CN111175753B - Vehicle-mounted anti-collision radar wave-splitting target detection method - Google Patents
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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
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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
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Abstract
The invention discloses a method for detecting a vehicle-mounted anti-collision radar sub-wave target, which comprises the following steps: step 1, performing one-dimensional distance compression on L rows of receiving antennas obtained by the MIMO antenna according to each period to obtain a one-dimensional distance image matrix X1 of the L rows of receiving antennas; step 2, performing azimuth matched filtering on the one-dimensional range profile matrix X1 according to each row to obtain a matrix X2; step 3, stepping the FOV of the L-row receiving antennas by using the beam width of the antennas to obtain a plurality of guiding angles which are not coincident with each other, and performing beam forming on the matrix X2 at each guiding angle to obtain a new matrix Y of each guiding angleθ(ii) a Step 4, new matrix Y of each guide angleθAfter the module is solved, CFAR detection is carried out to obtain the target speed distance information of each guide angle; and aggregating the targets in all the guide angle directions and simultaneously removing the targets with the same speed and distance, and then obtaining the angle information of the targets through AOA estimation. The method of the invention realizes the simultaneous detection of long-distance targets under the condition that the FOV is required to be large enough.
Description
Technical Field
The invention relates to the technical field of radar signal processing, in particular to a method for detecting a vehicle-mounted anti-collision radar sub-wave target.
Background
77GHZ millimeter wave radar frequency is high, and the wavelength is short, and the speed measurement range finding precision is high, in the field (for example car anticollision field) that requires the precision very much, 77GHZ millimeter wave radar has become the mainstream selection in the industry because can work in all weather, does not receive influences such as bad weather environment such as haze dust and sand, light, consequently also is the key subject of automobile electronics manufacturer and each big colleges and universities's research.
The general millimeter wave radar adopts a non-coherent accumulation method, and the SNR of the millimeter wave radar is not enough to simultaneously detect a long-distance target under the condition that the FOV is required to be large enough.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the existing problems, a vehicle-mounted anti-collision radar wave-splitting target detection method is provided.
The technical scheme adopted by the invention is as follows:
a vehicle-mounted anti-collision radar wave-splitting target detection method comprises the following steps:
step 3, stepping the FOV of the L-row receiving antennas by using the beam width of the antennas to obtain a plurality of guiding angles which are not coincident with each other, and performing beam forming on the matrix X2 at each guiding angle to obtain a new matrix Y of each guiding angleθ；
Step 4, new matrix Y of each guide angleθAfter the module is solved, CFAR detection is carried out to obtain the target speed distance information of each guide angle; and aggregating the targets in all the guide angle directions and simultaneously removing the targets with the same speed and distance, and then obtaining the angle information of the targets through AOA estimation.
Further, the method in step 1 comprises:
step 1.1, to
A complex signal representing the nth sampling point (N is 1,2 … N) of the mth cycle (M is 1,2 … M) of the mth column receiving antenna (L is 1,2 … L) has a matrix
Step 1.2, matrix X is alignedlEvery row of the matrix is processed by FFT to obtain a matrix
The one-dimensional range profile compression result of the l column receiving antenna is obtained;
Further, the method of step 1.2 is: for each period, adding 178 points of Hanning window and then supplementing 0, and after supplementing 256 points, adding matrix XlEach row of the matrix is subjected to 256-point FFT to obtain a matrix
Namely the one-dimensional range profile compression result of the l-th column of receiving antennas.
Further, the method in step 2 comprises: and adding a 128-point Hanning window to each column of the matrix X1 and then performing 128-point FFT to obtain a matrix X2.
