KR20110138690A - Radar and method for processing signal of the radar - Google Patents

Radar and method for processing signal of the radar Download PDF

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Publication number
KR20110138690A
KR20110138690A KR1020100058726A KR20100058726A KR20110138690A KR 20110138690 A KR20110138690 A KR 20110138690A KR 1020100058726 A KR1020100058726 A KR 1020100058726A KR 20100058726 A KR20100058726 A KR 20100058726A KR 20110138690 A KR20110138690 A KR 20110138690A
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South Korea
Prior art keywords
signal
chirp
chirp signal
transmission
generated
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KR1020100058726A
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Korean (ko)
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KR101419733B1 (en
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송경진
이재은
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주식회사 만도
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/34—Generating the ultrasonic, sonic or infrasonic waves, e.g. electronic circuits specially adapted therefor
    • G01N29/348—Generating the ultrasonic, sonic or infrasonic waves, e.g. electronic circuits specially adapted therefor with frequency characteristics, e.g. single frequency signals, chirp signals
    • 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
    • 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
    • G01S7/03—Details of HF subsystems specially adapted therefor, e.g. common to transmitter and receiver
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
    • H04B1/69—Spread spectrum techniques
    • H04B2001/6912—Spread spectrum techniques using chirp

Abstract

The present invention uses a chirp signal generated by transmitting / receiving a chirp signal of either an up or down chirp signal and a superimposed chirp signal of one of the chirp signals generated in a previous period. The present invention relates to a radar and a signal processing method thereof, which can reduce information acquisition time and at the same time reduce processing time of a response signal received from each chirp signal, thereby shortening the signal processing time.
To this end, the present invention provides a transmitter for transmitting a transmission signal, a receiver for receiving a response signal reflected by the transmission signal, and a distance between the vehicle and the target based on the transmission signal and the response signal in one cycle, And a signal processing unit for obtaining information of the vehicle, wherein the signal processing unit determines to transmit a transmission signal of a next period as either a chirp signal of an up chirp signal or a down chirp signal, and Acquiring the distance between the vehicle and the target in the next period by using a chirp signal generated by transmitting and receiving the determined chirp signal and a superimposed chirp signal of one of the chirp signals generated in a previous period. It provides a radar characterized by.

Description

Radar and its signal processing method {RADAR AND METHOD FOR PROCESSING SIGNAL OF THE RADAR}

The present invention relates to a radar and a signal processing method thereof, and in particular, a chirp signal generated by transmitting and receiving a chirp signal of either an up chirp signal or a down chirp signal, and an overlapping chirp of one of the chirp signals generated in a previous period. The radar and its signals can be used to acquire information of the vehicle and targets using signals, thereby reducing the information acquisition time and reducing the processing time of response signals received from each chirp signal, thereby shortening the signal processing time. It relates to a treatment method.

Radar (Radar Detection And Ranging) is a sensing device that emits electromagnetic waves and receives reflected waves reflected by objects in the area to detect the existence and distance of the target.It has all-weather functions regardless of weather conditions or day and night. Sweet

It has the advantage of being able to detect long distance objects on the other side of the earth beyond the horizon.

In the conventional radar, a modulation method of a transmission signal exists in various ways such as a pulse method, a frequency modulated continuous wave (FMCW) method, and a frequency shitf keying (FSK) method, and according to each modulation method, The way you extract the distance is different.

The radar adopting the conventional FMCW method acquires a mixed signal of the transmission signal s1 and the response signal s2 at periods a1, a2, and a3 as shown in FIG. Extracted.

However, the radar adopting the FMCW method can take more time than other methods because both the up and down chirp signals with opposite slopes can acquire both the distance to the target and the vehicle speed. .

An object of the present invention is a distance from a target using a chirp signal generated by transmitting / receiving one of the up or down chirp signals and a superimposed chirp signal of one of the chirp signals generated in a previous period. And a radar and a signal processing method thereof capable of shortening the signal acquisition time by reducing the information acquisition time and processing the response signal received from each chirp signal by acquiring the information of the vehicle.

