CN117388797A

CN117388797A - Millimeter wave radar signal detection device

Info

Publication number: CN117388797A
Application number: CN202311162073.6A
Authority: CN
Inventors: 张雄飞; 钱哲帆; 朱鸣强; 黄苗侠; 李杨
Original assignee: Suzhou Milimeter Wave Technology Co ltd
Current assignee: Suzhou Milimeter Wave Technology Co ltd
Priority date: 2023-09-11
Filing date: 2023-09-11
Publication date: 2024-01-12

Abstract

The invention discloses a millimeter wave radar signal detection device, wherein a millimeter wave radar comprises a radar chip and a CAN interface connected with the radar chip, and the CAN interface comprises a first CAN interface and a second CAN interface; the first CAN interface is in communication connection with the main controller through a first CAN bus, and the second CAN interface is in communication connection with other components through a second CAN bus; the switching circuit is arranged and CAN control the disconnection of the second CAN interface and the second CAN bus and the communication of the second CAN interface and the first CAN bus; after the second CAN interface is communicated with the first CAN bus, the second CAN interface CAN feed back the received detection signals generated by the radar chip and transmitted by the first CAN interface and the first CAN bus to the radar chip in sequence, and the radar chip compares and analyzes the received detection signals with the generated original detection signals to judge whether the signals are successfully transmitted. The detection device CAN accurately confirm whether the CAN interface correctly sends signals or not, and improves the functional safety of the intelligent driving system of the automobile.

Description

Millimeter wave radar signal detection device

Technical Field

The invention relates to the technical field of millimeter wave radars, in particular to a millimeter wave radar signal detection device.

Background

Functional safety is an important evaluation index of an intelligent driving system, and the system can detect and correct own failure. The components of the intelligent driving system mostly rely on a CAN bus (i.e., a controller area network bus, controller Area Network) for communication, and the components realize communication by sending and receiving digital signals on the CAN bus.

However, in the prior art, after the component sends the signal to the CAN bus, it cannot confirm whether the signal is sent correctly, which may cause a system error.

In view of this, the present invention has been made.

Disclosure of Invention

In order to overcome the defects, the invention provides the millimeter wave radar signal detection device, which CAN accurately confirm whether the CAN interface correctly sends signals or not on one hand, so that the functional safety of an intelligent driving system of an automobile is greatly improved; on the other hand, the device has the advantages of simple and reasonable structure, strong control logic, high safety and low manufacturing cost, and is beneficial to popularization and implementation.

The technical scheme adopted by the invention for solving the technical problems is as follows: the millimeter wave radar comprises a radar chip and CAN interfaces connected with the radar chip, wherein the number of the CAN interfaces is two and is defined as a first CAN interface and a second CAN interface respectively; the first CAN interface is in communication connection with a main controller in the intelligent driving system of the automobile through a first CAN bus, and the second CAN interface is in communication connection with other parts through a second CAN bus; the switching circuit is also provided with a switching circuit, and the switching circuit CAN control the second CAN interface to be disconnected from the second CAN bus and be communicated with the first CAN bus;

after the second CAN interface is communicated with the first CAN bus, the second CAN interface CAN compare and analyze the received detection signals generated by the radar chip and transmitted by the first CAN interface and the first CAN bus sequentially, and feed back the detection signals to the radar chip, and the radar chip judges whether the signals are successfully transmitted or not.

As a further improvement of the invention, two CAN interfaces are provided with control signal input ends and data signal input and output ends, the radar chip is provided with at least three control signal output ends, and two of the control signal output ends are respectively and correspondingly electrically connected with the control signal input ends of the two CAN interfaces;

the switching circuit comprises a switch, wherein the switch is provided with a control end electrically connected with a third control signal output end of the radar chip, a public end electrically connected with a data signal input and output end of the second CAN interface, and two connecting ends respectively electrically connected with the second CAN bus and the first CAN bus.

As a further improvement of the present invention, the switching circuit further includes a logic judgment circuit, which is connected to the second CAN bus, the radar chip, and the switch, respectively;

when the second CAN interface is communicated with the first CAN bus and the second CAN bus sends a working signal to the second CAN interface, the logic judging circuit CAN judge the working signal and control the change-over switch to work according to the working signal so as to realize that the second CAN interface is kept communicated with the first CAN bus or the second CAN interface is disconnected from the first CAN bus and communicated with the second CAN bus.

