KR101122523B1 - Method and apparatus for vehicle uwb radar signal processing distinguishing plural vehicle - Google Patents

Method and apparatus for vehicle uwb radar signal processing distinguishing plural vehicle Download PDF

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KR101122523B1
KR101122523B1 KR1020090114977A KR20090114977A KR101122523B1 KR 101122523 B1 KR101122523 B1 KR 101122523B1 KR 1020090114977 A KR1020090114977 A KR 1020090114977A KR 20090114977 A KR20090114977 A KR 20090114977A KR 101122523 B1 KR101122523 B1 KR 101122523B1
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memory
signal
stored
reflected
storing
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KR1020090114977A
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KR20110058256A (en
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김상동
이종훈
현유진
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재단법인대구경북과학기술원
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Abstract

The present invention discloses a vehicle UWB radar signal processing method and apparatus capable of distinguishing multiple vehicles.
According to an exemplary embodiment of the present invention, a UWB radar signal processing method for a vehicle capable of distinguishing multiple vehicles may receive one or more reflection signals of a signal repeatedly transmitted at a Tpri interval for each PRI and store them in a first memory area (a Step (b) dividing the reflected signals stored in the first memory into a predetermined speed region and storing the reflected signals in a second memory region; and speed and distance with respect to the reflected signals of the predetermined speed region stored in the second memory region. (C) extracting the information.
UWB, vehicle recognition, radar, speed

Description

Vehicle radar signal processing method and apparatus for distinguishing multiple vehicles {METHOD AND APPARATUS FOR VEHICLE UWB RADAR SIGNAL PROCESSING DISTINGUISHING PLURAL VEHICLE}

The present invention discloses a vehicle UWB radar signal processing method and apparatus capable of distinguishing multiple vehicles.

In a conventional vehicle, the driver predicts the driving direction of the vehicle and drives according to the driver's field of view. However, in such a method, an accident may occur when the driver is inexperienced in driving or when the driver temporarily misjudges the direction of the vehicle. Nowadays, users use ambient awareness using ultra-wideband radar or vision systems to prepare for such incidents. In particular, the ultra-wideband radar recognizes the distance using a method of transmitting a pulse, detecting a reflected pulse, and averaging the detected pulse through a repetitive pulse to measure an average change.

The present invention proposes a vehicle UWB radar signal processing apparatus and method that can distinguish multiple vehicles.

In particular, the present invention solves the problem that multiple scattering points occur in one vehicle because the transmission pulse length is much shorter than the vehicle length in the case of the ultra-wideband radar system, so that the UWB can identify multiple vehicles even at overlapping scattering points in the vehicle. To provide a radar device and method.

An object of the present invention is to classify a scattering point reflected from a multi-vehicle vehicle UWB radar into different clusters.

In order to achieve the above object, the vehicle UWB radar signal processing method for distinguishing multiple vehicles according to an embodiment of the present invention, by receiving one or more reflected signals of a signal repeatedly transmitted at a Tpri interval for each PRI (A) storing in a first memory area, dividing the reflected signals stored in the first memory into a predetermined speed area, and storing in a second memory area; and (b) storing a predetermined speed area in the second memory area. (C) extracting velocity and distance information with respect to the reflected signal.

According to another aspect of the present invention, there is provided a UWB radar signal processing method for a vehicle capable of distinguishing multiple vehicles, the method comprising: receiving a reflection signal in which a transmission signal repeatedly transmitted N times is reflected by a predetermined object; Storing in the N distinguishable first memory areas corresponding to the transmission signal, grouping signals within a predetermined distance from the stored signal, and storing the received signals in a second memory area; and reflecting signals stored in the second memory area. Extracting distance and speed information for each star.

According to another embodiment of the present invention, a UWB radar signal processing apparatus for a vehicle capable of distinguishing multiple vehicles may include a detector configured to receive one or more reflected signals of a signal repeatedly transmitted at a Tpri interval, and store the reflected signals for each PRI. A first memory unit, a second memory unit for dividing and storing the reflected signals stored in the first memory into a predetermined speed region, and extracting speed and distance information with respect to the reflected signal of the predetermined speed region stored in the second memory unit And a velocity-distance extractor.

