CN103913742B - The automobile anti-collision radar system of double reception antenna and operation method - Google Patents
The automobile anti-collision radar system of double reception antenna and operation method Download PDFInfo
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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
- 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
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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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
- G01S7/003—Transmission of data between radar, sonar or lidar systems and remote stations
- G01S7/006—Transmission of data between radar, sonar or lidar systems and remote stations using shared front-end circuitry, e.g. antennas
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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
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/414—Discriminating targets with respect to background clutter
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- Radar Systems Or Details Thereof (AREA)
Abstract
The present invention is automobile anti-collision radar system and the operation method of double reception antenna, and native system has 2 independently receiving antenna and 1 independently emitting antenna, respectively incoming radio frequency signal processing modules; There is the PS module comprising system sub-modules, data processing submodule and clock submodule center-control processing section, and comprises modulation signal and produce submodule, algorithm submodule, phaselocked loop submodule and and control the PL module of submodule.Output device has display and warning device, emergency braking apparatus.Operation method is for launching modulated triangular wave, double reception antenna respectively gathers real empty two parts echoed signal, through MUSIC algorithm, target pairing, calculates distance speed and the azimuth information of target, result passes to the display of PS module synchronization, and directly controls warning, clamping device.The present invention can obtain target azimuth, and improve multiple goal judgement, fast operation, this Di of Cheng ﹑ reliability are high, and system architecture simplifies, and reduces costs, and is convenient to safeguard, is easy to upgrading.
Description
Technical field
The present invention relates to automobile early warning technology field, be specially a kind of automobile anti-collision radar system and operation method of double reception antenna.
Background technology
Along with the fast development of urbanization and expressway construction, automobile has become the requisite vehicles in people's life.But automobile is providing for people easily simultaneously, has also hidden many potential safety hazards.In this context, the research and development of automobile early warning technology become focus, and wherein the development of automobile anti-collision radar system has very important realistic meaning and using value.
Existing automobile collision avoidance radar adopts multiple technologies to realize, and due to ultrasound wave, laser, the infrared impact being easily subject to inclement weather and environmental factor, cannot guarantee detection accuracy, and thus visual cognitive ability is placed on microwave radar by expert both at home and abroad.At present, applied microwave radar in some superior automobile abroad, and products application unripe is at home in market.
Automobile collision avoidance radar adopts single antenna linear frequency modulation continuous wave system (LFMCW) usually.In the radar intermediate frequency signal that radar receiver receives, not only containing target echo information, also containing noise signal and undesired signal, as protecting between the vehicle on contiguous track, track block, the trees in roadside and the road sign of erection and billboard etc., these all form interference to radar system, cause radar to make false judgment.The target azimuth detection perform difference of the radar receiver of single antenna cannot meet actual needs, constrains the popularization and application of automobile collision avoidance radar.
Automobile radar anti-collision system is different from other radar systems, and it is real-time that it requires anti-collision radar system to have, the feature that processing speed is fast.The realization of current collision avoidance radar signal processing circuit is generally made up of any two panels in micro-control unit (MCU) chip, digital signal processor (DSP) chip or field programmable gate array (FPGA) chip.The most common with the combination of FPGA and DSP, because the programmable logic structure of FPGA can complete more function than MCU chip, there is good extendability, there is good capability of sequential control, have the advantages such as powerful parallel processing capability, fast operation, reliability are high, flexible in programming, the signal transacting special multiplier of DSP and high-speed register then can assist improper some computings on FPGA.But current automobile collision avoidance radar all needs to carry out man-machine interaction at PC PC end, makes system bulk very huge like this.Be unfavorable for that complete machine embeds automotive interior.And be the main flow direction of current Vehicle Electronic Control based on the embedded control system of ARM, if collision avoidance radar also adopts with the process chip of ARM framework, there is the logic programmable ability of similar FPGA simultaneously, there is the special signal processing module of DPS, have Chip Operating System, to product maintenance be beneficial to, reduce the cost, improve practical value.
Be in the Chinese invention patent application " linear frequency modulated continuous wave automobile anti-collision radar system and using method " of 102353954A at publication number, system is the bi-processor architecture of DSP and FPGA, adopt the various algorithms of the complicated rate average algorithm of space-time to signal transacting to be reasonably allocated to DSP and FPGA process, take full advantage of the respective advantage of DSP and FPGA.But because algorithm is complicated, realizes very difficult, and be still difficult to the particular/special requirement meeting anti-collision radar system real-time and processing speed.Simultaneously because hardware configuration is too complicated, cost is high, is unfavorable for business promotion.
Summary of the invention
It is poor to the object of the invention is for the detectability of the collision avoidance radar existed in prior art in complex environment, direction finding ability, the problem such as the low and system hardware of target discrimination is complicated, design a kind of automobile anti-collision radar system of double reception antenna, radar echo signal processing main chip is the double-core ARM chip of embedded programmable logic block and special digital signal transacting, the radar transceiver that microwave transmission and reception combine is furnished with 32 high performance chipses for data acquisition, and radar antenna comprises 2 independently receiving antenna and 1 independently emitting antennas.Simple to operate, real-time is good, and processing speed is fast, achieves target azimuth and measures, improve target resolution characteristic.
Another object of the present invention is the operation method of the automobile anti-collision radar system designing above-mentioned double reception antenna, radar system periodic transmission modulated triangular wave, two receiving antennas gather echo simultaneously, each antenna carries out MUSIC (multiple signal classification respectively to received signal, English is MultipleSignalClassification) algorithm, obtain target information by target pairing, the target range change finally obtained according to different antennae obtains azimuth of target.
