CN110988862A - Sensing method and system based on ultra-close distance millimeter wave radar - Google Patents
Sensing method and system based on ultra-close distance millimeter wave radar Download PDFInfo
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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
- G01S13/06—Systems determining position data of a target
- G01S13/42—Simultaneous measurement of distance and other co-ordinates
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- 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
- G01S13/583—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets
- G01S13/584—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets adapted for simultaneous range and velocity measurements
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- 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
- G01S13/66—Radar-tracking systems; Analogous systems
- G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
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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
- G01S7/35—Details of non-pulse systems
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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
- G01S7/35—Details of non-pulse systems
- G01S7/352—Receivers
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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
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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Abstract
The invention discloses a sensing method and system based on a super-close millimeter wave radar, which comprises the steps of radiating FMCW signals to a target by using a radio frequency antenna module, receiving radar echo signals reflected by the target, converting the signals into intermediate frequency signals, sampling by using an ADC (analog-to-digital converter), processing the received signals, outputting the detected target, measuring the distance, the speed and the angle of the target, and transmitting data. The invention can perfect environment modeling and object classification in a very close range, is very important for developing advanced driving auxiliary algorithm and automatic driving function, ensures that a larger FOV senses fewer sensors used in the surrounding 360-degree environment, and reduces the detection sensing cost; and the height measuring function is realized, and the measurement in the height direction is ensured.
Description
Technical Field
The invention relates to the technical field of millimeter wave radars, in particular to a sensing method and system based on a very-close-range millimeter wave radar.
Background
The development of millimeter wave radars was started in the 40 s, and in the 50 s, millimeter wave radars (operating wavelength of about 8 mm) for airport traffic control and ship navigation appeared, which showed advantages of high resolution, high precision, small antenna aperture, and the like. However, the development of millimeter wave radars has been once limited due to technical difficulties. With the improvement of working frequency, the output power and efficiency of the power source are reduced, the loss of a frequency mixer and a transmission line of a receiver is increased, the millimeter wave technology has great progress after the middle 70 s, and better power sources such as solid-state devices, such as avalanche transistors and gunn oscillators, thermionic devices, oscillators, return wave tube oscillators, gyrotrons and the like are successfully developed; most pulse-operated solid power sources adopt avalanche transistors, the peak power of the avalanche transistors can reach 5-15W, the magnetron can be used as a high-power pulse power source, the peak power can reach 1-6 kilowatts or 1 kilowatt, and the efficiency is about 10%; the gyrotron is a novel microwave and millimeter wave oscillator or amplifier, and can provide megawatt peak power in a millimeter wave band.
Millimeter wave radar has begun to be used in large scale in the automobile field as an extremely important perception sensor in automobile auxiliary driving and unmanned driving, and is mainly used for acquiring moving and static target data of the whole automobile, including position information, speed information and the like, and providing the data for a subsequent data processing system for use; the millimeter wave radar is mainly used for detecting and sensing long-distance targets in the market at present, the distance resolution is about 10cm to 50cm, in addition, for the sensing of a near area of a vehicle body, the performance of the existing millimeter wave radar sensor is difficult to meet, an Ultra Short Range Radar (USRR) can perfect environment modeling and object classification, and can accurately sense the obstacles in the extremely short range of the vehicle body, so that the advanced driving assistance algorithm and the automatic driving function are very important to research and development.
Disclosure of Invention
This section is for the purpose of summarizing some aspects of embodiments of the invention and to briefly introduce some preferred embodiments. In this section, as well as in the abstract and the title of the invention of this application, simplifications or omissions may be made to avoid obscuring the purpose of the section, the abstract and the title, and such simplifications or omissions are not intended to limit the scope of the invention.
The invention is provided in view of the problem that the application of the detection perception and the environment modeling for the object in the close range is limited in the prior art.
Therefore, the invention provides a sensing method and system based on the ultra-close distance millimeter wave radar, which can perfect object modeling and detection sensing.
