KR102049402B1 - Method and apparatus for processing signal based CFAR in radar system - Google Patents

Method and apparatus for processing signal based CFAR in radar system Download PDF

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KR102049402B1
KR102049402B1 KR1020150156971A KR20150156971A KR102049402B1 KR 102049402 B1 KR102049402 B1 KR 102049402B1 KR 1020150156971 A KR1020150156971 A KR 1020150156971A KR 20150156971 A KR20150156971 A KR 20150156971A KR 102049402 B1 KR102049402 B1 KR 102049402B1
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triangle wave
target
peak
signal
wave
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Korean (ko)
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KR20170054168A (en
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신동승
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한국전자통신연구원
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/28—Details of pulse systems
    • G01S7/285—Receivers
    • G01S7/292—Extracting wanted echo-signals
    • G01S7/2923—Extracting wanted echo-signals based on data belonging to a number of consecutive radar periods
    • G01S7/2927—Extracting wanted echo-signals based on data belonging to a number of consecutive radar periods by deriving and controlling a threshold value
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/04—Systems determining presence of a target
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only
    • G01S13/10—Systems for measuring distance only using transmission of interrupted, pulse modulated waves
    • G01S13/26—Systems for measuring distance only using transmission of interrupted, pulse modulated waves wherein the transmitted pulses use a frequency- or phase-modulated carrier wave
    • G01S13/28—Systems for measuring distance only using transmission of interrupted, pulse modulated waves wherein the transmitted pulses use a frequency- or phase-modulated carrier wave with time compression of received pulses
    • G01S13/282—Systems for measuring distance only using transmission of interrupted, pulse modulated waves wherein the transmitted pulses use a frequency- or phase-modulated carrier wave with time compression of received pulses using a frequency modulated carrier wave

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

A signal processing method and apparatus therefor in a radar system are provided. A frequency modulated continuous wave (FMCW) signal consisting of two triangular wave signals is reflected from the target and processes the received signal. The target corresponding to the first triangle wave is processed by comparison with a threshold value to detect the target, and the detection result is used to determine the expected range of the peak for the second triangle wave to determine the inspection range for the target detection. The target is detected by performing processing through comparison with a threshold value among the signals included in the inspection range among the signals corresponding to the second triangle wave. Then, the target is finally detected based on the results of detecting the target for the first triangle wave and the second triangle wave.

Description

Signal processing method and apparatus thereof based on seed wave of radar system {Method and apparatus for processing signal based CFAR in radar system}

The present invention relates to a signal processing method, and more particularly, to a method and apparatus for processing a signal based on a constant false alarm rate (CFAR) in a radar system.

Recently, the radar technology has been applied to a variety of defense, vehicles, medical, security, ships. The radar system using the radar is a system that detects a target by transmitting a signal designed to detect a target and receiving a signal reflected by the target to perform signal processing. At this time, when transmitting a signal, 1) continuously transmit a signal with a constant frequency called CW (continuous wave), 2) transmit a signal with a constant frequency called FMCW (frequency modulated CW) for a specific time period, or 3) specify a specific signal. Transmit signals of frequency A for time and signals of frequency B for other specific times, or 4) transmit signals using various other methods.

In a radar system using an FMCW signal, two triangular waves each composed of an up chirp and a down chirp having different slopes may be used.

In a real environment, the signal reflected from the target is mixed with clutter and noise caused by various features, so simply detecting the signal by setting a threshold cannot satisfy the radar performance. . Accordingly, CFAR (Constant False Alarm Rate) algorithm is used to keep the false detection rate constant by applying thresholds variably according to circumstances.

The CFAR-based process is performed for two triangular waves, the up and down chirps of each of the first and second triangular waves. The CFAR process is time consuming in radar signal processing because it is executed for all frequencies in the frequency spectrum.

An object of the present invention is to provide a signal processing method and apparatus for a radar system that can perform signal processing more quickly based on a constant false alarm rate (CFAR) algorithm.

In a signal processing method according to an aspect of the present invention, in a method of processing a signal in a radar system, a frequency modulated continuous wave (FMCW) signal consisting of two triangular wave signals is processed by reflecting a signal received from a target to receive each frequency component. Obtaining a star signal; Detecting a target by performing a process through comparison with a threshold on signals corresponding to a first triangle wave among the obtained frequency component signals; Determining an inspection range for target detection by determining a peak predicted position for a second triangle wave using a result of detecting a target with respect to the first triangle wave; Detecting a target by performing processing through comparison with a threshold on signals included in the inspection range among signals corresponding to the second triangle wave; And finally detecting the target based on the results of detecting the target with respect to the first and second triangle waves.

