CN105629211B - The signal processing method and automobile lane change auxiliary system of the combined waveform automobile lane change auxiliary system of multi-target detection - Google Patents

The signal processing method and automobile lane change auxiliary system of the combined waveform automobile lane change auxiliary system of multi-target detection Download PDF

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CN105629211B
CN105629211B CN201511008732.6A CN201511008732A CN105629211B CN 105629211 B CN105629211 B CN 105629211B CN 201511008732 A CN201511008732 A CN 201511008732A CN 105629211 B CN105629211 B CN 105629211B
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matrix
value
wave
frequency
segment
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CN105629211A (en
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田雨农
王鑫照
周秀田
史文虎
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Dalian Roiland Technology Co Ltd
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Dalian Roiland Technology Co Ltd
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S7/00Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/41Details 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
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S13/00Systems 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
    • G01S13/02Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06Systems determining position data of a target
    • G01S13/08Systems for measuring distance only
    • G01S13/32Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
    • G01S13/34Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
    • G01S13/343Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal using sawtooth modulation
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S13/00Systems 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
    • G01S13/02Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50Systems of measurement based on relative movement of target
    • G01S13/58Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G01S13/583Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets
    • G01S13/584Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets adapted for simultaneous range and velocity measurements

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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

The signal processing method and automobile lane change auxiliary system of the combined waveform automobile lane change auxiliary system of multi-target detection, belong to field of signal processing, for solving existing automobile lane change auxiliary system, the problem of being difficult to realize the resolving to multiple target, has technical point that the waveform includes first segment constant frequency wave CW1, second segment sawtooth wave FMCW1, third section constant frequency wave CW2, the 4th section of sawtooth wave FMCW2.Effect is: due to using four sections of waveforms, multi-target detection function may be implemented, and can detecte out real goal, removes false target.

Description

The signal processing method of the combined waveform automobile lane change auxiliary system of multi-target detection and Automobile lane change auxiliary system
Technical field
The invention belongs to field of signal processing more particularly to a kind of signal processings of combined waveform automobile lane change auxiliary system Method.
Background technique
With the progress of modern society, the usage amount and utilization rate of automobile show quick growth, but along with The problem of automobile causes is also more and more or even increasingly severe, for example, consumption, environmental hazard of the automobile for the energy, and Traffic safety etc..Wherein traffic safety problem increasingly causes the extensive concern of people, corresponding automobile collision preventing function, automobile Lane change miscellaneous function, automatic parking function, automatic cruising function etc. have been applied on automobile by what is more crossed.
Automobile lane change auxiliary system is to provide effectively foundation when changing road for driver, can be effectively Reduce the traffic accident problem occurred due to automobile lane change.With the continuous development of sensor technology, millimetre-wave radar is passed Sensor, since its body is smaller, light weight.It can more and more be applied the advantages of the rain and snow weather of rather harsh uses In automobile.Linear frequency modulation continuous wave (LFMCW) radar has very high velocity resolution and distance resolution, therefore line simultaneously Property CW with frequency modulation is more applied in millimetre-wave radar system.But Modulation Continuous Wave Radar is being moved When target detection, if only with single Waveform Design, for example individual constant frequency wave, the waveforms such as triangular wave, sawtooth wave are difficult Realize the resolving problem to multiple target.
Summary of the invention
In order to preferably solve the problems, such as resolving of the existing vehicle lane change auxiliary system to multiple target, the present invention provides one The signal processing method of the combined waveform automobile lane change auxiliary system of kind multi-target detection, resolves multiple target with realizing.
To achieve the goals above, the technical scheme is that a kind of combined waveform automobile lane change of multi-target detection The signal processing method of auxiliary system, the waveform include first segment constant frequency wave CW1, second segment sawtooth wave FMCW1, third Duan Heng Frequency wave CW2, the 4th section of sawtooth wave FMCW2, method includes the following steps:
S1. to each section of waveform, the collected I/Q data of A/D carries out FFT calculating;
S2. the plural modulus value after each section of waveform FFT transform is done into Threshold detection, exports threshold point position.
The invention further relates to a kind of automobile lane change auxiliary systems, execute the above method.
The utility model has the advantages that multi-target detection function may be implemented, and can detecte out true mesh due to using four sections of waveforms Mark removes false target.
Detailed description of the invention
Fig. 1 constant frequency wave CW and frequency variation diagram of the sawtooth wave FMCW within the scope of a frequency sweep cycle;
(R, V) space diagram of Fig. 2 single goal;
(R, V) space diagram of Fig. 3 multiple target;
Automobile lane change auxiliary system signal processing flow figure of the Fig. 4 based on group and waveform.
Specific embodiment
Embodiment 1:A kind of signal processing method of the combined waveform automobile lane change auxiliary system of multi-target detection, the wave Shape includes first segment constant frequency wave CW1, second segment sawtooth wave FMCW1, third section constant frequency wave CW2, the 4th section of sawtooth wave FMCW2, In, first segment constant frequency wave CW1 and third section constant frequency wave CW2 are constant frequency section, second segment sawtooth wave FMCW1 and the 4th section of sawtooth wave FMCW2 is sawtooth wave band, method includes the following steps:
S1. to each section of waveform, the collected I/Q data of A/D carries out FFT calculating;It as a preferred option of the technical scheme, can be with With the following method: to first segment constant frequency wave CW1, second segment sawtooth wave FMCW1, third section CW2 and the 4th section of saw in channel 1 The collected I/Q data of tooth wave FMCW2, A/D chooses 256 high point datas of each section of linearity, carries out 256 point FFT respectively, to logical The collected I/Q data of first segment constant frequency wave CW1 and second segment sawtooth wave FMCW1, A/D in road 2 chooses each section of linearity height 256 point datas, respectively carry out 256 point FFT.Wherein, linearity height should indicate that meeting is more preferable with the linearity is referred to well, the linearity Good intention is exactly the data that acquire there are certain linear relationship, and the linearity is bad, is exactly that the data of this section do not show one The features such as fixed linear relationship, what is shown is non-linear relation.In order to more accurately analyze data, so in collected number Do fft analysis in the part that only selection shows linear relationship in.
