CN110794403A - Method for realizing detection-communication integrated function of automobile anti-collision radar - Google Patents
Method for realizing detection-communication integrated function of automobile anti-collision radar Download PDFInfo
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- CN110794403A CN110794403A CN201911041176.0A CN201911041176A CN110794403A CN 110794403 A CN110794403 A CN 110794403A CN 201911041176 A CN201911041176 A CN 201911041176A CN 110794403 A CN110794403 A CN 110794403A
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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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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
- H04B1/69—Spread spectrum techniques
- H04B1/707—Spread spectrum techniques using direct sequence modulation
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L27/00—Modulated-carrier systems
- H04L27/18—Phase-modulated carrier systems, i.e. using phase-shift keying
- H04L27/20—Modulator circuits; Transmitter circuits
Abstract
The invention discloses a method for realizing a detection-communication integrated function of an automobile anti-collision radar, and belongs to the technical field of radar and wireless communication. The invention utilizes the backscattering communication technology to add the label identification function of the roadside traffic sign to the forward anti-collision radar, and realizes the detection-communication integrated function of the automobile anti-collision radar. Aiming at the problem that the backscattering signal energy of a label is weak and is easily influenced by vehicle target echoes, clutter and noise, so that the label identification error rate is high, the invention provides a method for designing a frequency modulation continuous wave radar backscattering communication system based on spread spectrum coding. The invention has the advantages that the radar hardware does not need to be upgraded, the system performance is stable, and the anti-interference capability is strong.
Description
Technical Field
The invention belongs to the technical field of radar and wireless communication, and relates to a method for realizing an automobile anti-collision radar detection-communication integrated function based on backscatter communication.
Background
The automobile anti-collision radar has a target detection function and is an indispensable sensor for automatically driving the automobile. With the development of the vehicle-road cooperation technology, the tag identification function of the roadside traffic sign added to the forward anti-collision radar through the backscattering communication technology has important application value. The tag identification function can be used not only for traffic sign identification but also for simple inter-vehicle communication such as steering or braking notification by attaching a tag to a vehicle, which will contribute to improvement of driving safety of the vehicle. Backscatter communication is an emerging wireless communication mode, and has the advantages of low power consumption and low system complexity. In a backscattering communication link, the tag generates a backscattering modulation signal by reflecting part of a radio frequency signal, and the communication task with the reader is completed. However, the backscattered signal is lower in energy due to the tag and decreases rapidly with increasing distance. In the actual road environment, the tag backscatter signals can be submerged in the vehicle road target echoes, clutters and noise, and the system reliability is greatly reduced. The study of scholars at home and abroad on the backscattering communication mostly focuses on information extraction of the short-distance tag, but does not solve the problem that the backscattering signal energy of the long-distance tag is weak.
Disclosure of Invention
The invention aims to solve the problems in the background technology, and provides a method for designing a Frequency Modulated Continuous Wave (FMCW) radar backscattering communication system based on spread spectrum coding, so that the detection-communication integrated function of an automobile anti-collision radar can be realized. Meanwhile, the introduction of the spread spectrum coding technology can enhance the label signal, greatly reduce the error rate of the system and improve the stability and reliability of the system.
The invention adopts the following technical scheme to achieve the aim.
The common signal system of the automobile anti-collision radar is an FMCW system, and the system consists of an FMCW radar and a backscattering tag. The radar equipment is responsible for transmitting electromagnetic wave signals and receiving echo signals consisting of tag target backscatter modulation signals, vehicle target echoes, clutter and noise, and after being preprocessed by the receiver, the signal processing module is responsible for echo signal processing and tag information extraction. The tag device is responsible for performing backscatter modulation on a tag target echo by adjusting antenna impedance, the modulation mode is Binary Phase Shift Keying (BPSK) modulation, and modulation information is obtained by performing Direct Sequence Spread Spectrum (DSSS) on tag original symbol information. The radar signal processing process comprises the following steps: firstly, frequency mixing processing is carried out to obtain echo intermediate frequency signals, and then, de-spreading processing is carried out or not to obtain two processing links of vehicle target detection and backscattering communication. The vehicle target detection processing link does not perform de-spreading processing, and vehicle target information is obtained through 2D-FFT processing and Constant False Alarm Rate (CFAR) detection; the backscatter communication processing link needs to perform de-spreading processing to enhance the label signal, and then coherent demodulation is performed to recover the original code element information of the label.
