CN113325372B - Random coding waveform modulation method for vehicle-mounted MIMO radar - Google Patents
Random coding waveform modulation method for vehicle-mounted MIMO radar Download PDFInfo
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- CN113325372B CN113325372B CN202110716788.6A CN202110716788A CN113325372B CN 113325372 B CN113325372 B CN 113325372B CN 202110716788 A CN202110716788 A CN 202110716788A CN 113325372 B CN113325372 B CN 113325372B
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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
- G01S7/28—Details of 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
- G01S7/023—Interference mitigation, e.g. reducing or avoiding non-intentional interference with other HF-transmitters, base station transmitters for mobile communication or other radar systems, e.g. using electro-magnetic interference [EMI] reduction techniques
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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
- G01S7/28—Details of pulse systems
- G01S7/282—Transmitters
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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- Computer Networks & Wireless Communication (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention discloses a vehicle-mounted MIMO radar random code waveform modulation method, and belongs to the field of millimeter wave radars. The method comprises the following steps: firstly, setting a radar into a random coding mode; resetting the random signal generator and generating a set of random codes when transmitting radar signals by arranging the random signal generator; after generating random codes, writing the random codes into a register, and modulating radar signals by calling codes in the register each time the radar transmits radar signals; the demodulated data in the radio frequency chip is input into a decoder to generate a decoded receiving signal, so that the receiving end can receive an echo signal reflected by the transmitted radar signal after encountering an obstacle. According to the invention, each transmitting pulse initial phase is randomly encoded in the processor, transmitting signals of different encodings cannot interfere with each other, so that a plurality of millimeter wave radars can be used in the same environment, the robustness of the system is improved, and the anti-interference capability of the rail traffic radars can be greatly improved.
Description
Technical Field
The invention relates to the technical field of millimeter wave radars, in particular to a vehicle-mounted MIMO radar random coding waveform modulation method.
Background
Along with the rapid development of millimeter wave chip technology, millimeter wave radars are widely applied to civil markets such as automatic driving, intelligent security, intelligent traffic and intelligent home. Compared with sensors such as laser, ultrasonic waves, cameras and the like, the millimeter wave radar has the advantages of long detection distance, all weather, high reliability and the like.
The existing vehicle-mounted millimeter wave radar is mainly designed and developed aiming at highway scenes, has the problems of short detection distance, low azimuth resolution, poor anti-interference capability and the like in track traffic scenes, and is difficult to meet application requirements, and the MIMO (multiple-input multiple-output) millimeter wave radar effectively increases the antenna aperture of the radar through a multi-radio frequency chip cascading technology, has the characteristics of high resolution and long detection distance, can increase the diversity of target information, and improves the anti-interference capability of the radar. The existing MIMO radar mostly adopts time-sharing MIMO waveforms, and has the defects of short detection distance, low angle measurement precision, poor anti-interference capability and the like under a train high-speed motion platform. In the track traffic industry, the train-mounted millimeter wave radar needs to realize high-precision detection on remote obstacles, and meanwhile, due to more noise interference in a track traffic scene, the millimeter wave radar adopting the traditional time-sharing MIMO waveform may not meet the actual requirements.
Disclosure of Invention
The invention aims to provide a vehicle-mounted MIMO radar random coding waveform modulation method. According to the vehicle-mounted MIMO radar random coding waveform modulation method, the transmitting signals of each frame are subjected to random coding modulation, and the method has the advantages of high azimuth resolution, long detection distance and strong anti-interference capability, and adopts the following technical scheme:
according to one aspect of the present invention, there is provided a vehicle-mounted MIMO radar random-encoding waveform modulation method, including the steps of:
(1) Setting a transmitting mode and a receiving mode of the radar to be random coding modes;
(2) Setting a random signal generator in a radar processor, resetting the random signal generator in the radar processor according to a certain time interval when transmitting radar signals, and generating a group of random codes at the time interval, wherein the code length is the accumulated number of radar transmitting pulses, and the code number is the transmitting channel number;
(3) After generating random codes, writing the random codes into an initial phase modulation control register of a corresponding transmitting channel of a radio frequency chip in the radar, and modulating radar signals by calling codes in the initial phase modulation control register when the radar transmits radar signals each time;
(4) Modulating the transmitting mode of the radio frequency chip into a mode capable of transmitting modulated radar signals;
(5) The data demodulated in the radio frequency chip is input into a decoder to generate a receiving signal which corresponds to the code and the decode in the transmitting channel, so that the receiving end of the radar can receive the echo signal reflected by the transmitted radar signal after encountering an obstacle.
Preferably, the radio frequency front end of the radar adopts 4 AWR2243 transmitting chips in cascade, each transmitting chip is 3-transmitting and 4-receiving, and there are 12 paths of transmitting channels and 16 paths of receiving channels, each path of transmitting signal encodes the initial phase by 6 bytes, 64 code words are all used, and the encoding sequence length of each transmitting channel is 256.
Preferably, the maximum speed measurement range of the radar is: -400km/h to 50km/h.
Preferably, the radar has a detection distance of more than 120 meters for targets with radar cross-sectional areas greater than 1 square meter and a detection distance of more than 500 meters for trains with radar cross-sectional areas greater than 30 square meters.
Preferably, the radar transmission pulse repetition period is: 41.667us.
The technical scheme adopted by the invention has the following remarkable effects:
(1) According to the invention, each transmitting pulse primary phase is randomly encoded in the processor, transmitting signals of different encodings cannot interfere with each other, so that a plurality of millimeter wave radars can be used in the same environment, the robustness of the system is improved, and the anti-interference capability of the rail traffic radars can be greatly improved;
(2) The invention simultaneously controls the multipath transmitting signal channels in real time, and can avoid Doppler phase difference introduced by time-sharing transmission;
(3) The millimeter wave radar has the capability of simultaneously transmitting 12 channels and receiving 16 channels, the more the transmitting and receiving channels are, the better the radar performance is, the azimuth resolution is improved to be more than 0.5 degrees, and the maximum detection distance of an object with the radar scattering cross section (RCS) of more than 30 square meters can be more than 500 meters.
Drawings
FIG. 1 is a single frame waveform schematic of the present invention;
fig. 2 is a table of random codes for the initial phases of radar transmit pulses of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail below by referring to the accompanying drawings and by illustrating preferred embodiments. It should be noted, however, that many of the details set forth in the description are merely provided to provide a thorough understanding of one or more aspects of the invention, and that these aspects of the invention may be practiced without these specific details.
According to the vehicle-mounted MIMO radar random coding waveform modulation method, firstly, a transmitting mode and a receiving mode of the radar are set to be random coding modes; setting a random signal generator in a radar processor, resetting the random signal generator in the radar processor according to a certain time interval when transmitting radar signals, wherein the repetition period of transmitting pulses is as follows: 41.667us, under the time interval, generating a group of random codes, wherein the length of the group of random codes is the accumulated number of radar transmitting pulses, the accumulated number of pulses is 256, and the number of random codes is the number of transmitting channels; the radio frequency front end of the radar adopts 4 AWR2243 transmitting chips to be cascaded, each transmitting chip is 3-transmitting and 4-receiving, and has 12 paths of transmitting channels and 16 paths of receiving channels, each path of transmitting signals carries out 6 byte coding on an initial phase, 64 code words are all used, and the coding sequence length of each transmitting channel is 256; secondly, after generating random codes, writing the random codes into a primary phase modulation control register of a corresponding transmitting channel of a radio frequency chip in the radar, and modulating radar signals by calling the random codes in the primary phase modulation control register when the radar transmits radar signals each time; modulating the transmitting mode of the radio frequency chip into a mode capable of transmitting modulated radar signals; and finally, inputting the demodulated data in the radio frequency chip into a decoder to generate a receiving signal which corresponds to the code and the decode in the transmitting channel, so that a receiving end of the radar can receive an echo signal reflected by the transmitted radar signal after encountering an obstacle.
Wherein the starting frequency of the radar is 77GHz as shown in fig. 1-2; the bandwidth is 350MHz; the number of the transmitting antennas is 12; the number of the receiving antennas is 16; the maximum speed measuring range is as follows: -400km/h to 50km/h; the radar detects a target with a radar cross-sectional area (RCS) greater than 1 square meter for a distance greater than 120 meters and a train with a radar cross-sectional area (RCS) greater than 30 square meters for a distance greater than 500 meters.
