CN115932858A - Millimeter wave angle radar system for vehicle - Google Patents
Millimeter wave angle radar system for vehicle Download PDFInfo
- Publication number
- CN115932858A CN115932858A CN202211566434.9A CN202211566434A CN115932858A CN 115932858 A CN115932858 A CN 115932858A CN 202211566434 A CN202211566434 A CN 202211566434A CN 115932858 A CN115932858 A CN 115932858A
- Authority
- CN
- China
- Prior art keywords
- signal
- receiver
- radar system
- polarization
- vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Abstract
The invention provides a vehicle millimeter wave angle radar system, which is applied to an automatic driving vehicle and comprises: a plurality of radar sensors; wherein the radar sensor comprises a transmitter and a receiver; the transmitter is used for transmitting a detection signal; the receiver is used for receiving a feedback signal; wherein the feedback signal comprises a reflected signal emitted by the emitter and reflected by an object in the environment and a first probe signal emitted by at least one other millimeter wave radar system; wherein the receiver is a dual-polarized receiver; the dual-polarization receiver is used for carrying out polarization processing on the reflection signal and the first detection signal and obtaining a target signal and an interference signal according to polarization difference.
Description
Technical Field
The invention relates to the field of intelligent driving of automobiles, in particular to a millimeter wave angle radar system for a vehicle.
Background
The intelligent driving system is a comprehensive system which integrates advanced information control technology, script environmental perception, multi-level auxiliary driving and other functions. The intelligent driving system can assist a driver in driving, and the driver can make corresponding reaction to actual road conditions under a series of prompts of the intelligent system. In an intelligent driving system, information acquisition of an external environment and driver behavior is required. In the acquisition of surrounding environment, model establishment and the detection of obstacles, the millimeter wave radar plays an important role and is widely applied in the scenes of automatic parking, adaptive cruise and the like. With the rapid development of intelligent driving, the millimeter wave radar becomes a main sensor of the automatic driving assistance system ADAS due to the long detection distance, small environmental influence, low cost and mature technology.
Automotive radars are radars for automobiles or other ground-based motor vehicles. Based on different technologies, the system can be divided into a laser radar, an ultrasonic radar, a millimeter wave radar, a microwave radar and the like, and has the functions of finding obstacles, predicting collision, performing adaptive cruise control and the like. The use of radar to determine the range, velocity, and angle (elevation or azimuth or both) of objects in an environment is important in many applications, including automotive radar and gesture detection. Radar systems typically transmit Radio Frequency (RF) signals and listen for radio signals reflected by objects in the environment. The FCC and other international frequency allocation organizations have opened up the frequency band of the millimeter wave region for consumer radar-based devices. In existing applications, frequencies in the range of 70-80GHz may be used for medium range automotive driver assist radar, while frequencies in the range of 61-61.5-GHz may be used for short range indoor sensors, such as motion sensors or people counters and safety equipment.
Different automobile radar sensors are adopted in the prior art to be installed in a specific mode, so that different automatic driving sensing systems can be formed, and the accuracy of different radar systems arranged based on different radar sensors is different. Mutual interference possibly existing among a plurality of radar sensors which independently work in the same frequency band within a distance from each other is important, and therefore, a radar sensing system which effectively reduces the mutual interference and has high precision is provided.
Disclosure of Invention
The present invention is directed to solving, at least in part, one of the technical problems in the related art.
Therefore, the invention aims to provide a vehicle millimeter wave angle radar system to reduce interference among a plurality of radars and solve the technical problem of mutual interference possibly existing among the plurality of radars which independently work in the same frequency band in the vehicle in the prior art.
To achieve the above object, an embodiment of the present invention provides a millimeter wave angle radar system for a vehicle, including: a plurality of radar sensors; wherein the radar sensor comprises a transmitter and a receiver;
the transmitter is used for transmitting a detection signal;
the receiver is used for receiving a feedback signal; wherein the feedback signal comprises a reflected signal emitted by the emitter and reflected by an object in the environment and a first probe signal emitted by at least one other millimeter wave radar system.
Optionally, the receiver is a dual-polarization receiver;
the dual-polarization receiver is used for carrying out polarization processing on the reflection signal and the first detection signal and obtaining a target signal and an interference signal according to polarization difference.
Further optionally, the dual-polarization receiver separates the feedback signal according to a direction in which the feedback signal is received, so as to obtain a plurality of direction separation feedback signals;
the dual-polarized receiver polarizes the multi-direction separation feedback signals and performs polarization processing according to the polarization
And separating the plurality of direction separation feedback signals by means of differentiation to obtain the target signal and the interference 5 signal.