According to an embodiment of the present invention, in a radar system, frequency modulated continuous wave (FMCW) signals may be processed at high speed based on CFAR.

That is, the CFAR processing is performed only on the area where the target is expected to be detected in the second triangle wave signal using the target detection result of the first triangle wave signal in the FMCW radar using two triangle wave signals, thereby calculating the amount of computation required for the CFAR process. Reduction, and consequently, the speed of CFAR processing can be improved.

1 is a diagram illustrating a signal used in a frequency modulated continuous wave (FMCW) radar.
FIG. 2 illustrates a CA-CFAR (Cell Average CFAR) algorithm, which is one of CFAR algorithms.
3 is a flowchart illustrating a signal processing method according to an embodiment of the present invention.
4 is a graph illustrating the performance when the FMCW signal is processed based on the conventional method, and FIG. 5 is a graph illustrating the performance when the FMCW signal is processed according to the signal processing method according to an exemplary embodiment of the present invention.
6 is a structural diagram of a signal processing apparatus according to an embodiment of the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art may easily implement the present invention. As those skilled in the art would realize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. In the drawings, parts irrelevant to the description are omitted in order to clearly describe the present invention, and like reference numerals designate like parts throughout the specification.

Throughout the specification, when a part is said to "include" a certain component, it means that it can further include other components, except to exclude other components unless specifically stated otherwise.

Hereinafter, a signal processing method and apparatus therefor in a radar system according to an exemplary embodiment of the present invention will be described with reference to the accompanying drawings.

1 is a diagram illustrating a signal used in a frequency modulated continuous wave (FMCW) radar.

In the FMCW method, as shown in FIG. 1A, two triangle wave signals each composed of an up chirp and a down chirp are used, and the two triangle wave signals have different slopes from each other. The FMCW signal, which is composed of two triangle wave signals and whose frequency varies constantly, is transmitted as a target for a specific time, and the signal reflected from the target is received and processed to detect a target (solid line) as shown in FIG. Can be.

Received signals include clutter by various features as well as signals to targets. In order to distinguish between the target and the clutter, the signal for each frequency component obtained by applying a fast fourier transform (FFT) algorithm to the received signal is used as input cell data, and the value of each input cell is thresholded. ) Identify the signal with a value greater than the threshold as a target. At this time, if the threshold is lowered, the false positive rate for detecting clutter is increased. On the contrary, if the threshold is increased, the probability of not identifying the target increases. Accordingly, it is possible to use a constant false alarm rate (CFAR) algorithm that keeps false detection rate constant by applying thresholds variably according to circumstances.

FIG. 2 illustrates a CA-CFAR (Cell Average CFAR) algorithm, which is one of CFAR algorithms.

When signal processing is performed based on CA-CFAR (Cell Average CFAR), a frequency spectrum including signals for each frequency component obtained after FFT is performed on a received signal. Frequency-specific signals on the frequency spectrum are processed into data of input cells.

In the frequency spectrum, that is, as shown in FIG. 2, a portion of the input cell data centered on a cell under test is taken. The data of the test cells taken, ie, the signal magnitude, is compared with the threshold. Here, the threshold is a value calculated by multiplying an average value of signal magnitudes of cells except for a guard cell among cells around a test cell by a scale factor. As a result of the comparison with the threshold, a signal having a magnitude larger than the threshold is detected as a signal reflected from the target.

This process is repeated for every frequency component on the frequency spectrum to detect the cell corresponding to the target.

Combining the FMCW and CFAR algorithm using two triangle wave signals, the following operation occurs:

First, after applying FFT and CFAR in the up-contrast of the first triangle wave signal, the bit frequency corresponding to the target

Figure 112015109065180-pat00001
And detect the beat frequency at the downward chirp of the first triangle wave in the same way
Figure 112015109065180-pat00002
Is detected. These frequencies have the following relationship.

Figure 112015109065180-pat00003

Here, for convenience of description, it is described that one bit frequency is detected, but in fact, when there are a plurality of targets, several bit frequencies may be detected.

