CN110865349A - 使用毫米波雷达在降雨和降雪条件下检测目标 - Google Patents
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Abstract
本公开的实施例涉及使用毫米波雷达在降雨和降雪条件下检测目标。雷达系统包括:射频(RF)电路,用于生成发射信号并在降雨或降雪条件期间从目标接收对应的接收信号;以及信号处理电路,被耦合到RF电路,以响应于降雨或降雪条件而生成自适应滤波器阈值,并且响应于接收信号的一部分在自适应滤波器阈值以上而生成有效目标信号。
Description
技术领域
本发明总体涉及用于使用毫米波(“mmWave”)雷达在降雨和降雪条件下检测目标的系统和方法。
背景技术
如本领域所知的,自动扶梯和自动门的操作可以利用运动传感器控制。运动传感器用于当人接近时控制自动扶梯或自动门的操作。自动扶梯或自动开门器传感器基于多普勒/运动,因此每当有降雨或降雪时也会使能。为了抵消这种不期望的操作模式,有时使用电极雨传感器或使用红外(“IR”)光的雨量计。虽然这些传感器提供了一些信息,但是它们只能检测是否存在降雨。无法提供诸如降雨量和降雨速度的额外信息。这些类型的传感器的另一个缺点是电极需要与雨滴实际接触,因此传感器的磨损非常高。在IR传感器的情况下,照明条件也会对正确的值产生影响。两种传感器的性能都会受到温度和环境条件方面的影响而变化。
发明内容
根据一个实施例,雷达系统包括:射频(RF)电路,其被配置为在降雨或降雪条件期间生成发射信号,并且从目标接收对应的接收信号;以及信号处理电路,被耦合到RF电路,被配置为响应于降雨或降雪条件而生成自适应滤波器阈值,并且响应于接收信号的一部分在自适应滤波器阈值以上而生成有效目标信号。
雷达系统可以与自适应控制系统一起使用,以用于在由雷达系统观测到的天气条件变化的情况下控制自动扶梯和自动门以及其他装置。了解降雨和降雪的量和强度并且在这些条件期间检测人类目标,可以被用于控制装置(诸如门和自动扶梯)的操作,从而减少“误报”操作模式。因此,雷达系统用于检测降雨和降雪的量和速度,并且在检测人类目标时使用该信息。因此,有效目标检测可以用于控制装置的操作,而基本上没有误报操作模式。
因此,一个实施例的优点在于:在降雨/降雪条件下检测人类,然后仅激活装置致动器,从而消除误警并且因此提高能量效率。
具有/不具有透镜解决方案的毫米波雷达传感器的集成因此可用于检测人类目标,并且测量降雨和降雪条件。根据一个实施例的雷达系统不受照明条件的不利影响,并且可以被覆盖在塑料下以用于隐身操作模式。完全集成的毫米波雷达传感器解决方案可以用于人类检测、降雨/降雪估计以及基于天气条件的装置的自适应系统控制。雷达系统可以被设置在具有集成天线、RF前端以及基带和处理电路的封装被。在一个实施例中可以包括透镜的集成。在一个实施例中,可以在封装内的数字信号处理核心上进行用于人类检测和降雪/降雨量估计的算法。
附图说明
为了更完整地理解本发明及其优点,现在参考以下结合附图的描述,其中:
图1是根据一个实施例的具有塑料屏蔽件的半导体封装中的雷达系统/传感器;
图2是根据一个实施例的具有塑料屏蔽件的印刷电路板(“PCB”)上的雷达系统/传感器;
图3是根据一个实施例的具有透镜的半导体封装中的雷达系统/传感器;
图4是根据一个实施例的降雨和降雪杂波中的人类目标的雷达检测的示图;
图5是根据一个实施例的降雨和降雪杂波中的人类目标的雷达检测和跟踪的示图;
图6是根据一个实施例的降雨和降雪杂波中的雷达检测和跟踪方法的总体流程图;
图7是根据一个实施例的图6的雷达检测和跟踪方法的更详细的流程图;
图8是根据一个实施例的在用户位置和速度跟踪中使用的等式的示图;以及
图9是根据一个实施例的用于在降雨或降雪杂波中控制自动门或自动扶梯的致动器逻辑的流程图。
具体实施方式