S2. the plural modulus value after each section of waveform FFT transform is done into Threshold detection, exports threshold point position.As technology Scheme it is preferred, can be with the following method: setting in channel 1, first segment constant frequency wave CW1 has n1 point to cross thresholding, then corresponding First segment constant frequency wave crosses the location matrix A of threshold pointCW1=[a1,a2,…an1], second segment sawtooth wave FMCW1 has n2 point to move into one's husband's household upon marriage Limit, then it is B that corresponding second segment sawtooth wave FMCW1, which crosses the location matrix of threshold point,FMCW1=[b1,b2,…bn2], third section constant frequency Wave CW2 has n3 point to cross thresholding, then it is C that corresponding third section constant frequency wave CW2, which crosses the location matrix of threshold point,CW2=[c1,c2,… cn3], the 4th section of sawtooth wave FMCW2 has n4 point to cross thresholding, then corresponding 4th section of sawtooth wave FMCW2 crosses the position square of threshold point Battle array is DFMCW2=[d1,d2,…dn4], if in channel 2, first segment constant frequency wave CW1 has n5 point to cross thresholding, then corresponding first segment The location matrix that constant frequency wave CW1 crosses threshold point is ECW1=[e1,e2,…en5], second segment sawtooth wave FMCW1 has n6 point to move into one's husband's household upon marriage Limit, then it is G that corresponding second segment sawtooth wave FMCW1, which crosses the location matrix of threshold point,FMCW1=[g1,g2,…gn6].If crossing thresholding Location point is equal to 1, then it is assumed that it is DC component, not as target discrimination, directly rejects the location point.
The present embodiment be describe a kind of centre frequency in 24GHz or 77GHz, and the CW signal based on the modulation of constant frequency wave with And the waveform (preferred form as above-mentioned waveform) that the FMCW signal of saw wave modulator is composed, according to modulation waveform reality A kind of signal processing method of existing automobile lane change auxiliary system.It may be implemented pair by the automobile lane change auxiliary system that this method designs Running car rear, the target in millimetre-wave radar beam coverage realize relative distance, relative velocity and deflection It resolves, simultaneously because the test problems of multiple target may be implemented using the combined waveform of constant frequency wave CW and sawtooth wave FMCW design, So that system has better accuracy, rapidity for multi-target detection, when having ensured that driver converts road in driving Safety.
Waveform Design and waveform analysis:
It is the specific waveform diagram under 24.128GHz working frequency that the present embodiment, which is given at centre frequency f, and first segment waveform is Constant frequency wave CW1, working frequency 24.128GHz, second segment waveform is the sawtooth wave FMCW1 risen, working frequency variation range To change to 24.278GHz, bandwidth 150MHz from 24.128GHz, third section is constant frequency wave CW2, and working frequency is 24278GHz, the 4th section is sawtooth wave FMCW2, and working frequency variation range is from 24.278GHz to 24.128GHz.Each section Cycle T be 5ms.Frequency variation diagram of the constant frequency wave CW and sawtooth wave FMCW within the scope of a frequency sweep cycle is as shown in Figure 1.
The reason of the present embodiment selects this to design waveform has:
(1) calculation accuracy of relative velocity and relative distance is improved.
In first segment waveform --- constant frequency wave CW1 can obtain the Doppler as caused by speed according to the characteristic of constant frequency wave Frequency values fd1, according to second segment waveform --- sawtooth wave FMCW1 can calculate the beat frequency value fo1 of target.Pass through The Doppler frequency value fd1 that one section of waveform obtains, can calculate the relative velocity v1 of target, be obtained by first segment waveform Doppler frequency value and second segment waveform obtain beat frequency value fo1, the relative distance R1 of target can be calculated.
Similarly, third section waveform --- constant frequency wave CW2 can equally obtain the Doppler frequency value fd2 of target, according to Four sections of waveforms --- sawtooth wave FMCW2 can calculate the beat frequency value fo2 of target.It is obtained by third section waveform more General Le frequency values fd2, can calculate the relative velocity v2 of target, by the 4th section of waveform obtain Doppler frequency value with And the beat frequency value fo2 that second segment waveform obtains, the relative distance R2 of target can be calculated.
Using by four sections of combined waveforms, the phase of real goal is finally obtained according to processing such as later period multiple target matching algorithms It adjusts the distance and relative velocity.
By four sections of combined waveforms, relative velocity v1 and relative velocity v2, relative distance R1 and relative distance R2 are obtained.Reason By upper, v1=v2, R1=R2, but due to factors such as the complexity of conditions for equipment use, it may cause the factors such as interference, cause There are deviation, R1 and R2 similarly there is deviation for the v1 value and v2 value of measurement, if single uses v1 or v2 as target Relative velocity, the relative velocity of R1 or R2 as target can all cause to obtain the inaccurate of target relative velocity and distance True property.It is (R, V) space diagram of single goal such as Fig. 2, it can be seen from the figure that four straight lines determine an intersection point, it is obtained The accuracy of relative distance value and relative velocity is higher than relative distance value and relative velocity that two straight lines determine, together When, though have a wave band calculate value is relatively inaccurate, the relative distance value and relative velocity that other three straight lines determine, Also can the relative distance value that determines of two straight lines of strong mistake and relative velocity so that system have certain anti-interference ability and Robust property.Therefore, it by four wave bands, can effectively improve to target velocity and apart from the accuracy of resolving, simultaneously Make system that there is jamproof ability and robust property;
(2) due to using four sections of waveforms, multi-target detection function may be implemented, and can detecte out real goal, goes Except false target.