The automobile anti-collision radar system of double reception antenna of the present invention's design comprises microwave transmitting and receiving part, IF signal processing part, data conversion unit are divided, center-control processing section and power unit.Other various piece of power unit and system is connected, provides required voltage.Microwave transmitting and receiving part comprises emitting antenna, receiving antenna and radio-frequency signal processing module, emitting antenna, receiving antenna are connected with radio-frequency signal processing module, signal after radio-frequency signal processing module process divides through IF signal processing part and data conversion unit, access center-control processing section.Described data conversion unit is divided and is comprised D/A converter module and analog-to-digital conversion module.Center-control processing section connects input equipment and output device.Center-control processing section controls signal to be sent and is tapped into radio-frequency signal processing module through data conversion unit, is sent by emitting antenna.
Microwave transmitting and receiving part of the present invention comprises 2 independently receiving antenna and 1 independently emitting antennas.The distance of 2 receiving antennas, i.e. base length L=0.08m ~ 0.15m.2 receiving antennas and 1 transmit antennas incoming radio frequency signal processing module respectively.Each receiving antenna has I, Q two-way Received signal strength, namely has 4 road Received signal strength.The IQ of receiving antenna receives structure and reduces sampling rate, also reduces the requirement of the conversion chip to data conversion portion.Simultaneously because remain phase information in the echoed signal of 2 receiving antennas, the range information of target can be judged according to this, and achieve the measurement of bearing to target.
Described receiving antenna and emitting antenna are a kind of narrow beam radar antennas, are plane microstrip antenna, low-profile.Not only energy saving at work, and be highly susceptible to being integrated in various circuit, be also easy to build module protection facility in the installation environment in automobile.
Described radio-frequency signal processing module is the radar transmit-receive chip that radiofrequency signal list exports K-wave band band VCO (voltage controlled oscillator) of dual input.
Center-control processing section comprises processing system modules and programmed logical module, hereinafter referred to as PS (ProcessingSystem) module and PL (ProgrammableLogic) module.
PS module comprises system sub-modules, data processing submodule and clock submodule.Data processing submodule carries out reprocessing to PL module the data obtained, to obtain final target information.System sub-modules provides software operating platform for hardware system, and is furnished with at least one in serial ports, USB interface and USB interface, in order to be connected with Input/Output Device and vehicle-mounted microcomputer.System starts the clock submodule in PS module at first when starting, start whole system, and be configured PL module centered by software.
PL module comprises modulation signal and produces submodule, algorithm submodule, phaselocked loop submodule and control submodule.Control submodule connection control Microwave emission receiving unit, IF signal processing part and data conversion unit to divide, also connect modulation signal and produce submodule and algorithm process submodule.Control submodule and coordinate according to the Clock management of the phaselocked loop submodule in PL module the logical sequence that its modulation signal connected produces submodule, algorithm process submodule, ensure each submodule co-ordination.
The modulation signal of described PL module produce submodule according to the instruction controlling submodule produce modulation period be T, slope is
triangular modulation digital signal, wherein modulating bandwidth is B
a; Modulated digital signal exports data conversion unit to and divides, and digital signal is converted to the radio-frequency signal processing module that simulating signal sends into microwave transmitting and receiving part, is sent by emitting antenna.
The radio-frequency signal processing module of microwave transmitting and receiving part carries out algorithm process to the radiofrequency signal that 2 receiving antennas receive, and is converted to intermediate-freuqncy signal, sends into IF signal processing part.
IF signal processing part carries out power amplification to the echoed signal received, the signal power that its feeding data conversion unit is divided at least is greater than an A/D quantization level, IF signal processing part also reduces the dynamic range of signal, and its pretreated signal amplitude is less than an A/D quantization level.
Analog echo signal after the process of IF signal processing part send into data conversion unit divide be converted to I, Q tetra-railway digital signal send into the PL module of center-control processing section.The algorithm submodule of PL module to 2 receiving antennas I, Q tetra-tunnel echoed signal carry out MUSIC algorithm respectively, target is matched, and target range velocity information calculates and measurement of bearing, obtains final target information, and passes to PS module, carry out follow-up output processing.
Described output device is the display device for reference driver, and output device can also be vehicle alarming device and/or emergency braking apparatus.The control submodule of the PL module of center-control processing section stores the early warning value of the final goal Distance geometry speed arranged, the final goal Distance geometry velocity amplitude calculated when this radar system reaches early warning value, control submodule and start vehicle alarming device and/or emergency braking apparatus through system sub-modules, occur to avoid accident.
The operation method of the automobile anti-collision radar system of double reception antenna of the present invention, after switching on power, the software initialization of PS module, and PL module is configured; Wait for the instruction that operating personnel bring into operation from input equipment input, if without instruction input, continue to wait for; After sign on input, control submodule and send the modulation signal generation submodule of control word to PL module.Concrete steps are as follows:
I, launch modulated triangular wave and gather echoed signal
Modulated triangular wave Parameter Programming inputs and is stored in control submodule, and the modulation signal of PL module produces submodule and produces triangular modulation digital signal according to the instruction of system sub-modules.Modulated digital signal exports data conversion unit to and divides, and digital signal is converted to the radio-frequency signal processing module that simulating signal sends into microwave transmitting and receiving part, is sent by emitting antenna.
The modulated triangular wave launched is linear frequency modulation continuous wave LFMCW (English is LinearFrequencyModulationContinuousWave), and its modulation period is T, and modulating bandwidth is B
a.Wherein
for the triangular wave ascent stage, its slope is
thereafter
cycle is triangular wave descending branch, and slope is
the centre carrier frequency transmitted is f
r.From the characteristic of LFMCW signal, echoed signal is still T for the cycle, and modulating bandwidth is B
atriangular wave, but its centre frequency is offset to f
r+ f
d, f
dfor the Doppler shift that target travel causes.