图1是根据一个实施例的半导体封装102中的雷达系统/传感器100,其具有塑料屏蔽件114以防止直接暴露于雨或雪116。在一个实施例中,半导体封装102包括发射器Tx1、以及可以形成于第一级金属M1中的两个接收器Rx1和Rx2。在一个实施例中,第二级金属M2可以用作接地平面。第三级金属M3可以用作用于与球形接合件104进行接口的互连层。半导体封装102包括用于雷达系统/传感器100的所有电路系统,其包括数字信号处理(“DSP”)处理电路系统106、存储器108、以及RF和基带电路系统110。半导体封装102可以由陶瓷或塑料或本领域已知的其他材料形成。塑料屏蔽件114可以包括塑料聚碳酸酯材料或丙烯腈丁二烯苯乙烯(“ABS”)材料。塑料屏蔽件114不需要对可见光透明,而是在毫米雷达频率下透明。塑料屏蔽件114可以直接地固定到封装102或与封装102相关联的衬底(未示出)。根据一个实施例,半导体封装102可以具有附加的金属和绝缘层、通孔、互连件、电路和其他封装制品。
图2是根据一个实施例的具有塑料屏蔽件216的印刷电路板(“PCB”)202上的雷达系统/传感器200。在一个实施例中,PCB202包括发射器204、以及可以形成于第一级金属中的两个或更多个接收器206。在一个实施例中,第二级金属可以被用作接地平面。第三级金属(未示出)可以被用作互连层,用于与球形接合件或其他互连特征(未示出)进行接口。半导体封装202包括用于雷达系统/传感器200的所有电路系统,包括RF微波集成电路(“RF/MMIC”)电路系统208、DSP电路系统210和存储器212。PCB 202可以由玻璃纤维或本领域已知的其他材料形成。塑料屏蔽件216可以包括塑料聚碳酸酯材料或ABS材料。塑料屏蔽件216不需要对可见光透明,而是在毫米雷达频率下透明。塑料屏蔽件216可以直接地被固定到PCB202或者被固定到与PCB 202相关联的衬底(未示出)。根据一个实施例,PCB 102可以具有附加地金属和绝缘层、通孔、互连件、电路和其他这种制品。
图3是根据一个实施例的具有透镜312的半导体封装302中的雷达系统/传感器300。透镜312可以被配置(成形)以增强光束性能,或者可以仅用于保护传感器免受环境因素影响,而不必增强光束性能。在一个实施例中,半导体封装302包括发射器Tx1、以及可以形成于第一级金属M1中的两个接收器Rx1和Rx2。在一个实施例中,第二级金属M2可以用作接地平面。第三级金属M3可以用作互连层,以用于与球形接合件304进行接口。半导体封装302包括用于雷达系统/传感器100的所有电路系统,包括DSP处理电路系统306、存储器308、以及RF和基带电路系统310。半导体封装102可以由陶瓷或塑料或本领域已知的其他材料形成。透镜312可以包括塑料聚碳酸酯材料或ABS材料、以及其他塑料或玻璃材料。透镜312不需要对可见光透明,而是在毫米雷达频率下透明。在一个实施例中,透镜312可以直接地被固定到封装302,如所示。根据一个实施例,半导体封装302可以具有附加的金属和绝缘层、通孔、互连件、电路和其他封装制品。
图1、图2和图3示出了实施例,其中最小1Tx/1Rx解决方案可用于在降雨/降雪条件期间的降雨/降雪检测或目标检测,并且如下面进一步详细描述的,可以使用附加的接收器来跟踪人类目标的移动以生成有效的目标接近信号。
图4示出了在由雨或雪云408产生的降雨或降雪杂波条件404中使用雷达402的人类目标406检测的示例性场景400。图5示出了在由雨或雪云408产生的降雨或降雪杂波条件404中使用雷达402从位置406B到406A的人类目标跟踪的示例性场景500。人类目标跟踪可以用于产生有效的目标接近信号,其可以反过来用于激活装置致动器,其中装置还遭受降雨或降雪条件。致动器是装置的部件,其负责移动和控制其中的机构或系统。致动器驱动器是用于响应于输入信号而适当地激励致动器的电子设备(诸如,集成电路)。
雨或雪杂波可能是散布性的和风飘型的,因此对人类目标检测和人类目标跟踪都提出了挑战。降雨或降雪可能具有30+db或更高的雷达特征,大于人类目标的雷达特征。降雨或降雪可以具有在零附近的小的多普勒扩展。因此,在零多普勒处具有陷波的单个滤波器将不能充分地抑制雨。使用16-32个连续脉冲的通带多普勒滤波器的集合可以被构造为在零多普勒处具有陷波。这种实现足以抑制地面杂波,但不足以防止雨杂波或雪杂波,因为雷达检测到的切向速度会在零多普勒附近引入非零分量。远离零多普勒的通带滤波器的集合可以检测其中存在降雨的目标。