As a further improvement of the present invention, the logic determination circuit includes a latch having two input terminals a and an output terminal a, and an or gate having two input terminals B and an output terminal B;

one input end B and one input end A are respectively connected with a third control signal output end and a fourth control signal output end of the radar chip, the other input end A is connected with a connecting end of the change-over switch in parallel to the second CAN bus, the other input end B is connected with the output end A, and the output end B is connected with a control end of the change-over switch.

As a further improvement of the present invention, the logic judgment circuit includes an or gate, a register, a comparator, and a shift register, where the or gate has two input terminals B and one output terminal B, the two input terminals B are respectively connected to a third control signal output terminal of the radar chip and an output terminal of the comparator, and the output terminal B is connected to a control terminal of the switch; the input end of the register is connected with the fourth control signal output end of the radar chip so as to realize writing of specific signals; the input end of the shift register and a connecting end of the change-over switch are connected in parallel to the second CAN bus, and the output ends of the shift register and the shift register are respectively connected to two input ends of the comparator.

As a further improvement of the present invention, the millimeter wave radar further includes a circuit board, and the radar chip, the first CAN interface, the second CAN interface, and the logic judgment circuit are all disposed on the circuit board; the change-over switch is arranged on the circuit board or the second CAN interface.

As a further improvement of the invention, the radar chip is also provided with an alarm port; each CAN interface is provided with a NOR gate, the NOR gate CAN carry out logic judgment on digital signals received and transmitted by the CAN interface, and meanwhile, the output end of the NOR gate is also connected with the alarm port.

The beneficial effects of the invention are as follows: (1) compared with the prior art, the millimeter wave radar signal detection device provided by the invention CAN accurately confirm whether the CAN interface correctly transmits signals, so that the functional safety of the intelligent driving system of the automobile is greatly improved. (2) The millimeter wave radar signal detection device has the advantages of simple and reasonable structure, strong control logic, high safety and low manufacturing cost, and is beneficial to popularization and implementation.

Drawings

Fig. 1 is a block diagram showing the operation principle of a first embodiment of a millimeter wave radar signal detection apparatus according to the present invention;

fig. 2 is a block diagram illustrating the operation of a second embodiment of the millimeter-wave radar signal detection apparatus according to the present invention;

fig. 3 is a schematic block diagram of a third embodiment of the millimeter wave radar signal detection apparatus according to the present invention.

The following description is made with reference to the accompanying drawings:

10. a radar chip; 11. a first CAN interface; 12. a second CAN interface;

21. a first CAN bus; 22. a second CAN bus; 30. a change-over switch; 31. a latch; 32. or gate; 33. a register; 34. a comparator; 35. a shift register.

Detailed Description

The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

Example 1:

as is well known, in the intelligent driving system of an automobile, many parts rely on a CAN bus for communication, such as millimeter wave radar. The millimeter wave radar conventionally comprises a radar chip 10 and CAN interfaces connected with the radar chip 10, wherein the CAN interfaces are generally configured into two and respectively defined as a first CAN interface 11 and a second CAN interface 12; and the first CAN interface 11 is in communication connection with a main controller in the intelligent driving system of the automobile through a first CAN bus 21, and the second CAN interface 12 is in communication connection with other components (such as other millimeter wave radars and the like) through a second CAN bus 22. The data information is transmitted on the two CAN buses, so that the aim is to reduce the load rate of the CAN buses and avoid the defects of data loss, data delay and the like caused by the fact that the data quantity to be transmitted exceeds the transmission capacity of the CAN buses.

In order to realize confirmation of whether the CAN interface of the millimeter wave radar correctly transmits a signal, embodiment 1 provides a millimeter wave radar signal detection apparatus. Referring to fig. 1, on the basis of connection between the conventional millimeter wave radar and the CAN bus, the millimeter wave radar signal detection device provided in embodiment 1 is improved in the following structure: a switching circuit is provided, which is capable of controlling the second CAN interface 12 to be disconnected from the second CAN bus 22 and to be communicated with the first CAN bus 21; after the second CAN interface 12 is communicated with the first CAN bus 21, the second CAN interface 12 CAN compare and analyze the received detection signal generated by the radar chip 10 and sequentially transmitted by the first CAN interface 11 and the first CAN bus 21, and feed back the detection signal to the radar chip 10, and the radar chip 10 compares and analyzes the received detection signal with the generated original detection signal to determine whether the signal is successfully transmitted.