In order to solve the technical problems, the invention provides the following technical scheme: radiating an FMCW signal to a target by using a radio frequency antenna module; receiving a radar echo signal reflected by the target; converting the signal into an intermediate frequency signal, and sampling by using an ADC (analog to digital converter); processing the received signal and outputting the detected target; measuring the distance, speed and angle of the target; and transmitting data and acquiring perception information.
As a preferred scheme of the sensing method based on the ultra-close range millimeter wave radar in the invention, the sensing method comprises the following steps: outputting the FMCW signal includes receiving a signal with a radio frequency transceiver module; separating the transmit signal and the receive signal according to signal frequency; controlling the signal, and outputting the filtered amplified signal and mixing the amplified signal and the mixed signal; generating an oscillation signal, and outputting the oscillation signal by filtering and mixing; and adjusting the signal to generate a baseband signal and outputting the baseband signal.
As a preferred scheme of the sensing method based on the ultra-close range millimeter wave radar in the invention, the sensing method comprises the following steps: before outputting the FMCW signal, controlling a DAC to generate a modulation signal by using a core processor; driving the radio frequency transceiver module to generate a constant-amplitude frequency modulation continuous wave signal; utilizing a directional coupler, and enabling a part of the signal to enter a mixer to form a local oscillation signal; and the other part enters the circulator to form a transmitting signal by using the radio frequency antenna module.
As a preferred scheme of the sensing method based on the ultra-close range millimeter wave radar in the invention, the sensing method comprises the following steps: receiving the radar echo signal comprises radiating a radio frequency signal into space with the transmitting antenna; the transmitting signal is reflected by a target to form an echo signal; the receiving antenna receives the echo signal; and transmitting the data to the radio frequency transceiving module.
As a preferred scheme of the sensing method based on the ultra-close range millimeter wave radar in the invention, the sensing method comprises the following steps: converting the signal comprises multiplying the received signal by the local oscillator signal by a receiver in the radio frequency transceiver module; obtaining the intermediate frequency signal after frequency conversion by using a low-pass filter; and converting the intermediate frequency signal into a digital signal by using an ADC (analog to digital converter), and sampling.
As a preferred scheme of the sensing method based on the ultra-close range millimeter wave radar in the invention, the sensing method comprises the following steps: processing the received signal comprises outputting the down-converted intermediate frequency signal to a signal processing module; converting the intermediate frequency signal from an analog domain to a digital domain to obtain the digital signal; utilizing a DSP to carry out numerical calculation processing on the digital signal; the output is detected for the target.
As a preferred scheme of the sensing method based on the ultra-close range millimeter wave radar in the invention, the sensing method comprises the following steps: measuring and transmitting data comprises measuring the distance between a rising edge and a falling edge by using the echo signal delay in the triangular frequency variation; calculating the distance and the speed of the target by using the frequency difference between the rising edge and the falling edge; the signal processor performs two-dimensional FFT on the signals received by the receiving antenna array, and then jointly processes a two-dimensional FFT matrix to obtain the target arrival angle; and transmitting the data by using a data input and output module.
As a preferred scheme of the sensing system based on the ultra-close range millimeter wave radar in the invention, the sensing system comprises: the radio frequency antenna module adopts a patch single-element antenna and comprises two transmitting antennas and four receiving antennas, the lengths of the feeding lines are kept consistent, the radio frequency signals are radiated to a space through the transmitting antennas, and the receiving antennas receive electromagnetic wave signals in the space and output the electromagnetic wave signals to the receiver in the radio frequency transceiving module; the radio frequency transceiving module adopts a linear frequency modulation continuous wave system and comprises a receiver, a transmitting channel and a receiving channel, the radio frequency transceiving module generates the FMCW baseband signal, the receiver down-converts the signal to the intermediate frequency signal, and the intermediate frequency signal is output to the signal processing module in a format form.