The present invention can check the reflection of the signal from a plurality of vehicles through the vehicle ultra-wideband radar system can improve the radar detection performance.

In addition, in the case of the ultra-wideband radar system, since the transmission pulse length is very shorter than the vehicle length, the problem of multiple scattering points occurring in one vehicle may be solved, and thus multiple vehicles may be identified even at overlapping scattering points in the vehicle.

Hereinafter, some embodiments of the present invention will be described in detail with reference to the accompanying drawings. In adding reference numerals to the components of each drawing, it should be noted that the same reference numerals are assigned to the same components as much as possible even though they are shown in different drawings. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

In addition, in describing the component of this invention, terms, such as 1st, 2nd, A, B, (a), (b), can be used. These terms are only for distinguishing the components from other components, and the nature, order or order of the components are not limited by the terms. If a component is described as being "connected", "coupled" or "connected" to another component, that component may be directly connected or connected to that other component, but between components It will be understood that may be "connected", "coupled" or "connected".

In ultra-wideband radar systems, multiple flashpoints can occur in a single vehicle because the transmit pulse length is much shorter than the vehicle length. Therefore, it is not possible to distinguish each vehicle by using only the distance information of the scattering point generated through the various vehicles. Accordingly, an embodiment of the present invention is to implement a UWB radar signal processing for a vehicle that can distinguish multiple vehicles.

The vehicle UWB radar uses a distributed target model because the transmit pulse is much smaller than the length of the vehicle. Thus, the UWB radar signal processor must separate each vehicle using the received signals reflected from the multiple vehicles, which is not easy.

FIG. 1 is a diagram illustrating a situation in which reflection signals reflected from two vehicles are mixed.

In FIG. 1, there are two vehicles, and the signals generated by the radar 100 are reflected by the two vehicles to become a plurality of reflection signals. However, even in one vehicle, signals are reflected through various scattering points, and it is difficult to clearly distinguish which vehicle each signal is reflected from. Even when looking at the amplitude of the reflected signal to confirm the distance of the object as shown in 120 of FIG. 1, it may be difficult to separate the signal into two clusters. Therefore, in an embodiment of the present invention, it is intended to use not only the distance between the radar and the vehicle but also the speed information.

2 is a view showing a signal transmitted and received in the UWB radar according to an embodiment of the present invention.

In FIG. 2, Tpri means an interval in which pulse waves are repeated, and Tup means an update time. N denotes the PRI signal within the update time Tup, and t 0 to t N denote the reflected signals. The UWB radar transmits a pulse wave as a baseband tx signal to extract distance information through a baseband rx signal reflected by the vehicle. At every Tp time point, which is a sampling interval, the reflected signals sampled at that time are t 0 to t N , and the distance from the reflected object can be confirmed through these values.

3 is a diagram illustrating a process of grouping a received signal reflected through a grouping algorithm according to an embodiment of the present invention.

By using the algorithm of FIG. 3, each received signal may be grouped into a cluster, and then distance and speed may be extracted for each cluster.

For the extraction of distances and velocities, information of the respective distances and velocities of the reflection points of previously received signals is needed. In the received signal corresponding to the reflection point, signals within a certain time are grouped into the same group, and signals of a certain speed within the same group are grouped into clusters. Through this, the distance and the speed of each vehicle are extracted.

Looking in more detail as follows.

N = 1 is set as an initial value (S302). The maximum amplitude and the T N time are extracted with respect to the received signal in the pulse repetition interval (PRI) (S304). The time domain is set based on the extracted T N time (S306). The signal is stored in the Nth memory within the corresponding time domain (S308). Since the information about the signal is stored, the signal in the time domain is removed (S310). Even after the removal is performed, it is checked whether a signal exists in the received signal (S312). If there is a signal in the received signal, it must be distinguished from the signal stored in the Nth memory, so the process proceeds again in step S304 while increasing N by 1 (N = N + 1).