Target echo enters the radio-frequency signal processing module of microwave transmitting and receiving part through receiving antenna, carries out lower mixing operation.From signal mixed frequency characteristic, obtain Beat Signal after lower mixing, same target produces a spectrum peak in the triangular wave ascent stage
corresponding lower frequency sweep section produces a corresponding spectrum peak
△ f is determined by target range.The output signal of radio-frequency signal processing module enters the input end of IF signal processing part.
The automobile anti-collision radar system of double reception antenna of the present invention has two at a distance of antenna A, B of L, and the echoed signal that each antenna receives is divided into two-way: the real part I signal of echoed signal and imaginary part Q signal, i.e. the echoed signal I of A antenna
a, Q
awith the echoed signal I of B antenna
b, Q
b.IF signal processing part carries out acquisition process to four road signals respectively.
II, based on the target detection of MUSIC (multiple signal classification) algorithm
The A antenna echo signal I in M cycle
a, Q
awith the echoed signal I of B antenna
b, Q
bafter the process of completing steps I, MUSIC algorithm process is carried out to the echo signal data in each cycle, with the frequency spectrum of the corresponding target obtained, two corresponding targets of spectrum peak.
The concrete operations of MUSIC algorithm are as follows:
To real part data x (n) in first echo cycle of A antenna, n is the sampling number of echo.Virtual matrix X (n) is set up to x (n),
M is Virtual array number, and the covariance matrix of X (n) is R
xx=E{X (n) X
h(n) }, in formula, E represents expectation computing, and H represents Matrix Calculating conjugation.To R
xxcarry out svd
In formula, ∑ represents signal characteristic value matrix, and O represents 0 matrix, σ
2i
n-rrepresent noise characteristic value matrix, wherein σ is the variance of noise, and S is signal matrix, and G is noise matrix.Finally try to achieve
N quantizes, and its scope is the ultimate range of receiving antenna detection and the frequency values corresponding to minor increment, and value interval will determine frequency accuracy, if will miss too greatly target place frequency, if too little calculated amount will increase.Gained S
aIoutput be row vector, length is determined by receiving antenna detection range, and target range is at S
aIthere is one group of peak value in correspondence position.
To A antenna echo signal Q
adata carry out above-mentioned identical MUSIC algorithm and obtain S
aQ, to B antenna echo signal I
b, Q
bdata carry out the MUSIC algorithm identical with A antenna and obtain S
bI, S
bQ.
MUSIC algorithm the data obtained is temporary in the algorithm submodule of PL module.
III, target pairing
In step II, obtain the row vector that a group contains target range velocity information, delivery process is carried out to A antenna echo signal, namely
obtain the frequency spectrum S of A antenna echo
a.
S
athe important parameter of three of matrix is the fuzzy velocity amplitude of spectral line amplitude ﹑ and distance value.
Before the transmitting modulated triangular wave of step I
for the triangular wave ascent stage, after
cycle is triangular wave descending branch, and the ascent stage of triangular modulation signal, descending branch are called frequency sweep, lower frequency sweep, by S
atwo parts are divided into by upper and lower frequency sweep.Suppose there is N number of target, the peak value size of corresponding modulating signal ascent stage, descending branch is respectively D
u1d
u2d
u3... D
uN, D
d1d
d2d
d3... D
dN.
The absolute value of the upper and lower peak difference of spectral line obtained according to modulation signal upper and lower frequency sweep section judges the distance value of target, according to the upper and lower peak value of spectral line with judge velocity amplitude.
The S obtained
an number of spectral line is respectively had respectively, as the S of A antenna echo in the corresponding N number of target of upper and lower frequency sweep section
athe spectral line of ambiguous Doppler frequency to meet upper and lower peak value absolute value identical, then judge that their breadth of spectral line angle value is equal, be judged as the spectral line of same target, be i.e. target pairing.
The S of B antenna echo
bthe target pairing of frequency spectrum and the S of above-mentioned A antenna echo
aprocessing procedure identical.
IV, the Distance geometry velocity information of target is calculated
The data pair of frequency sweep up and down of same target divides into groups respectively by the A antenna echo collect the modulated triangular wave of cycle T and B antenna echo signal after the pairing of step III target, and the numerical value of frequency sweep up and down of each target is converted to respective frequencies value f,
f＝k*0.5+l
Wherein k is the position of target spectrum peak row vector, and l is search rate initial value.
The target range R of certain target i in N number of target is calculated according to the data of A antenna echo
aIwith target velocity v
aiformula as follows:
In formula, C is the light velocity,
for the S of T cycle A antenna echo
acertain target i spectrum peak place frequency of upper frequency sweep section,
for the S of T cycle A antenna echo
acertain target i spectrum peak place frequency of lower frequency sweep section, f
ofor the carrier frequency centre frequency transmitted, B
afor modulating bandwidth.
The R of certain target i is calculated according to the data of echo B
biand v
biaccount form and above-mentioned R
aiand v
aiaccount form identical.
V, target azimuth information extraction
The distance velocity information of each target of A, B echo step III obtained is reflected in a distance-speed dimension matrix Y, in practical application, radar range is much larger than launched microwave wavelength, therefore, meeting microwave far-field characteristic, is namely consistent for the speed measured by same target two antenna AB.
The angle that certain target i departs from A antenna spindle is
wherein R
aiand R
bibe respectively this target i distance of A, B echo that step VI obtains, L is the distance of two antennas, i.e. base length, θ
ifor this target departs from main tracking axis, i.e. the position angle of A antenna spindle, wherein left avertence is negative value, right avertence be on the occasion of.