As a preferred scheme of the sensing system based on the ultra-close range millimeter wave radar in the invention, the sensing system comprises: the signal processing module is connected with the radio frequency transceiving module and comprises an MCU and a DSP, the MCU controls the working time sequence, the system logic, the output interface of radar processing result data and the acquisition of the digital signal of the radio frequency transceiving module, the data is transmitted to the DSP, and after the data information is obtained, the DSP performs tracking measurement on the detected target; the data input and output module carries out data transmission through a CAN bus, transmits radar processing results to the outside for use, establishes data interaction, and transmits information required by the radar system from the outside to the inside of the system.
The invention has the beneficial effects that: the invention can perfect environment modeling and object classification in a very close range, is very important for developing advanced driving auxiliary algorithm and automatic driving function, ensures that a larger FOV senses fewer sensors used in the surrounding 360-degree environment, and reduces the detection sensing cost; and the height measuring function is realized, and the measurement in the height direction is ensured.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise. Wherein:
FIG. 1 is a schematic flow chart of a sensing method based on a very-close-range millimeter wave radar according to the present invention;
FIG. 2 is a schematic diagram of an antenna arrangement based on a close-range millimeter wave radar sensing system provided by the present invention;
FIG. 3 is a schematic diagram of a module structure distribution of a sensing system based on a close-range millimeter wave radar according to the present invention;
FIG. 4 is another schematic diagram of a module structure of a sensing system based on a close-range millimeter wave radar according to the present invention;
FIG. 5 is a schematic diagram of a radio frequency transceiver assembly based on a close-range millimeter wave radar sensing system according to the present invention;
FIG. 6 is a block diagram of a sensing system based on a close-range millimeter wave radar according to the present invention;
fig. 7 is a schematic working diagram of a radar sensing system based on a very short-distance millimeter wave according to the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, specific embodiments accompanied with figures are described in detail below, and it is apparent that the described embodiments are a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making creative efforts based on the embodiments of the present invention, shall fall within the protection scope of the present invention.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described and will be readily apparent to those of ordinary skill in the art without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.
Furthermore, reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one implementation of the invention. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.
The present invention will be described in detail with reference to the drawings, wherein the cross-sectional views illustrating the structure of the device are not enlarged partially in general scale for convenience of illustration, and the drawings are only exemplary and should not be construed as limiting the scope of the present invention. In addition, the three-dimensional dimensions of length, width and depth should be included in the actual fabrication.
Meanwhile, in the description of the present invention, it should be noted that the terms "upper, lower, inner and outer" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation and operate, and thus, cannot be construed as limiting the present invention. Furthermore, the terms first, second, or third are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The terms "mounted, connected and connected" in the present invention are to be understood broadly, unless otherwise explicitly specified or limited, for example: can be fixedly connected, detachably connected or integrally connected; they may be mechanically, electrically, or directly connected, or indirectly connected through intervening media, or may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example 1
Referring to fig. 1, for a first embodiment of the present invention, a sensing method based on a close proximity millimeter wave radar is provided, as shown in fig. 1, the sensing method based on the close proximity millimeter wave radar includes radiating an FMCW signal to a target by using a radio frequency antenna module 100; receiving a radar echo signal reflected by a target; converting the signal into an intermediate frequency signal, and sampling by using an ADC (analog to digital converter); processing the received signal and outputting a detected target; measuring the distance, speed and angle of the target; and transmitting data and acquiring perception information. The millimeter wave is small in attenuation when being transmitted by utilizing an atmospheric window and is little influenced by natural light and a heat radiation source, and a low-elevation precision tracking radar and an imaging radar can be realized by utilizing the narrow wave beam and low sidelobe performance of a millimeter wave antenna; the FMCW radar transmits continuous waves with variable frequency in a frequency sweep period, echoes reflected by an object have a certain frequency difference with a transmitting signal, distance and speed information between a target and the radar can be obtained by measuring the frequency difference, the performance of measuring the distance and the speed of the target by the FMCW radar is irrelevant to the illumination condition of the surrounding environment, and no additional auxiliary light source is needed for providing illumination.