The spread spectrum coding converts a low-speed label code element sequence into a high-speed spread spectrum signal, spreads the spectrum of the signal and reduces the correlation between clutter and a backscatter modulation label signal. The receiving end can recover the original code element signal of the label through de-spreading processing, and other strong clutter signals are equivalent to one-time spread spectrum, so that the label signal is highlighted. The introduction of the spread spectrum code improves the signal-to-noise ratio and the anti-interference capability of the system, and is beneficial to the detection of weak label signals.
By adopting the technical scheme, the invention has the following beneficial effects.
The anti-collision radar is designed on the basis of the traditional automobile anti-collision radar based on the backscattering communication technology, upgrading is not needed on hardware, only backscattering labels containing different label information are installed on roadside traffic signs, and engineering is simple to implement; a new backscattering communication processing link is added in the signal processing on the software, so that the automobile anti-collision radar has two functions of target detection and label identification.
The invention introduces the spread spectrum coding technology in the label backscattering modulation, solves the problem of weak energy of label backscattering signals, enables label targets with weak scattering strength to be correctly detected and identified, reduces the error rate of the system, and has better stability and anti-jamming capability.
Drawings
FIG. 1 is a block diagram of an automotive anti-collision radar backscatter communication system.
Fig. 2 is a radar-side signal processing flow diagram.
Fig. 3(a) is a view showing the result of 2D-FFT processing without despreading, and fig. 3(b) is a view showing the result of 2D-FFT processing after despreading.
Fig. 4 is a graph of the tag echo coherent demodulation results.
Fig. 5 is a diagram of the bit error rate performance analysis under different signal-to-noise ratios.
Detailed Description
The technical scheme of the invention is explained in detail in the following with reference to the attached drawings.
The invention provides a method for realizing an integrated detection-communication function of an automobile anti-collision radar. The method is to design an FMCW radar backscattering communication system based on spread spectrum coding, and a system block diagram is shown in figure 1. The system consists of a 77ghz fmcw millimeter wave radar and a backscatter tag containing different tag information. The radar equipment is responsible for signal receiving and transmitting, and the echo signal comprises label target backscatter modulation signal, vehicle target echo, clutter and noise, and the echo signal is through the preprocessing such as receiver mixing and wave filtering back, passes through ADC sampling again, is responsible for echo signal processing and label information extraction by signal processing module at last. The tag device is responsible for loading tag information into a backscattering echo signal by backscattering modulation of incident radar waves so that the radar can demodulate the tag information at a receiving end. The modulation mode can be phase, frequency and amplitude modulation, and is usually realized by adjusting the impedance of the antenna. The invention selects BPSK modulation, and the modulation coding information is obtained by DSSS spread spectrum coding of the original code element information of the label.
The radar end signal processing flow chart is shown in fig. 2. The echo signals comprise vehicle target echoes, tag target backscatter echoes, clutter signals and white gaussian noise. The radar end signal processing comprises two processing links of vehicle target detection and backscattering communication, and the functions of vehicle detection and label identification are respectively completed, and the specific implementation scheme is as follows:
modeling of echo signal
The radar transmission signal is a continuous Chirp signal (Chirp signal). Definition informationThe number parameters are: initial frequency f0Bandwidth of B and frequency modulation period of TpThe frequency modulation slope is K ═ B/TpThe single Chirp pulse signal is represented as
xt(t)＝exp(j2πf0t+jπKt2) t∈[0，Tp]
The FMCW transmission signal may be expressed as
Assuming a vehicle target moving at a uniform speed, at a relative radial velocity vcarFar away from the radar, the distance to the radar is R at the moment when t is 0carEcho time delay of the vehicle target is taucar＝2(Rcar+vcart)/c, where c is the speed of light and the Doppler frequency is fd＝2vcarAnd/λ (λ is the signal wavelength). Regardless of the propagation attenuation of the reflected echo intensity of the target, the received echo of the vehicle target can be expressed as
Assuming a stationary tag target, the relative radial velocity with the radar is vtagAnd the distance from the radar at the moment when t is 0 is RtagThe echo from the tag target is delayed by tautag＝2(Rtag+vtagt)/c. The symbol sequence driving the tag backscatter modulation is akCode rate of RaSymbol period of Ta＝1/RaThen the tag information signal is
Wherein, akThe { +1, -1} corresponds to the phases {0, pi }, g, respectivelya(T) is a pulse width of TaThe gate function of (c):
the tag end introduces spread spectrum coding technology, namely, the spread spectrum coding is added after the information code. Spread spectrum codeThe sequence adopts an m sequence which is a Pseudo-random (PN) sequence with easy generation, strong regularity and excellent performance. Let the spreading code sequence be ckCode rate of RcSymbol period of Tc＝1/RcSpread spectrum coded signal of
The spread spectrum coding is realized by directly multiplying an information code sequence and a spread spectrum code sequence, and the spread code element sequence is
Wherein the content of the first and second substances,
the tag backscatter modulation signal after spread spectrum coding is
Wherein the content of the first and second substances,
is the clock difference between the tag and the radar.