Further optionally, the system further comprises a receiving antenna array;
the receiving antenna array is in communication connection with the coarse beam forming for performing direction separation on the feedback signal.
Further optionally, the polarized receiver is configured to separate the feedback signal to obtain a plurality of 0 spectrum components;
the polarized receiver is configured to perform polarization processing on the multiple spectrum components, and separate the multiple spectrum components according to polarization differences to obtain the target signal and the interference signal.
Further optionally, the polarization receiver is configured to separate the feedback signal into a plurality of signals
A spectral component;
5 said polar receiver separating said spectral components according to the direction of accepting said feedback signal,
obtaining a plurality of directionally separated spectral components;
and the polarization receiver polarizes the plurality of directional separation frequency spectrum components and separates the plurality of directional separation frequency spectrum components according to polarization differences to obtain the target signal and the interference signal.
0 is optional, and the number of the radar sensors of the vehicle millimeter-wave angle radar system is 4;
the radar sensor is installed in the position of automatic driving vehicle is left front angle, right front angle, left rear angle and right rear angle respectively.
Optionally, the frequency P of the detection signal satisfies a condition 76Ghz ≦ P ≦ 79Ghz.
Optionally, the horizontal field angle of the angle radar device is 120 °;
the angle of view of the angle radar device is 30 DEG
Optionally, the radar device is installed at a height h from the ground, and h satisfies the condition that h is greater than or equal to 300mm and less than or equal to 1000mm.
The embodiment of the invention provides a vehicle millimeter wave angle radar system, which adopts a mode that a plurality of radar sensors with dual-polarized receivers and receiving antenna arrays are reasonably arranged on a vehicle, and the polarization receivers are adopted to separate received feedback signals and further separate target signals and interference signals according to polarization differences, so that mutual interference among a plurality of radars is greatly reduced, and the accuracy of the radar system required by the vehicle is improved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a block diagram of a millimeter-wave angle radar system for a vehicle according to an embodiment of the present invention;
FIG. 2a is a schematic diagram of the installation of the two rear radar sensors of the millimeter-wave angle radar system for a vehicle installed in the vehicle according to the embodiment of the present invention;
FIG. 2b is a schematic diagram of the installation of the first two radar sensors of the millimeter-wave angle radar system for a vehicle installed in the vehicle according to the embodiment of the present invention;
FIG. 3 is a topological structure diagram of 4 angle radars in a millimeter wave angle radar system of a vehicle installed in the vehicle according to an embodiment of the present invention;
FIG. 4 is a flowchart of a target signal and interference signal separation method based on a vehicle millimeter-wave angle radar system according to an embodiment of the present invention;
FIG. 5 is a flow chart of another method for separating a target signal and an interfering signal based on a millimeter wave radar system of a vehicle according to an embodiment of the present invention;
fig. 6 is a flowchart of another target signal and interference signal separation method based on a vehicle millimeter wave angle radar system according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
A vehicle millimeter-wave angle radar system according to an embodiment of the present invention will be described with reference to the accompanying drawings, and fig. 1 is a block diagram of a vehicle millimeter-wave angle radar system according to an embodiment of the present invention, and as shown in the drawing, the vehicle millimeter-wave angle radar system 100 includes: a plurality of radar sensors 104; therein, the radar sensor 104 includes a transmitter 102 and a receiver 103.
In an embodiment of the present invention, the transmitter 102 is used for transmitting a sounding signal. The receiver 103 is configured to receive a feedback signal; wherein the feedback signal comprises a reflected signal emitted by the emitter 102 and reflected by an object in the environment and a first probe signal emitted by at least one other millimeter wave radar system 100.
In an alternative of the embodiment of the invention, the number of radar sensors of the vehicle millimeter-wave angle radar system is 4. In a preferred embodiment of the present invention, the positions where the 4 radar sensors are mounted on the autonomous vehicle are a left front corner, a right front corner, a left rear corner, and a right rear corner, respectively. Fig. 2a is a schematic installation diagram of the two rear radar sensors of the vehicle millimeter-wave angle radar system installed in the vehicle according to the embodiment of the present invention. FIG. 2b is a schematic diagram of the first two radar sensors of a vehicle millimeter-wave angle radar system installed in a vehicle according to an embodiment of the present invention; in application, information in a range of 360 degrees around a vehicle is obtained by means of point cloud data fusion of 4 angular radar sensors. Fig. 3 is a topological structure diagram of 4 angle radars in a vehicle millimeter wave angle radar system installed in a vehicle according to an embodiment of the present invention, as shown in the figure, position information is 2 PIN PINs POS1 and POS2, respectively, and the radar sensor is in a low level or in a suspended state by using a hard wire during installation to indicate an installation position of the radar sensor.