Further, the method in step 3 is as follows:
step 3.1, stepping the FOV of the L-row receiving antennas by taking the beam width of the antennas as a step to obtain a plurality of guiding angles which are not coincident with each other:
wherein K represents the number of steering angles, Delta theta represents the antenna beam width, and FOV is in the range of [ theta ]1,θ2]；
Step 3.2, calculating a guide vector:
waveguide angular position for kth guide angle
Wherein, theta is belonged to (theta)1,θ2) (ii) a Calculating array plane normalization space domain frequency k θ2 pi d sin theta/lambda, wherein d is the array antenna spacing and lambda is the radar wavelength; then the guide vector
Step 3.3, carrying out dot multiplication on the matrix X2 and the guide vector to obtain a new matrix
Wherein,
the result of one-dimensional distance compression of the step 1 and the result of matching filtering of the azimuth direction of the step 2 are shown after the ith row of receiving antennas are finished;
represents
Multiplication of each element of the matrix by
This phase factor;
step 3.4, obtaining a new matrix Y of each guiding angle according to the operation of the step 3.2-3.3 on each guiding angleθ。
Further, the range of the FOV used for calculating the steering angle is shifted according to the measurement index to be achieved and the antenna beam range.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:
1. according to the invention, on the basis of distance compression and azimuth matching filtering, an L-column receiving antenna matrix is subjected to DBF at different guide angles, and then targets in different azimuths are gathered, so that the remote targets can be simultaneously detected under the condition that the FOV is required to be large enough, namely, the target SNR is improved on the premise of not losing the FOV by using a target Beam Forming (Digital Beam Forming) technology aiming at the problem that the SNR of a 77GHZ millimeter wave radar collision avoidance technology is insufficient.
2. The invention shifts the FOV range used for calculating the steering angle according to the measurement index to be achieved and the antenna beam range, and can achieve the measurement index of the detection range. The method can particularly satisfy the detection range of a 2-transmitting and 4-receiving antenna system of [ -60 degrees, 60 degrees ].
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 embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic diagram of a wavefront of an exemplary incident angle to a uniform linear array.
Fig. 2 is an exemplary flow chart.
Figure 3 is an exemplary one-dimensional distance compression result,
FIG. 4 is a graph of an exemplary target amplitude versus steering angle.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the detailed description and specific examples, while indicating the preferred embodiment of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, the method for detecting the vehicle-mounted anti-collision radar sub-wave target of the invention is characterized by comprising the following steps:
step 3, stepping the FOV of the L-row receiving antennas by using the beam width of the antennas to obtain a plurality of guiding angles which are not coincident with each other, and performing beam forming on the matrix X2 at each guiding angle to obtain a new matrix Y of each guiding angleθ；
Step 4, new matrix Y of each guide angleθAfter the module is solved, CFAR detection is carried out to obtain the target speed distance information of each guide angle;
step 5, aggregating the targets in all the guide angle directions and simultaneously removing the targets with the same speed and distance, and then obtaining the angle information of the targets through AOA estimation
The features and properties of the present invention are described in further detail below with reference to examples.
Performing one-dimensional distance compression on L rows of receiving antennas obtained by the MIMO antenna according to each period to obtain a one-dimensional distance image matrix X1 of the L rows of receiving antennas;
specifically, the method comprises the following steps:
step 1.1, to
A complex signal representing the nth sampling point (N is 1,2 … N) of the mth cycle (M is 1,2 … M) of the mth column receiving antenna (L is 1,2 … L) has a matrix
Step 1.2, matrix X is alignedlEvery row of the matrix is processed by FFT to obtain a matrix
The one-dimensional range profile compression result of the l column receiving antenna is obtained;