Although the bit frequencies detected at the upstream and the downlink frequencies are paired with each other, all bit frequency pairs must be identified as targets because they do not know which one is correct. This allows the detection of fake targets called ghosts in addition to the actual targets.

When the bit frequency pairs are identified as described above, the distance R and the relative speed v of the target may be obtained using the following equation.

Figure 112015109065180-pat00004

Meanwhile, bit frequencies corresponding to a target are detected after FFT and CFAR are applied in the up and down chirps of the second triangular wave signal, respectively, and the bit frequencies detected in the second triangular wave can also be expressed by the following equation.

Figure 112015109065180-pat00005

In addition to the actual target, ghost is also detected in the pair of beat frequencies detected in the second triangle wave.

On the other hand, when the bit frequencies detected for the first triangle wave signal and the second triangle wave signal correspond to the actual target, there is a pair of bit frequencies having the same (R, v) in each triangle wave. Using this characteristic, as in FIG. 1 (b), only targets (points where four lines intersect) having the same (R, v) in each triangular wave are detected as actual targets and the remaining (less than three lines) This intersection point) can be judged as a ghost and discarded.

As described above, CFAR processing is performed on the up and down chirp of each of the first and second triangle waves of the FMCW signal. CFAR processing is time consuming in radar signal processing because it is performed for all frequencies in the frequency spectrum.

According to an exemplary embodiment of the present invention, CFAR processing is performed only on a region where a target is expected to be detected in the second triangle wave by using the target detection result in the first triangle wave.

To do this, we infer the frequency f r by the distance of the target and the Doppler frequency f d by the relative speed using the bit frequency detected by the first triangle wave, and use it to calculate the entire frequency spectrum at the up and down chirps of the second triangle wave. Instead of testing, CFAR processing is performed only in the frequency range where the target is likely to be.

Next, a method of calculating a frequency range in which a target is likely to be described will be described.

First, a peak expected position is calculated.

Assume that the bandwidth of the first triangle wave of the FMCW signal is B1 and the length of the waveform is Tm1, and the bandwidth of the second triangle wave is B2 and the length of the waveform is Tm2. In addition, it is assumed that the sampling frequency of each triangular wave is fs, the number of FFT inputs to the up and down chirps of the first triangular wave is N1, and the number of FFT inputs to the up and down chirps of the second triangular wave is N2.

Using the variables as described above, that is, B1, B2, Tm1, Tm2, fs, N1, N2, the following constants are defined.

Figure 112015109065180-pat00006

These constants are defined to simplify formula expressions and are introduced again in the formula derivation process described later.

In addition, the FFT bin index at which the peak is detected at the uplink of the first triangle wave is determined.

Figure 112015109065180-pat00007
And the FFT bin index at which the peak was detected at the downward chirp of the first triangle wave.
Figure 112015109065180-pat00008
In this case, the FFT bin index is expected to detect peaks in the up and down chirps of the second triangle wave, respectively.
Figure 112015109065180-pat00009
Wow
Figure 112015109065180-pat00010
Can be obtained as

Figure 112015109065180-pat00011

FT bin index is an integer

Figure 112015109065180-pat00012
d and
Figure 112015109065180-pat00013
It must also be an integer, but a non-integer value can be calculated depending on the bandwidth and the length of the waveform. Here, round or floor functions are applied to approximate the integer.

As such, the FFT bin index is expected to detect peaks in the up and down chirps of the second triangle wave, respectively.

Figure 112015109065180-pat00014
Wow
Figure 112015109065180-pat00015
And then determine the range in which the target is expected to be detected.

That is, the bit frequency to be detected in the second triangle wave may appear differently from the prediction according to the positional shift and the speed change of the target according to the transmission time difference between the first triangle wave and the second triangle wave. In light of this,

Figure 112015109065180-pat00016
To determine the range of
Figure 112015109065180-pat00017
Determine the range. The range thus determined is used as the range in which the target is expected to be detected and the CFAR treatment is applied to that range. here,
Figure 112015109065180-pat00018
The range is not limited, and the value is determined according to the situation so that the range used can be applied.

After determining the range in which the target is expected to be detected based on the peak expected position, the bit frequency detected in the first triangle wave is used to calculate the bit frequency at which the target is expected in the second triangle wave.

Next, the process of deriving a formula will be described in more detail.

