KR101853783B1 - Fmcw radar apparatus of vehicle for building clutter map for improving target detection ability and method of detecting using the same - Google Patents

Abstract

Disclosed are a frequency-modulated continuous wave (FMCW) radar device for a vehicle, which forms a clutter map to improve target detection performance, and a detecting method using the same. The FMCW radar device for a vehicle, which forms the clutter map to improve the target detection performance, comprises: a signal wave form generation module generating a FMCW radar signal and radiating the FMCW radar signal by an antenna; a multi-channel receiving module receiving the FMCW radar signal reflected after being radiated by the antenna; a signal treating module measuring a clutter by using the FMCW radar signal received from the multi-channel receiving module and forming a range-Doppler clutter map at every coherent pulse interval (CPI); a clutter map accumulating and forming module accumulating and forming a range-Doppler clutter map formed in the signal treating module and obtained at every CPI by using vehicle speed information; and a target detection module detecting a target by using the range-Doppler clutter map accumulated and formed by the clutter map accumulating and forming module. According to the present invention, the FMCW radar device for a vehicle can improve the accuracy of the clutter map by minimizing unspecific noise influence by accumulating and adding past data and future data of a range-Doppler domain to current data by using a feature in which a section measured in an antenna beam width is overlapped when the clutter map of radar for a vehicle is formed.

Description

FIELD OF THE INVENTION [0001] The present invention relates to an FMCW radar apparatus for forming a clutter map for improving target detection performance, and a sensing method using the FMCW radar apparatus.

The present invention relates to a radar device and a sensing method using the same, and more particularly, to a frequency-modulated continuous wave (FMCW) radar device for a vehicle and a sensing method using the same. More specifically, To a vehicle FMCW radar device forming a clutter map and a sensing method using the FMCW radar device.

Conventionally, a clutter map is actively updated, and a radar detection method for detecting obstacles or targets around the clutter map is used.

The surrounding target can be detected by using a default clutter-map storing a clutter signal without a target in the vicinity and a clutter map periodically updating the clutter-map.

The detection performance of the target is excellent when using the clutter map.

However, in the case of a vehicle radar, there is a disadvantage in that the moving speed of the vehicle is high and the clutter area is unstable due to the movement of the vehicle, so that the capability of the vehicle radar as a vehicle radar deteriorates. It shows a significant change in the clutter map according to the moving speed with time.

Also, in the process of forming a clutter map, it is also insufficient to reduce the influence of noise.

10-1619064 10-1040315

It is an object of the present invention to provide an FMCW radar apparatus for a vehicle which forms a clutter map for improving target detection performance.

It is another object of the present invention to provide a sensing method using a vehicle FMCW radar apparatus for forming a clutter map for improving target detection performance.

The vehicle FMCW radar apparatus for forming the clutter map for improving the target detection performance according to the object of the present invention generates a frequency-modulated continuous wave (FMCW) radar signal and generates a signal waveform module; A multi-channel receiving module for receiving an FMCW radar signal reflected after being radiated through the antenna; A signal processing module for measuring a clutter using the FMCW radar signal received from the multi-channel receiving module and forming a range-Doppler clutter map for every coherent pulse interval (CPI); A clutter map accumulation module for accumulating a distance-Doppler clutter map obtained for each CPI using the speed-information of the car, using a distance-Doppler clutter map formed in the signal processing module; And a target detection module that detects the target using a distance-Doppler clutter map that is cumulatively formed by the clutter map accumulation forming module.

Here, the target detection module may further include a region-of-interest designating module that designates the Doppler region as a region of interest and inputs the Doppler region to the target detection module so as to improve the detection capability of the target close to the clutter due to the high- .

The multi-channel receiving module may be a derampling receiver capable of receiving a wideband LFM signal.

The clutter map accumulation forming module includes: a sub-vehicle speed information measuring unit for measuring speed information of the sub-vehicle; A Doppler-domain reconstructing unit for accumulating and reconstructing a Doppler-clutter map in a direction in which a Doppler effect is generated using the speed information of the vehicle measured by the vehicle speed information measuring unit; A distance information input unit for inputting initial distance setting information for deramming control; A distance-domain reforming unit for resetting the distance-domain information of the reconstructed distance-Doppler clutter map in the Doppler-domain reconstructing unit in the direction of the distance using the distance information input initial distance setting information; And a distance-Doppler clutter map forming unit for re-forming the Doppler clutter map accumulated for each CPI for each predetermined time period by reflecting the distance-domain information reset in the distance-domain reforming unit.