Since the relative velocity and relative distance of real goal are unrelated with frequency modulation cycle T, and the distance of false target and speed Degree calculated value and frequency modulation cycle T have relationship.So in different cycles, true value is to deposit always for real goal , and in different cycles falseness value changed with cycle T.It is (R, V) space diagram of multiple target such as Fig. 3.It can be with from Fig. 2 To find out, four wave bands can more accurately obtain the relative distance and relative velocity of a target, from figure 3, it can be seen that The detection to multiple target may be implemented using four sections of waveforms, can simultaneously be effectively real goal detected, get rid of void Decoy.
It is proved by two as above, waveform designed by the present embodiment can be effectively improved to target relative distance value With the accuracy of the resolving of relative velocity, while making system with noiseproof feature and there is robust property, while it can Multiple target is effectively detected, and real goal can be effectively obtained, get rid of false target.
Embodiment 2:With technical solution same as Example 1, more specifically: the method also includes steps: S3. the Doppler frequency value of constant frequency section is calculated, thus obtains Doppler frequency matrix.
Embodiment 3:With technical solution identical with embodiment 1 or 2, more specifically: the method also includes steps Rapid: the beat frequency value of sawtooth wave band is calculated in S4., thus obtains beat frequency matrix.
Embodiment 4:With technical solution identical with any one of embodiment 1-3, more specifically: further comprising the steps of: S5. according to obtained Doppler frequency value, relative velocity matrix is calculated.As a preferred option of the technical scheme, it is calculated according to each section The Doppler frequency value matrix arrived, calculates the rate matrices of target method particularly includes: calculating speed formula isWherein, c is the light velocity, c=3 × 108, f is center frequency f=24.128GHz.According to first segment The Doppler frequency matrix F A that constant frequency wave CW1 is obtainedCW1=[fda1,fda2,…fdan1], obtaining its rate matrices is VACW1= [va1,va2,…van1], the Doppler frequency matrix F C obtained according to second segment constant frequency wave CW2CW1=[fdc1,fdc2,…fdcn3], Obtaining its rate matrices is VCCW1=[vc1,vc2,…vcn3]。
Embodiment 5:With technical solution identical with any one of embodiment 1-4, more specifically: further comprising the steps of: S6. according to the Doppler frequency matrix and beat frequency matrix being calculated, relative distance matrix is calculated.
Embodiment 6:With technical solution identical with any one of embodiment 1-5, more specifically: this method further includes Step: azimuthal calculating of S9. progress multiple target.
Embodiment 7:With technical solution identical with any one of embodiment 1-6, more specifically: further comprising the steps of: S7. the actual distance of multiple target is searched
Embodiment 8:With technical solution identical with any one of embodiment 1-7, more specifically: further comprising the steps of: S8. the matching for carrying out the corresponding velocity amplitude of actual distance value of multiple target and/or S10. are according to the actual distance of multiple target Value carries out the matching at Direction-of-Arrival angle.
Embodiment 9:With technical solution identical with any one of embodiment 1-8, more specifically: constant frequency is calculated The Doppler frequency value of section comprises the concrete steps that: in channel 1, first segment constant frequency wave CW crosses the location matrix A of threshold pointCW1= [a1,a2,…an1], the Doppler frequency value in corresponding points is calculated according to following rule, obtaining Doppler frequency matrix is FACW1 =[fda1,fda2,…fdan1], similarly, in channel 1, third section constant frequency wave CW2 crosses the location matrix C of threshold pointCW2= [c1,c2,…cn3], the Doppler frequency value in corresponding points is calculated according to following rule, obtaining Doppler frequency matrix is FCCW1 =[fdc1,fdc2,…fdcn3]。
The rule is, if points are 1≤xi≤ 128 (1≤i≤n), judge gtoal setting, the Doppler in corresponding points If frequency points are 128 < xi≤ 256 (1≤i≤n), judge that target is separate, corresponding points On Doppler frequency
Embodiment 10:With the identical technical solution of any one of embodiment 1-9, more specifically: sawtooth is calculated The beat frequency value of wave band comprises the concrete steps that: in the channel 1, second segment sawtooth wave FMCW1 crosses the location matrix B of threshold pointFMCW1 =[b1,b2,…bn2], the beat frequency matrix F B in corresponding points is calculated according to following ruleFMCW1=[fob1,fob2,… fobn2], similarly, in channel 1, the 4th section of sawtooth wave FMCW2 crosses the location matrix D of threshold pointFMCW2=[d1,d2,…dn4], The beat frequency matrix F D in corresponding points is calculated according to following ruleFMCW1=[fod1,fod2,…fodn4]。
The rule is that even points are 1≤yj≤ 128 (1≤j≤n), if the beat frequency value points in corresponding points are 128 < yj≤ 256 (1≤j≤n), the beat frequency value in corresponding points
Embodiment 11:With the identical technical solution of any one of embodiment 1-10, more specifically: according to being calculated Doppler frequency matrix and beat frequency matrix, be calculated comprising the concrete steps that for relative distance matrix: calculating range formula ForWherein, T is the action time of each section of waveform, and T=5ms, B are modulating bandwidth, B=150MHz, fd For Doppler frequency value, fo is beat frequency value.