Bit frequencies detected in the up and down chirps of the first triangle wave, respectively

Figure 112015109065180-pat00019
Wow
Figure 112015109065180-pat00020
Can be written as

Figure 112015109065180-pat00021

If the upper and lower chirps of the first triangular wave are detected as above, respectively, the following equation can be derived based on the radar equation.

Figure 112015109065180-pat00022

Bit frequencies detected in the up and down chirps of the first triangle wave, respectively

Figure 112015109065180-pat00023
Wow
Figure 112015109065180-pat00024
As shown in Equation 7 above, the distance R 1 and the relative speed v 1 of the target can be obtained.

The beat frequency detected from the up and down

Figure 112015109065180-pat00025
Wow
Figure 112015109065180-pat00026
If this is applied to the radar equation, the distance (R 2 ) and the relative speed (v 2 ) of the target can be obtained as follows.

Figure 112015109065180-pat00027

Here, if the detected bit frequency corresponds to the actual target, it is detected as a target having the same distance and speed in the first triangle wave and the second triangle wave.

Figure 112015109065180-pat00028
,
Figure 112015109065180-pat00029
Relationship is established. Based on this, the above equations can be arranged to obtain the following equations.

Figure 112015109065180-pat00030

Where B1, B2, Tm1 and Tm2 are predetermined constants

Figure 112015109065180-pat00031
Equation 9 can be simplified.

Using this, in the up and down chirp of the second triangle wave, the expected bit frequency can be obtained as follows.

Figure 112015109065180-pat00032

Here, the frequency fr1 by the distance of the target and the Doppler frequency fd1 by the relative speed can be redefined as follows using the FFT bin index.

Figure 112015109065180-pat00033

Using the frequency fr1 of the target distance according to Equation 11 and the Doppler frequency fd1 of the relative speed, the bit frequency according to Equation 10 may be recalculated as follows.

Figure 112015109065180-pat00034

In the up and down chirps of the second triangle wave, the beat frequency at which the target is expected

Figure 112015109065180-pat00035
Wow
Figure 112015109065180-pat00036
The FFT bin index corresponding to can be obtained as follows.

Figure 112015109065180-pat00037

Where constants A and B are

Figure 112015109065180-pat00038
,
Figure 112015109065180-pat00039
You can simplify the equation by defining

Figure 112015109065180-pat00040

Since the FFT bin index is an integer, the bit frequency

Figure 112015109065180-pat00041
Wow
Figure 112015109065180-pat00042
FFT empty index corresponding to
Figure 112015109065180-pat00043
d and
Figure 112015109065180-pat00044
It should also be an integer, but because non-integer values may be computed depending on the bandwidth and the length of the waveform, approximate the integer. In this case, round or floor functions can be used to approximate integers.

As described above, the bit frequency to be detected in the second triangle wave may appear different from the prediction according to the positional shift and the speed change of the target according to the transmission time difference between the first triangle wave and the second triangle wave.

Figure 112015109065180-pat00045
In the downward concubine
Figure 112015109065180-pat00046
It is expected that a target will be detected in a bin of a range and CFAR treatment is performed for that range.

3 is a flowchart illustrating a signal processing method according to an embodiment of the present invention.

In an embodiment of the present invention, in an FMCW radar using a waveform of a triangular wave format, a target FMCW signal consisting of two triangle wave signals is transmitted for a specific time, a signal reflected from a target is received, processed, and received on a received signal. FFT is applied to obtain a signal for each frequency component. The obtained frequency component-specific signal is input as data of an input cell of the FFT bin.

The signal processing apparatus 100 first detects a target in the first triangle wave. CFAR is applied to the values of the input cells obtained from the up-contraction of the first triangle wave, and the signal having the peak value compared to the threshold, that is, the bit frequency

Figure 112015109065180-pat00047
Obtain (S100). In addition, a signal having a peak value, that is, a bit frequency, is compared with a threshold value of the input cells obtained at the downlink of the first triangle wave.
Figure 112015109065180-pat00048
Obtain (S110).

Subsequently, based on the bit frequencies corresponding to the targets acquired in the up and down chirps of the first triangular wave, as described above, the peak expected position is determined in the second triangular wave (S120).