On the other hand, when all the information about the grouped received signal is stored in the memory, the grouped grouping of the grouped signal again proceeds. Since the received signals are grouped in the N memories beforehand, the stored signals must be processed, so N_index representing a memory address (memory index) from 1 to N and the address of the memory not used in the previous steps S302 to S312 for storage in the next memory. Sets the value of L, which must be greater than N indicating information. 1 is input to N_index and a value of N + 1 is input to L (S320). The speed of the first signal in the N_index th memory is extracted (S322). The speed range is set based on the speed of the first signal (S324), the signal corresponding to the speed range is stored in the L-th memory, and L is increased by one (S326). The signal is then removed in the speed range (S328). If there is a signal in the N_index memory (S330), if there is a signal, since there is a signal in a different speed range, the process of extracting another signal is performed in step S322. At this time, since the first signal has already been removed, another signal becomes the first signal, and in step S324, the speed is extracted for the newly first signal. On the other hand, if there are no more signals, it is necessary to extract the speed from the next memory, so check whether N_index exceeds N (S332) .If it does not exceed N, increase N_index by 1 (N_index = N_index + 1). Proceed to step S321.

4 is a diagram illustrating a structure for performing a speed extraction for each cluster according to an embodiment of the present invention.

 The signal received through the analog / digital converter (ADC) 410 extracts only a signal that exceeds a predetermined threshold through a constant false alarm rate (CFAR) detector 420. A signal exceeding a predetermined reference may be referred to as a valid signal. The PRI memory storage unit 430 stores signals output from the CFAR detection unit in memory for each PRI unit. This means the process of S302 ~ S312 of FIG. According to an embodiment of the present invention, the memory stored for each PRI unit is a first storage unit, and the memory size is the same as the number of PRIs in the update time. This process is presented in FIG. 5.

After storing signals for each PRI, the simultaneous signals of each PRI are stored in the memory (440), and the distance and the speed are extracted for each received signal (450). The distance and the speed for each cluster are extracted through the grouping algorithm (460).

The memory storage unit 440 for each simultaneous signal of each PRI serves to rearrange the signals of the first storage unit. The rearrangement process is a process of grouping signals at the same distance into the same group and storing it in a second storage unit, corresponding to processes S320 to S332 of FIG. 3. The size of the second storage is equal to the number of data output from the CFAR detector in the PRI. The signal of the second storage unit is transmitted to the distance and velocity extraction unit for each received signal. The purpose is to extract the Doppler frequencies of the signals at the same time by the distance and velocity extractor for each received signal. The Doppler frequency gives the amount of change in the phase difference between the signals at the same time for each PRI, and extracts them through the FFT. The extracted Doppler frequency is converted into velocity, which is transmitted to the cluster-specific distance and velocity extractor. This process is shown in FIG.

5 is a diagram illustrating a process of storing a signal for each PRI in a memory according to an embodiment of the present invention.

The unit in which the signal 510 transmitted through the UWB radar is repeated is Tpri. In FIG. 5, a signal of Tp is transmitted, and there is a reflected signal 520 therefor.

As described above, the signal received for each PRI is stored in the memory 530. This is repeated from 1 to N, and the received reflection signals 521, 522, and 523 are stored for each PRI.

FIG. 6 is a diagram illustrating a process of extracting a distance and a speed by storing in a memory for each same time signal among signals received for each PRI according to an embodiment of the present invention.

In FIG. 5, in the memory 530 storing signals for each PRI, signals generated at the same time for each PRI are stored in the memory. The same time zone signals from 1 to N of the memory 530 are checked using N_index of FIG. 3, and the first signal is checked and stored in the new memory 630. The address of the new memory 630 is indicated as 1, and when compared with FIG. 3, the first position may be N + 1, that is, a value of L (631).

If the first signal is removed from the memory data of 1 to N and the signal is present, the signal is set as the first signal, and all the signals in the same area are removed and the signal is stored at the second address. 632). 633 proceeds in the third process.

The information for each of the stored simultaneous signals may be extracted from the speed-distance extractor 650 using the FFT to extract distance and speed for each received signal.

7 is a diagram illustrating a process of extracting a distance and a speed for each cluster according to another exemplary embodiment of the present invention.