Radar according to an embodiment of the present invention for achieving the above object is a transmitting unit for transmitting a transmission signal, a receiving unit for receiving a response signal reflected back to the target signal, and the transmission signal and the reaction of one cycle A signal processor for acquiring a distance between the vehicle and the target and information of the vehicle based on a signal, wherein the signal processor is configured to transmit a transmission signal of a next period, either an up chirp signal or a down chirp signal. The vehicle and the target of the next period are determined using a chirp signal generated by transmitting and receiving the determined chirp signal and a superimposed chirp signal of one of the chirp signals generated in a previous period. Distance between the vehicle, characterized in that to obtain information of the vehicle.

The signal processor may include: a determiner configured to determine whether the chirp signal of the last period is an up chirp signal or a down chirp signal; And a chirp signal generation unit generating a chirp signal opposite to the determination result of the determination unit.

The one-cycle transmission signal is composed of an up-chirp signal and a down-chirp signal, and the one-cycle transmission signal is generated by the overlapping chirp signal of one of the chirp signals generated in the previous period, and by the generation unit. It is preferable that the system consists of a chirp signal generated by transmitting and receiving the chirp signal.

Preferably, the signal processor provides the transmission signal to the transmission unit after a preset time elapses.

Also, in the radar signal processing method according to another embodiment of the present invention, the signal processing unit determines that the transmission signal of the next period is to be transmitted as either a chirp signal of the up chirp signal or the down chirp signal ; And a distance between the vehicle and the target in the next period by using the chirp signal generated by transmitting and receiving the determined chirp signal and an overlapping chirp signal of one of the chirp signals generated in a previous period. Characterized in that the step of obtaining information.

The determining may include determining, by the signal processor, whether the chirp signal of the previous period is an up chirp signal or a down chirp signal; And generating, by the signal processor, a chirp signal that is opposite to the determination result of the determining step.

The one-cycle transmission signal is composed of an up-chirp signal and a down-chirp signal, and the one-cycle transmission signal is generated by the overlapping chirp signal of one of the chirp signals generated in the previous period, and by the generation unit. It is preferable that the system consists of a chirp signal generated by transmitting and receiving the chirp signal.

In addition, the radar signal processing method according to another embodiment of the present invention preferably further comprises the step of providing the chirp signal to the transmitter after a predetermined time elapses after the determining step. .

According to an embodiment of the present invention, an object and a vehicle are generated by using a chirp signal generated by transmitting and receiving one of the up and down chirp signals, and a superimposed chirp signal of one of the chirp signals generated in a previous period. By acquiring information such as a distance, a vehicle speed, and an angle, the information acquisition time can be reduced, and the processing time of the reaction signal received from each chirp signal can be shortened, thereby reducing the signal processing time.

In addition, according to an embodiment of the present invention, the cycle is composed of one of the up-chirp signal or the down-chirp signal and the superimposed chirp signal of one of the chirp signals generated in the previous period. In addition, much more information can be obtained than the adopted radar, which can provide reliable information.

1 is a diagram illustrating a signal transmitted and received by a radar employing a conventional FMCW scheme.
2 is a view for explaining a radar according to an embodiment of the present invention.
3 is an operation flowchart for explaining a radar signal processing method according to an embodiment of the present invention.
4 is a diagram illustrating a signal transmitted and received in a radar 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.

2 is a view for explaining a radar according to an embodiment of the present invention.

Referring to FIG. 2, the radar 10 according to an exemplary embodiment of the present invention may include a transmitter 11 transmitting a transmission signal through a transmission antenna ANT and a reflection of the transmission signal through a reception antenna ANT1 ANTN to the target. And a receiving unit 12 for receiving the returned response signal and a signal processing unit 13 for acquiring a distance between the vehicle and the target and information of the vehicle (that is, the speed and angle of the vehicle) using the transmission signal and the response signal. Can be configured.

The radar 10 to be dealt with in the present invention is a radar employing the FMCW method, and frequency-modulates a continuous waveform signal to transmit a target signal through a transmission antenna ANT and simultaneously receives a response signal reflected from a target antenna ANT1 to ANTN. To receive).

The transmission unit 11 transmits the transmission signal provided by the signal processing unit 13 as a target through the transmission antenna ANT, and the transmission unit 11 includes a PLL 111, a VCO 112, and a first amplifier 113. do.