Specifically, the bandwidth B1 of the first triangle wave, the length Tm1 of the waveform, the bandwidth B2 of the second triangle wave, the length Tm2 of the waveform, and the sampling frequency fs of each triangle wave, the number of FFT inputs for the up and down chirps of the first triangle wave. The constants K, A, and B are respectively defined based on the number of FFT inputs N2 for the up and down chirps of the second triangle wave. Then, using the defined constants and the bit frequencies corresponding to the targets obtained from the up and down chirps of the first triangular wave, respectively, the position at which the peak is expected to be detected is determined from the up and down chirps of the second triangular wave. For the upward chirp of the second triangle wave based on the expected peak position

Figure 112015109065180-pat00049
And for downward concubine
Figure 112015109065180-pat00050
The range is determined as the inspection range for target detection in the second triangle wave.

Next, the signal processing apparatus 100 determines the inspection range determined for the second triangular wave (

Figure 112015109065180-pat00051
Is a signal that has a peak value compared to a threshold by applying CFAR to values of input cells obtained at an upstream congestion of the second triangle wave included in the C).
Figure 112015109065180-pat00052
Obtain (S130). And, the inspection range determined for the second triangle wave (
Figure 112015109065180-pat00053
Is a signal that has a peak value compared to a threshold by applying CFAR to values of input cells obtained at the down-combination of the second triangle wave included in
Figure 112015109065180-pat00054
Obtain (S140).

Then, a pair of bit frequencies having similar (R, v) are found and detected as targets in consideration of the error of the same or target movements in the detected bit frequencies for the first and second triangle wave signals (S150). .

As described above, according to the exemplary embodiment of the present invention, the FMCW radar using the waveforms of two triangular wave forms restricts the inspection range for target detection in the second triangular wave by using the target detection result in the first triangular wave, thereby reducing the amount of computation by inspection. Can be reduced.

In addition, a signal processing method according to an embodiment of the present invention can be used when using not only CA-CFAR but also other algorithms such as OS-CFAR (ordered statistic CFAR). In this case, sorting work, which is a cause of excessive computation of OS-CFAR, can be reduced, thereby reducing the time required for radar signal processing.

4 is a graph illustrating the performance when the FMCW signal is processed based on the conventional method, and FIG. 5 is a graph illustrating the performance when the FMCW signal is processed according to the signal processing method according to an exemplary embodiment of the present invention.

4 and 5, the blue line represents the FFT magnitude (Magnitude) and the red line represents the CFAR threshold value.

As shown in FIG. 4 and FIG. 5, when performing the CFAR process according to the conventional method, the up chirps (up1 chirp) and the down chirps (down1 chirp) shown in FIGS. The first triangular wave is formed, and the upper triangular wave (up2 chirp) and the downward chirp (down2 chirp) shown in FIGS. 4C and 4D and 5A and 5B, respectively, form a second triangular wave.

Since the conventional prediction information is not utilized, as shown in (c) and (d) of FIG. 4, CFAR processing is performed on all FFT bin indices for the up and down chirps of the second triangle wave. Is performed.

However, in the embodiment of the present invention, the CFAR process is applied to the point where the target is expected to be present in the second triangle wave by using the result of the first triangle wave, and the CFAR threshold is calculated and compared. The CFAR threshold is set to any very large value without applying a process to perform the comparison so that no target is detected. Accordingly, as shown in (a) and (b) of FIG. 5, the FFT bin index having a very high CFAR threshold is determined as not being a target without performing the CFAR process, thereby reducing the total computation time.

6 is a structural diagram of a signal processing apparatus according to an embodiment of the present invention.

The signal processing apparatus 100 according to an exemplary embodiment of the present invention includes a processor 110, a memory 120, and a radio frequency (RF) converter 130. The processor 110 may be configured to implement the methods described based on FIGS. 1 to 3 above.

To this end, the processor 110 includes a first target detection processor 111, a position determiner 112, a second target detection processor 113, and a target determiner 114.

In the FMCW radar using a triangular wave-shaped waveform, the first target detection processor 111 receives a signal obtained from an uplink and a downlink of the first triangle wave among the signals from which an FMCW signal consisting of two triangle wave signals is transmitted and received. CFAR is applied to values of input cells of a frequency component corresponding to, to obtain a signal having a peak value by comparing with a threshold. That is, a signal having a peak value is obtained at an upstream chirp of the first triangular wave, and a signal having a peak value at a downstream chirp of the first triangular wave is obtained.