It may be understood that, when the millimeter wave radar is operating normally, the radar chip 10 controls the switching circuit to switch to the second CAN interface 12 to communicate with the second CAN bus 22. When the millimeter wave radar needs to perform signal detection, the radar chip 10 controls the switching circuit to switch to the second CAN interface 12 to communicate with the first CAN bus 21, and when this occurs, the radar chip 10 generates a detection signal, and sequentially sends out the detection signal via the first CAN interface 11 and transmits the detection signal to the second CAN interface 12 via the first CAN bus 21, and then, the second CAN interface 12 feeds back the detection signal received by the second CAN interface to the radar chip 10, and the radar chip 10 compares and analyzes the detection signal received by the second CAN interface with the original detection signal generated by the first CAN interface, so as to determine whether the signal is successfully sent, which is specific: if there is a deviation between the detection signal received by the radar chip 10 and the original detection signal generated by the radar chip, the information transmission is judged to be failed, and at that time, the radar chip 10 controls the first CAN interface 11 to send out the detection signal again.

Compared with the prior art, the millimeter wave radar signal detection device provided by the invention CAN accurately confirm whether the CAN interface correctly sends the signal, so that the functional safety of the intelligent driving system of the automobile is greatly improved.

The specific structure of the millimeter wave radar signal detection apparatus according to the present embodiment 1 is described in detail below:

first, the switching circuit is concerned.

With continued reference to fig. 1, the switching circuit of embodiment 1 may adopt the following preferred scheme: the two CAN interfaces are provided with control signal input ends (i.e. pin 1) and data signal input and output ends (i.e. pin 2), and the radar chip 10 is provided with at least three control signal output ends, wherein two of the control signal output ends are respectively and correspondingly electrically connected with the control signal input ends of the two CAN interfaces. The switch circuit includes a switch 30, the switch 30 is provided with a control end (i.e. a pin 1) electrically connected to a third control signal output end of the radar chip 10, a common end (i.e. a pin 2) electrically connected to a data signal input/output end of the second CAN interface 12, and two connection ends (i.e. a pin 3 and a pin 4) respectively electrically connected to the second CAN bus 22 and the first CAN bus 21; namely: by means of the control of the radar chip 10, the common terminal of the change-over switch 30, i.e. the pin 2, can be selectively connected to one of the two connection terminals, i.e. the pin 3 and the pin 4.

The specific type of the switch 30 may be selected according to practical needs, and the present invention is not limited thereto.

Next, other components are referred to.

The millimeter wave radar further comprises a circuit board, wherein the radar chip 10, the first CAN interface 11 and the second CAN interface 12 are all arranged on the circuit board; the switch 30 is disposed on the circuit board or the second CAN interface 12.

In addition, the radar chip 10 is also provided with an alarm port; each CAN interface is provided with a NOR gate, the NOR gate CAN carry out logic judgment on digital signals received and transmitted by the CAN interface, and meanwhile, the output end of the NOR gate is also connected with the alarm port.

Namely: for each CAN interface, when the digital signal transmitted by the CAN interface is inconsistent with the digital signal received by the CAN interface, the nor gate outputs a digital "1" (high level) to the radar chip 10, and the radar chip 10 alarms; on the contrary, when the digital signal transmitted by the CAN interface is consistent with the received digital signal, the nor gate outputs a digital "0" (low level) to the radar chip 10, and the radar chip 10 does not alarm. By the technical means, each CAN interface CAN be subjected to self-checking. In addition, considering that there is a certain delay between the receiving of the digital signal and the transmitting of the digital signal by the CAN interface, the influence of the delay CAN be eliminated by providing a delay line between the transmitter for transmitting the digital signal in the CAN interface and the nor gate.

Example 2:

the present embodiment 2 also provides a millimeter wave radar signal detection device, and compared with embodiment 1, the difference between the millimeter wave radar signal detection device of the present embodiment 2 is that: the switching circuit provided in this embodiment 2 further includes a logic determination circuit, where the logic determination circuit is configured to: when the second CAN interface 12 is in communication with the first CAN bus 21 and the second CAN bus 22 transmits an operation signal to the second CAN interface 12, the logic determination circuit CAN determine the operation signal and control the operation of the switch 30 according to the operation signal.