Referring to fig. 1, a sensing method based on a very short distance millimeter wave radar proposed by this embodiment includes the following steps,
s1: the FMCW signal is radiated to the target using the radio frequency antenna module 100. This step is to be noted, and the outputting of the FMCW signal includes,
controlling the DAC to generate a modulation signal by using a core processor;
driving the radio frequency transceiver module 200 to generate a frequency modulated continuous wave signal with a constant amplitude;
utilizing a directional coupler, and enabling a part of the signal to enter a mixer to form a local oscillation signal;
with the rf antenna module 100, another portion enters the circulator to form the transmit signal.
Further, the output signal may specifically include,
receiving signals by using the radio frequency transceiver module 200, and separating the transmitting signals and the receiving signals according to the signal frequency;
the control signal amplifies and outputs the filtering and mixes the frequency;
generating an oscillation signal, and outputting the oscillation signal by filtering and mixing;
and adjusting the signal, generating a baseband signal and outputting the baseband signal.
S2: and receiving a radar echo signal reflected by the target. Wherein, receiving the radar return signal includes,
the radio frequency signal is radiated into space by the transmitting antenna 101;
the transmitting signal is reflected by the target to form an echo signal;
the receiving antenna 102 receives an echo signal;
into the rf transceiver module 200.
S3: the signal is converted into an intermediate frequency signal, and is sampled by an ADC. It should also be noted that, in this step, the converted signal includes,
a receiver 201 in the radio frequency transceiver module 200 multiplies the received signal by a local oscillator signal;
obtaining the intermediate frequency signal after frequency conversion by using a low-pass filter;
converting the intermediate frequency signal into a digital signal by using an ADC (analog to digital converter), and sampling; and on the premise that the Nyquist sampling theorem is met by the sampling processing, the data volume is reduced.
S4: the received signal is processed and the detected object is output. It is also to be noted therein that,
outputting the down-converted intermediate frequency signal to the signal processing module 300;
converting the intermediate frequency signal from an analog domain to a digital domain to obtain a digital signal;
utilizing the DSP to carry out numerical calculation processing on the digital signal;
and outputting the detected target.
S5: the distance, speed and angle of the target are measured. It should be noted that in this step,
measuring the distance between a rising edge and a falling edge by using the echo signal delay in the triangular frequency change;
calculating the distance and the speed of the target by using the frequency difference between the rising edge and the falling edge;
the signal processor performs two-dimensional FFT on the signals received by the receiving antenna 102 array, and then jointly processes the two-dimensional FFT matrix to obtain the target arrival angle.
S6: and transmitting the data in a CAN or Ethernet mode to acquire sensing information.
Preferably, the method of the embodiment can realize effective detection of the minimum distance of 5cm, has high distance measurement precision and wide detection angle range, can provide spatial three-dimensional information and speed information of an object, and can effectively sense a short-distance target. The method has great significance for accurate measurement of the free parking space and accurate sensing of obstacles around the vehicle body.
Scene one:
the existing millimeter wave radar detects and senses the targets at middle and long distances, the distance resolution is about 10cm to 50cm, the performance of a millimeter wave radar sensor is difficult to meet for sensing the near area of a vehicle body, and the application of the millimeter wave radar sensor in object detection and sensing and environment modeling at a very close distance is limited. For verifying that this embodiment can realize effectively surveying minimum distance 5cm, the range finding precision is high, and detection angle range is wide, can provide the space three-dimensional information and the velocity information of object, can the close-range target of effectual perception. The traditional radar and the radar system are respectively tested by setting different target distances,
preferably, the distance test is performed by using the angle reversal, the angle reversal is placed at different distances, the test is performed by using the traditional radar and the radar respectively, and the real test results are shown in the following tables 1, 2 and 3.
Table 1: testing at different distances.
The distance ratio test result shows that the traditional radar can not measure the distance within 20cm, but can measure the target of 8 cm; the traditional radar ranging error is about 10cm, but the radar ranging error is only 2 cm.