According to another aspect of the present invention, there is provided a sensing method using a vehicle FMCW radar apparatus for forming a clutter map for improving target detection performance, the method comprising: generating a frequency-modulated continuous wave (FMCW) radar signal by a signal waveform generation module, radiating through an antenna; Receiving a FMCW radar signal that is reflected after the multi-channel receiving module is radiated through the antenna; The signal processing module measures the clutter using the FMCW radar signal received from the multi-channel receiving module and forms a range-Doppler clutter map for every coherent pulse interval (CPI) step; A clutter map accumulation forming module cumulatively forming a distance-Doppler clutter map obtained for each CPI using the speed information of the car, using a distance-Doppler clutter map formed in the signal processing module; And detecting the target using a distance-Doppler clutter map in which the target detection module is cumulatively formed by the clutter map cumulative formation module.

Wherein the step of detecting the target using the distance-Doppler clutter map in which the target detection module is cumulatively formed by the clutter map accumulation forming module is characterized in that the target area specifying module determines that the target detection module The Doppler region may be designated as a region of interest and input to the target detection module so as to improve the detection capability of the target close to the clutter.

The receiving of the FMCW radar signal reflected after the multi-channel receiving module is radiated through the antenna comprises receiving the FMCW radar signal by a derampling receiver capable of receiving the wideband LFM signal .

The step of cumulatively forming a distance-Doppler clutter map in which the clutter map accumulation forming module obtains a distance-Doppler clutter map formed in the signal processing module by using the speed information of the car in each CPI, Measuring a speed of the vehicle and inputting the measured speed information to a Doppler-domain reforming unit; The Doppler-domain reconstruction unit receives the velocity information of the car measured by the car speed information measurement unit and accumulates the distance-Doppler clutter map in a direction in which the Doppler effect is generated using the velocity information of the received car. ; The distance information input unit inputs initial distance setting information for the deramming control to the distance-domain reforming unit; Wherein the distance-domain reforming unit receives distance-domain information of the distance-Doppler clutter map reconstructed in the Doppler-domain reforming unit by using the initial distance setting information, Direction; And reconstructing a distance-Doppler clutter map that is accumulated for each predetermined time period per CPI, reflecting the distance-domain information that is reset in the distance-domain reformatting section .

According to the vehicle FMCW radar apparatus for forming the clutter map for improving the target detection performance and the sensing method using the FMCW radar apparatus, when the clutter map of the vehicle radar is formed, the distance measured in the antenna beam width is superposed, - The past and future data of the Doppler domain are cumulatively added to the current data to minimize the influence of the unspecified noise, thereby improving the accuracy of the clutter-map.

1 is a block diagram of an FMCW radar apparatus for a vehicle that forms a clutter map for improving target detection performance according to an embodiment of the present invention.
2 is a detailed configuration diagram of a clutter map accumulation forming module according to an embodiment of the present invention.
3 is a schematic diagram showing the distance-Doppler characteristic.
4 is a distance-Doppler map showing the relationship between the clutter spectrum and the target Doppler frequency.
5 is a schematic diagram showing a process of forming a superimposed distance-Doppler clutter map.
FIG. 6 is a schematic diagram of a target extraction by designating a Doppler to be moved and a distance and a region of interest; FIG.
FIG. 7 is a flowchart illustrating a sensing method using a vehicle FMCW radar apparatus for forming a clutter map for improving target detection performance according to an exemplary embodiment of the present invention. Referring to FIG.
8 is a detailed flowchart of a clutter map accumulation forming process according to an embodiment of the present invention.

While the invention is susceptible to various modifications and alternative forms, specific embodiments thereof are shown by way of example in the drawings and will herein be described in detail to the concrete inventive concept. It should be understood, however, that the invention is not intended to be limited to the particular embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention. Like reference numerals are used for like elements in describing each drawing.

The terms first, second, A, B, etc. may be used to describe various elements, but the elements should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component. And / or < / RTI > includes any combination of a plurality of related listed items or any of a plurality of related listed items.

It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, . On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between.

The terminology used in this application is used only to describe a specific embodiment and is not intended to limit the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In the present application, the terms "comprises" or "having" and the like are used to specify that there is a feature, a number, a step, an operation, an element, a component or a combination thereof described in the specification, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning consistent with the contextual meaning of the related art and are to be interpreted as either ideal or overly formal in the sense of the present application Do not.

Hereinafter, preferred embodiments according to the present invention will be described in detail with reference to the accompanying drawings.