根据一个实施例,针对每个距离-多普勒组合的具有自适应阈值化的多普勒滤波器组用于第一级处理。近零多普勒区间(bin)存储雨杂波图(rain clutter map,还可以被称为雨杂波映射),其用于阈值化。其他通带滤波器组具有基于平均噪声基底的自适应阈值。第二级处理测量检测到的目标的距离扩展,以区分实际的人类目标和雨杂波。
基于后处理检测,将有效目标(人类)馈送到跟踪算法中以监视其移动方向。例如,如果检测到的目标的方向在预定的时间段(例如,1-2秒)内朝向传感器,则致动器被激活以使得能够操作装置(诸如自动扶梯或自动门)。可以针对检测到的每个有效目标来启用单独的卡尔曼(Kalman)滤波器跟踪,并且如果有效目标的任何目标满足上述持续时间条件,则致动器被启用。
图6是根据一个实施例的降雨和降雪杂波中的雷达检测和跟踪方法的总体流程图600。最初,在步骤602处,模拟返回雷达信号被处理并且被转换成数字信号。在步骤604处,距离快速傅里叶变换(“FFT”)数字信号处理被执行,以将基于时间的数字信号改变到频域。在步骤606处,距离门检测被执行以缩小目标的类型。虽然没有限制,但是最小检测距离大约为一米,而最大检测距离大约为六米。一旦在步骤606处执行了距离门检测,则在步骤608处,输出数据在慢速时间内被捕获。在一个实施例中,慢速时间是指脉冲尺寸,例如在本领域中已知的在脉冲雷达中传输的脉冲数目。
在滤波器组610中进一步处理所捕获的数据,这将在下面进一步详细解释,并且相对于图7的描述进一步详细说明。返回到图6,滤波器组610包括多普勒滤波器图(Dopplerfilter map,还可以被称为多普勒滤波器映射)612、雨杂波图614和自适应阈值检测器616。图6中示出了多普勒滤波器图612与自适应阈值检测器616之间的直接连接;这是因为自适应检测阈值是通过从多普勒滤波器图612中提取雨多普勒分量来被设置的。在图6中,多普勒滤波器图612包括如将在下面进一步详细说明的对应于多个负、零和正的多普勒速度带的多个多普勒滤波器。如下面进一步详细描述的,自适应阈值检测器616包括多个阈值检测器616,以用于去除由雨杂波图614提供的降雨和降雪杂波信息。
使用低多普勒旁瓣的许多脉冲的积分用于抑制雨杂波。实施例方法采用使用雨杂波图614的自适应阈值化以在自适应阈值检测器616中设置阈值。
高分辨率杂波图614用于检测切向目标。根据实施例,下面描述各种杂波图技术。通常,杂波图614包括存储器,存储器针对雷达覆盖范围中的每个距离-CPI单元(相干处理间隔单元)的每一个存储该单元中的噪声和杂波回波的值。杂波回波可以包含降雪和降雨回波。例如,使用以下递归滤波器等式实现杂波图:
其中A(n)是近零多普勒值的幅度,N是滤波器的窗口,通常N=16,并且n是(连续运行的)帧的索引。
杂波图中的递归滤波器用于检测径向速度为零或接近零且其反向散射回波大于杂波图中存储的杂波和/或噪声幅度的目标。如关于图7进一步详细描述的,杂波图通道提供了检测多普勒滤波器子集未检测到的目标的方法,多普勒滤波器的子集与零多普勒相邻并且其形状被设计成强烈地拒绝零多普勒附近的地面回波。距离簇处理的目标(即,1-2的距离门间隙)被认为是同一目标。
在滤波器组610中处理之后,在后处理阈值块618中执行后处理,以生成有效目标信号626,即指示检测到人的信号。使用卡尔曼滤波器目标跟踪块620跟踪有效目标信号626,以生成有效的接近目标信号622,即指示检测到人朝向传感器移动的信号。有效接近目标信号可以用作与装置(诸如自动扶梯或自动门)相关联的致动器驱动器624的输入信号,装置还经受降雨或降雪条件。