By the modulation method, the speed precision of the radar is better than 0.18m/s, the azimuth resolution is better than 0.5 degree, and the azimuth measurement precision is better than 0.05 degree.
The working frequency of the radar is 77GHz, the detection distance is far, the radar has the capabilities of ranging, direction finding, speed measuring and interference resistance, each frame of transmitting signal is subjected to random code modulation, the problem of synchronous frequency asynchronous interference between the radars when a high-speed moving train runs opposite to an intersection can be solved, the accumulation gain of the radars can be improved, the radar detection capability is improved, the requirement of the high detection distance of the train is met, the radar can be applied to a millimeter wave radar 4-chip cascading scheme, the simultaneous transmitting of signals of 12 paths of transmitting channels is realized, echoes of corresponding transmitting signals are separated from 16 paths of receiving channels, the azimuth angle resolution is better than 0.5 degrees, the distance resolution can reach 0.5 m, and the maximum detection distance can reach 500 m, thereby meeting the application requirement of rail traffic.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.
Claims (5)
1. A vehicle-mounted MIMO radar random encoding waveform modulation method is characterized in that: the method comprises the following steps:
(1) Setting a transmitting mode and a receiving mode of the radar to be random coding modes;
(2) Setting a random signal generator in a radar processor, resetting the random signal generator in the radar processor according to a certain time interval when transmitting radar signals, and generating a group of random codes at the time interval, wherein the code length is the accumulated number of radar transmitting pulses, and the code number is the transmitting channel number;
(3) After generating random codes, writing the random codes into an initial phase modulation control register of a corresponding transmitting channel of a radio frequency chip in the radar, and modulating radar signals by calling codes in the initial phase modulation control register when the radar transmits radar signals each time;
(4) Modulating the transmitting mode of the radio frequency chip into a mode capable of transmitting modulated radar signals;
(5) The data demodulated in the radio frequency chip is input into a decoder to generate a receiving signal which corresponds to the code and the decode in the transmitting channel, so that the receiving end of the radar can receive the echo signal reflected by the transmitted radar signal after encountering an obstacle.
2. The method for modulating a random coded waveform of a vehicle-mounted MIMO radar according to claim 1, wherein the method comprises the steps of: the radio frequency front end of the radar adopts 4 AWR2243 transmitting chips to cascade, each transmitting chip is 3-transmitting and 4-receiving, and the transmitting chips have 12 paths of transmitting channels and 16 paths of receiving channels, each path of transmitting signals carries out 6 byte coding on an initial phase, 64 code words are obtained, and the coding sequence length of each transmitting channel is 256.
3. The method for modulating a random coded waveform of a vehicle-mounted MIMO radar according to claim 1, wherein the method comprises the steps of: the maximum speed measuring range of the radar is as follows: -400km/h to 50km/h.
4. The method for modulating a random coded waveform of a vehicle-mounted MIMO radar according to claim 1, wherein the method comprises the steps of: the radar has a detection distance of more than 120 meters for targets with radar scattering cross sections more than 1 square meter and a detection distance of more than 500 meters for trains with radar scattering cross sections more than 30 square meters.
5. The method for modulating a random coded waveform of a vehicle-mounted MIMO radar according to claim 1, wherein the method comprises the steps of: the radar emission pulse repetition period is as follows: 41.667us.
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| CN114812376B (en) * | 2022-04-21 | 2024-03-22 | 山东软科智能科技发展有限公司 | System and method for detecting depth of tire pattern of vehicle |
| CN115291173A (en) * | 2022-07-22 | 2022-11-04 | 中汽创智科技有限公司 | Anti-interference method and system for millimeter wave radar |
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| WO2020042172A1 (en) * | 2018-08-31 | 2020-03-05 | 华为技术有限公司 | Control method and related device |
| US11867827B2 (en) * | 2019-05-03 | 2024-01-09 | Nxp B.V. | Radar sensing |
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| US5731781A (en) * | 1996-05-20 | 1998-03-24 | Delco Electronics Corp. | Continuous wave wideband precision ranging radar |
| CN102998657A (en) * | 2012-11-27 | 2013-03-27 | 西安电子科技大学 | Centralized multiple input multiple output (MIMO) radar sidelobe compression method based on random space-time coding |
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