1 is a block diagram of an FMCW radar apparatus for a vehicle that forms a clutter map for improving target detection performance according to an embodiment of the present invention.

1, a vehicle FMCW radar apparatus 100 for forming a clutter map for improving target detection performance according to an embodiment of the present invention includes a signal waveform generation module 110, a multi-channel reception module 120, A signal processing module 130, a clutter map accumulation forming module 140, and a target detection module 150. The signal processing module 130,

The vehicle FMCW radar apparatus 100 forming the clutter map for improving the target detection performance accumulates the past and future data of the distance-Doppler domain in the process of forming the clutter map of the FMCW radar for the vehicle, - is configured to improve the accuracy of the map.

Hereinafter, the detailed configuration will be described.

The signal waveform generation module 110 may be configured to generate a frequency-modulated continuous wave (FMCW) radar signal and radiate it through an antenna.

The transmission channel may be composed of one channel by the signal waveform generation module 110.

The signal waveform generation module 110 can be controlled by the FASTRamp method.

The multi-channel receiving module 120 may be configured to receive an FMCW radar signal that is radiated after being reflected through an antenna.

The receiving channel may be composed of multiple receiving channels by the multi-channel receiving module 120.

The multi-channel receiving module 120 may be configured as a deramping receiver capable of receiving a wideband LFM signal. This is to improve the distance resolution of the clutter.

The signal processing module 130 measures the clutter using the FMCW radar signal received from the multi-channel receiving module 120 and outputs a range-Doppler clutter signal for every coherent pulse interval (CPI) map. < / RTI >

The clutter map accumulation forming module 140 accumulates the distance-Doppler clutter map obtained for each CPI using the distance-Doppler clutter map formed in the signal processing module 120 using the speed information of the car. .

The clutter map accumulation forming module 140 is configured to accumulate the distance-Doppler clutter map when forming the clutter map, and uses the initial distance setting information for deramping control to calculate the distance information in the distance direction And reset the accumulated distance information for a certain time obtained at every CPI. And extracting distance information from the clutter using the CFAR block and extracting moving target information of the space in the clutter region of the distance-Doppler clutter map. Will be described in more detail with reference to FIGS. 2 to 6. FIG.

2 is a detailed configuration diagram of a clutter map accumulation forming module according to an embodiment of the present invention, FIG. 3 is a schematic diagram showing distance-Doppler characteristics, and FIG. 4 is a graph showing a relationship between a clutter spectrum and a target Doppler frequency FIG. 5 is a schematic diagram illustrating a process of forming a superimposed distance-Doppler clutter map, and FIG. 6 is a schematic diagram of a target extraction by specifying a Doppler to be moved and a distance and an area of interest.

2, the clutter map accumulation forming module 140 according to an embodiment of the present invention includes a self-vehicle speed information measuring unit 141, a Doppler-domain remapping unit 142, An input section 143, a distance-domain reforming section 144, and a distance-Doppler clutter map forming section 145.

The clutter map accumulation forming module 140 cumulatively forms the past clutter map and the future clutter map measured in the moving vehicle in the current clutter map to reduce the noise of the current clutter map at each moment, And the target detection capability can be improved.

 Here, the vehicle speed information measuring unit 141 may be configured to measure the speed information of the vehicle.

The Doppler-domain reconstructing unit 142 accumulates the distance-Doppler clutter map in the direction in which the Doppler effect is generated using the speed information of the car measured by the car speed information measuring unit 141, .

If the clutter region is viewed using the fast ramp characteristic according to the movement of the vehicle, a distance-Doppler map having the same frequency characteristics as the same distance region as shown in Fig. 3 can be formed.

In Fig. 4, the relationship between the clutter spectrum and the target Doppler frequency is shown.

5 shows the process of forming a superimposed distance-Doppler clutter map. The data of the overlapping sections of the clutter maps may be extracted according to the movement of the vehicle and utilized for accumulation of the distance-Doppler clutter map. At this time, when the current position of the vehicle is viewed, the data of the overlapping section is extracted from the data of the past position and the future position, and is accumulated in the current data. The distance-Doppler clutter map can be formed by accumulating N pieces of data of every CPI over time. On the other hand, in FIG. 5, when there is a clutter such as a guard rail, the guard rail exhibits a Doppler characteristic of the car speed as a fixed clutter.