Specifically, referring to fig. 2, the logic determination circuit is connected to the second CAN bus 22, the radar chip 10, and the switch 30, respectively; thus, when the second CAN interface 12 is in communication with the first CAN bus 21 and the second CAN bus 22 sends an operation signal to the second CAN interface 12, the logic determination circuit CAN determine the operation signal and control the switch 30 to operate accordingly, so as to enable the second CAN interface 12 to remain in communication with the first CAN bus 21 or the second CAN interface 12 to be disconnected from the first CAN bus 21 and be in communication with the second CAN bus 22.

Still further preferably, as shown in fig. 2, the logic determination circuit includes a latch 31 and an or gate 32, wherein the latch 31 has two input terminals a and an output terminal a, and the or gate 32 has two input terminals B and an output terminal B; one of the input terminals B and one of the input terminals a are respectively connected with the third and fourth control signal output terminals (i.e., pin 3 and pin 4) of the radar chip 10, the other input terminal a is connected with a connection terminal (i.e., pin 4) of the switch 30 in parallel to the second CAN bus 22, the other input terminal B is connected with the output terminal a, and the output terminal B is connected with a control terminal (i.e., pin 1) of the switch 30.

That is, as can be appreciated, the definition: (1) when the control signal is at a high level, the switch 30 is switched to the second CAN interface 12 to communicate with the second CAN bus 22; when the control signal is at a low level, the switch 30 is switched to the second CAN interface 12 to communicate with the first CAN bus 21; (2) the signals on the second CAN bus 22 are processed with the highest priority.

Then, when an operation signal appears on the second CAN bus 22, the second CAN bus 22 will appear high, and trigger the latch 31, so that the output of the latch 31 is kept high; the output of the or gate 32 is then held high, so that the second CAN interface 12 communicates with the second CAN bus 22.

In addition, it is further preferable that a circuit board is provided on the basis of the millimeter wave radar, and the logic determination circuit may be provided on the circuit board.

In addition, in embodiment 2, each CAN interface CAN also perform self-checking, and the means for implementing self-checking CAN adopt the same technical means as embodiment 1, so that the description thereof will not be repeated here.

Example 3:

embodiment 3 also provides a millimeter wave radar signal detection device, and compared with embodiment 2, the difference between the millimeter wave radar signal detection device of embodiment 3 is that: the logic determination circuit structure provided in this embodiment 3 is different from that in embodiment 2.

Specifically, referring to fig. 3, the logic determination circuit includes an or gate 32, a register 33, a comparator 34, and a shift register 35, where the or gate 32 has two input terminals B and one output terminal B, the two input terminals B are respectively connected to a third control signal output terminal (i.e. pin 3) of the radar chip 10 and an output terminal of the comparator 34, and the output terminal B is connected to a control terminal (i.e. pin 1) of the switch 30; the input end of the register 33 is connected with the fourth control signal output end (i.e. pin 4) of the radar chip 10 to realize writing of a specific signal; the input end of the shift register 35 and a connection end (i.e. pin 4) of the switch 30 are connected in parallel to the second CAN bus 22, and the output ends of the register 33 and the shift register 35 are respectively connected to two input ends of the comparator 34.

It CAN be understood that when there is a signal on the second CAN bus 22, the data on the second CAN bus 22 is continuously written into the shift register 35, the comparator 34 compares the data on the shift register 35 and the data on the register 33, and when the two are the same, the comparator 34 outputs a high level, otherwise, the comparator 34 outputs a low level; namely: when the same signal as the specific signal previously written in the register 33 appears on the second CAN bus 22, the comparator 34 outputs a high level, and otherwise outputs a low level. Accordingly, when the comparator 34 outputs high, the or gate 32 also outputs high, thereby placing the second CAN interface 12 in communication with the second CAN bus 22.

In addition, in embodiment 3, the logic determination circuit may be disposed on the circuit board, and each CAN interface may perform self-checking, and the means for implementing self-checking may be the same as the technical means of embodiment 1, so that details are not repeated here.

In summary, the millimeter wave radar signal detection device provided by the invention CAN accurately confirm whether the CAN interface correctly sends the signal, so that the functional safety of the intelligent driving system of the automobile is greatly improved. Moreover, the millimeter wave radar signal detection device is simple and reasonable in structure, high in control logic, high in safety and low in manufacturing cost, and is beneficial to popularization and implementation.

In the above description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The foregoing description is only of a preferred embodiment of the invention, which can be practiced in many other ways than as described herein, so that the invention is not limited to the specific implementations disclosed above. While the foregoing disclosure has been described with reference to certain embodiments, it will be understood by those skilled in the art that various changes and modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. Any simple modification, equivalent variation and modification of the above embodiments according to the technical substance of the present invention without departing from the technical solution of the present invention still falls within the scope of the technical solution of the present invention.