According to the Doppler frequency matrix F A that in channel 1, first segment constant frequency wave CW1 is obtainedCW1=[fda1,fda2,… fdan1] and the obtained beat frequency matrix F B of second segment sawtooth wave FMCW1FMCW1=[fob1,fob2,…fobn2], by Doppler's square All elements in battle array in all elements and beat frequency matrix carry out pairing one by one and calculate relative distance matrix, and phase is calculated Matrix of adjusting the distance isWherein raibj(1≤i≤n1,1≤j≤n2), expression are by The beat frequency that i-th of element and second segment sawtooth wave FMCW1 are obtained in the Doppler frequency matrix that one section of constant frequency wave CW1 is obtained J-th of element carries out calculated distance value in matrix.Similarly, the Doppler frequency obtained for second segment constant frequency wave CW2 Matrix F CCW1=[fdc1,fdc2,…fdcn3] and the obtained beat frequency matrix F D of the 4th section of sawtooth wave FMCW2FMCW2=[fod1, fod2,…fodn4], above-mentioned processing is equally carried out, finally obtaining relative distance matrix isIts Middle rcicj(1≤i≤n3,1≤j≤n4), expression are i-th in the Doppler frequency matrix obtained by third section constant frequency wave CW2 J-th of element carries out calculated distance value in the beat frequency matrix that element and the 4th section of sawtooth wave FMCW2 are obtained.
Embodiment 12:With the identical technical solution of any one of embodiment 1-11, more specifically: carrying out multiple target Azimuthal calculating comprises the concrete steps that:
(1) the corresponding phase value of each threshold point excessively is calculated first.
In channel 1, first segment constant frequency wave CW1 crosses the location matrix A of threshold pointCW1=[a1,a2,…an1], according to following meter Calculation method calculates the phase value in corresponding points, and obtaining phasing matrix is ψ ACW1=[ψa1a2,…ψan1], in channel 1, second segment Sawtooth wave FMCW1 crosses the location matrix B of threshold pointFMCW1=[b1,b2,…bn2], it is calculated in corresponding points according to following calculation method Beat frequency value ψ BFMCW1=[ψb1b2,…ψbn2].In channel 2, first segment constant frequency wave CW2 crosses the location matrix of threshold point ECW1=[e1,e2,…en5], the phase value in corresponding points is calculated according to following calculation method, obtaining phasing matrix is ψ ECW1= [ψe1e2,…ψen5], in channel 2, second segment sawtooth wave FMCW1 crosses the location matrix G of threshold pointFMCW1=[g1,g2,…gn6], The beat frequency value ψ G in corresponding points is calculated according to following calculation methodFMCW1=[ψg1g2,…ψgn6]。
Wherein, the method for calculating phase is, after each section of waveshape FFT, obtains the matrix of respective complex values.According to multiple The method that several characteristics seeks phase value is, it is assumed that plural number is c=a+j*b=cos θ+j*sin θ, then? To the phase value of plural number
(2) phase difference is calculated.
The phase difference between the first segment constant frequency wave CW1 in channel 1 and the first segment constant frequency wave CW2 in channel 2 is calculated, phase is obtained Potential difference matrix isCalculate channel 1 second segment sawtooth wave FMCW1 and Phase difference between the second segment sawtooth wave FMCW1 in channel 2, obtaining phase difference matrix is
The calculation formula of specific phase difference are as follows:
(3) computer azimuth angle.
After obtaining phase difference matrix, according to formula orientation angle formula,Wherein, d=7.5mm is antenna Spacing, λ=12.4mm.
Calculate the azimuth between the first segment constant frequency wave CW1 in channel 1 and the first segment constant frequency wave CW2 in channel 2, the side of obtaining Parallactic angle matrix isCalculate channel 1 second segment sawtooth wave FMCW1 and channel 2 the Azimuth between two sections of sawtooth wave FMCW1, obtaining phase difference matrix is
Embodiment 13:With the identical technical solution of any one of embodiment 1-12, more specifically: searching multiple target Actual distance comprises the concrete steps that:
(1) due to the beat frequency of the first segment constant frequency wave CW1 doppler values obtained and second segment sawtooth wave FMCW1 acquisition It is one-to-one, that is,In the first row of relative distance matrix, only one A value is target apart from true value, and other distance values are produced since the beat frequency value of doppler values and mistake matches The distance value of raw false target.Similarly, the doppler values and the 4th section of sawtooth wave obtained for third section constant frequency wave CW2 The beat frequency value that FMCW2 is obtained is also one-to-one.
(2) since the value of real goal is unrelated with the period, and the value of false target is related with the period, that is, In relative distance matrix RABAnd RCDMatrix in, the distance value of real goal be it is equal, the distance value of false target is complete Different.As long as finding equidistant value in two matrixes, for the distance value of real goal.
(3) due to relative distance matrix RABWith relative distance matrix RCDDimension there may be differences, this is because, When carrying out over-threshold detection, each wave band is crossed caused by target points detected after thresholding have a certain difference.Place The principle of reason is, with relative distance matrix RABWith relative distance matrix RCDLine number and the sum of columns for the smallest matrix be base Standard carries out the lookup apart from true value.
(4) in relative distance matrix RABWith relative distance matrix RCDIn when find one apart from true value, it is true to record it The row value and train value of matrix where value, meanwhile, by the true value of acquisition the value of row and column in a matrix all get rid of, successively The lookup for carrying out whole true value, until the matrix dimension as benchmark is 0.