The PLL 111 (Phase Locked Loop) keeps the frequency of the transmission signal provided from the signal processor 13 constant, and the VCO 112 (Voltage Controlled Oscillator) modulates the frequency of the transmission signal provided from the PLL 111. To the first amplifier 113. The first amplifier 113 amplifies the modulated frequency to a predetermined magnitude.

The signal processor 13 determines the transmission signal of the next period to be transmitted to the above-described transmitter 11 as either a chirp signal of an up chirp signal or a down chirp signal. In addition, the signal processor 13 uses a chirp signal generated by transmitting / receiving the determined chirp signal and one chirp signal that is used to be superimposed among the chirp signals that have been processed in the last period. Can be calculated. Here, the up-chirp signal refers to a signal that increases with time, and the down-chirp signal refers to a signal that decreases with time.

The signal processor 13 includes a determiner 131 and a generator 132.

The determination unit 131 determines whether the chirp signal of the previous period is an up chirp signal or a down chirp signal. For example, when the up-cycle signal and the down-chirp signal increase and decrease with time in the previous cycle, the chirp signal in the previous cycle is a down-chirp signal that is adjacent to the next cycle.

The generation unit 132 generates a chirp signal opposite to the determination result of the determination unit 131. For example, when the chirp signal of the previous period is a down chirp signal, the generator 132 generates an up chirp signal.

The signal processing unit 13 transmits the chirp signal generated by the generation unit 132 to the target via the transmission unit 11 and the transmission antenna ANT, and receives a response signal for the transmitted chirp signal from the reception antennas ANT1 to ANTN. ) And the chirp signal newly transmitted / received from one of the chirp signals generated in the previous cycle to calculate the distance between the vehicle and the target, the speed of the vehicle, and the angle. Can be.

Accordingly, the signal processor 13 superimposes one chirp signal that has already been generated in the previous period, thereby providing two types of chirp signals (for example, an up chirp signal and a down chirp signal, or a down chirp signal). Information acquisition time for the up-chirp signal) can be shortened.

In addition, the signal processor 13 may provide a transmission signal to the transmitter 11 after a predetermined time elapses. For example, the signal processor 13 may set a time delay between each chirp signal in FIG. 4 or after one period of a triangular waveform. This time delay performed by the signal processor 13 may be appropriately used when intentionally or when signal processing time is required for system stabilization.

The receiver 12 generates a beat signal with a frequency difference between the transmitted chirp signal and the local oscillation signal used as a reference signal for time delay measurement between the response signal time-delayed by the propagation distance of the radio wave.

The receiver 12 receives the response signal reflected from the target through the receiving antenna ANT, and may include a frequency mixer 122, a filter 123, and an analog-digital converter 124.

First, the second amplifier 121 amplifies the response signal received through the receiving antenna ANT1 by a predetermined magnitude.

The frequency mixer 122 receives the transmission signal through the LO port and generates a bit signal of an intermediate frequency band based on the response signal amplified by the second amplifier 121. The bit signal generated by the frequency mixer 122 is passed through a filter, for example, a low pass filter (LPF) to filter the low frequency bit signal.

The analog-digital converter 124 converts the filtered bit signal into a digital signal.

The signal processor 13 detects the frequency of the bit signal from the digital signal by the analog-to-digital converter 124 by applying a fast Fourier transform (FFT) technique, and the size of the digitized bit signal. By comparing and analyzing the target, it is possible to check the presence of the target, and obtain a distance between the target and the vehicle, the speed of the vehicle, the angle, and the like.

In particular, the signal processor 13 adopts a conventional FMCW scheme when acquiring a distance from a target by using a chirp signal generated by transmitting and receiving a chirp signal and a superimposed chirp signal among ones of the chirp signals already generated in a previous period. The processing time can be much shorter than the time spent on each of the two types of chirp signals in the radar.

The radar signal processing method having such a configuration will be described with reference to FIGS. 3 and 4 as follows.

 3 is a flowchart illustrating a radar signal processing method according to an embodiment of the present invention, Figure 4 is a view showing a signal transmitted and received in the radar according to an embodiment of the present invention.