In an alternative of the embodiment of the invention, the frequency P of the detection signal satisfies the condition 76Ghz ≦ P ≦ 79Ghz.
In an alternative of an embodiment of the invention, the horizontal field of view of the angular radar arrangement is 120 °. The vertical field angle of the angular radar device is 30 DEG
In the alternative scheme of the embodiment of the invention, the radar device is arranged at a height h away from the ground, and h meets the condition that h is more than or equal to 300mm and less than or equal to 1000mm.
In a preferred embodiment of the present invention, the receiver 208 is a dual-polarized receiver. The dual-polarization receiver in the embodiment of the invention is used for carrying out polarization processing on the reflected signal and the first detection signal and obtaining a target signal and an interference signal according to polarization difference.
In a preferred aspect of the embodiment of the present invention, the radar sensor of the vehicle millimeter wave angle radar system further includes a receiving antenna array. The receiving antenna array and the wide beam form a passing connection for carrying out direction separation on the feedback signal.
In a specific example of an alternative embodiment of the present invention, dual-polarized receiver 103 separates the target signal and the interfering signal by a target signal and interfering signal separation method. Fig. 4 is a flowchart of a target signal and interference signal separation method based on a vehicle millimeter-wave angle radar system according to an embodiment of the present invention, and as shown in the figure, the method specifically includes the following steps:
and step 110, the dual-polarization receiver separates the feedback signals according to the direction of receiving the feedback signals to obtain a plurality of direction separation feedback signals.
And step 120, the dual-polarized receiver polarizes the multi-direction separation feedback signals, and separates the multi-direction separation feedback signals according to the polarization difference to obtain a target signal and an interference signal.
In another specific example of the alternative of the embodiment of the present invention, the receiver 103 may also separate the target signal and the interference signal by another target signal and interference signal separation method. Fig. 5 is a flowchart of another method for separating a target signal and an interfering signal based on a vehicle millimeter-wave angle radar system according to an embodiment of the present invention, which specifically includes the following steps:
in step 210, the polarization receiver is configured to separate the feedback signal to obtain a plurality of spectral components.
In another specific example of the alternative of the embodiment of the present invention, the receiver 103 may further separate the target signal and the interference signal by another target signal and interference signal separation method. Fig. 6 is a flowchart of another target signal and interference signal separation method based on a vehicle millimeter wave angle radar system according to an embodiment of the present invention, as shown in the figure, the method specifically includes the following steps:
in step 310, the polarization receiver is configured to separate the feedback signal to obtain a plurality of spectral components.
In step 320, the polarization receiver separates the spectral components according to the direction of receiving the feedback signal, and obtains a plurality of directionally separated spectral components.
And 330, the polarization receiver polarizes the multi-direction separated frequency spectrum components, and separates the multi-direction separated frequency spectrum components according to the polarization difference to obtain a target signal and an interference signal.
The embodiment of the invention provides a vehicle millimeter wave angle radar system, which adopts a mode that a plurality of radar sensors with dual-polarized receivers and receiving antenna arrays are reasonably arranged on a vehicle, and the polarization receivers are adopted to separate received feedback signals and further separate target signals and interference signals according to polarization differences, so that mutual interference among a plurality of radars is greatly reduced, and the radar accuracy is improved.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Further, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are exemplary and not to be construed as limiting the present invention, and that changes, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are also within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A vehicle millimeter-wave angle radar system for use in autonomous vehicles, the system comprising: a plurality of radar sensors; wherein the radar sensor comprises a transmitter and a receiver;
the transmitter is used for transmitting a detection signal;
the receiver is used for receiving a feedback signal; wherein the feedback signal comprises a reflected signal emitted by the emitter and reflected by an object in the environment and a first probe signal emitted by at least one other millimeter wave radar system.
2. The vehicle millimeter-wave angle radar system of claim 1, wherein the receiver is a dual-polarized receiver;
the dual-polarization receiver is used for carrying out polarization processing on the reflection signal and the first detection signal and obtaining a target signal and an interference signal according to polarization difference.
3. The vehicle millimeter-wave angle radar system of claim 2, wherein the dual-polarized receiver separates the feedback signal according to a direction in which the feedback signal is received, resulting in a plurality of directionally separated feedback signals;
and the dual-polarization receiver polarizes the plurality of direction separation feedback signals, and separates the plurality of direction separation feedback signals according to polarization difference to obtain the target signal and the interference signal.