Embodiment 14:With technical solution identical with any one of embodiment 1-13, more specifically:
Velocity amplitude is matched to be comprised the concrete steps that: using the line number value where the actual distance value found, as relative velocity Matrix V ACW1=[va1,va2,…van1] or VCCW1=[vc1,vc2,…vcn3] matrix column numerical value, find real goal distance The corresponding velocity amplitude of value, then completes the matching of the distance and speed of real goal in this way;
Azimuth is matched to be comprised the concrete steps that: according to obtaining in the 7th step, in relative distance matrix RABIn to find distance true When value, while the row value and train value of target true value place relative distance matrix are recorded, in relative velocity matrix V ACW1In look for When to speed true value, relative velocity matrix column value is recorded.Using the row value where the actual distance value found, to orientation Angular moment battle array θAEMutually all azimuth values in colleague and the train value where true velocity value, azimuthal matrix θBGIdentical numerical value Row in all azimuth values, search same orientation angle value, after finding deflection corresponding to target, record the direction The row value and train value of matrix where angle, meanwhile, by θAEAnd θBGAcquisition deflection institute in a matrix, the value of corresponding row and column It all gets rid of, according to relative distance matrix RABIn, the line number where real goal successively carries out looking into for target corresponding direction angle It looks for, until finding out the corresponding deflection of all real goals.
This gives a kind of combined waveform design schemes of achievable multi-target detection, give simultaneously, can be real The theory analysis of existing multi-target detection, for providing a kind of Waveform Design when designing other waveforms realization multi-target detection Thinking;
The inspection of the relative distance and relative velocity to multiple target may be implemented in lane change auxiliary system designed by the present embodiment It surveys, while the detection function at target direction angle may be implemented, realize to the differentiation on multiple target dimensional orientation.
This gives detailed signal processings, resolving, relative distance solution including multiple target relative velocity It calculates, the calculating of the matching process, phase difference of the relative distance and relative velocity of real goal, the resolving of deflection, Yi Jizhen Treatment processes and the correlation formulas such as the matching process at real target direction angle.The part mentions design lane change auxiliary system personnel A kind of signal processing method is supplied.
Embodiment 15:A kind of signal processing method of the combined waveform automobile lane change auxiliary system of multi-target detection, it is described Waveform includes first segment constant frequency wave CW1, second segment sawtooth wave FMCW1, third section constant frequency wave CW2, the 4th section of sawtooth wave FMCW2, Method includes the following steps:
S1. to each section of waveform, the collected I/Q data of A/D carries out FFT calculating;
S2. the plural modulus value after each section of waveform FFT transform is done into Threshold detection, exports threshold point position;
S3. the Doppler frequency value of constant frequency section is calculated.
S4. the beat frequency value of sawtooth wave band is calculated.
S5. according to obtained Doppler frequency value, relative velocity matrix is calculated.
S6. according to the Doppler frequency matrix and beat frequency matrix being calculated, relative distance matrix is calculated.
S7. the actual distance of multiple target is searched
S8. the matching of the corresponding velocity amplitude of the actual distance value of progress multiple target and/or S10. are according to multiple target Actual distance value carries out the matching at Direction-of-Arrival angle.
S9. azimuthal calculating of multiple target is carried out.
Embodiment 16:A kind of signal processing method of the combined waveform automobile lane change auxiliary system of multi-target detection, it is described Waveform includes first segment constant frequency wave CW1, second segment sawtooth wave FMCW1, third section constant frequency wave CW2, the 4th section of sawtooth wave FMCW2, Method includes the following steps:
S1. to each section of waveform, the collected I/Q data of A/D carries out FFT calculating: to the first segment constant frequency wave in channel 1 CW1, second segment sawtooth wave FMCW1, third section CW2 and the 4th section of collected I/Q data of sawtooth wave FMCW2, A/D choose each section 256 high point datas of the linearity carry out 256 point FFT, to the first segment constant frequency wave CW1 and second segment sawtooth wave in channel 2 respectively The collected I/Q data of FMCW1, A/D chooses 256 high point datas of each section of linearity, carries out 256 point FFT respectively;
S2. the plural modulus value after each section of waveform FFT transform is done into Threshold detection, exported threshold point position: setting channel 1 In, first segment constant frequency wave CW1 has n1 point to cross thresholding, then it is A that corresponding first segment constant frequency wave, which crosses the location matrix of threshold point,CW1= [a1,a2,…an1], second segment sawtooth wave FMCW1 has n2 point to cross thresholding, then corresponding second segment sawtooth wave FMCW1 crosses threshold point Location matrix be BFMCW1=[b1,b2,…bn2], third section constant frequency wave CW2 has n3 point to cross thresholding, then corresponding third Duan Heng The location matrix that frequency wave CW2 crosses threshold point is CCW2=[c1,c2,…cn3], the 4th section of sawtooth wave FMCW2 has n4 point to cross thresholding, It is D that then corresponding 4th section of sawtooth wave FMCW2, which crosses the location matrix of threshold point,FMCW2=[d1,d2,…dn4], if in channel 2, the One section of constant frequency wave CW1, has n5 point to cross thresholding, then it is E that corresponding first segment constant frequency wave CW1, which crosses the location matrix of threshold point,CW1= [e1,e2,…en5], second segment sawtooth wave FMCW1 has n6 point to cross thresholding, then corresponding second segment sawtooth wave FMCW1 crosses threshold point Location matrix be GFMCW1=[g1,g2,…gn6].If the location point for crossing thresholding is equal to 1, then it is assumed that it is DC component, is not made For target discrimination, the location point is directly rejected;
S3. the Doppler frequency value of constant frequency section is calculated: in channel 1, first segment constant frequency wave CW crosses the position of threshold point Matrix ACW1=[a1,a2,…an1], the Doppler frequency value in corresponding points is calculated according to following rule, obtains Doppler frequency square Battle array is FACW1=[fda1,fda2,…fdan1], similarly, in channel 1, third section constant frequency wave CW2 crosses the position square of threshold point Battle array CCW2=[c1,c2,…cn3], the Doppler frequency value in corresponding points is calculated according to following rule, obtains Doppler frequency matrix For FCCW1=[fdc1,fdc2,…fdcn3]。