In described step IV under same speed AB echo detecting to the different situation of target range have 2 kinds: the first situation is under same speed, only have two to compose peaks, and this is that A, B echo of same target obtains distance measure; The position angle computing formula departing from main tracking axis by target in step V tries to achieve target deviation angle.The second situation is have multiple target under same speed, and according to actual conditions, A, B days line spectrum peak to peak values that different target distance causes are much larger than same target at AB days line spectrum peak to peak values, and namely target spectrum peak can not cross occurrence.In native system antenna detection angle, because base length L is very little, same target is paired appearance in Y matrix, and distance is very near, and two spectrum peaks distance being less than a certain threshold value Z are defaulted as same target.Z=Lsin (θ
max), L is base length, θ
maxfor antenna directional bearing angle maximal value.After target range coupling, target deviation angle is tried to achieve to the position angle computing formula that same target departs from main tracking axis by target in step V.
The distance of the target that PL module obtains in step IV and V, speed and azimuth information pass to PS module, and simultaneous display on the display device, for reference driver.
When output device comprises vehicle alarming device and/or emergency braking apparatus, operating personnel set alarm threshold from input equipment, and the early warning value as target range and speed is stored in the control submodule of PL module.Whether have data from the algorithm submodule of PL export the data receive register of PS module, if having, carry out early warning analysis to it if controlling submodule monitoring.Control submodule by the distance of gained target, speed and azimuth information compared with early warning value, the final goal Distance geometry velocity amplitude calculated when this anti-collision radar system reaches early warning value, control submodule and start vehicle alarming device and/or emergency braking apparatus through system sub-modules, occur to avoid accident.
Compared with prior art, the advantage of the automobile anti-collision radar system of double reception antenna of the present invention is: 1, microwave signal receiving unit has an emitting antenna and two receiving antennas, independently receive sendaisle, can obtain maximum gain, double reception antenna receives structure I
ai
bq
aq
bfour road receiving cables, can the direction of the detection of a target, improves multiple goal judgement; 2, microwave transmission and reception are combined into parts, save hardware resource and cost, and save space, energy consumption also decreases; 3, the programmed logical module of center-control processing section is uniprocessor structure, system has the advantages such as powerful Bing row relax Neng Li ﹑ fast operation, this Di of Cheng ﹑ reliability are high, flexible in programming, native system is fast to the processing speed of radar signal, and real-time is good; The Embedded A P-SoC chip selecting integrated level higher, improve Man machine interaction, construction cycle is short, and product is easy to upgrading, is convenient to product later maintenance, production cost is lower, reliability is higher, can make that whole system becomes more small and exquisite, structure simplifies, be more conducive to realization and the upgrading of system, reduce costs, improve commercial value; 4, native system itself is a complete embedded system, without the need to host computer, data are processed further, can show and auto-alarm function from the signals collecting of antenna to target by complete independently, the emergency braking apparatus of automobile can also be connected simultaneously, realize Braking mode.
Compared with prior art, the operation method advantage of the automobile anti-collision radar system of double reception antenna of the present invention is: 1, detect for target azimuth, and this method launches modulated triangular wave, the Processing Algorithm of design double echo signal, realize target orientation detection; 2, MUSIC algorithm is adopted, in conjunction with the feature of linear frequency modulation continuous wave system (LFMCW) delta modulation signal symmetry, namely the ranging offset caused by range-velocity coupling of moving target has symmetry, carry out the pairing of target, under being lifted at strong background clutter noise, detect the ability of moving target; 3, adopt high-precision MUSIC algorithm, obtain high-precision target signature parameter; Under effectively improving strong background noise, the detectability of target echo; 4, according to the feature of LFMCW signal, distance changes the characteristic causing echo frequency to change, and simplifies the structure of target azimuth detection algorithm, makes whole system structure be simplified further under the condition of not losing radar performance.
Accompanying drawing explanation
Fig. 1 is the automobile anti-collision radar system embodiment general frame block diagram of this double reception antenna;
Fig. 2 is the central control portion structured flowchart in Fig. 1;
Fig. 3 is the operation method embodiment process flow diagram of the automobile anti-collision radar system of double reception antenna.
Embodiment
Below in conjunction with drawings and Examples, the present invention is described in further detail.
The automobile anti-collision radar system embodiment of double reception antenna
The automobile anti-collision radar system embodiment overall architecture of this double reception antenna as shown in Figure 1, comprises microwave transmitting and receiving part, IF signal processing part, data conversion unit is divided, center-control processing section and power unit.Other various piece of power unit and system is connected, provides required voltage.
The microwave transmitting and receiving part of this example comprises 1 independently emitting antenna, 2 independently receiving antenna AB and radio-frequency signal processing modules, the distance of this example 2 receiving antenna AB, i.e. base length L=0.12m.1 transmit antennas and 2 receiving antennas incoming radio frequency signal processing module respectively.A, B two receiving antennas have I, Q two-way Received signal strength, namely have 4 road Received signal strength incoming radio frequency signal processing modules.
This routine receiving antenna and emitting antenna are a kind of narrow beam radar antennas, are plane microstrip antenna.Described radio-frequency signal processing module is the radar transmit-receive chip that radiofrequency signal list exports K-wave band band VCO (voltage controlled oscillator) of dual input.Be furnished with that riches all the way send passage and four road receiving cables, i.e. the real part receiving cable I of A antenna echo signal
a, the imaginary part receiving cable Q of A antenna echo signal
a, the real part receiving cable I of B antenna echo signal
b, the imaginary part receiving cable Q of B antenna echo signal
b.The working frequency range of the radio-frequency signal processing module emitting electromagnetic wave carrier frequency in this example is 24GHz.
Signal after radio-frequency signal processing module process divides through IF signal processing part and data conversion unit, access center-control processing section.Described data conversion unit is divided and is comprised D/A converter module and analog-to-digital conversion module.Center-control processing section connects input equipment and output device.
This routine IF signal processing part comprises frequency domain dynamic compression circuit and intermediate frequency amplifier circuit.