Thus, an echo signal containing multiple vehicle targets, multiple tag targets, and clutter and noise may be represented as
Wherein G iscarSet of all vehicle targets, GtagFor the set of all tagged targets, n (t) is the set of clutter and noise.
Second, vehicle target detection processing link
1. Frequency mixing
Before echo signal processing, intermediate frequency signals need to be obtained through mixing processing. The specific process of mixing is that the echo signal is conjugate multiplied by the local oscillator signal (transmitting signal) in the time domain. The mixed intermediate frequency signal is expressed as
Wherein the content of the first and second substances,
tag ═ car, tag corresponds to the beat frequency and doppler frequency of the vehicle or tag object, respectively.
After mixing, the intermediate frequency signal is usually processed by 2D-FFT to obtain the distance and speed information of the target. Obtaining beat frequency f by performing range FFT processing on each Chirp pulse echob，car(ii) a The range FFT result is processed by Doppler FFT to obtain the Doppler frequency f of the targetd，carThe distance and speed of the vehicle is
Three, backscattering communication processing link
1. Despreading process
The despreading process is similar to the spreading process, using the local spreading code sequence c' (t) to receive the mixed signal sd(t) multiplication. c' (t) is generated by the radar end, and is the same as the spreading code sequence c (t) of the tag end, but the initial phase may be different. The invention does not consider the synchronization problem of the spread spectrum codes, namely, c (t) is assumed to be c' (t), because the working distance of the automobile radar is in the range of hundreds of meters, the echo time delay is small, and tau can be ignoredtagThe influence of/2 on the despreading process, the despread signal is
From the above formula, it can be seen that, since the echo and clutter of the vehicle target and the noise signal are not related to the spreading code sequence, the spreading process is equivalent to performing primary spreading, and the power spectrum amplitude of the signal is greatly reduced; and the label signal modulation information after the de-spreading processing is just recovered to the original code element sequence, and the power spectrum is also recovered to the original shape. The method is very beneficial to detecting the label signal in the road environment with multiple vehicle targets, strong clutter and noise, and is also beneficial to accurately recovering label code element information.
2. Coherent demodulation
The extraction of the label information adopts a coherent demodulation method, and the coherent demodulation comprises three steps of coherent multiplication, low-pass filtering and sampling judgment. Coherent multiplication, namely, conjugate multiplication of a coherent carrier component of a label target and the despread intermediate frequency signal is used to obtain a baseband signal. The extraction process of the coherent carrier component is similar to the detection processing process of the vehicle target, namely, the echo intermediate frequency f 'of the label target is extracted through 2D-FFT and CFAR detection'b，tagAnd Doppler frequency f'd，tagThe generated local coherent carrier component copy of the tag is
The signal after coherent multiplication by the tag q is
If frequency estimation error is not considered, i.e. assume f'b，tag＝fb，tag，f′d，tag＝fd，tagIf so, a baseband code element signal of the label signal can be obtained after coherent multiplication, and then other target echo signals and high-frequency components of the clutter are filtered through low-pass filtering. Finally, the label code element information can be obtained through sampling judgment.