The rule is, if points are 1≤xi≤ 128 (1≤i≤n), judge gtoal setting, the Doppler in corresponding points If frequency points are 128 < xi≤ 256 (1≤i≤n), judge that target is separate, corresponding points On Doppler frequency
S4. the beat frequency value of sawtooth wave band is calculated: in channel 1, second segment sawtooth wave FMCW1 crosses the position of threshold point Set matrix BFMCW1=[b1,b2,…bn2], the beat frequency matrix F B in corresponding points is calculated according to following ruleFMCW1=[fob1, fob2,…fobn2], similarly, in channel 1, the 4th section of sawtooth wave FMCW2 crosses the location matrix D of threshold pointFMCW2=[d1, d2,…dn4], the beat frequency matrix F D in corresponding points is calculated according to following ruleFMCW1=[fod1,fod2,…fodn4]。
The rule is that even points are 1≤yj≤ 128 (1≤j≤n), if the beat frequency value points in corresponding points are 128 < yj≤ 256 (1≤j≤n), the beat frequency value in corresponding points
S5. according to obtained Doppler frequency value, calculate relative velocity matrix: calculating speed formula isWherein, c is the light velocity, c=3 × 108, f is center frequency f=24.128GHz.According to first segment The Doppler frequency matrix F A that constant frequency wave CW1 is obtainedCW1=[fda1,fda2,…fdan1], obtaining its relative velocity matrix is VACW1 =[va1,va2,…van1], the Doppler frequency matrix F C obtained according to second segment constant frequency wave CW2CW1=[fdc1,fdc2,… fdcn3], obtaining its relative velocity matrix is VCCW1=[vc1,vc2,…vcn3]。
S6. according to the Doppler frequency matrix and beat frequency matrix being calculated, relative distance matrix is calculated: meter Calculating range formula isWherein, T is the action time of each section of waveform, and T=5ms, B are modulating bandwidth, B =150MHz, fd are Doppler frequency value, and fo is beat frequency value.According in channel 1, first segment constant frequency wave CW1 obtains more General Le frequency matrix FACW1=[fda1,fda2,…fdan1] and the obtained beat frequency matrix F B of second segment sawtooth wave FMCW1FMCW1 =[fob1,fob2,…fobn2], all elements in all elements in Doppler matrix and beat frequency matrix are carried out one by one Pairing calculates relative distance matrix, and relative distance matrix, which is calculated, isWherein raibj(1≤i≤n1,1≤j≤n2), expression are i-th yuan in the Doppler frequency matrix obtained by first segment constant frequency wave CW1 J-th of element carries out calculated distance value in the beat frequency matrix that element is obtained with second segment sawtooth wave FMCW1.Similarly, The Doppler frequency matrix F C obtained for second segment constant frequency wave CW2CW1=[fdc1,fdc2,…fdcn3] and the 4th section of sawtooth wave The beat frequency matrix F D that FMCW2 is obtainedFMCW2=[fod1,fod2,…fodn4], above-mentioned processing is equally carried out, is finally obtained opposite Distance matrix isWherein rcicj(1≤i≤n3,1≤j≤n4), expression are by The beat frequency that i-th of element and the 4th section of sawtooth wave FMCW2 are obtained in the Doppler frequency matrix that three sections of constant frequency wave CW2 are obtained J-th of element carries out calculated distance value in matrix;
S7. the actual distance of multiple target is searched:
(1) due to the beat frequency of the first segment constant frequency wave CW1 doppler values obtained and second segment sawtooth wave FMCW1 acquisition It is one-to-one, that is,In the first row of relative distance matrix, only one A value is target apart from true value, and other distance values are produced since the beat frequency value of doppler values and mistake matches The distance value of raw false target.Similarly, the doppler values and the 4th section of sawtooth wave obtained for third section constant frequency wave CW2 The beat frequency value that FMCW2 is obtained is also one-to-one.
(2) since the value of real goal is unrelated with the period, and the value of false target is related with the period, that is, In relative distance matrix RABAnd RCDMatrix in, the distance value of real goal be it is equal, the distance value of false target is complete Different.As long as finding equidistant value in two matrixes, for the distance value of real goal.
(3) due to relative distance matrix RABWith relative distance matrix RCDDimension there may be differences, this is because, When carrying out over-threshold detection, each wave band is crossed caused by target points detected after thresholding have a certain difference.Place The principle of reason is, with relative distance matrix RABWith relative distance matrix RCDLine number and the sum of columns for the smallest matrix be base Standard carries out the lookup apart from true value.
(4) in relative distance matrix RABWith relative distance matrix RCDIn when find one apart from true value, it is true to record it The row value and train value of matrix where value, meanwhile, by the true value of acquisition the value of row and column in a matrix all get rid of, successively The lookup for carrying out whole true value, until the matrix dimension as benchmark is 0.
S8. the matching of the corresponding velocity amplitude of the actual distance value of progress multiple target and/or S10. are according to multiple target Actual distance value carries out the matching at Direction-of-Arrival angle:
Velocity amplitude matching: using the line number value where the actual distance value found, as relative velocity matrix V ACW1= [va1,va2,…van1] or VCCW1=[vc1,vc2,…vcn3] matrix column numerical value, it finds corresponding to real goal distance value Velocity amplitude then completes the matching of the distance and speed of real goal in this way;
Azimuth matching: in relative distance matrix RABIn when find apart from true value, while where recording target true value The row value and train value of relative distance matrix, in relative velocity matrix V ACW1In when find speed true value, record relative velocity Matrix column value.Utilize the row value where the actual distance value found, azimuthal matrix θAEMutually all azimuths in colleague Train value where value and true velocity value, azimuthal matrix θAEAll azimuth values in the row of identical numerical value are searched identical Azimuthal value, after finding deflection corresponding to target, the row value and train value of matrix where record direction angle, meanwhile, By θAEAnd θBGIn a matrix, the value of corresponding row and column is all got rid of, according to relative distance matrix R for the deflection institute of acquisitionAB In, the line number where real goal successively carries out the lookup at target corresponding direction angle, corresponding until finding out all real goals Deflection.