Table 2: angular reversal position, pitch angle 0 °, distance 5 m:
table 3: angular antiposition, azimuth 0 °, distance 1 m:
the angle ratio test result shows that the FOV and pitch angle range of the radar can reach +/-40 degrees, the traditional radar only has +/-10 degrees, and the dead zone of the radar is greatly reduced during short-distance detection; the radar angle measurement precision is basically level to that of the traditional radar, and the angle measurement precision is not lost due to the increase of the FOV.
It should be recognized that embodiments of the present invention can be realized and implemented by computer hardware, a combination of hardware and software, or by computer instructions stored in a non-transitory computer readable memory. The methods may be implemented in a computer program using standard programming techniques, including a non-transitory computer-readable storage medium configured with the computer program, where the storage medium so configured causes a computer to operate in a specific and predefined manner, according to the methods and figures described in the detailed description. Each program may be implemented in a high level procedural or object oriented programming language to communicate with a computer system. However, the program(s) can be implemented in assembly or machine language, if desired. In any case, the language may be a compiled or interpreted language. Furthermore, the program can be run on a programmed application specific integrated circuit for this purpose.
Further, the operations of processes described herein can be performed in any suitable order unless otherwise indicated herein or otherwise clearly contradicted by context. The processes described herein (or variations and/or combinations thereof) may be performed under the control of one or more computer systems configured with executable instructions, and may be implemented as code (e.g., executable instructions, one or more computer programs, or one or more applications) collectively executed on one or more processors, by hardware, or combinations thereof. The computer program includes a plurality of instructions executable by one or more processors.
Further, the method may be implemented in any type of computing platform operatively connected to a suitable interface, including but not limited to a personal computer, mini computer, mainframe, workstation, networked or distributed computing environment, separate or integrated computer platform, or in communication with a charged particle tool or other imaging device, and the like. Aspects of the invention may be embodied in machine-readable code stored on a non-transitory storage medium or device, whether removable or integrated into a computing platform, such as a hard disk, optically read and/or write storage medium, RAM, ROM, or the like, such that it may be read by a programmable computer, which when read by the storage medium or device, is operative to configure and operate the computer to perform the procedures described herein. Further, the machine-readable code, or portions thereof, may be transmitted over a wired or wireless network. The invention described herein includes these and other different types of non-transitory computer-readable storage media when such media include instructions or programs that implement the steps described above in conjunction with a microprocessor or other data processor. The invention also includes the computer itself when programmed according to the methods and techniques described herein. A computer program can be applied to input data to perform the functions described herein to transform the input data to generate output data that is stored to non-volatile memory. The output information may also be applied to one or more output devices, such as a display. In a preferred embodiment of the invention, the transformed data represents physical and tangible objects, including particular visual depictions of physical and tangible objects produced on a display.
Example 2
Referring to fig. 2 to 7, a second embodiment of the present invention, which is different from the first embodiment, provides a sensing system based on a close-range millimeter wave radar, and as shown in fig. 3, the sensing system based on a close-range millimeter wave radar includes a radio frequency antenna module 100, a radio frequency transceiver module 200, a signal processing module 300 and a data input and output module 400, the radio frequency antenna module 100 employs a patch element antenna, and includes a transmitting antenna 101 and a receiving antenna 102, the number of the transmitting antenna 101 is two, the number of the receiving antennas 102 is four, the lengths of feeder lines are consistent, a radio frequency signal is radiated to a space through the transmitting antenna 101, and the receiving antenna 102 receives an electromagnetic wave signal in the space and outputs the electromagnetic wave signal to a receiver 201 in the radio frequency transceiver module 200; the radio frequency transceiver module 200 adopts a linear frequency modulation continuous wave system and comprises a receiver 201, a transmitting channel 202 and a receiving channel 203, the radio frequency transceiver module 200 generates an FMCW baseband signal, the signal is down-converted to an intermediate frequency signal through the receiver 201, and the intermediate frequency signal is output to the signal processing module 300 in a format form; the signal processing module 300 is connected with the radio frequency transceiving module 200 and comprises an MCU301 and a DSP302, the MCU301 controls the working time sequence, the system logic, the output interface of radar processing result data and the acquisition of digital signals of the radio frequency transceiving module 200, the data are transmitted to the DSP302, and after data information is obtained, the DSP302 carries out tracking measurement on a detected target; the data input/output module 400 performs data transmission through the CAN bus 401, transmits the radar processing result to the outside for use, establishes data interaction, and transmits information required by the radar system from the outside to the inside of the system.