The transmission signal repeatedly transmitted N times receives a reflection signal reflected by a predetermined object (S702). The process of receiving the reflected signal reflected on the signal transmitted for N times in the Tpri interval described above. The received reflection signal is stored in N distinguishable first memory areas corresponding to the transmission signal (S704). 5 illustrates an example of storing a predetermined reflected signal. Here, the CFAR detector may determine and store a value exceeding a predetermined threshold as a valid signal. The signals within a predetermined distance from the stored signal are grouped and stored in the second memory area (S706). The signals within the same distance from the reflected signals stored in the N distinguishable memory areas are grouped and stored in the memory again. The reflected signals stored in the second memory area are determined as one cluster that is the same group, and a process of extracting distance and velocity information is performed (S708).

The above description is merely illustrative of the technical idea of the present invention, and those skilled in the art to which the present invention pertains may make various modifications and changes without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention but to describe the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The protection scope of the present invention should be interpreted by the following claims, and all technical ideas within the equivalent scope should be interpreted as being included in the scope of the present invention.

FIG. 1 is a diagram illustrating a situation in which reflection signals reflected from two vehicles are mixed.

2 is a view showing a signal transmitted and received in the UWB radar according to an embodiment of the present invention.

3 is a diagram illustrating a process of grouping a received signal reflected through a grouping algorithm according to an embodiment of the present invention.

4 is a diagram illustrating a structure for performing a speed extraction for each cluster according to an embodiment of the present invention.

5 is a diagram illustrating a process of storing a signal for each PRI in a memory according to an embodiment of the present invention.

FIG. 6 is a diagram illustrating a process of extracting a distance and a speed by storing in a memory for each same time signal among signals received for each PRI according to an embodiment of the present invention.

7 is a diagram illustrating a process of extracting a distance and a speed for each cluster according to another exemplary embodiment of the present invention.

Claims (13)