4. The vehicle millimeter-wave angle radar system of claim 1, further comprising a receive antenna array;
and the receiving antenna array is in communication connection with the coarse beam forming and is used for carrying out direction separation on the feedback signal.
5. The vehicle millimeter-wave angle radar system of claim 2, wherein the polarized receiver is configured to separate the feedback signal into a plurality of spectral components;
the polarized receiver is configured to perform polarization processing on the multiple spectrum components, and separate the multiple spectrum components according to polarization differences to obtain the target signal and the interference signal.
6. The vehicle millimeter-wave angle radar system of claim 2, wherein the polarized receiver is configured to separate the feedback signal into a plurality of spectral components;
the polarized receiver separates the frequency spectrum components according to the direction of receiving the feedback signal to obtain a plurality of direction separation frequency spectrum components;
and the polarization receiver polarizes the plurality of directional separation frequency spectrum components and separates the plurality of directional separation frequency spectrum components according to the polarization difference to obtain the target signal and the interference signal.
7. The vehicle millimeter-wave angle radar system according to claim 1, wherein the number of radar sensors of the vehicle millimeter-wave angle radar system is 4;
the radar sensor is installed at the position of the automatic driving vehicle, and the position of the radar sensor is a left front angle, a right front angle, a left rear angle and a right rear angle respectively.
8. The vehicle millimeter-wave angle radar system according to claim 1, wherein the frequency P of the probe signal satisfies a condition 76Ghz ≦ P ≦ 79Ghz.
9. The vehicle millimeter-wave angle radar system according to claim 1, wherein a horizontal field angle of the angle radar device is 120 °;
the vertical field angle of the angle radar device is 30 °.
10. The vehicle millimeter-wave angle radar system according to claim 1, wherein the radar device is installed at a height h from the ground, and h satisfies a condition of 300mm ≦ h ≦ 1000mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211566434.9A CN115932858A (en) | 2022-12-07 | 2022-12-07 | Millimeter wave angle radar system for vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211566434.9A CN115932858A (en) | 2022-12-07 | 2022-12-07 | Millimeter wave angle radar system for vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115932858A true CN115932858A (en) | 2023-04-07 |
Family
ID=86651825
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211566434.9A Pending CN115932858A (en) | 2022-12-07 | 2022-12-07 | Millimeter wave angle radar system for vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115932858A (en) |
-
2022
- 2022-12-07 CN CN202211566434.9A patent/CN115932858A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110031845B (en) | Apparatus and method for controlling radar | |
| US6784828B2 (en) | Near object detection system | |
| US20110285571A1 (en) | Sensor and alignment adjusting method | |
| KR100961932B1 (en) | Safety driving radar mapping system for a vehicle | |
| US20210341598A1 (en) | Electronic device, control method of electronic device, and control program of electronic device | |
| CN109633649B (en) | Double-angle automobile radar system and vehicle | |
| US20100085241A1 (en) | System and method for obstacle detection and warning | |
| JP7174668B2 (en) | ELECTRONIC DEVICE, ELECTRONIC DEVICE CONTROL METHOD, AND ELECTRONIC DEVICE CONTROL PROGRAM | |
| CN112654888A (en) | Electronic device, control method for electronic device, and control program for electronic device | |
| WO2022072485A1 (en) | Distributed radar antenna array aperture | |
| WO2020189262A1 (en) | Electronic device, electronic device control method, and electronic device control program | |
| JP2023165850A (en) | Electronic equipment, control method of electronic equipment, and control program of electronic equipment | |
| WO2023146670A1 (en) | Apparatus, system and method of radar tracking | |
| US11435442B2 (en) | Method for capturing a surrounding region of a motor vehicle with object classification, control device, driver assistance system and motor vehicle | |
| CN112639508A (en) | Radar axis deviation detecting device, vehicle-mounted system equipped with the same, and radar axis deviation detecting method | |
| JP2024023926A (en) | Electronic equipment, electronic equipment control method, and electronic equipment control program | |
| JP6690593B2 (en) | Perimeter monitoring radar device | |
| US11181614B2 (en) | Antenna array tilt and processing to eliminate false detections in a radar system | |
| KR100875564B1 (en) | Near Object Detection System | |
| CN115932858A (en) | Millimeter wave angle radar system for vehicle | |
| US20210325506A1 (en) | Electronic device, method for controlling electronic device, and electronic device control program | |
| US20230253718A1 (en) | Antenna device and radar device with the same | |
| US20220285830A1 (en) | Hybrid low-frequency and high-frequency radar system | |
| US20210318429A1 (en) | Electronic device, method for controlling electronic device, and electronic device control program | |
| WO2022113766A1 (en) | Electronic device, method for controlling electronic device, and program |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |