CN110988881A - Target detection method of vehicle-mounted millimeter wave radar and vehicle-mounted radar system thereof - Google Patents
Target detection method of vehicle-mounted millimeter wave radar and vehicle-mounted radar system thereof Download PDFInfo
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- CN110988881A CN110988881A CN201911055924.0A CN201911055924A CN110988881A CN 110988881 A CN110988881 A CN 110988881A CN 201911055924 A CN201911055924 A CN 201911055924A CN 110988881 A CN110988881 A CN 110988881A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/36—Means for anti-jamming, e.g. ECCM, i.e. electronic counter-counter measures
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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
- G01S7/411—Identification of targets based on measurements of radar reflectivity
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Abstract
The application relates to a target detection method of a vehicle-mounted millimeter wave radar, which is applied to a vehicle-mounted radar system, and comprises the following steps: carrying out radar detection on a detection target and receiving an echo signal from the detection target; generating a first detection target set according to the echo signal, and filtering the echo signal through a digital filter to generate a second detection target set; matching the first detection target set with the second detection target set; and processing the second detection target set according to the matching result. The beneficial effects are that: the false target elimination is effectively carried out, the detection capability of the weak RCS target can be obviously improved, the detection capability and the detection precision of the vehicle-mounted millimeter wave radar on the short-distance target are improved, and the effectiveness and the accuracy of the vehicle-mounted millimeter wave radar system for providing decision information for the automobile system are further enhanced.
Description
Technical Field
The application relates to the technical field of automotive electronics, in particular to a target detection method of a vehicle-mounted millimeter wave radar and a vehicle-mounted radar system thereof.
Background
At present, the millimeter Wave radar has the characteristics of good directionality, high resolution, low power and the like, and particularly, the Frequency Modulation Continuous Wave (FMCW) radar has the advantages of no range-finding blind area, easiness in realizing miniaturization and the like, so that the millimeter Wave radar is favored in the field of automobiles and becomes one of important devices for sensing the surrounding environment of the automobiles. However, problems such as insufficient isolation between the receiving and transmitting channels of the continuous wave Radar, impedance matching of a radio frequency link, and the like all cause radio frequency signal power leakage to a certain extent, the leakage signal is reflected in a plurality of false targets of strong Radar Cross Section (RCS) distributed on a zero frequency unit and a frequency unit adjacent to the zero frequency unit, and the echo amplitude of the leakage signal is even higher than that of a real target on the same frequency unit, so that the detection capability of a target in a short distance is influenced.
In response to this problem, from a signal processing perspective, the magnitude of the leakage signal can be effectively attenuated by adding a method of digital filtering, thereby reducing its effect on the detection of strong RCS targets (RCS >10 dBsm) at the same or nearby frequencies. However, in an actual application scenario, due to the fact that a leakage signal shows a variation trend of rapid amplitude attenuation on adjacent frequency units and the influence of a digital filter on an original signal amplitude value, false target false alarm and missing report of many real weak RCS targets (RCS <10 dBsm) are generated within a certain distance range after the digital filter is applied.
Disclosure of Invention
In order to solve the technical problem, the application provides a target detection method for a vehicle-mounted millimeter wave radar, which is applied to a vehicle-mounted radar system, and the method comprises the following steps:
carrying out radar detection on a detection target and receiving an echo signal from the detection target;
generating a first detection target set according to the echo signal, and filtering the echo signal through a digital filter to generate a second detection target set;
matching the first detection target set with the second detection target set;
and processing the second detection target set according to the matching result.
Optionally, the radar detecting the detection target and receiving an echo signal from the detection target includes:
and radiating radar signals for a detection target with a preset radar detection range, and receiving echo signals from the detection target.
Optionally, the filtering the echo signal by a digital filter to generate a second detection target set includes:
transmitting the echo signal into an analog-to-digital converter of the vehicle-mounted radar system, and converting the echo signal into a first digital signal;
transmitting the first digital signal into a digital signal processor of the digital filter, and converting the first digital signal into a second digital signal;
and analyzing the filtered second digital signal to generate a second detection target set.
Alternatively, the digital filter may be an IIR digital filter or an FIR filter.
Optionally, the matching the first detection target set and the second detection target set includes:
and matching the parameters of the first sub-target of the first detection target set with the parameters of the second sub-target of the second detection target set.
Optionally, the parameters of the first sub-target or the parameters of the second sub-target include one or more of a distance of the detected target, a speed of the detected target, an angle of the detected target, and an echo signal-to-noise ratio of the detected target.
Optionally, the processing the second detection target set according to the matching result includes:
if the first sub-target of the first detection target set is successfully matched with the second sub-target of the second detection target set, marking the second sub-target as a real target, and processing the real target;
otherwise, the second sub-target is marked as a false target and the false target is processed.
Optionally, the processing the real target includes:
and solving the average value of the real target and the first sub-target, performing interpolation optimization, and outputting a final detection target.
Optionally, the processing the false target includes:
and deleting the false target.
In addition, the application also provides a vehicle-mounted radar system, which comprises the target detection method of the vehicle-mounted millimeter wave radar.
The application discloses a target detection method of a vehicle-mounted millimeter wave radar and a vehicle-mounted radar system thereof, which has the following beneficial effects: the false target elimination is effectively carried out, the detection capability of the weak RCS target can be obviously improved, the detection capability and the detection precision of the vehicle-mounted millimeter wave radar on the short-distance target are improved, and the effectiveness and the accuracy of the vehicle-mounted millimeter wave radar system for providing decision information for the automobile system are further enhanced.
Drawings
Fig. 1 is a flowchart of a target detection method of a vehicle-mounted millimeter wave radar according to an embodiment of the present application.
Detailed Description
The following detailed description of the preferred embodiments of the present application, taken in conjunction with the accompanying drawings, will make the advantages and features of the present application more readily appreciated by those skilled in the art, and thus, will provide a more complete and complete understanding of the scope of the present application.
The leakage of a transmitting signal, the leakage of a local oscillator signal, the multiple reflections of a signal and the like in a radar system are main factors influencing the detection of a short-distance target of the vehicle-mounted millimeter wave radar. In general, in a radar echo signal, a leaked signal is represented as a low-frequency envelope which is parasitic on a useful signal, and for a loaded millimeter wave radar, compared with a single radar which is not loaded, the frequency of the low-frequency envelope is represented the same, but because the electromagnetic environment after loading is relatively complex, the amplitude of the low-frequency envelope is obviously raised, the short-distance target detection capability of the millimeter wave radar is seriously influenced, and only through optimization of a digital filtering algorithm, not only a false target is easily generated, but also the detection capability of a short-distance weak RCS target is influenced.
The invention provides the target detection method of the loading millimeter wave radar and the vehicle-mounted radar system thereof, which are easy to realize and strong in practicability, so that false targets can be effectively eliminated, and the detection capability of weak RCS targets can be remarkably improved.
In the embodiment shown in fig. 1, the present application provides a target detection method for a vehicle-mounted millimeter wave radar, which is applied to a vehicle-mounted radar system, and the method includes:
100, performing radar detection on a detection target, and receiving an echo signal from the detection target;
in step 100, carry out radar detection to the detection target, in the on-vehicle radar system detection scope of this application, can detect the single detection target in the detection scope, also can detect a plurality of detection targets of detection scope, in this embodiment, survey a plurality of detection targets of detection scope, to detection target radiation radar signal, generate echo signal behind radar signal detection target, feed back to in the radar system's of this application detection scope. The radar system of the application can adopt a millimeter wave radar to detect the detection target. The millimeter wave radar is a radar which works in a millimeter wave band for detection. Generally, the millimeter wave refers to the frequency band of 30-300 GHz. Millimeter-wave radar has some of the advantages of both microwave and photoelectric radar because the wavelength of millimeter-wave waves is intermediate between microwave and centimeter waves. The millimeter wave seeker has the characteristics of small volume, light weight and high spatial resolution. And the millimeter wave seeker has strong capability of penetrating fog, smoke and dust, and has the characteristics of all weather and all day long. In addition, the anti-interference and anti-stealth capabilities of the millimeter wave guide head are also superior to those of other microwave guide heads. The millimeter wave radar can distinguish and identify very small targets and can identify a plurality of targets simultaneously; the device has the advantages of imaging capability, small volume, good maneuverability and concealment, and strong capability of detecting and detecting a target.
200, generating a first detection target set according to the echo signal, and filtering the echo signal through a digital filter to generate a second detection target set;
in step 200, after detecting a detection target, the vehicle-mounted radar system receives an echo signal, analyzes the echo signal, and generates a first detection target set; and filtering the same echo signal through a digital filter, analyzing the filtered echo signal, and generating a second detection target set, wherein the process comprises the following steps: transmitting the echo signal into an analog-to-digital converter of a radar system, and converting the echo signal into a first digital signal; transmitting the first digital signal into a digital signal processor of a digital filter, and converting the first digital signal into a second digital signal; and analyzing the filtered second digital signal to generate a second detection target set. The digital filter is an algorithm or a device composed of a digital multiplier, an adder and a delay unit. The digital filter is used for operating the digital code of the input discrete signal so as to achieve the purpose of changing the signal spectrum.
300, matching the first detection target set with the second detection target set;
in step 300, after a first detection target set and a second detection target set are obtained, each first sub-target in the first detection target set is traversed and matched with each second sub-target in the second detection target set one by one, wherein the first sub-targets and the corresponding second sub-targets of the first sub-targets are matched with each other in a range value in the technical scheme, that is, the first sub-targets and the corresponding second sub-targets of the first sub-targets are within a preset difference range, and thus the first sub-targets and the second sub-targets can be considered to be successfully matched; otherwise the match fails.
And 400, processing the second detection target set according to the matching result.
In step 400, matching a first sub-target of the first detection target set with a second sub-target of the second detection target set, if the first sub-target of the first detection target set is successfully matched with the second sub-target of the second detection target set, marking the second sub-target as a real target, and processing the real target; otherwise, the second sub-target is marked as a false target and the false target is processed. Wherein, processing the real target comprises: and performing specific interpolation optimization of corresponding parameters on the real target and the first sub-target, such as averaging, and outputting a final detection target. In this embodiment, averaging is only one way of interpolation optimization, which can be used for example, but not all scenarios, such as root mean square, are also one kind of interpolation optimization, and need to be determined according to specific parameters. The processing of the false target comprises: and deleting the false target.
The method for preprocessing the detection result of the time domain echo signal under the condition of digital filtering is provided on the basis of the vehicle-mounted millimeter wave radar applying FMCW, so that a real target can be screened to remove a false target, and the weak RCS target detection capability of the vehicle-mounted radar on a short distance can be improved under the condition of applying digital filtering. The detection capability and the detection precision of the vehicle-mounted millimeter wave radar on the short-distance target are improved, and the effectiveness and the accuracy of the vehicle-mounted millimeter wave radar system for providing decision information for an automobile system are further enhanced.
In some embodiments, radar detection of a target of interest and receiving echo signals from the target of interest comprises: and radiating radar signals for a detection target with a preset radar detection range, and receiving echo signals from the detection target. In an implementation of this embodiment, carry out radar detection to the detection target, in the on-vehicle radar system detection range of this application, can detect the single detection target in the detection range, also can detect a plurality of detection targets of detection range, in this embodiment, survey a plurality of detection targets of detection range, to detection target radiation radar signal, generate echo signal behind the radar signal detection target, feed back to in the radar system's of this application detection range. The radar system of the application can adopt a millimeter wave radar to detect the detection target. The millimeter wave radar can detect long-distance detection targets and can also detect short-distance detection targets.
In some embodiments, the echo signals are filtered by a digital filter to generate a second set of detection targets, including: transmitting the echo signal into an analog-to-digital converter of a radar system, and converting the echo signal into a first digital signal; transmitting the first digital signal into a digital signal processor of a digital filter, and converting the first digital signal into a second digital signal; and analyzing the filtered second digital signal to generate a second detection target set. In one implementation of this embodiment, the digital filter includes an analog-to-digital converter, a digital signal processor, and a digital-to-analog converter; and the echo signal is filtered by an analog-to-digital converter, a digital signal processor and the digital-to-analog converter in sequence, wherein the digital signal processor is an algorithm or a device consisting of a digital multiplier, an adder and a delay unit. The digital filter is used for operating the digital code of the input discrete signal so as to achieve the purpose of changing the signal spectrum. And filtering the abnormal waveform transmitted from the detection target.
In some embodiments, the digital filter may be an IIR digital filter or an FIR digital filter.
In one implementation of this embodiment, the IIR digital filter is a recursive filter with feedback; the method comprises the following implementation steps:
and converting the given technical index of the digital filter into the technical index of the analog low-pass filter according to a certain rule.
And designing a transfer function simulating low-pass filtering according to the converted technical indexes.
And then the transfer function of the low-pass filtering is converted into the transfer function of the digital filter according to a certain rule. If the digital filter is designed to be low-pass, the above process can be terminated, and if a high-pass, band-pass or band-stop filter is designed, the following steps are required: the technical indexes of a high-pass, band-pass or band-stop digital filter are converted into the technical indexes of a low-pass analog filter, then a transfer function of low-pass filtering is designed, and then the transfer function of the low-pass filtering is converted into the transfer function of the digital filter.
In another embodiment mode of this embodiment, the FIR digital filter is a finite-length single-bit impulse response filter, and the process includes, before entering the FIR filter, first performing analog-to-digital conversion on a signal through an a/D device to convert an analog signal into a digital signal; in order to enable the signal processing not to generate distortion, the sampling speed of the signal must meet the Shannon sampling theorem, and generally 4-5 times of the upper limit of the signal frequency is taken as the sampling frequency; generally, a successive approximation type A/D converter with higher speed can be used, whether a multiply-accumulate method or a distributed algorithm is adopted to design an FIR filter, data output by the filter are a series of sequences, and digital-to-analog conversion is needed to make the data intuitively reflected, so that the output of the FIR filter formed by the FPGA is required to be externally connected with a D/A module. The FPGA has a regular internal logic array and rich connecting line resources, is particularly suitable for digital signal processing tasks, has better parallelism and expandability compared with a general DSP chip with dominant serial operation, and can design a high-speed FIR digital filter by utilizing a fast algorithm of FPGA multiply-accumulate.
In some embodiments, matching the first set of detection targets with the second set of detection targets comprises:
and matching the parameters of the first sub-target of the first detection target set with the parameters of the second sub-target of the second detection target set. In an implementation manner of the embodiment, after a first detection target set and a second detection target set are obtained, each first sub-target in the first detection target set is respectively traversed one by one to be matched with each second sub-target in the second detection target set, where the first sub-targets and the second sub-targets of the corresponding first sub-targets are matched with each other in a range value in the technical solution, that is, the first sub-targets and the second sub-targets of the corresponding first sub-targets are within a preset difference range, that is, the first sub-targets and the second sub-targets are considered to be successfully matched.
In some embodiments, the parameters of the first sub-target or the parameters of the second sub-target comprise one or more of a distance of the detected target, a speed of the detected target, an angle of the detected target, an echo signal to noise ratio of the detected target.
In some embodiments, processing the second set of detection targets according to the matching result includes:
if the first sub-target of the first detection target set is successfully matched with the second sub-target of the second detection target set, marking the second sub-target as a real target, and processing the real target; wherein, processing the real target comprises: and performing interpolation optimization on the real target and the first sub-target, such as averaging, and outputting a final detection target. Otherwise, the second sub-target is marked as a false target and the false target is processed. Wherein, the processing the false target comprises: and deleting the false target. In an implementation manner of this embodiment, the target detection method of the present application performs interpolation optimization on a real target, and deletes a false target to output a final detection target; the false target elimination is effectively carried out, the detection capability of the weak RCS target can be obviously improved, the detection capability and the detection precision of the vehicle-mounted millimeter wave radar on the short-distance target are improved, and the effectiveness and the accuracy of the vehicle-mounted millimeter wave radar system for providing decision information for the automobile system are further enhanced.
The target detection method of the vehicle-mounted millimeter wave radar provided by the application is characterized in that by matching detection results of radar echo signals under the condition of digital filtering pretreatment, only target points detected under two conditions are judged as real targets, otherwise, the target points are judged as false targets, and labels are added to all the false targets, filtering false target in the final output result, and at the same time, because of the influence of the digital filter adopted by the above operation on the original signal, the processing method with or without digital filtering can obtain different results aiming at the same detection, and the detection result values are distributed at both sides of the true value, therefore, the interpolation precision can be improved by specific mathematical processing on the target detection distance parameter results with or without digital filtering preprocessing, and the detection precision is further improved if the average calculation is carried out on the results with or without filtering. The method comprises the specific implementation steps that when the radar carries out target detection on the echo signals after the digital filtering preprocessing, the radar synchronously carries out target detection on the original echo signals, two groups of different target detection results are respectively obtained, the two groups of parameter detection results are compared, wherein the comparison parameters comprise but are not limited to the distance, the speed, the angle and the echo signal-to-noise ratio of the detected target, detection points existing in the two groups of detection results are marked as real targets in the final detection result, otherwise, the detection points are marked as false targets, the system flow is shown in figure 1, and aiming at the implementation effects, for example: the real target distance is 8m, and the detection distance of the filtering algorithm is a false target: 1.95m, true target: 7.79m, the distance detected by the filter-free algorithm is a false target: 0.65m, true target: 8.44m, after the method provided by the patent is applied, the detection distance is a real target: 8.11m, the distance measurement precision is improved, and meanwhile false targets at the positions of 1.95m and 0.65m in the filtering detection results are successfully eliminated.