Referring to FIG. 3, the signal processing unit 13 provides a transmission signal composed of an up chirp signal and a down chirp signal to the transmitter 11 (S101). In this case, the transmission signal corresponds to b1 of FIG. 4 as the first transmission signal. The transmission signal of the first period is determined as a transmission signal of two types of up-chirp signal and down-chirp signal, and from one of the next cycles, either the up-chirp signal or the down-chirp signal is determined as the transmission signal. The determined transmission signal may be implemented to be provided to the transmission unit 11 after a predetermined time elapses. If signal processing time is necessary for intentional or system stabilization, for example, a time delay may be placed between the transmission signal, i.e. between each chirp signal, or after a period of triangular waveform.

Next, the signal processor 13 receives a response signal to the transmission signal through the receiver 12 (S103).

Next, the signal processor 13 acquires the distance between the vehicle and the target, the speed of the vehicle, and the angle by applying the bit signal generated by the received response signal by delaying the distance between the transmitted transmission signal and the target to the FFT number. (S105).

Next, the signal processor 13 determines whether one chirp signal among the chirp signals generated in the immediately preceding cycle is an up chirp signal or a down chirp signal in order to determine a transmission signal of a next cycle (S107).

When it is determined in step S107 that one of the chirp signals generated in the previous cycle is the up-chirp signal, the signal processor 13 converts the down-chirp signal opposite to the up-chirp signal as the transmission signal of the next cycle. It generates (S109).

When it is determined in step S107 that one of the chirp signals generated in the previous cycle is the down chirp signal, the signal processor 13 converts the up-chirp signal opposite to the down-chirp signal as the transmission signal of the next cycle. It generates (S110).

The signal processor 13 uses a chirp signal generated by transmitting / receiving any one of an up chirp signal or a down chirp signal, and a superimposed chirp signal of one of the chirp signals generated in a previous cycle, thereby, between the vehicle and the target. The distance, the speed and the angle of the vehicle are obtained (S111).

The signal processor 13 determines whether the start of the vehicle is finished (S113).

When the start of the vehicle is not terminated as a result of the determination in step S113, the process moves to the above-described step S107 to determine whether one of the chirp signals of the previous cycle chirp signal is an up chirp signal or a down chirp signal. According to the determination result, the above-described step S109 or S110 is performed.

The signal processing method of the radar is further described with reference to FIG. 4.

(b1) transmits the first transmission signal (s1) and receives the response signal (s2) in response to the target to obtain information between the vehicle and the target in the initial period by the chirp signals generated in the first period. have. This is the same as (a1) shown in FIG. 1 of the related art, but it can be seen that the next period transmitted thereafter is different.

That is, (b2) corresponds to the next period, and since the chirp signal of the first period adjacent to the next period is a down chirp signal, the transmission signal of the next period is determined as an up-chirp signal. Information between the vehicle and the target is obtained by using a chirp signal generated by transmitting and receiving the determined up-chirp signal and a chirp signal generated from a down-chirp signal among chirp signals in an initial period.

Similarly, in (b3), since the chirp signal of (b2) adjacent to (b3) is an up-chirp signal, the down-chirp signal is determined as a transmission signal in the period (b3). Information between the vehicle and the target may be obtained using a chirp signal generated by transmitting and receiving the determined down chirp signal and a chirp signal generated from an up chirp signal among chirp signals in a cycle (b2).

In this way, by determining the transmission signal as either a chirp signal of either the up-chirp signal or the down-chirp signal, and using the chirp signal already generated in the previous period, information between the vehicle and the target can be obtained quickly, and conventionally In comparison, as information acquisition amount increases, reliable information can be provided.

The invention being thus described, it will be obvious that the same way may be varied in many ways. Such modifications are intended to be within the spirit and scope of the invention as defined by the appended claims.