S9. azimuthal calculating of multiple target is carried out:
(1) the corresponding phase value of each threshold point excessively is calculated first.
In channel 1, first segment constant frequency wave CW1 crosses the location matrix A of threshold pointCW1=[a1,a2,…an1], according to following meter Calculation method calculates the phase value in corresponding points, and obtaining phasing matrix is ψ ACW1=[ψa1a2,…ψan1], in channel 1, second segment Sawtooth wave FMCW1 crosses the location matrix B of threshold pointFMCW1=[b1,b2,…bn2], it is calculated in corresponding points according to following calculation method Beat frequency value ψ BFMCW1=[ψb1b2,…ψbn2].In channel 2, first segment constant frequency wave CW2 crosses the location matrix of threshold point ECW1=[e1,e2,…en5], the phase value in corresponding points is calculated according to following calculation method, obtaining phasing matrix is ψ ECW1= [ψe1e2,…ψen5], in channel 2, second segment sawtooth wave FMCW1 crosses the location matrix G of threshold pointFMCW1=[g1,g2,…gn6], The beat frequency value ψ G in corresponding points is calculated according to following calculation methodFMCW1=[ψg1g2,…ψgn6]。
Wherein, the method for calculating phase is, after each section of waveshape FFT, obtains the matrix of respective complex values.According to multiple The method that several characteristics seeks phase value is, it is assumed that plural number is c=a+j*b=cos θ+j*sin θ, then Obtain the phase value of plural number
(2) phase difference is calculated.
The phase difference between the first segment constant frequency wave CW1 in channel 1 and the first segment constant frequency wave CW2 in channel 2 is calculated, phase is obtained Potential difference matrix isCalculate channel 1 second segment sawtooth wave FMCW1 and Phase difference between the second segment sawtooth wave FMCW1 in channel 2, obtaining phase difference matrix is
The calculation formula of specific phase difference are as follows:
(3) computer azimuth angle.
After obtaining phase difference matrix, according to formula orientation angle formula,Wherein, d=7.5mm is antenna Spacing, λ=12.4mm.
Calculate the azimuth between the first segment constant frequency wave CW1 in channel 1 and the first segment constant frequency wave CW2 in channel 2, the side of obtaining Parallactic angle matrix isCalculate channel 1 second segment sawtooth wave FMCW1 and channel 2 the Azimuth between two sections of sawtooth wave FMCW1, obtaining phase difference matrix is
Embodiment 17: a kind of automobile lane change auxiliary system executes more mesh described in any one of embodiment 1-16 technical solution Mark the signal processing method of the combined waveform automobile lane change auxiliary system of detection.
The selection of parameter involved in the group and waveform and waveform of constant frequency wave and sawtooth wave designed by the present embodiment is not limited to The parameter disclosed in the present embodiment, those skilled in the art can choose different design parameters according to concrete application scene, or It is to be improved to waveform;Within the technical scope of the present disclosure, according to the technical scheme of the invention and its inventive conception It is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.

Claims (12)

1. a kind of signal processing method of the combined waveform automobile lane change auxiliary system of multi-target detection, it is characterised in that: described Waveform includes first segment constant frequency wave CW1, second segment sawtooth wave FMCW1, third section constant frequency wave CW2, the 4th section of sawtooth wave FMCW2, Method includes the following steps:
S1. to each section of waveform, the collected I/Q data of A/D carries out FFT calculating;
S2. the plural modulus value after each section of waveform FFT transform is done into Threshold detection, exports threshold point position;
The signal processing method also has the step of actual distance for searching multiple target: with relative distance matrix RABWith it is opposite away from From matrix RCDLine number and the sum of columns to carry out the lookup apart from true value on the basis of the smallest matrix;In relative distance matrix RABWith relative distance matrix RCDIn when find one apart from true value, the row value and train value of matrix where recording its true value, together When, by the true value of acquisition the value of row and column in a matrix all get rid of, successively carry out the lookup of whole true value, Zhi Daozuo On the basis of matrix dimension be 0 until;The method that relative distance matrix is calculated is: calculating range formula isWherein, T is the action time of each section of waveform, and B is modulating bandwidth, and fd is Doppler frequency value, and fo is Beat frequency value;
According to the Doppler frequency matrix F A that in channel 1, first segment constant frequency wave CW1 is obtainedCW1=[fda1,fda2,…fdan1] and the The beat frequency matrix F B that two sections of sawtooth wave FMCW1 are obtainedFMCW1=[fob1,fob2,…fobn2], it will be in Doppler frequency matrix All elements in all elements and beat frequency matrix carry out pairing one by one and calculate relative distance matrix, be calculated it is opposite away from It is from matrixWherein raibj, 1≤i≤n1,1≤j≤n2, expression is by first segment The beat frequency matrix that i-th of element and second segment sawtooth wave FMCW1 are obtained in the Doppler frequency matrix that constant frequency wave CW1 is obtained In j-th element carry out calculated distance value;The Doppler frequency matrix F C obtained for third section constant frequency wave CW2CW2= [fdc1,fdc2,…fdcn3] and the obtained beat frequency matrix F D of the 4th section of sawtooth wave FMCW2FMCW2=[fod1,fod2,… fodn4], above-mentioned processing is equally carried out, finally obtaining relative distance matrix isWherein rcicj, 1≤i≤n3,1≤j≤n4, expression is i-th of element in the Doppler frequency matrix obtained by third section constant frequency wave CW2 J-th of element carries out calculated distance value in the beat frequency matrix obtained with the 4th section of sawtooth wave FMCW2.