  1. delete
  2. (A) receiving one or more reflection signals of a signal repeatedly transmitted at a Tpri interval for each PRI and storing them in a first memory area;
    (B) dividing the reflected signals stored in the first memory into a predetermined speed area and storing the reflected signals in a second memory area; And
    (C) extracting velocity and distance information with respect to the reflected signal of the predetermined velocity region stored in the second memory region,
    In step (a),
    Extracting information T N for the maximum amplitude of the signal received in the N th PRI and the N th Tpri period;
    Setting a time zone within a range between the Tpri with respect to the T N; And
    And storing the signals in the time domain and removing the signals in the time domain.
  3. (A) receiving one or more reflection signals of a signal repeatedly transmitted at a Tpri interval for each PRI and storing them in a first memory area;
    (B) dividing the reflected signals stored in the first memory into a predetermined speed area and storing the reflected signals in a second memory area; And
    (C) extracting velocity and distance information with respect to the reflected signal of the predetermined velocity region stored in the second memory region,
    In step (a),
    Extracting a valid signal exceeding a predetermined standard through constant false alarm rate (CFAR) detection; And
    And storing the signal output through the CFAR detection in a memory, wherein the vehicle can distinguish multiple vehicles.
  4. (A) receiving one or more reflection signals of a signal repeatedly transmitted at a Tpri interval for each PRI and storing them in a first memory area;
    (B) dividing the reflected signals stored in the first memory into a predetermined speed area and storing the reflected signals in a second memory area; And
    (C) extracting velocity and distance information with respect to the reflected signal of the predetermined velocity region stored in the second memory region,
    When the reflected and received signal is stored N times in the Tpri interval in the step (a),
    In the step (b), the N signals are stored in a second memory area by dividing the N signals for each speed area, and the vehicle UWB radar signal processing method for distinguishing multiple vehicles.
  5. (A) receiving one or more reflection signals of a signal repeatedly transmitted at a Tpri interval for each PRI and storing them in a first memory area;
    (B) dividing the reflected signals stored in the first memory into a predetermined speed area and storing the reflected signals in a second memory area; And
    (C) extracting velocity and distance information with respect to the reflected signal of the predetermined velocity region stored in the second memory region,
    The step (c) includes the step of extracting the Doppler frequency of the signal included in the predetermined speed range, the vehicle UWB radar signal processing method for distinguishing multiple vehicles.
  6. (A) receiving one or more reflection signals of a signal repeatedly transmitted at a Tpri interval for each PRI and storing them in a first memory area;
    (B) dividing the reflected signals stored in the first memory into a predetermined speed area and storing the reflected signals in a second memory area; And
    (C) extracting velocity and distance information with respect to the reflected signal of the predetermined velocity region stored in the second memory region,
    In step (b),
    A method for processing a UWB radar signal for a vehicle, which can distinguish multiple vehicles, characterized in that for storing the signals at the same distance from the reflected signals stored at the Tpri intervals in a same group.
  7. delete
  8. delete
  9. A detector receiving one or more reflected signals of a signal repeatedly transmitted at a Tpri interval;
    A first memory unit storing the reflected signals for each PRI;
    A second memory unit for dividing and storing the reflected signals stored in the first memory into a predetermined speed range; And
    A speed-distance extraction unit for extracting speed and distance information with respect to the reflected signal of the predetermined speed region stored in the second memory unit;
    The first memory unit,
    Distinguishing the multiple vehicles, wherein the signals included in the time domain within the range smaller than the Tpri are stored based on the maximum amplitude of the signal received in the Nth PRI and the information T N for the Nth Tpri period. Automotive UWB radar signal processing device.
  10. A detector receiving one or more reflected signals of a signal repeatedly transmitted at a Tpri interval;
    A first memory unit storing the reflected signals for each PRI;
    A second memory unit for dividing and storing the reflected signals stored in the first memory into a predetermined speed range; And
    A speed-distance extraction unit for extracting speed and distance information with respect to the reflected signal of the predetermined speed region stored in the second memory unit;
    The first memory unit,
    A UWB radar signal processing apparatus for a vehicle that can distinguish multiple vehicles, characterized by storing a valid signal exceeding a predetermined standard by detecting a constant false alarm rate (CFAR).
  11. A detector receiving one or more reflected signals of a signal repeatedly transmitted at a Tpri interval;
    A first memory unit storing the reflected signals for each PRI;
    A second memory unit for dividing and storing the reflected signals stored in the first memory into a predetermined speed range; And
    A speed-distance extraction unit for extracting speed and distance information with respect to the reflected signal of the predetermined speed region stored in the second memory unit;
    When the reflected and received signal is stored in the total N distinguishable regions of the first memory unit at the Tpri interval,
    And the N signals are divided and stored in each of the speed regions in the second memory unit, wherein the vehicle UWB radar signal processing apparatus can distinguish multiple vehicles.
  12. A detector receiving one or more reflected signals of a signal repeatedly transmitted at a Tpri interval;
    A first memory unit storing the reflected signals for each PRI;
    A second memory unit for dividing and storing the reflected signals stored in the first memory into a predetermined speed range; And
    A speed-distance extraction unit for extracting speed and distance information with respect to the reflected signal of the predetermined speed region stored in the second memory unit;
    The speed-distance extractor extracts a Doppler frequency of a signal included in a predetermined speed range, wherein the vehicle UWB radar signal processing apparatus capable of distinguishing multiple vehicles.
  13. A detector receiving one or more reflected signals of a signal repeatedly transmitted at a Tpri interval;
    A first memory unit storing the reflected signals for each PRI;
    A second memory unit for dividing and storing the reflected signals stored in the first memory into a predetermined speed range; And
    A speed-distance extraction unit for extracting speed and distance information with respect to the reflected signal of the predetermined speed region stored in the second memory unit;
    The second memory UWB radar signal processing apparatus for distinguishing multiple vehicles, characterized in that the signal at the same distance from the reflected signals stored in the Tpri interval are combined and stored in the same group.
KR1020090114977A 2009-11-26 2009-11-26 Method and apparatus for vehicle uwb radar signal processing distinguishing plural vehicle KR101122523B1 (en)

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Publication number Priority date Publication date Assignee Title
KR100645771B1 (en) * 2001-12-13 2006-11-13 가부시키가이샤 무라타 세이사쿠쇼 Radar

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100645771B1 (en) * 2001-12-13 2006-11-13 가부시키가이샤 무라타 세이사쿠쇼 Radar

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