Performing azimuth matched filtering on the obtained one-dimensional range profile matrix X1 of the L rows of receiving antennas according to each row to obtain a matrix X2 which is expressed as
Step 3, steering angle beam forming
Stepping FOV of L-column receiving antennas by using antenna beam width to obtain a plurality of guiding angles which are not coincident with each other, and performing beam forming on the matrix X2 at each guiding angle to obtain a new matrix Y of each guiding angleθ；
Specifically, the method comprises the following steps:
step 3.1, stepping the FOV of the L-row receiving antennas by taking the beam width of the antennas as a step to obtain a plurality of guiding angles which are not coincident with each other:
wherein K represents the number of steering angles, Delta theta represents the antenna beam width, and FOV is in the range of [ theta ]1,θ2]；
Step 3.2, calculating a guide vector:
waveguide angular position for kth guide angle
Wherein, theta is belonged to (theta)1,θ2) (ii) a Calculating array plane normalization space domain frequency k θ2 pi d sin theta/lambda, wherein d is the array antenna spacing and lambda is the radar wavelength; then the guide vector
In the step 3.3, the step of the method,performing dot multiplication on the matrix X2 and the guide vector to obtain a new matrix
Wherein,
the result of one-dimensional distance compression of the step 1 and the result of matching filtering of the azimuth direction of the step 2 are shown after the ith row of receiving antennas are finished;
represents
Multiplication of each element of the matrix by
This phase factor;
step 3.4, obtaining a new matrix Y of each guiding angle according to the operation of the step 3.2-3.3 on each guiding angleθ。
Step 4, target detection
New matrix Y for each steering angleθAfter the module is solved, CFAR detection is carried out to obtain the target speed distance information of each guide angle; and aggregating the targets in all the guide angle directions and simultaneously removing the targets with the same speed and distance, and then obtaining the angle information of the targets through AOA estimation.
Example (c): the diagram of the wavefront from the incident angle to the uniform line array shown in fig. 1, the flowchart of the example shown in fig. 2, the one-dimensional distance compression result shown in fig. 3, and the relationship diagram of the target amplitude and the steering angle shown in fig. 4.
For 8 columns of receiving antennas, 128 periods are formed for each column of receiving antennas, and the sum of each period isAfter the 178-point Hanning window is complemented with 0, after the 256 points are complemented, every row of receiving antennas (namely matrix X)lEach row) of the 8 rows of receiving antennas, and obtaining a one-dimensional range image compression result of the 8 rows of receiving antennas
As shown in fig. 3, it can be seen that there is a target around 34 m.
Adding 128-point Hanning window to each column of the one-dimensional range image compression result of the 8 columns of receiving antennas obtained in the step 1, and then performing 128-point FFT to obtain a new matrix of the 8 columns of receiving antennas
Step 3, steering angle beam forming
It is to be noted that the range of the FOV used for calculating the steering angle is shifted depending on the measurement index to be achieved and the antenna beam range. For example, the measurement range is [ -60 °,60 ° ]]And the beam range of the antenna is [ -7.5 DEG, 7.5 DEG ]]Thus, the FOV used to calculate the steering angle ranges from [ -52.5,52.5 [ -52.5 [ ]]8 mutually non-coincident steering angles are formed by taking the antenna beam width of 15 degrees as a step. Then, a steering vector is calculated: waveguide angular position for kth guide angle
Wherein, theta is belonged to (theta)1,θ2) (ii) a Calculating array plane normalization space domain frequency k θ2 pi d sin theta/lambda, wherein d is the array antenna spacing and lambda is the radar wavelength; then the guide vector
Then, the matrix X2 and the guide vector are subjected to point multiplication to obtain a new matrix Yθ(ii) a Finally, the 8 guide angles are operated according to the above operation to obtain a new matrix Y of the 8 guide anglesθ。
Step 4, target detection
New matrix Y for each steering angleθAfter the model is solved, CFAR detection is carried out to obtain each guideTarget speed distance information of a heading angle; and aggregating the targets in all the guide angle directions and simultaneously removing the targets with the same speed and distance, and then obtaining the angle information of the targets through AOA estimation.
Fig. 4 shows a target moving at a radar radial distance of about 35m towards the radar at a speed of 18km/h, the abscissa indicates the steering angle, the ordinate indicates the target amplitude at 1 deg. sub-wave position from [ -52.5 deg., 52.5 deg. ] and it can be seen from fig. 4 that the target is most energetic at the steering angle of 7.5 deg., and attenuates more than one times after 0.5 deg. and 13.5 deg. with a beam width of 13 deg. similar to the above-set beam width of 15 deg.. The graph shows that the target energy attenuation from 0.5 to 13.5 at the center of the 7.5 steering angle is within 3db, and the other wave potential energy attenuation is above 3 db.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (6)
1. A vehicle-mounted anti-collision radar wave-splitting target detection method is characterized by comprising the following steps:
step 1, performing one-dimensional distance compression on L rows of receiving antennas obtained by the MIMO antenna according to each period to obtain a one-dimensional distance image matrix X1 of the L rows of receiving antennas;
step 2, performing azimuth matched filtering on the obtained one-dimensional range profile matrix X1 of the L rows of receiving antennas according to each row to obtain a matrix X2;
step 3, stepping the FOV of the L-row receiving antennas by using the beam width of the antennas to obtain a plurality of guiding angles which are not coincident with each other, and performing beam forming on the matrix X2 at each guiding angle to obtain a new matrix Y of each guiding angleθ；
Step 4, new matrix Y of each guide angleθAfter the module is solved, CFAR detection is carried out to obtain the target speed distance information of each guide angle; and aggregating the targets in all the guide angle directions and simultaneously removing the targets with the same speed and distance, and then obtaining the angle information of the targets through AOA estimation.
2. The vehicle-mounted anti-collision radar wave-splitting target detection method according to claim 1, characterized in that the method in the step 1 is as follows:
step 1.1, to
A complex signal representing the nth sampling point (N is 1,2 … N) of the mth cycle (M is 1,2 … M) of the mth column receiving antenna (L is 1,2 … L) has a matrix
Step 1.2, matrix X is alignedlEvery row of the matrix is processed by FFT to obtain a matrix
The one-dimensional range profile compression result of the l column receiving antenna is obtained;
step 1.3, obtaining a one-dimensional range profile matrix of L rows of receiving antennas according to the operation of the step 1.1-1.2 on each row of receiving antennas
3. The vehicle-mounted anti-collision radar wave-splitting target detection method according to claim 2, characterized in that the method in step 1.2 is as follows: for each period, adding 178 points of Hanning window and then supplementing 0, and after supplementing 256 points, adding matrix XlEach row of the matrix is subjected to 256-point FFT to obtain a matrix
Namely the one-dimensional range profile compression result of the l-th column of receiving antennas.
4. The vehicle-mounted anti-collision radar wave-splitting target detection method according to claim 1, wherein the method in the step 2 is as follows: and adding a 128-point Hanning window to each column of the matrix X1 and then performing 128-point FFT to obtain a matrix X2.
5. The vehicle-mounted anti-collision radar wave-splitting target detection method according to claim 1, characterized in that the method in the step 3 is as follows:
step 3.1, stepping the FOV of the L-row receiving antennas by taking the beam width of the antennas as a step to obtain a plurality of guiding angles which are not coincident with each other:
wherein K represents the number of steering angles, Delta theta represents the antenna beam width, and FOV is in the range of [ theta ]1,θ2]；
Step 3.2, calculating a guide vector:
waveguide angular position for kth guide angle
Wherein, theta is belonged to (theta)1,θ2) (ii) a Calculating array plane normalization space domain frequency kθ2 pi d sin theta/lambda, wherein d is the array antenna spacing and lambda is the radar wavelength; then the guide vector
Step 3.3, carrying out dot multiplication on the matrix X2 and the guide vector to obtain a new matrix
Wherein,
one-dimensional showing that the ith row of receiving antennas finishes step 1The results of distance compression and the azimuth matched filtering of step 2;
represents
Multiplication of each element of the matrix by
This phase factor;
step 3.4, obtaining a new matrix Y of each guiding angle according to the operation of the step 3.2-3.3 on each guiding angleθ。
6. The on-vehicle anti-collision radar wave-splitting target detection method according to claim 5, wherein a range of the FOV for calculating the steering angle is shifted according to a measurement index to be achieved and an antenna beam range.
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