10 radar 11 transmitter
12 receiver 13 signal processor
131: determination unit 132: generation unit

Claims (8)

A transmitter for transmitting a transmission signal, a receiver for receiving a response signal reflected by the transmission signal back to the target, a distance between the vehicle and the target based on the transmission signal and the response signal in one cycle, and information of the vehicle Including a signal processor to obtain,
The signal processor
The transmission signal of the next period is determined to be transmitted as either a chirp signal of an up chirp signal or a down chirp signal, and a chirp signal generated by transmitting and receiving the determined chirp signal, and generated in a previous period. And using the superimposed chirp signals of one of the chirp signals to obtain the distance between the vehicle and the target in the next period and information of the vehicle. The method according to claim 1,
The signal processor
A determination unit determining whether the chirp signal of the previous period is an up chirp signal or a down chirp signal; And
And a chirp signal generation unit configured to generate a chirp signal opposite to the determination result of the determination unit. The method according to claim 1,
The transmission signal of one period is composed of an up-chirp signal and a down-chirp signal,
And the transmission signal of one cycle includes a superimposed chirp signal of one of the chirp signals generated in the previous period, and a chirp signal generated by transmitting and receiving a chirp signal generated by the generation unit. The method according to claim 1,
The signal processor
And providing the transmission signal to the transmission unit after a preset time elapses. A transmitter for transmitting a transmission signal, a receiver for receiving a response signal reflected by the transmission signal back to the target, a distance between the vehicle and the target based on the transmission signal and the response signal in one cycle, and information of the vehicle In the radar signal processing method comprising a signal processing unit to obtain,
Determining, by the signal processor, a transmission signal of a next period to be transmitted as one of an up chirp signal or a down chirp signal; And
The distance between the vehicle and the target in the next period by using the chirp signal generated by transmitting and receiving the determined chirp signal and an overlapping chirp signal of one of the chirp signals generated in a previous period, Radar signal processing method comprising the step of obtaining information. The method according to claim 5,
The step of determining
Determining, by the signal processor, whether the chirp signal of the previous period is an up chirp signal or a down chirp signal; And
And generating, by the signal processor, a chirp signal that is opposite to the determination result of the determining step. The method according to claim 5,
The transmission signal of one period is composed of an up-chirp signal and a down-chirp signal,
The one-cycle transmission signal comprises a superimposed chirp signal of one of the chirp signals generated in the previous period and a chirp signal generated by transmitting and receiving a chirp signal generated by the generation unit. Treatment method. The method according to claim 5,
After the determining step,
And providing the chirp signal to the transmitter after a predetermined time has elapsed.
KR1020100058726A 2010-06-21 2010-06-21 Radar and method for processing signal of the radar KR101419733B1 (en)

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KR20130099310A (en) * 2012-02-29 2013-09-06 삼성탈레스 주식회사 Fmcw radar system usign adaptive scheduler
KR20140031028A (en) * 2012-09-04 2014-03-12 현대모비스 주식회사 Method for processing radar signal auto adjustable of voltage offset
KR20140047990A (en) * 2012-10-15 2014-04-23 현대모비스 주식회사 Radar apparatus having voltage saturation preventing function of base band signal and method therefore
KR101968874B1 (en) * 2018-09-21 2019-04-12 부산대학교 산학협력단 Lora communication system and method with improved data rate
US20220276366A1 (en) * 2019-08-23 2022-09-01 Nippon Telegraph And Telephone Corporation Radar apparatus and distance measurement method

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JP4166651B2 (en) * 2003-09-08 2008-10-15 三菱電機株式会社 Target tracking device
GB0501043D0 (en) * 2005-01-19 2005-06-01 Smiths Group Plc Radar apparatus
KR100702202B1 (en) * 2005-02-23 2007-04-03 오소트론 주식회사 Method and Apparatus for Channel Estimation to Electro-Magnetic Wave Multi Path between Sender and Receiver by Using Chirp Signal
JP4963240B2 (en) * 2006-06-12 2012-06-27 三菱電機株式会社 Radar equipment

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Publication number Priority date Publication date Assignee Title
KR20130099310A (en) * 2012-02-29 2013-09-06 삼성탈레스 주식회사 Fmcw radar system usign adaptive scheduler
KR20140031028A (en) * 2012-09-04 2014-03-12 현대모비스 주식회사 Method for processing radar signal auto adjustable of voltage offset
KR20140047990A (en) * 2012-10-15 2014-04-23 현대모비스 주식회사 Radar apparatus having voltage saturation preventing function of base band signal and method therefore
KR101968874B1 (en) * 2018-09-21 2019-04-12 부산대학교 산학협력단 Lora communication system and method with improved data rate
US20220276366A1 (en) * 2019-08-23 2022-09-01 Nippon Telegraph And Telephone Corporation Radar apparatus and distance measurement method

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