In addition, the application also provides a vehicle-mounted radar system, which comprises the target detection method of the vehicle-mounted millimeter wave radar. The false target elimination is effectively carried out, the detection capability of the weak RCS target can be obviously improved, the detection capability and the detection precision of the vehicle-mounted millimeter wave radar on the short-distance target are improved, and the effectiveness and the accuracy of the vehicle-mounted millimeter wave radar system for providing decision information for the automobile system are further enhanced.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present application, and are used for illustrating the technical solutions of the present application, but not limiting the same, and the scope of the present application is not limited thereto, and although the present application is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope disclosed in the present application; such modifications, changes or substitutions do not depart from the spirit and scope of the exemplary embodiments of the present application, and are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A target detection method of a vehicle-mounted millimeter wave radar is characterized by being applied to a vehicle-mounted radar system, and the method comprises the following steps:
carrying out radar detection on a detection target and receiving an echo signal from the detection target;
generating a first detection target set according to the echo signal, and filtering the echo signal through a digital filter to generate a second detection target set;
matching the first detection target set with the second detection target set;
and processing the second detection target set according to the matching result.
2. The object detection method of the vehicle-mounted millimeter wave radar according to claim 1, wherein the radar detection of the detection target and the reception of the echo signal from the detection target comprises:
and radiating radar signals for a detection target with a preset radar detection range, and receiving echo signals from the detection target.
3. The method of claim 1, wherein the echo signal is filtered by a digital filter to generate a second detection target set, and the method comprises:
transmitting the echo signal into an analog-to-digital converter of the vehicle-mounted radar system, and converting the echo signal into a first digital signal;
transmitting the first digital signal into a digital signal processor of the digital filter, and converting the first digital signal into a second digital signal;
and analyzing the filtered second digital signal to generate a second detection target set.
4. The method as claimed in claim 3, wherein the digital filter is an IIR digital filter or an FIR digital filter.
5. The object detection method of the vehicle-mounted millimeter wave radar according to claim 1, wherein the matching the first detection target set with the second detection target set comprises:
and matching the parameters of the first sub-target of the first detection target set with the parameters of the second sub-target of the second detection target set.
6. The method as claimed in claim 5, wherein the parameters of the first sub-target or the parameters of the second target include one or more of a distance of the target, a speed of the target, an angle of the target, and an echo signal-to-noise ratio of the target.
7. The method for detecting the target of the vehicle-mounted millimeter wave radar according to claim 1, wherein the processing the second detection target set according to the matching result includes:
if the first sub-target of the first detection target set is successfully matched with the second sub-target of the second detection target set, marking the second sub-target as a real target, and processing the real target;
otherwise, the second sub-target is marked as a false target and the false target is processed.
8. The object detection method of the vehicle-mounted millimeter wave radar according to claim 7, wherein the processing the real object comprises:
and solving the average value of the real target and the first sub-target, performing interpolation optimization, and outputting a final detection target.
9. The method for detecting the target of the vehicle-mounted millimeter wave radar as claimed in claim 7, wherein the processing the false target comprises:
and deleting the false target.
10. A vehicle-mounted radar system characterized by comprising the target detection method of a vehicle-mounted millimeter wave radar according to claims 1 to 9.
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| PCT/CN2019/121201 WO2021082148A1 (en) | 2019-10-31 | 2019-11-27 | Target detection method for vehicle-mounted millimeter wave radar, and vehicle-mounted radar system therefor |
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| CN113534078B (en) * | 2021-07-20 | 2023-08-29 | 西安空间无线电技术研究所 | Continuous wave radar on-orbit calibration method |
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