveying result can be intercoursed by data/address bus 4, according to detection result, the running parameter of adjusting and optimizing radar 1.
The receiving and transmitting signal frequency of multiple radars 1 can adjust according to clock sync signal, the Working mould of multiple radars 1
Formula can be synchronized according to clock to switch.
The radar 1 is five groups of radars 1 being arranged on vehicle body 3, and the 1 reference clock signal frequency of radar is several
MHz to several hundred MHz.
The collaboration method of more 1 cooperation devices of radar in ADAS system, the specific steps of which are as follows:
(1) it connects: 5 groups of radars 1 being linked together by clock line synchro 2；
(2) emit signal: each radar 1 emits identical signal in the time slot of arrangement；
(4) data are exchanged: passing through data/address bus 4 between multiple radars 1 and exchanges the target information detected and according to reality
Situation movement.
In the time slot of arrangement in the step (2), emitting identical signal is to exchange number of echoes by data/address bus 4
According to each radar 1 can not only obtain echo-signal when oneself transmitting, it is also possible to returning when obtaining the transmitting of other radars 1
Wave signal, data more abundant, can improve target acquisition precision when working independently than each radar 1.
Actual conditions in the step (3) are detected by two or more radars 1 simultaneously for target can be to multiple
The target range of the output of radar 1, speed, angle information are merged, and are obtained more accurate believable target component, are improved measurement
Precision.
Embodiment three:
As shown in Figure 1, more radar cooperation devices in ADAS system, including several radars 1, further includes:
Clock line synchro 2, for connecting several radars 1 and transmitting the reference clock signal of radar 1；
Data/address bus 4 is connected with each other and for realizing on the basis of clock line synchro 2 to several radars 1 to several
The data information that a radar 1 detects is exchanged with each other.
By clock line synchro 2 in two radars 1 for vehicle left front and right front, it is equivalent to and extends measurement base
Line length can work in spatial diversity mode, can be improved measurement quality.
By high-speed bus or private cable, clock line synchro 2 and data/address bus 4 are established between multiple radars 1, when
Clock line synchro 2 can guarantee that multiple radars 1 work under the same clock source, so that guaranteeing the receiving and transmitting signal of multiple radars 1 is
Coherent, this is the basis that more radars 1 cooperate, data/address bus 4 between radar 1 be exchanged with each other data provide it is logical
Road ensure that 1 detection result of radar can merge into each other, and increase target detection speed, improve measurement accuracy and reliability.
The optical fiber or coaxial cable that the clock line synchro 2 is low using transmission delay, shake is small.
The data/address bus 4 uses CAN bus or Ethernet.
The clock line synchro 2 makes the work of radar 1 in coherent mode.
For the data/address bus 4 for intercoursing data between radar 1, data include intermediate measurement data and number of targets
According to such as the intermediate-freuqncy signal after sampling, these data can be made full use of by radar 1 other in bus.
Under the control of clock line synchro 2, the receiving and transmitting signal of multiple radars 1 is carried out by certain timing, the spy of multiple radars 1
Surveying result can be intercoursed by data/address bus 4, according to detection result, the running parameter of adjusting and optimizing radar 1.
The receiving and transmitting signal frequency of multiple radars 1 can adjust according to clock sync signal, the Working mould of multiple radars 1
Formula can be synchronized according to clock to switch.
The radar 1 is five groups of radars 1 being arranged on vehicle body 3, and the 1 reference clock signal frequency of radar is several
MHz to several hundred MHz.
The collaboration method of more 1 cooperation devices of radar in ADAS system, the specific steps of which are as follows:
(1) it connects: 5 groups of radars 1 being linked together by clock line synchro 2；
(2) emit signal: each radar 1 emits identical signal in the time slot of arrangement；
(5) data are exchanged: passing through data/address bus 4 between multiple radars 1 and exchanges the target information detected and according to reality
Situation movement.
In the time slot of arrangement in the step (2), emitting identical signal is to exchange number of echoes by data/address bus 4
According to each radar 1 can not only obtain echo-signal when oneself transmitting, it is also possible to returning when obtaining the transmitting of other radars 1
Wave signal, data more abundant, can improve target acquisition precision when working independently than each radar 1.
Actual conditions in the step (3) are that some radar 1 breaks down in network, then adjacent radar 1 can
To adjust oneself beam position, trial substitutes the radar 1 of failure, increases system redundancy, improves reliability.
The basic principles, main features and advantages of the present invention have been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and what is described in the above embodiment and the description is only the present invention
Principle, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these variation and
Improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent
Object defines.
Claims (10)
- More radar cooperation devices in 1.ADAS system, including several radars (1), it is characterised in that: further include:Clock line synchro (2), for connecting several radars (1) and transmitting the reference clock signal of radar (1)；Data/address bus (4), on the basis of clock line synchro (2) to several radars (1) if realize be connected with each other and pair The data information that dry radar (1) detects is exchanged with each other.
- 2. more radar cooperation devices in ADAS system according to claim 1, it is characterised in that: the clock line synchro (2) optical fiber low using transmission delay, shake is small or coaxial cable cooperation.
- 3. more radar cooperation devices in ADAS system according to claim 1, it is characterised in that: the data/address bus (4) CAN bus or Ethernet are used.
- 4. more radar cooperation devices in ADAS system according to claim 1, it is characterised in that: the clock line synchro (2) make radar (1) work in coherent mode.
- 5. more radar cooperation devices in ADAS system according to claim 1, it is characterised in that: the data/address bus (4) for intercoursing data between radar (1), data include intermediate measurement data and target data.
- 6. more radar cooperation devices in ADAS system according to claim 1, it is characterised in that: the radar (1) is Five groups of radars (1) being arranged on vehicle body (3), the radar (1) reference clock signal frequency are several MHz to several hundred MHz.
- 7. using the collaboration method of more radar cooperation devices in ADAS system described in any one of any one of claims 1 to 66, feature It is: the specific steps of which are as follows:(1) it connects: 5 groups of radars (1) being linked together by clock line synchro (2)；(2) emit signal: each radar (1) emits identical signal in the time slot of arrangement；(3) data are exchanged: passing through the target information that data/address bus (4) exchange detects between multiple radars (1) and according to reality Situation movement.
- 8. the collaboration method of more radar cooperation devices in ADAS system according to claim 7, it is characterised in that: it is described Actual conditions in step (3) are that vehicle left front radar (1) detects a target, and target is just from left to right moved in front side Dynamic, this target information can pass to vehicle right front radar (1) by data/address bus (4), when target removes left front radar (1) Investigative range, into right front radar (1) investigative range in when, right front radar (1) can confirm this target immediately.
- 9. the collaboration method of more radar cooperation devices in ADAS system according to claim 7, it is characterised in that: it is described Actual conditions in step (3) are that target is detected by two or more radars (1) can export to multiple radars (1) simultaneously Target range, speed, angle information are merged, and more accurate believable target component is obtained.
- 10. the collaboration method of more radar cooperation devices in ADAS system according to claim 7, it is characterised in that: it is described The step of (3) in actual conditions be network in some radar (1) break down, then adjacent radar (1) it is adjustable from Oneself beam position, trial substitute the radar (1) of failure.
Priority Applications (1)
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| CN201811222772.4A CN109283520A (en) | 2018-10-19 | 2018-10-19 | More radar cooperation devices and its collaboration method in ADAS system |
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