The spread spectrum coding mainly comprises two parameters of code rate and code length, and the design criteria of the two parameters in the system are given below. The code rate can be calculated according to a radar equation, and a pulse compression gain BT is added into a basic radar equationPCoherent accumulation gain M (M is the number of Chirp pulses) and spread spectrum gain GpThe radar equation for the tag target can be derived as
Assume vehicle target RCS is σcardBsm, tag target RCS is σtagdBsm, which can be obtained according to the radar equation, the echo signal-to-noise ratio of the tag and the vehicle target is the same at the same distance, and the spread spectrum gain is required to be Gp≥σcar/σtag。GpRepresents the degree of signal-to-noise improvement of a spread spectrum system, and is defined as follows:
wherein, Ba，BssRespectively the signal bandwidth before and after spreading. Therefore, the code rate of the spreading code can be set to be large
The backscattering communication system based on the automobile anti-collision radar has the characteristics different from the traditional RFID application scene, a reader in the RFID system is in a static state, the distance between tags is short, an automobile platform is usually in high-speed motion, and the distance between the tags and the radar is long. Therefore, the system must ensure that the tag information is extracted quickly within a range gate, otherwise, a problem of span range gate occurs, which results in that the tag backscatter modulation signal contains a plurality of intermediate frequency, and a correct baseband symbol signal cannot be obtained after coherent demodulation. Therefore, a reasonable spreading code length needs to be designed, and the system is ensured to complete spreading processing within a range gate. The FMCW radar has a range gate width Δ d of c/2B, assuming a maximum speed v of the radar-laden vehicle platformmaxThen a time interval from the gate is at least Δ tmin＝Δd/vmax. Assuming that the spreading code length is NcThen N iscMust satisfy
The effectiveness of the technical solution of the present invention is demonstrated by simulation below.
The radar system parameters and the FMCW signal parameters are shown in tables 1 and 2:
TABLE 1 FMCW Radar backscatter communications system parameters
| Parameter name | Symbol | Parameter value |
| Transmitting power | Pt | 12dBm |
| Transmitting/receiving antenna power | Gt，Gr | 24dB |
| Receiver bandwidth | Bn | 250MHz |
| Noise figure of receiver | F | 14dB |
| System loss | Ls | 10dB |
| Label RCS (plate antenna) | σtag | 0.5dBsm |
| Vehicle RCS | σcar | 10dBsm |
TABLE 2 Signal parameters of FMCW radar
| Parameter name | Symbol | Parameter value |
| Initial frequency | f0 | 77GHz |
| Bandwidth of frequency modulation | B | 150MHz |
| Frequency modulation period | Tp | 25us |
| Sampling rate | fs | 10Mbps |
| Number of pulses | M | 512 |
The simulation scenario was set up as a road environment containing three vehicles and two tagged objects, as shown in Table 3
TABLE 3 simulation scenario target set-up
| Target | Relative distance m | Relative velocity m/ |
| Vehicle | ||
| 1 | 140 | 5 |
| |
100 | -10 |
| Vehicle 3 | 80 | 0 |
| |
100 | 30 |
| |
40 | 30 |
Setting symbol period R of tag informationaSetting code rate R at 10kHz according to parameter design rule of spread spectrum codingc＝32Ra320kHz, code length Nc＝212。
And 2D-FFT processing is carried out to obtain a range-Doppler frequency spectrum, and a radar detection result can be visually seen in a range-Doppler image. The radar end distinguishes the tag and the vehicle target by whether despreading processing is performed or not. If not, the tag target is still in an expanded state, and vehicle target detection can be normally performed, as shown in fig. 3 (a); if the tag signal is subjected to despreading processing, the tag signal is restored to the state of original slow symbol sequence modulation, and the echo, clutter and noise signals of the vehicle target are spread, so that the spectral density is reduced, and the tag target can be highlighted, as shown in fig. 3 (b). Through de-spreading processing, the signal-to-noise ratio of the system is improved, so that weak label signals can be correctly detected.
The coherent demodulation result is shown in fig. 4, in which the black curve is the result after the coherent demodulation low-pass filtering of the tag, and the gray curve is the original symbol sequence of the tag. It can be seen that both the information of the two tags can be correctly recovered, and although the signals of the tag 1 have the target interference of the vehicle 2 with the same frequency, the signals still have a good recovery effect, which shows that the FMCW radar backscattering communication system provided by the invention can realize the tag identification function and has good robustness.
Figure 5 shows a plot of the error rate for AWGN channels at different signal-to-noise ratios comparing the error rate performance of the system in both the direct backscatter modulation and direct sequence spread spectrum based states. It can be seen from the figure that under the low signal-to-noise ratio environment, the error rate performance of the backscattering communication system based on the spread spectrum technology is improved. The system can maintain good bit error rate performance even when the signal power is lower than the noise floor.
Claims (6)
1. A method for realizing the detection-communication integrated function of an automobile anti-collision radar is characterized by designing an automobile anti-collision radar backscattering communication system based on spread spectrum coding. The system realizes the integrated functions of vehicle target detection and label identification of the automobile anti-collision radar by utilizing backscattering communication and spread spectrum coding technology on the basis of the traditional automobile anti-collision radar.