Specifically, referring to fig. 2, the length of the feed line is kept consistent between the transmitting antenna 101 and the receiving antenna 102, and the antenna element spacing d _ EL _2 in the Y direction is 8 mm; 1 in the receiving antenna 102 is consistent with 2, the X coordinate is consistent, and the Y-direction interval d _ El _1 is 8 mm; the Y coordinates of 2, 3, and 4 in the receiving antenna 102 are identical, d _ Az is provided between 3 and 2 in the receiving antenna 102, d _ Az is provided between 4 and 3 in the receiving antenna 102, and d _ Az is 4 mm; wherein d is array element interval, theta is unilateral maximum grating lobe angle, C is light velocity 3e8, fc is center frequency 79e9Hz, and antenna array spacing is calculated according to the following formula:
the relationship between the array element spacing and the maximum grating lobe is as follows:
further, referring to fig. 5 and 6, the rf transceiver module 200 performs generation of FMCW baseband signals, performs up-conversion, and then radiates rf signals of a desired frequency into a space through the transmitting antenna 101, and when receiving signals, the signals in the space are input to the receiver 201 through the receiving antenna 102, and the receiver 201 performs down-conversion of the signals and performs ADC operation, and then outputs the down-converted if signals to the signal processing module 300. The DSP302 performs the baseband signal processing including fourier transform of the signal, target detection, measurement and target tracking, and the RAM and FLASH provide the necessary memory for the calculation and burning programs.
Preferably, referring to fig. 7, the synthesizer generates FMCW transmission signals, radiates the signals to the space through Tx (transmission) antennas, for example, the signals hit a car return radar echo signal, receives the echo signals through Rx (reception) antennas, passes through a low noise amplifier, mixes the signals with a reference signal of the transmission signals to obtain intermediate frequency signals (IF signals), passes through a low pass filter, and performs ADC sampling to obtain digital signals.
As used in this application, the terms "component," "module," "system," and the like are intended to refer to a computer-related entity, either hardware, firmware, a combination of hardware and software, or software in execution. For example, a component may be, but is not limited to being: a process running on a processor, an object, an executable, a thread of execution, a program, and/or a computer. By way of example, both an application running on a computing device and the computing device can be a component. One or more components can reside within a process and/or thread of execution and a component can be localized on one computer and/or distributed between two or more computers. In addition, these components can execute from various computer readable media having various data structures thereon. The components may communicate by way of local and/or remote processes such as in accordance with a signal having one or more data packets (e.g., data from one component interacting with another component in a local system, distributed system, and/or across a network such as the internet with other systems by way of the signal).
It should be noted that the above-mentioned embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.
Claims (9)
1. A sensing method based on a very-close millimeter wave radar is characterized by comprising the following steps: comprises the steps of (a) preparing a mixture of a plurality of raw materials,
radiating an FMCW signal toward a target with a radio frequency antenna module (100);
receiving a radar echo signal reflected by the target;
converting the signal into an intermediate frequency signal, and sampling by using an ADC (analog to digital converter);
processing the received signal and outputting the detected target;
measuring the distance, speed and angle of the target;
and transmitting data and acquiring perception information.
2. The sensing method based on the ultra-close range millimeter wave radar as claimed in claim 1, wherein: outputting the FMCW signal includes outputting a signal including,
receiving a signal by using a radio frequency transceiver module (200), and separating a transmitting signal and a receiving signal according to the signal frequency;
controlling the signal, and outputting the filtered amplified signal and mixing the amplified signal and the mixed signal;
generating an oscillation signal, and outputting the oscillation signal by filtering and mixing;
and adjusting the signal to generate a baseband signal and outputting the baseband signal.