Center, center-control processing section control treatment part is full programmable system on chip chip PA-SoC, and its structure as shown in Figure 2, comprises PS module and PL module.
PS module comprises data processing submodule, system sub-modules and clock submodule.Data processing submodule carries out reprocessing to PL module the data obtained.This routine system sub-modules is furnished with serial ports, USB interface and USB interface.
PL module comprises modulation signal and produces submodule, algorithm submodule, phaselocked loop submodule and control submodule.Control submodule connection control Microwave emission receiving unit, IF signal processing part and data conversion unit to divide, also connect modulation signal and produce submodule and algorithm process submodule.Control submodule and coordinate according to the Clock management of the phaselocked loop submodule in PL module the logical sequence that its modulation signal connected produces submodule, algorithm process submodule, ensure each submodule co-ordination.
The modulation signal of described PL module produce submodule according to the instruction controlling submodule produce modulation period be T, slope is
triangular modulation digital signal, wherein modulating bandwidth is B
a; Modulated digital signal exports data conversion unit to and divides, and digital signal is converted to the radio-frequency signal processing module that simulating signal sends into microwave transmitting and receiving part, is sent by emitting antenna.
The radio-frequency signal processing module of microwave transmitting and receiving part carries out algorithm process to the radiofrequency signal that 2 receiving antennas receive, and is converted to intermediate-freuqncy signal, sends into IF signal processing part; IF signal processing part carries out power amplification to the echoed signal received, and reduces the dynamic range of signal, and the signal power that its feeding data conversion unit is divided is greater than an A/D quantization level.Analog echo signal after the process of IF signal processing part through data conversion unit divide be converted to I, Q tetra-railway digital signal send into algorithm submodule in the PL module of center-control processing section PA-SoC chip.The algorithm submodule of PL module to 2 receiving antennas I, Q tetra-the echoed signal on tunnel carry out MUSIC algorithm respectively, target is matched, and target range velocity information calculates and measurement of bearing, obtains final target information, and passes to PS module, carry out follow-up output processing.
This routine input equipment is keyboard and mouse.This routine output device is for the display device of reference driver, vehicle alarming device and emergency braking apparatus.The control submodule of the PL module of center-control processing section stores the early warning value of the final goal Distance geometry speed arranged, the final goal Distance geometry velocity amplitude calculated when this radar system reaches early warning value, controls submodule and starts vehicle alarming device and emergency braking apparatus through system sub-modules.Microcomputer on serial ports, USB interface and automobile that this routine system sub-modules configures carries out data transmission.
The operation method embodiment of the automobile anti-collision radar system of double reception antenna
The employing train experiment of this method embodiment, the automobile anti-collision radar system embodiment of above-mentioned double reception antenna is fixed on static experiment porch as the experimental system of this method, two, front target carriage, experimental system 80m on first object vehicle distances experiment porch, speed is 10m/s, orientation :+3.4 °, the experimental system 80.1m on the second target vehicle distance experiment porch, stationary state, orientation: 0 °.When receiving antenna detects remote target, gained echo power is less, and gained echo power when detecting close-in target is larger.When detection range is 100m, the power bracket of the intermediate-freuqncy signal that I/Q frequency mixer exports is-80dBm ~-20dBm, and dynamic range is 60dB.
The flow process of this routine operation method as shown in Figure 3.
The operation method of the automobile anti-collision radar system of double reception antenna of the present invention, after switching on power, the software initialization of PS module, and PL module is configured; Wait for the instruction that operating personnel bring into operation from input equipment input, if without instruction input, continue to wait for; After sign on input, control submodule and send the modulation signal generation submodule of control word to PL module.Concrete steps are as follows:
This routine multiple antennas high precision automobile collision avoidance radar object run method comprises the following steps.
Receiving end receives I to AB two antennas simultaneously
ai
bq
aq
bfour road signals.Divide through data conversion unit and become digital signal, sample frequency f
s, send into XC7Z020 chip.
I, launch modulated triangular wave and gather echoed signal
Modulated triangular wave Parameter Programming inputs and is stored in control submodule, and the modulation signal of PL module produces submodule and produces triangular modulation digital signal according to the instruction controlling submodule.Modulated digital signal exports data conversion unit to and divides, and digital signal is converted to the radio-frequency signal processing module that simulating signal sends into microwave transmitting and receiving part, by the continuous emitting electromagnetic wave of emitting antenna.
The modulated triangular wave that this example is launched is linear frequency modulation continuous wave LFMCW, and its modulation period is T=1.6ms, and modulating bandwidth is B
a=160MHz.Wherein
for the triangular wave ascent stage, its slope is
thereafter
cycle is triangular wave descending branch, and slope is
the centre carrier frequency transmitted is f
r=24GHz.The target range scope of receiving antenna is 1m ~ 100m, and the velocity range of target is 0 ~ 150Km/h.
The automobile anti-collision radar system of this routine double reception antenna has two at a distance of antenna A, B of L=0.12m (rice), the echoed signal that each antenna receives is divided into two-way: the real part I signal of echoed signal and imaginary part Q signal, i.e. the echoed signal I of A antenna
a, Q
awith the echoed signal I of B antenna
b, Q
b.Target echo enters the radio-frequency signal processing module of microwave transmitting and receiving part through A, B receiving antenna, carries out lower mixing operation.Send into IF signal processing part and respectively acquisition process is carried out to four road signals.Sample frequency is f
s=512KHz.
II, based on the target detection of MUSIC algorithm
The A antenna echo signal I in M=16 cycle
a, Q
awith the echoed signal I of B antenna
b, Q
bafter the process of completing steps I, MUSIC algorithm process is carried out to the echo signal data in each cycle, the frequency spectrum of the corresponding target obtained, two corresponding targets of spectrum peak.