FIG. 6 shows a process of forming the Doppler clutter map. The Doppler BIN of the traveling direction is calculated based on the CPI time information and the car speed, and the difference between the initial time information of each CPI and the initial distance delay per CPI is calculated And calculates the distance BIN. It is also configured to form a distance-Doppler clutter map based thereon and a CFAR block is configured to detect the target for the region of interest to which the region of interest is designated.

Referring back to FIG. 2, the distance information input unit 143 may be configured to input initial distance setting information for deramming control. The distance-domain reconstructor 144 is configured to reset the distance-domain information of the reconstructed distance-Doppler clutter map in the Doppler-domain reconstructor 142 using the distance information input initial distance setting information .

When accumulating N data of distance-Doppler, the Doppler spectrum information changes every CPI according to the moving speed of the car. Therefore, the distance information for compensating the Doppler part and the distance for deraming for each CPI . Thus, the distance information input section 143 and the distance-domain reforming section 144 are configured to correct the changing distance information.

The distance-Doppler clutter mapper 145 maps the distance-domain information generated by the distance-domain reconstructor 144 to a distance-Doppler (Doppler) ) ≪ / RTI >

The target detection module 150 may be configured to detect the target using a distance-Doppler clutter map that is cumulatively formed by the clutter map accumulation forming module 140.

The ROI module 160 designates the Doppler region as an ROI so that the target detection module 150 can improve the detection capability of the target close to the clutter due to the high resolution distance resolution and inputs the ROI to the target detection module 150 .

The region-of-interest designation module 160 is a structure for estimating clutter characteristics by designating a Doppler region of a region of interest, and is a structure for improving the target detection capability of the moving object by high-resolution distance resolution.

For example, a clutter such as a guardrail can be assigned to an area of interest to enhance the horizontal correction capability of the radar.

FIG. 7 is a flowchart illustrating a sensing method using a vehicle FMCW radar apparatus for forming a clutter map for improving target detection performance according to an exemplary embodiment of the present invention. Referring to FIG.

Referring to FIG. 7, the signal waveform generation module 110 generates a frequency-modulated continuous wave (FMCW) radar signal and emits it through an antenna (S101).

Next, the multi-channel receiving module 120 receives the reflected FMCW radar signal after being radiated through the antenna (S102).

Here, the multi-channel receiving module 120 may be configured to receive the FMCW radar signal by a deramping receiver capable of receiving the wideband LFM signal.

Next, the signal processing module 130 measures the clutter using the FMCW radar signal received from the multi-channel receiving module 120, and calculates a distance-Doppler clutter map (coherent pulse interval) every CPI -Doppler clutter map (S103).

Next, a clutter map accumulation forming module 140 calculates a distance-Doppler clutter map formed in the signal processing module 120 using a distance-Doppler clutter map obtained per CPI using the speed information of the car, (S104).

Next, the target detection module 150 detects the target using the distance-Doppler clutter map accumulated by the clutter map accumulation forming module 140 (S105).

Here, the target area designation module 160 designates the Doppler region as a region of interest so that the target detection module 150 can improve the detection capability of the target close to the clutter due to the high resolution distance resolution, Lt; / RTI >

8 is a detailed flowchart of a clutter map accumulation forming process according to an embodiment of the present invention.

Referring to FIG. 8, the vehicle speed information measurement unit 141 measures the speed information of the vehicle and inputs the speed information to the Doppler-domain reforming unit 142 (S104a).

Next, the Doppler-domain reforming unit 142 receives the speed information of the car measured by the car speed information measuring unit 141 and calculates the distance-Doppler frequency using the speed information of the received car. Map is accumulated and re-formed (S104b).

Next, the distance information input unit 143 inputs the initial distance setting information for the deramming control to the distance-domain reforming unit 144 (S104c).

Next, the distance-domain reforming unit 144 receives the initial distance setting information inputted with the distance information, and outputs the distance-domain reconstructed result of the distance-Doppler clutter map reconstructed in the Doppler- The distance-domain information is reset in the direction of the distance (S104d).

Next, the distance-Doppler clutter map forming unit 145 reforms the distance-Doppler clutter map, which is accumulated for a predetermined time period every CPI, reflecting the distance-domain information that is reset in the distance-domain reforming unit 144 (S104e).

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention as defined in the following claims. There will be.