Claims

1. A millimeter wave radar signal detection device, the millimeter wave radar comprises a radar chip (10) and CAN interfaces connected with the radar chip (10), wherein the number of the CAN interfaces is two, and the two CAN interfaces are respectively defined as a first CAN interface (11) and a second CAN interface (12); the first CAN interface (11) is in communication connection with a main controller in an intelligent driving system of the automobile through a first CAN bus (21), and the second CAN interface (12) is in communication connection with other parts through a second CAN bus (22); the method is characterized in that: the switching circuit is also provided with a switching circuit, and the switching circuit CAN control the second CAN interface (12) to be disconnected with the second CAN bus (22) and be communicated with the first CAN bus (21);

after the second CAN interface (12) is communicated with the first CAN bus (21), the second CAN interface (12) CAN compare and analyze the received detection signals generated by the radar chip (10) and sequentially transmitted by the first CAN interface (11) and the first CAN bus (21) to feed back the detection signals to the radar chip (10), and the radar chip (10) CAN judge whether the signals are successfully transmitted or not.

2. The millimeter wave radar signal detection apparatus according to claim 1, wherein: the two CAN interfaces are respectively provided with a control signal input end and a data signal input and output end, the radar chip (10) is provided with at least three control signal output ends, and the two control signal output ends are respectively and correspondingly electrically connected with the control signal input ends of the two CAN interfaces;

the switching circuit comprises a switching switch (30), wherein the switching switch (30) is provided with a control end electrically connected with a third control signal output end of the radar chip (10), a common end electrically connected with a data signal input and output end of the second CAN interface (12), and two connecting ends respectively electrically connected with the second CAN bus (22) and the first CAN bus (21).

3. The millimeter wave radar signal detection apparatus according to claim 2, wherein: the switching circuit further comprises a logic judging circuit which is respectively connected with the second CAN bus (22), the radar chip (10) and the switching switch (30);

when the second CAN interface (12) is communicated with the first CAN bus (21), and the second CAN bus (22) sends a working signal to the second CAN interface (12), the logic judging circuit CAN judge the working signal and control the switch (30) to work according to the working signal, so that the second CAN interface (12) is kept communicated with the first CAN bus (21), or the second CAN interface (12) is disconnected from the first CAN bus (21) and communicated with the second CAN bus (22).

4. The millimeter wave radar signal detection apparatus according to claim 3, wherein: the logic judging circuit comprises a latch (31) and an OR gate (32), wherein the latch (31) is provided with two input ends A and an output end A, and the OR gate (32) is provided with two input ends B and an output end B;

wherein, one input end B and one input end A are respectively connected with a third control signal output end and a fourth control signal output end of the radar chip (10), the other input end A is connected with a connecting end of the change-over switch (30) in parallel to the second CAN bus (22), the other input end B is connected with the output end A, and the output end B is connected with a control end of the change-over switch (30).

5. The millimeter wave radar signal detection apparatus according to claim 3, wherein: the logic judgment circuit comprises an OR gate (32), a register (33), a comparator (34) and a shift register (35), wherein the OR gate (32) is provided with two input ends B and one output end B, the two input ends B are respectively connected with a third control signal output end of the radar chip (10) and an output end of the comparator (34), and the output end B is connected with a control end of the change-over switch (30); the input end of the register (33) is connected with the fourth control signal output end of the radar chip (10) so as to realize writing of specific signals; the input end of the shift register (35) and a connection end of the change-over switch (30) are connected in parallel to the second CAN bus (22), and the output ends of the register (33) and the shift register (35) are respectively connected to two input ends of the comparator (34).

6. The millimeter wave radar signal detection apparatus according to claim 3, wherein: the millimeter wave radar further comprises a circuit board, wherein the radar chip (10), the first CAN interface (11), the second CAN interface (12) and the logic judgment circuit are arranged on the circuit board; the change-over switch (30) is arranged on the circuit board or the second CAN interface (12).

7. The millimeter wave radar signal detection apparatus according to claim 1, wherein: the radar chip (10) is also provided with an alarm port;

each CAN interface is provided with a NOR gate, the NOR gate CAN carry out logic judgment on digital signals received and transmitted by the CAN interface, and meanwhile, the output end of the NOR gate is also connected with the alarm port.