图7是根据一个实施例的图6的雷达检测和跟踪方法的更详细的流程图700。先前已经解释了步骤602、604、606、608、618、620和624。滤波器组610的进一步细节在图7中示出。示出了多个多普勒滤波器,每个多普勒滤波器被耦合到自适应阈值检测器。三至五个相邻滤波器706包括以多普勒滤波器0(通带多普勒)708为中心的雨杂波图710。多普勒滤波器708被耦合到雨杂波图710和自适应阈值检测器712。相邻的滤波器706类似地配置。剩余的多普勒滤波器不包括雨杂波图710。例如,多普勒滤波器-8(通带多普勒)702仅被耦合到自适应阈值检测器704。多普勒滤波器7(通带多普勒)714仅被耦合到自适应阈值检测器716。虽然示出了多普勒速度带-8到7,但是可以使用其他频带。类似地,虽然三至五个相邻的滤波器706被耦合到雨杂波图,但是其他相邻的滤波器还可以被耦合到雨杂波图。
降雨和降雪回波在零多普勒附近具有多普勒速度,例如基于降雨/降雪的入射角的-3m/s至3m/s。然而,这个多普勒信息是系统先验未知的——特定降雨或降雪条件下的实际信息将影响0多普勒区间/滤波器周围的3-5个多普勒区间/滤波器。如图7所示,通过基于这些多普勒频率/区间遇到的降雨/降雪自适应地调整检测阈值,这些滤波器/区间设置有雨杂波图710。由杂波图指示的、在该自适应阈值以上的人类/目标是有效的潜在目标。
由后处理块618提供的后处理技术通过识别目标沿距离或距离-方位的扩展来进一步区分雨/雪杂波和人类目标。基于分析是在仅距离维度还是距离-方位平面上完成,部署1D或2D滑动窗口以区分雨/雪和人类。
每个目标的扩展(长度)使用以下等式计算:
length=max{range-gate}–min{range-gate}
其中max{range-gate}是由距离门设置的最大允许距离,并且min{range-gate}是由距离门设置的最小允许距离。
如果目标的扩展(长度)大于60cm(距离门取决于距离分辨率),则目标被分类为雨杂波,并且未被检测为有效目标。一旦从多普勒滤波器区间/图检测到有效的潜在目标,则还检测相邻的距离区间以确定目标的有效性。确定检测到的目标的距离扩展,并且如果它在60cm的距离扩展内,则检测到的目标仍然是有效目标。如果其超过60cm的距离扩展,则检测到的目标和和相关联的距离区间被忽略,并且可能由降雨/降雪本身触发。可以在多普勒处理步骤610之前或之后执行后处理步骤618。
例如,最近邻聚类技术用于目标确定,并且在下面利用一个距离区间的跳跃进一步详细说明。如果在距离区间2、3、5、6和7上检测到->(2,7),则存在扩展为5的单个目标。如果在距离区间12、15、16和17上检测到->(12)、(15,16,17),则存在扩展分别为1和3的两个目标。如果在距离区间5、7、8、9、19、21、22、29上检测到->(5,7,8,9)、(19,21,22)和(29),则存在扩展分别为4、3和1的三个目标。
因此,目标距离扩展通过以下等式计算:
距离扩展指数(即,如果激发三个连续距离区间)*距离分辨率=目标距离扩展<=60cm->有效潜在目标。
根据一个实施例,用户位置和速度跟踪等式在图8中示出,其用在雷达系统的数字信号处理芯片中。时间更新等式在块802中示出,测量更新等式在块804中示出,并且用于与时间和测量更新等式一起使用的另外的更新等式在块806、808和810中示出。在图6所示的算法中使用图8所示的等式。从图6所示的块估计距离和速度,并且其是到块620的输入(卡尔曼滤波器目标跟踪)。距离门由沿快速时间距离FFT的检测确定,而多普勒FFT检测通过沿慢速时间/多普勒FFT的自适应杂波图阈值化来完成。
在Qk模型协方差矩阵中考虑了未知加速度。Ak是状态空间矩阵,并且决定了状态的变化。Hk是测量模型。Rk是(来自传感器估计的)估计误差矩阵。Qk是模型协方差矩阵(因为使用恒定速度模型,所以在该矩阵中考虑目标加速度/加速度变化率)。上述卡尔曼滤波发生在图6中的块620(卡尔曼滤波器目标跟踪)中。