The position determiner 112 determines the expected peak position for the second triangle wave based on the signals having the peak value obtained by the first target detection processor 111. Inspection range for target detection in the second triangle wave based on the expected peak position

Figure 112015109065180-pat00055
,
Figure 112015109065180-pat00056
) Can be determined.

The second target detection processor 113 obtains signals having a peak value by applying CFAR to values of input cells acquired in the up-and-down and down-folding of the second triangular wave included in the inspection range determined for the second triangular wave, compared with a threshold value. do. That is, CFAR processing is performed only on values within a range based on the peak expected position, so as to obtain a signal having a peak value at the upstream chirp of the second triangular wave, and a signal having a peak value at a downstream chirp of the second triangular wave.

The target determiner 114 searches for a pair of bit frequencies having the same (R, v) in the bit frequencies detected for the first triangle wave signal and the second triangle wave signal, or considering similar errors due to the movement of the target. Detect.

The memory 120 is connected to the processor 110 and stores various information related to the operation of the processor 110. The RF converter 130 is connected to the processor 110 and transmits or receives a radio signal.

An embodiment of the present invention is not implemented only through the above-described apparatus and / or method, but may be implemented through a program for realizing a function corresponding to the configuration of the embodiment of the present invention, a recording medium on which the program is recorded, and the like. Such implementations may be readily implemented by those skilled in the art from the description of the above-described embodiments.

Although the embodiments of the present invention have been described in detail above, the scope of the present invention is not limited thereto, and various modifications and improvements of those skilled in the art using the basic concepts of the present invention defined in the following claims are also provided. It belongs to the scope of rights.

Claims (10)

In the method of processing signals in a radar system,
Obtaining a signal for each frequency component by processing a signal that is reflected from a target and received by a frequency modulated continuous wave (FMCW) signal consisting of two triangle wave signals;
Detecting a target by performing a process through comparison with a threshold on signals corresponding to a first triangle wave among the obtained frequency component signals;
Determining an inspection range for target detection with respect to a second triangle wave using a result of detecting a target with respect to the first triangle wave;
Detecting a target by performing a process of comparing the threshold with respect to signals included in the inspection range among signals corresponding to the second triangle wave; And
Finally detecting a target based on the results of detecting the target with respect to the first and second triangle waves
Including,
Determining the inspection range,
The first variable value is applied to the first position where the peak is detected at the chirp of the first triangle wave, and the second variable value is applied to the second position at which the peak is detected at the downward chirp of the first triangle wave. Determining a first peak expected position, a position at which a peak is expected to be detected in an upward fold of a second triangle wave;
Applying the second variable value to the first position and applying the first variable value to the second position to determine a second peak expected position, which is the position at which the peak is expected to be detected at the downward chirp of the second triangle wave. Making; And
Determining an inspection range for target detection with respect to the second triangle wave based on the first and second expected peak positions.
Signal processing method comprising a. delete The method of claim 1,
Determining an inspection range for target detection with respect to the second triangle wave based on the first peak expected position and the second peak expected position,
Determining a first inspection range for target detection with respect to an upward chirp of the second triangle wave by adding a variable value to the first peak expected position; And
Determining a second inspection range for target detection with respect to the downward chirp of the second triangle wave by adding a variable value to the second expected peak position
Signal processing method comprising a. The method of claim 1,
And the first peak predicted position and the second peak predicted position correspond to a fast fourier transform (FFT) bin index. delete delete The method of claim 1,
The first variable value and the second variable value include a bandwidth and a waveform length of the first triangle wave, a bandwidth and a waveform length of the second triangle wave, a sampling frequency of each triangle wave, and an upward and downward chirp of the first triangle wave. And the number of FFT inputs for, based on the number of FFT inputs for the up and down chirps of the second triangle wave. delete The method of claim 3,
Detecting a target by performing a process through comparison with a threshold for the signals included in the inspection range,
Obtaining a signal having a peak value by comparing values of signals acquired at an upstream chirp of the second triangle wave included in the first inspection range with a threshold; And
Acquiring a signal having a peak value by comparing the values of signals acquired at the down-combination of the second triangle wave included in the second inspection range with a threshold;
Signal processing method comprising a. The method of claim 1,
Finally detecting the target,
In the bit frequencies that are the result of detecting the target with respect to the first triangle wave and the second triangle wave, a pair of bit frequencies having the same distance and speed or a pair of bit frequencies having a distance and speed considering an error due to the movement of the target Detecting as target
Signal processing method comprising a.
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