The concrete operations of MUSIC algorithm are as follows:
To real part data x (n) in first echo cycle of A antenna, n=1024 is the sampling number of echo.Virtual matrix X (n) is set up to x (n)
The covariance matrix of Virtual array number m=16, X (n) is R
xx=E{X (n) X
h(n) }, to R
xxcarry out svd
To obtain S be signal matrix G is noise matrix.Finally try to achieve
S
aIoutput be row vector, length is determined by receiving antenna detection range, and target range can at S
aIthere is one group of peak value in correspondence position, the data obtained is kept in by the algorithm submodule of PL module.
To A antenna echo signal Q
adata carry out above-mentioned identical MUSIC algorithm and obtain S
aQ, to B antenna echo signal I
b, Q
bdata carry out the MUSIC algorithm identical with A antenna and obtain S
bI, S
bQ.
This routine S
afor 16*1024 data, in the RAM stored in algorithm submodule.
III, target pairing
S
a, S
bn number of spectral line is respectively had respectively, as the S of A antenna echo in the corresponding N number of target of upper and lower frequency sweep section
athe spectral line of ambiguous Doppler frequency to meet upper and lower peak value absolute value identical, then judge that their breadth of spectral line angle value is equal, be judged as the spectral line of same target, be i.e. target pairing.
The A antenna echo signal S that this routine step IV obtains
afrequency spectrum have three peak values, the row vector upward peak position of output is respectively 8,808,425.Namely there is frequency sweep on two target first aims after pairing is 8, and lower frequency sweep is 808; On second target, frequency sweep is 425, and lower frequency sweep is 425.Equally, B antenna echo signal S
bfrequency spectrum have three peak values, the row vector upward peak of output is respectively 679,647,425.Namely there is frequency sweep on two target first aims after pairing is 8, and lower frequency sweep is 808; On second target, frequency sweep is 425, and lower frequency sweep is 425.
IV, the Distance geometry velocity information of target is calculated
A antenna echo and B antenna echo signal after the pairing of step V target, the packet of frequency sweep up and down of same target.
Upper and lower for each target frequency sweep numerical value is converted to respective frequencies value, and formula is as follows:
f＝k*4+l
Wherein k is target spectrum row vector position, place, peak, at this routine A antenna echo signal S
afrequency spectrum in peak value be 8,808,425; L is search rate initial value, l=51700 in this example;
Swept frequency on first aim
be 51732, lower swept frequency
be 54932;
Swept frequency on second target
be 53400, lower swept frequency
be 53400;
Calculate target range and speed further.
Range formula is
C=3*10 in this example
8,
represent the S of T cycle A antenna echo
athe spectrum peak place frequency of i-th target in the N number of target of upper frequency sweep section,
represent the S of T cycle A antenna echo
athe spectrum peak place frequency of i-th target.The distance that this example solves first object is R
a1=79.998m, the distance R of the second target
a2=80.1m.
Speed formula is
Carrier frequency adopts its wavelength X=0.0125 of 24GHz in this example,
represent the upper swept-frequency signal of i-th target,
represent the lower swept-frequency signal of i-th target.Solve the speed V of first object
a1=10m/s (meter per second), the speed V of the second target
a2=0m/s.
Adopt same computing method, by B antenna echo signal S
bspectrum peak first aim distance R
b1=79.998m, speed V
b1=10m/s, second target distance R
b2=80.1m, speed V
b2=0m/s.
In the data result of calculation of two receiving antennas, when the distance of same target is different, with A antenna data result of calculation for realistic objective distance, with the azimuthal information of next step VII with A antenna for benchmark is corresponding.
V, target azimuth information extraction
Position angle computing formula is:
Wherein L is base length, in this example L=0.12m, R
anrepresent i-th distance value in the N number of target of A antenna echo signal gained, R
bnrepresent i-th distance value in the N number of target of B antenna echo signal gained.
Step VI is obtained 2 target range R
a1, R
b1and R
a2, R
b2substitute into formula respectively, solve first aim and depart from A antenna spindle azimuth angle theta
1=3.4 degree, second target departs from A antenna spindle azimuth angle theta
2=0 degree.
The operation method embodiment running experiment result of the automobile anti-collision radar system of this double reception antenna is: find 2 targets altogether, the result of calculation that this method obtains is first object distance 79.998m, speed 10m/s, departs from A antenna spindle position angle for+3.4 degree.Second target range 80.1m, speed 0m/s, departing from A antenna spindle position angle is 0 degree.In actual experiment environment, first object distance is 80m, and speed is 10m/s, and position angle is+3.4 degree.Second target distance is 80.1m, and speed is 0m/s, and position angle is 0 degree.
Comparative example
Identical experiment condition is adopted with the operation method embodiment of the automobile anti-collision radar system of above-mentioned double reception antenna, by the modulated triangular wave automobile collision avoidance radar detection system of traditional single receiving antenna as a comparison system be fixed on static experiment porch, test with two, front target carriage.Comparison system 81m on first object vehicle distances experiment porch, relative velocity is 9.05m/s, and the comparison system 81m on the second target vehicle distance experiment porch, speed is 0.1m/s.
This comparative example experimental result is: find 2 targets altogether, distance is 81m and 81m, and speed is 9.05m/s and 0.1m/s, without orientation detectability.
By the operation method embodiment of the automobile anti-collision radar system of this double reception antenna and the experimental result of comparative example, obviously can find out that method of the present invention improves object ranging rate accuracy effectively than the modulated triangular wave automobile collision avoidance radar operation method of traditional single receiving antenna, add direction-measuring function simultaneously.
The distance of the target that the present embodiment PL module obtains in step VI and VII, speed and azimuth information pass to PS module, and simultaneous display on the display device, for reference driver.