3. The sensing method based on the ultra-close range millimeter wave radar as claimed in claim 2, wherein: before outputting the FMCW signal, the method specifically comprises,
controlling the DAC to generate a modulation signal by using a core processor;
driving the radio frequency transceiver module (200) to generate a frequency modulated continuous wave signal with a constant amplitude;
utilizing a directional coupler, and enabling a part of the signal to enter a mixer to form a local oscillation signal;
with the rf antenna module (100), another portion enters the circulator to form a transmit signal.
4. The sensing method based on the extremely close range millimeter wave radar according to claim 1 or 2, characterized in that: receiving the radar return signal may include receiving the radar return signal,
the radio frequency signal is radiated to the space by the transmitting antenna (101);
the transmitting signal is reflected by a target to form an echo signal;
the receiving antenna (102) receives the echo signal;
into the radio frequency transceiver module (200).
5. The sensing method based on the ultra-close range millimeter wave radar as claimed in claim 4, wherein: converting the signal may include converting the signal to include,
a receiver (201) in the radio frequency transceiving module (200) multiplies the received signal by the local oscillator signal;
obtaining the intermediate frequency signal after frequency conversion by using a low-pass filter;
and converting the intermediate frequency signal into a digital signal by using an ADC (analog to digital converter), and sampling.
6. The sensing method based on the ultra-close range millimeter wave radar as claimed in claim 1 or 5, wherein: processing the received signal may include processing the received signal,
outputting the down-converted intermediate frequency signal to a signal processing module (300);
converting the intermediate frequency signal from an analog domain to a digital domain to obtain the digital signal;
utilizing a DSP to carry out numerical calculation processing on the digital signal;
the output is detected for the target.
7. The sensing method based on the ultra-close range millimeter wave radar as claimed in claim 1, wherein: the measurement and transmission data includes the following data,
measuring the distance between a rising edge and a falling edge by using the echo signal delay in the triangular frequency change;
calculating the distance and the speed of the target by using the frequency difference between the rising edge and the falling edge;
the signal processor performs two-dimensional FFT on the signals received by the receiving antenna (102) array, and then jointly processes a two-dimensional FFT matrix to obtain the target arrival angle;
and transmitting the data by using a data input and output module (400).
8. A sensing system based on a very close distance millimeter wave radar is characterized in that: comprises a radio frequency antenna module (100) and a radio frequency transceiver module (200),
the radio frequency antenna module (100) adopts a patch single-element antenna, and comprises two transmitting antennas (101) and four receiving antennas (102), the lengths of the four receiving antennas (102) are kept consistent, the radio frequency signals are radiated to a space through the transmitting antennas (101), and the receiving antennas (102) receive electromagnetic wave signals in the space and output the electromagnetic wave signals to the receiver (201) in the radio frequency transceiving module (200);
the radio frequency transceiver module (200) adopts a chirp continuous wave system, and comprises a receiver (201), a transmitting channel (202) and a receiving channel (203), wherein the radio frequency transceiver module (200) generates the FMCW baseband signal, down-converts the FMCW baseband signal to the intermediate frequency signal through the receiver (201), and outputs the intermediate frequency signal to the signal processing module (300) in a formatted form.
9. The sensing system of claim 7, wherein: also comprises a signal processing module (300) and a data input and output module (400),
the signal processing module (300) is connected with the radio frequency transceiving module (200) and comprises an MCU (301) and a DSP (302), the MCU (301) controls the working time sequence, the system logic, the output interface of radar processing result data and the acquisition of the digital signal of the radio frequency transceiving module (200), the data is transmitted to the DSP (302), and after the data information is obtained, the DSP (302) performs tracking measurement on the detected target;
the data input and output module (400) transmits data through a CAN bus (401), transmits radar processing results to the outside for use, establishes data interaction, and transmits information required by the radar system from the outside to the inside of the system.
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