2. The method for realizing the detection-communication integration function of the anti-collision radar of the automobile as claimed in claim 1, wherein the system is composed of a 77GHz FMCW radar and a backscattering tag containing different tag information. The radar equipment is responsible for receiving and transmitting signals, the echo signals consist of tag target backscatter modulation signals, vehicle target echoes, clutter and noise, and after the preprocessing of the receiver, the signal processing module is responsible for echo signal processing and tag information extraction. The tag device is responsible for loading tag information into a backscattering echo signal by backscattering modulation of incident radar waves so that the tag information can be demodulated at a receiving end. The modulation mode can be phase, frequency and amplitude modulation, and is usually realized by adjusting the impedance of an antenna, and the modulation coding information is obtained by carrying out DSSS spread spectrum coding on the original code element information of the tag.
3. The method for realizing the detection-communication integrated function of the automobile anti-collision radar as claimed in claim 1, wherein the processing flow of the signal processing module in the system is divided into two processing links of vehicle target detection and backscatter communication, and the functions of vehicle detection and tag identification are respectively completed. The vehicle target detection processing link comprises three steps of frequency mixing, 2DFFT and CFAR detection, and the processing process is the same as that of the traditional automobile anti-collision radar.
4. The method for implementing the detection-communication integration function of the anti-collision radar of the automobile according to claim 1, wherein the backscatter communication processing link comprises two steps of despreading processing and coherent demodulation. And the radar end corresponds to the two processing links by performing de-spreading processing or not so as to distinguish the vehicle from the label target. If not, the label target is still in a spread spectrum state, and the distance and speed information detection of the vehicle can be completed according to the vehicle target detection processing link flow; if the label signal is subjected to de-spreading processing, the label signal is restored to the state of original slow code element sequence modulation, the echo, clutter and noise signals of the vehicle target are expanded, the spectral density is reduced, and the label target can be highlighted. And then the label code element information can be obtained through coherent demodulation.
5. The method for realizing the detection-communication integrated function of the automobile anti-collision radar as claimed in claim 1, wherein a spread spectrum coding technology is introduced, so that the problem of weak energy of a backward scattering signal of a tag is solved, the tag target with weak scattering strength can be correctly detected and identified, the error rate of a system is reduced, and the stability and the anti-interference capability of the system are improved; meanwhile, the anti-collision radar is designed on the basis of the traditional automobile anti-collision radar, the hardware is not required to be upgraded, only the backscattering labels containing different label information need to be installed on the roadside traffic signs, and the engineering is simple to realize.
6. The method for realizing the detection-communication integration function of the automotive anti-collision radar as claimed in claim 1, wherein a parameter design rule of a code rate and a code length of the spread spectrum coding is given. The code rate can be calculated according to a radar equation, and a pulse compression gain BT is added into a basic radar equationPCoherent accumulation gain M (M is the number of Chirp pulses) and spread spectrum gain GpThe radar equation for the tag target can be derived as
Assume vehicle target RCS is σcardBsm, tag target RCS is σtagdBsm, which can be obtained according to the radar equation, the echo signal-to-noise ratio of the tag and the vehicle target is the same at the same distance, and the spread spectrum gain is required to be taken as
GpRepresents the degree of signal-to-noise improvement of a spread spectrum system, and is defined as follows:
wherein, Ba，BssRespectively the signal bandwidth before and after spreading. The code rate of the spread spectrum code can be designed into
Consider that the car platform is often in high speed motion and the tag is far from the radar. Therefore, the system must ensure that the tag information is extracted quickly within a range gate, otherwise, a cross-range gate problem occurs, which results in that the tag backscatter modulation signal contains multiple intermediate frequency signals, and a correct baseband symbol signal cannot be obtained after coherent demodulation. Therefore, a reasonable spreading code length needs to be designed, and the system is ensured to complete spreading processing within a range gate. The FMCW radar has a range gate width Δ d of c/2B, assuming a maximum speed v of the radar-laden vehicle platformmaxThen a time interval from the gate is at least Δ tmin＝Δd/vmax. Assuming that the spreading code length is NcThen N iscMust satisfy
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112436905A (en) * | 2021-01-27 | 2021-03-02 | 西南交通大学 | Communication radar combined system |
| CN113325384A (en) * | 2021-08-04 | 2021-08-31 | 西南交通大学 | Communication radar joint processing method |
| ES2894200A1 (en) * | 2020-08-05 | 2022-02-11 | Univ Rovira I Virgili | Device and procedure for communication Vehicle-infrastructure and vehicle-vehicle (Machine-translation by Google Translate, not legally binding) |
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