This routine output device comprises vehicle alarming device and emergency braking apparatus, and operating personnel set alarm threshold from input equipment, and the early warning value as target range and speed is stored in the control submodule of PL module.Whether have data from the algorithm submodule of PL export the data receive register of PS module, if having, carry out early warning analysis to it if controlling submodule monitoring.Control submodule by the distance of gained target, speed and azimuth information compared with early warning value, the final goal Distance geometry velocity amplitude calculated when this anti-collision radar system reaches early warning value, control submodule and start vehicle alarming device and emergency braking apparatus through system sub-modules, avoid accident to occur.
Above-described embodiment, be only the specific case further described object of the present invention, technical scheme and beneficial effect, the present invention is not defined in this.All make within scope of disclosure of the present invention any amendment, equivalent replacement, improvement etc., be all included within protection scope of the present invention.
Claims (8)
1. the operation method of the automobile anti-collision radar system of double reception antenna, the automobile anti-collision radar system of described double reception antenna comprises microwave transmitting and receiving part, IF signal processing part, data conversion unit are divided, center-control processing section and power unit; Other various piece of power unit and system is connected, provides required voltage; Microwave transmitting and receiving part comprises emitting antenna, receiving antenna and radio-frequency signal processing module, emitting antenna, receiving antenna are connected with radio-frequency signal processing module, signal after radio-frequency signal processing module process divides through IF signal processing part and data conversion unit, access center-control processing section; Described data conversion unit is divided and is comprised D/A converter module and analog-to-digital conversion module; Center-control processing section connects input equipment and output device; Center-control processing section controls signal to be sent and is tapped into radio-frequency signal processing module through data conversion unit, is sent by emitting antenna;
Described microwave transmitting and receiving part comprises 2 independently receiving antenna and 1 independently emitting antennas, 2 receiving antennas and 1 transmit antennas incoming radio frequency signal processing module respectively;
Described center-control processing section comprises processing system modules and programmed logical module, hereinafter referred to as PS module and PL module;
PS module comprises data processing submodule, system sub-modules and clock submodule; System sub-modules is furnished with at least one in serial ports, USB interface and USB interface;
PL module comprises modulation signal and produces submodule, algorithm submodule, phaselocked loop submodule and control submodule; Control submodule connection control Microwave emission receiving unit, IF signal processing part and data conversion unit to divide, also connect modulation signal and produce submodule and algorithm process submodule;
It is characterized in that:
After switching on power, the software initialization of PS module, and PL module is configured; Wait for the instruction that operating personnel bring into operation from input equipment input, if without instruction input, continue to wait for; After sign on input, control submodule and send the modulation signal generation submodule of control word to PL module; Concrete steps are as follows:
I, launch modulated triangular wave and gather echoed signal
Modulated triangular wave Parameter Programming inputs and is stored in control submodule, and the modulation signal of PL module produces submodule and produces triangular modulation digital signal according to the instruction of system sub-modules; Modulated digital signal exports data conversion unit to and divides, and digital signal is converted to the radio-frequency signal processing module that simulating signal sends into microwave transmitting and receiving part, is sent by emitting antenna;
The modulated triangular wave launched is linear frequency modulation continuous wave LFMCW, and its modulation period is T, and modulating bandwidth is B
a; Wherein
t is the triangular wave ascent stage, and its slope is
thereafter
the T cycle is triangular wave descending branch, and slope is
the centre carrier frequency transmitted is f
r; Due to the characteristic of LFMCW signal, echoed signal is still T for the cycle, and modulating bandwidth is B
atriangular wave, its centre frequency is offset to f
r+ f
d, f
dfor the Doppler shift that target travel causes;
Target echo enters the radio-frequency signal processing module of microwave transmitting and receiving part through receiving antenna, carries out lower mixing operation; Obtain Beat Signal after lower mixing, same target produces a spectrum peak in the triangular wave ascent stage
corresponding lower frequency sweep section produces a corresponding spectrum peak
△ f is determined by target range; The output signal of radio-frequency signal processing module enters the input end of IF signal processing part;
The automobile anti-collision radar system of double reception antenna has two at a distance of antenna A, B of L, and the echoed signal that each antenna receives is divided into two-way: the real part I signal of echoed signal and imaginary part Q signal, i.e. the echoed signal I of A antenna
a, Q
awith the echoed signal I of B antenna
b, Q
b; IF signal processing part carries out acquisition process to four road signals respectively;
II, based on the target detection of MUSIC algorithm
The A antenna echo signal I in M cycle
a, Q
awith the echoed signal I of B antenna
b, Q
bafter the process of completing steps I, MUSIC algorithm process is carried out to the echo signal data in each cycle, obtains the frequency spectrum of corresponding target, two corresponding targets of spectrum peak;
The concrete operations of MUSIC algorithm are as follows:
To real part data x (n) in first echo cycle of A antenna, n is the sampling number of echo; Virtual matrix X (n) is set up to x (n),
M is Virtual array number, and the covariance matrix of X (n) is R
xx=E{X (n) X (n)
h, in formula, E represents expectation computing, and H represents Matrix Calculating conjugation;
To R
xxcarry out svd
In formula, ∑ represents signal characteristic value matrix, and O represents 0 matrix, σ
2i
n-rrepresent noise characteristic value matrix, wherein σ is the variance of noise, and S is signal matrix, and G is noise matrix; Finally try to achieve
N quantizes, and its scope is the ultimate range of receiving antenna detection and the frequency values corresponding to minor increment;
S
aIoutput be row vector, length by receiving antenna detect detection range determine, target range is at S
aIthere is one group of peak value in correspondence position;
To A antenna echo signal Q
adata carry out above-mentioned identical MUSIC algorithm and obtain S
aQ, to B antenna echo signal I