2. the method as described in claim 1, which is characterized in that further comprise the steps of: Doppler's frequency that constant frequency section is calculated in S3. Rate value.
3. method according to claim 2, which is characterized in that further comprise the steps of: the difference frequency frequency that sawtooth wave band is calculated in S4. Rate value.
4. method as claimed in claim 2 or claim 3, which is characterized in that further comprise the steps of: S5. according to obtained Doppler frequency Value calculates relative velocity matrix.
5. method as claimed in claim 3, which is characterized in that further comprise the steps of: S6. according to the Doppler frequency being calculated Matrix and beat frequency matrix, are calculated relative distance matrix.
6. method as claimed in claim 5, which is characterized in that further comprise the steps of: azimuthal meter that S9. carries out multiple target It calculates.
7. such as method described in claim 5 or 6, which is characterized in that the step of searching the actual distance of multiple target is S7. lookup The actual distance of multiple target.
8. the method for claim 7, which is characterized in that further comprise the steps of: S8. carry out multiple target actual distance value with The matching of its corresponding velocity amplitude and/or S10. carry out the matching at Direction-of-Arrival angle according to the actual distance value of multiple target.
9. method according to claim 2, which is characterized in that the method that the Doppler frequency value of constant frequency section is calculated is: In channel 1, first segment constant frequency wave CW1 crosses the location matrix A of threshold pointCW1=[a1,a2,…an1], according to following rule calculating pair The Doppler frequency value that should be put, obtaining Doppler frequency matrix is FACW1=[fda1,fda2,…fdan1];For in channel 1, Third section constant frequency wave CW2 crosses the location matrix C of threshold pointCW2=[c1,c2,…cn3], it is calculated in corresponding points according to following rule Doppler frequency value, obtaining Doppler frequency matrix is FCCW2=[fdc1,fdc2,…fdcn3];
The rule is, if points are 1≤xi≤ 128,1≤i≤n judge gtoal setting, the Doppler frequency in corresponding points1≤i≤n;If points are 128 < xi≤ 256,1≤i≤n judge that target is separate, more in corresponding points General Le frequency1 < i≤n.
10. method as claimed in claim 3, which is characterized in that the method that the beat frequency value of sawtooth wave band is calculated is: In channel 1, second segment sawtooth wave FMCW1 crosses the location matrix B of threshold pointFMCW1=[b1,b2,…bn2], it is counted according to following rule Calculate the beat frequency matrix F B in corresponding pointsFMCW1=[fob1,fob2,…fobn2], in channel 1, the 4th section of sawtooth wave FMCW2 crosses the location matrix D of threshold pointFMCW2=[d1,d2,…dn4], the beat frequency in corresponding points is calculated according to following rule Matrix F DFMCW2=[fod1,fod2,…fodn4];
The rule is that even points are 1≤yj≤ 128,1≤j≤n, the beat frequency value in corresponding points 1≤j≤n;If points are 128 < yj≤ 256,1≤j≤n, the beat frequency value in corresponding points1 < j≤n.
11. method as claimed in claim 6, which is characterized in that azimuthal calculation method of multiple target is:
(1) the corresponding phase value of each threshold point excessively is calculated first
In channel 1, first segment constant frequency wave CW1 crosses the location matrix A of threshold pointCW1=[a1,a2,…an1], according to following calculating side Method calculates the phase value in corresponding points, and obtaining phasing matrix is ψ ACW1=[ψa1a2,…ψan1];
In channel 1, second segment sawtooth wave FMCW1 crosses the location matrix B of threshold pointFMCW1=[b1,b2,…bn2], according to following meter Calculation method calculates the beat frequency value ψ B in corresponding pointsFMCW1=[ψb1b2,…ψbn2];
In channel 2, first segment constant frequency wave CW1 crosses the location matrix E of threshold pointCW1=[e1,e2,…en5], according to following calculating side Method calculates the phase value in corresponding points, and obtaining phasing matrix is ψ ECW1=[ψe1e2,…ψen5];
In channel 2, second segment sawtooth wave FMCW1 crosses the location matrix G of threshold pointFMCW1=[g1,g2,…gn6], according to following meter Calculation method calculates the beat frequency value ψ G in corresponding pointsFMCW1=[ψg1g2,…ψgn6];
Wherein, the method for calculated phase values is after each section of waveshape FFT, the matrix of respective complex values to be obtained, according to plural number The characteristic method of seeking phase value be, it is assumed that plural number is c=a+j*b=cos θ+j*sin θ, thenIt obtains The phase value of plural number
(2) phase difference is calculated
The phase difference between the first segment constant frequency wave CW1 in channel 1 and the first segment constant frequency wave CW2 in channel 2 is calculated, phase difference is obtained Matrix isCalculate second segment sawtooth wave FMCW1 and the channel 2 in channel 1 Second segment sawtooth wave FMCW1 between phase difference, obtaining phase difference matrix is
The calculation formula of specific phase difference are as follows: 1≤i≤n1,1≤j≤n5;
(3) computer azimuth angle
After obtaining phase difference matrix, according to formula orientation angle formula,Wherein, d is antenna spacing, and λ is wave It is long;
The azimuth between the first segment constant frequency wave CW1 in channel 1 and the first segment constant frequency wave CW1 in channel 2 is calculated, azimuth is obtained Matrix isCalculate the second segment sawtooth wave FMCW1 in channel 1 and the second segment in channel 2 Azimuth between sawtooth wave FMCW1, obtaining phase difference matrix is
12. a kind of automobile lane change auxiliary system, which is characterized in that perform claim requires described in any one of 1-11 claim The signal processing method of the combined waveform automobile lane change auxiliary system of multi-target detection.
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