图9是根据一个实施例的用于在降雨或降雪杂波中控制自动门或自动扶梯的致动器逻辑的流程图900。如前所述,对于门或自动扶梯或遭受降雪或降雨条件的其他装置,生成有效目标接近信号908。在步骤902处,有效接近信号908用于控制针对门或自动扶梯的致动器或控制器(在一个实施例中,可以是比例-微分控制器)。在步骤904处,门或自动扶梯被打开达在块904中设置的预定时间。在步骤906处,在另一预定时间段之后装置超时。
应用用例包括但不限于以下情况,其中在降雪或降雨条件下检测到接近的人类目标,并且尽管自动扶梯或自动门暴露于降雪或降雨条件,但是仍期望并实现稳健可靠的自动扶梯控制和自动门打开。
虽然已经参考说明性实施例描述了本发明,但是本说明书并不旨在以限制意义来解释。参考本说明书,说明性实施例的各种修改和组合以及本发明的其他实施例对于本领域技术人员将是显而易见的。因此,所附权利要求旨在涵盖任何这种修改或实施例。
Claims (20)
1.一种雷达系统,包括:
射频RF电路,被配置为在降雨或降雪条件期间生成发射信号并且从目标接收对应的接收信号;以及
信号处理电路,被耦合到所述RF电路,被配置为响应于所述降雨或降雪条件而生成自适应滤波器阈值,并且响应于所述接收信号的一部分在所述自适应滤波器阈值以上而生成有效目标信号。
2.根据权利要求1所述的雷达系统,其中所述信号处理电路包括多个通带多普勒滤波器。
3.根据权利要求2所述的雷达系统,其中所述多个通带多普勒滤波器中的至少一个通带多普勒滤波器包括用于生成所述自适应滤波器阈值的杂波图。
4.根据权利要求1所述的雷达系统,其中所述信号处理电路包括用于生成有效接近目标信号的目标跟踪电路系统。
5.根据权利要求4所述的雷达系统,进一步包括用于接收所述有效目标接近信号的致动器驱动器。
6.根据权利要求1所述的雷达系统,其中所述雷达系统进一步包括半导体封装。
7.根据权利要求6所述的雷达系统,其中所述半导体封装进一步包括塑料屏蔽件。
8.根据权利要求6所述的雷达系统,其中所述半导体封装进一步包括透镜。
9.根据权利要求1所述的雷达系统,其中所述雷达系统进一步包括印刷电路板PCB。
10.根据权利要求9所述的雷达系统,其中所述PCB进一步包括塑料屏蔽件。
11.一种用于在降雨或降雪条件期间检测目标的方法,包括:
生成发射信号;
接收来自降雨或降雪条件期间的目标的接收信号,所述接收信号包括所述发射信号的回波;
响应于所述降雨或降雪条件而生成自适应滤波器阈值;以及
响应于所述接收信号的一部分在所述自适应滤波器阈值以上而生成有效目标信号。
12.根据权利要求11所述的方法,进一步包括测量所述接收信号的距离扩展。
13.根据权利要求11所述的方法,进一步包括跟踪所述目标以生成有效的接近目标信号。
14.根据权利要求13所述的方法,进一步包括利用所述有效的接近目标信号来控制自动扶梯的操作。
15.根据权利要求13所述的方法,进一步包括利用所述有效的接近目标信号来控制门的操作。
16.一种集成雷达系统,包括:
发射天线;
接收天线;
RF和基带电路系统,与所述发射天线和所述接收天线通信;以及
数字信号处理电路系统,与所述RF和基带电路系统通信,所述数字信号处理电路系统包括多个多普勒滤波器,每个多普勒滤波器被耦合到自适应阈值检测器,并且其中所述多普勒滤波器中的至少一个多普勒滤波器和所述自适应阈值检测器中的至少一个自适应阈值检测器通过雨杂波图耦合在一起。
17.根据权利要求16所述的集成雷达系统,其中所述集成雷达系统被集成到单个封装中。
18.根据权利要求17所述的集成雷达系统,进一步包括透镜。
19.根据权利要求16所述的集成雷达系统,其中所述集成雷达系统被集成在印刷电路板上。
20.根据权利要求16所述的集成雷达系统,进一步包括用于控制致动器驱动器的输出。
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EP3617740B1 (en) | 2024-03-20 |
US10928501B2 (en) | 2021-02-23 |
US20200072958A1 (en) | 2020-03-05 |
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