b, Q
bdata carry out the MUSIC algorithm identical with A antenna and obtain S
bI, S
bQ;
MUSIC algorithm the data obtained is temporary in the algorithm submodule of PL module;
III, target pairing
In step II, obtain the row vector that a group contains target range velocity information, delivery process carried out to A antenna echo signal,
obtain the frequency spectrum S of A antenna echo
a;
S
athe important parameter of three of matrix is the fuzzy velocity amplitude of spectral line amplitude ﹑ and distance value;
Before the transmitting modulated triangular wave of step I
t is the triangular wave ascent stage, after
the T cycle is triangular wave descending branch, and the ascent stage of triangular modulation signal, descending branch are called frequency sweep, lower frequency sweep, by S
abe divided into two parts by upper and lower frequency sweep, suppose there is N number of target, the peak value size of corresponding modulating signal ascent stage, descending branch is respectively D
u1d
u2d
u3... D
uN, D
d1d
d2d
d3... D
dN;
The absolute value of the upper and lower peak difference of spectral line obtained according to modulation signal upper and lower frequency sweep section judges the distance value of target, according to the upper and lower peak value of spectral line with judge velocity amplitude;
The S obtained
an number of spectral line is respectively had respectively, as the S of A antenna echo in the corresponding N number of target of upper and lower frequency sweep section
athe spectral line of ambiguous Doppler frequency to meet upper and lower peak value absolute value identical, then judge that their breadth of spectral line angle value is equal, be judged as the spectral line of same target, be i.e. target pairing;
The frequency spectrum S of B antenna echo
btarget pairing and the S of above-mentioned A antenna echo
aprocessing procedure identical;
IV, the Distance geometry velocity information of target is calculated
The data pair of frequency sweep up and down of same target divides into groups respectively by the A antenna echo collect the modulated triangular wave of cycle T and B antenna echo signal after the pairing of step III target, and the numerical value of frequency sweep up and down of each target is converted to respective frequencies value f,
f＝k*0.5+l
Wherein k is target spectrum row vector position, peak, and l is search rate initial value;
The target range R of certain target i in N number of target is calculated according to the data of A antenna echo
aIwith target velocity v
aiformula as follows:
In formula, C is the light velocity,
for the S of T cycle A antenna echo
acertain target i spectrum peak place frequency of upper frequency sweep section,
for the S of T cycle A antenna echo
acertain target i spectrum peak place frequency of lower frequency sweep section, f
ofor the carrier frequency centre frequency transmitted, B
afor modulating bandwidth;
The R of certain target i is calculated according to the data of echo B
biand v
biaccount form and above-mentioned R
aiand v
aiaccount form identical;
V, target azimuth information extraction
The distance velocity information of each target of A, B echo step III obtained is reflected in a distance-speed dimension matrix Y,
The angle that certain target i departs from A antenna spindle is
Wherein R
aiand R
bibe respectively according to this target i distance that A, B echo obtains in step IV, L is the distance of two antennas, i.e. base length, θ
ifor this target departs from main tracking axis, i.e. the position angle of A antenna spindle, wherein left avertence is negative value, right avertence be on the occasion of.
2. the operation method of the automobile anti-collision radar system of double reception antenna according to claim 1, is characterized in that:
Described step IV, under same speed A, B echo detecting to the different situation of target range have 2 kinds: the first situation is under same speed, only have two to compose peaks, this A, B echo being same target obtains different distance measured value, and the position angle computing formula departing from main tracking axis by target in step V tries to achieve target deviation angle; The second situation has multiple target for working as under same speed, A, B days line spectrum peak to peak values that different target distance causes are much larger than same target at AB days line spectrum peak to peak values, and two spectrum peaks distance being less than threshold value Z are defaulted as same target, Z=Lsin (θ
max), L is base length, θ
maxfor antenna directional bearing angle maximal value; After target range coupling, target deviation angle is tried to achieve to the position angle computing formula that same target departs from main tracking axis by target in step V.
3. the operation method of the automobile anti-collision radar system of double reception antenna according to claim 2, is characterized in that:
Described output device is the display device for reference driver, and the distance of the target that described PL module obtains in step IV and V, speed and azimuth information pass to PS module, simultaneous display on the display apparatus.
4. the operation method of the automobile anti-collision radar system of double reception antenna according to claim 2, is characterized in that:
When output device comprises vehicle alarming device and/or emergency braking apparatus, operating personnel set alarm threshold from input equipment, and the early warning value as target range and speed is stored in the control submodule of PL module; Whether have data from the algorithm submodule of PL export the data receive register of PS module, if having, carry out early warning analysis to it if controlling submodule monitoring; Control submodule by the distance of gained target, speed and azimuth information compared with early warning value, the final goal Distance geometry velocity amplitude calculated when this anti-collision radar system reaches early warning value, controls submodule and starts vehicle alarming device and/or emergency braking apparatus through system sub-modules.
5. the operation method of the automobile anti-collision radar system of double reception antenna according to any one of claim 1 to 4, is characterized in that:
The distance of described 2 receiving antennas, i.e. base length L=0.08m ~ 0.15m.
6. the operation method of the automobile anti-collision radar system of double reception antenna according to any one of claim 1 to 4, is characterized in that:
Described receiving antenna and emitting antenna are a kind of narrow beam radar antennas, are plane microstrip antenna.
7. the operation method of the automobile anti-collision radar system of double reception antenna according to any one of claim 1 to 4, is characterized in that:
Described radio-frequency signal processing module is the radar transmit-receive chip that radiofrequency signal list exports the K-wave band band voltage controlled oscillator of dual input.
8. the operation method of the automobile anti-collision radar system of double reception antenna according to claim 3, is characterized in that:
Described output device also has vehicle alarming device and/or emergency braking apparatus.
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