110: Signal waveform generation module
120: Multi-channel receiving module
130: Signal processing module
140: clutter map accumulation forming module
141: Self-vehicle speed information measuring unit
142: Doppler-domain reforming section
143: Distance information input section
144: Distance-domain refinement part
145: Distance-Doppler clutter map forming section
150: target detection module
160: Interest area designation module

Claims (8)

A signal waveform generation module that generates a frequency-modulated continuous wave (FMCW) radar signal and radiates the generated signal through an antenna;
A multi-channel receiving module for receiving an FMCW radar signal reflected after being radiated through the antenna;
A signal processing module for measuring a clutter using the FMCW radar signal received from the multi-channel receiving module and forming a range-Doppler clutter map for every coherent pulse interval (CPI);
A clutter map accumulation module for accumulating a distance-Doppler clutter map obtained for each CPI using the speed-information of the car, using a distance-Doppler clutter map formed in the signal processing module;
And a target detection module for detecting a target using a distance-Doppler clutter map cumulatively formed by the clutter map cumulative formation module. The method according to claim 1,
And a target area designation module that designates the Doppler area as a region of interest and inputs the Doppler region to the target detection module so that the target detection module can improve detection capability of the target close to the clutter due to high resolution distance resolution And a clutter map for improving the target detection performance. The apparatus of claim 1, wherein the multi-
And a deramping receiver capable of receiving a wideband LFM signal. The system of claim 1, 4. The apparatus of claim 3, wherein the clutter map accumulation forming module comprises:
A vehicle speed information measuring unit for measuring speed information of the vehicle;
A Doppler-domain reconstructing unit for accumulating and reconstructing a Doppler-clutter map in a direction in which a Doppler effect is generated using the speed information of the vehicle measured by the vehicle speed information measuring unit;
A distance information input unit for inputting initial distance setting information for deramming control;
A distance-domain reforming unit for resetting the distance-domain information of the reconstructed distance-Doppler clutter map in the Doppler-domain reconstructing unit in the direction of the distance using the distance information input initial distance setting information;
And a distance-Doppler clutter-map-forming unit for re-forming a Doppler clutter map accumulating for each CPI for each predetermined time period by reflecting distance-domain information reset in the distance-domain reforming unit. A vehicle FMCW radar apparatus for forming a clutter map for improving target detection performance. Generating a frequency-modulated continuous wave (FMCW) radar signal and radiating through a antenna;
Receiving a FMCW radar signal that is reflected after the multi-channel receiving module is radiated through the antenna;
The signal processing module measures the clutter using the FMCW radar signal received from the multi-channel receiving module and forms a range-Doppler clutter map for every coherent pulse interval (CPI) step;
A clutter map accumulation forming module cumulatively forming a distance-Doppler clutter map obtained for each CPI using the speed information of the car, using a distance-Doppler clutter map formed in the signal processing module;
And detecting a target using a distance-Doppler clutter map in which the target detection module is cumulatively formed by the clutter map cumulative formation module to form a clutter map for target detection performance improvement. 6. The method of claim 5, wherein the detecting the target using the distance-Doppler clutter map in which the target detection module is cumulatively formed by the clutter-
Wherein the ROI module is configured to designate the Doppler region as a ROI so that the target detection module can improve the detection capability of the target close to the clutter by high resolution distance resolution and input the ROI to the target detection module A vehicle FMCW radar method for forming a clutter map for improving target detection performance. The method of claim 5, wherein the step of receiving the reflected FMCW radar signal after the multi-channel receiving module radiates through the antenna comprises:
Wherein the multi-channel receiving module is configured to receive an FMCW radar signal by a derampling receiver capable of receiving a wideband LFM signal. ≪ RTI ID = 0.0 > 8. < / RTI > 8. The method of claim 7, wherein the clutter map accumulation module forms a distance-Doppler clutter map formed in the signal processing module by accumulating a distance-Doppler clutter map obtained for every CPI using speed information of the car Quot;
A step of measuring the speed information of the vehicle by the vehicle speed information measuring unit and inputting the measured speed information to the Doppler-domain reforming unit;
The Doppler-domain reconstruction unit receives the velocity information of the car measured by the car speed information measurement unit and accumulates the distance-Doppler clutter map in a direction in which the Doppler effect is generated using the velocity information of the received car. ;
The distance information input unit inputs initial distance setting information for the deramming control to the distance-domain reforming unit;
Wherein the distance-domain reforming unit receives distance-domain information of the distance-Doppler clutter map reconstructed in the Doppler-domain reforming unit by using the initial distance setting information, Direction;
And reconstructing a distance-Doppler clutter map that is accumulated for each CPI for a predetermined time period reflecting the distance-domain information reset in the distance-domain reconstructor. Wherein the clutter map is used to improve the target detection performance.

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