CN108267721A - Radar and the vehicles - Google Patents
Radar and the vehicles Download PDFInfo
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- CN108267721A CN108267721A CN201611264053.XA CN201611264053A CN108267721A CN 108267721 A CN108267721 A CN 108267721A CN 201611264053 A CN201611264053 A CN 201611264053A CN 108267721 A CN108267721 A CN 108267721A
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Classifications
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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
- G01S7/03—Details of HF subsystems specially adapted therefor, e.g. common to transmitter and receiver
-
- 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
- G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
-
- 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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- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention discloses a kind of radar and the vehicles.Wherein, which includes：At least one transmitting antenna, for electromagnetic signals, to detect the object around the vehicles, wherein, the wavelength band of electromagnetic wave signal is millimeter wave frequency band；At least one reception antenna, for receiving through the reflected echo-signal of object around the vehicles, the wavelength band of echo-signal is millimeter wave frequency band；Wherein, at least one transmitting antenna is arranged in a plane at least one reception antenna, so that radar generates dimensional radar image after the object around the detection vehicles.The present invention solves and by weather is influenced the technical issues of big when obtaining the 3 d image data of environment surrounding automobile as sensor using laser radar in the relevant technologies.
Description
Technical field
The present invention relates to field of radar, in particular to a kind of radar and the vehicles.
Background technology
Using vehicle-mounted sensor, the 3-D view number of motor vehicle environment is acquired and analyzed at any time in the process of moving
According to, so as to allow in advance driver perceive may generation danger, the comfortableness and security of car steering can be effectively increased.
Prior art mainly perceives environment surrounding automobile with laser radar.Its technical principle is swashed by multi-thread
Light device monitors motor vehicle environment object in real time, forms high-precision high real-time three-dimensional point cloud, rebuilds environment surrounding automobile, from
And realize the functions such as lane departur warning, front truck anticollision, pedestrian detection.However obtain automobile week using laser radar as sensor
The 3 d image data in collarette border, has a disadvantage in that：Under the environment such as dense fog, sleet, laser radar performance is severely impacted.
It is expensive, by taking the HDL-64E of Velodyne as an example, nearly million RMB of price (2016 year summer)
For it is above-mentioned the problem of, currently no effective solution has been proposed.
Invention content
An embodiment of the present invention provides a kind of radar and the vehicles, at least solve in the relevant technologies using laser radar as
When sensor obtains the 3 d image data of environment surrounding automobile the technical issues of big is influenced by weather.
One side according to embodiments of the present invention provides a kind of radar, including：At least one transmitting antenna, is used for
Electromagnetic signals, to detect the object around the vehicles, wherein, the wavelength band of above-mentioned electromagnetic wave signal is millimeter
Wave frequency section；At least one reception antenna, for receiving through the reflected echo-signal of object around the above-mentioned vehicles,
The wavelength band of above-mentioned echo-signal is millimeter wave frequency band, wherein, above-mentioned at least one transmitting antenna at least one connects with above-mentioned
Antenna alignment is received into a plane, so that above-mentioned radar generates three-dimensional radar after the object around the above-mentioned vehicles is detected
Image.
Further, above-mentioned at least one transmitting antenna is arranged in a plane packet with above-mentioned at least one reception antenna
It includes：It is arranged between above-mentioned at least one transmitting antenna according to the first preset distance；And/or between above-mentioned at least one reception antenna
It is arranged according to the second preset distance.
Further, above-mentioned radar further includes：Radio-frequency module, with above-mentioned at least one transmitting antenna and above-mentioned at least one
Reception antenna couples, for handling the electromagnetic wave signal of above-mentioned at least one transmitting antenna transmitting and above-mentioned at least one reception day
The echo-signal that line receives.
Further, above-mentioned radio-frequency module includes：Voltage controlled oscillator emits signal, and above-mentioned transmitting is believed for generating
Number above-mentioned at least one transmitting antenna is transmitted to, so that above-mentioned at least one transmitting antenna electromagnetic signals.
Further, above-mentioned radio-frequency module includes：Multiple first power amplifiers, are coupled respectively to above-mentioned voltage controlled oscillator
Each transmitting antenna in emitting with above-mentioned at least one transmitting antenna, for the transmitting signal generated to above-mentioned voltage controlled oscillator
Amplify and emit amplified transmitting signal transmission to above-mentioned each transmitting antenna；Multiple second power amplifiers, point
Each reception antenna that Ou Hezhi be in frequency mixer and above-mentioned at least one reception antenna, for above-mentioned at least one reception day
The echo-signal that line receives is amplified, and amplified echo-signal is transmitted to above-mentioned frequency mixer；Above-mentioned frequency mixer, it is and upper
Voltage controlled oscillator coupling is stated, it is amplified for the transmitting signal for generating above-mentioned voltage controlled oscillator and through above-mentioned power amplifier
The echo-signal mixing that above-mentioned at least one reception antenna receives, the echo data after being mixed.
Further, above-mentioned radar further includes：Signal processing module is coupled with above-mentioned radio-frequency module, for receiving and locating
Manage the echo data after above-mentioned frequency mixer mixing.
Further, above-mentioned signal processing module includes：Transformation submodule, for by above-mentioned frequency mixer be mixed after echo
Data are by progress Fourier transformation at the first time, the first echo data after being converted；Computational submodule, for according to above-mentioned
The first echo data after transformation determines pixel, and calculate above-mentioned pixel apart from history and scattering strength；Generate submodule,
For generating dimensional radar image apart from history and above-mentioned scattering strength according to above-mentioned.
Further, the echo data after above-mentioned frequency mixer is mixed by above-mentioned transformation submodule according to the following formula presses first
Time carries out Fourier transformation, the first echo data after being converted：
S(f；K, l)=∫ s (t；k,l)exp(-J2 π ft) dt,
Wherein, k represents k-th of transmitting antenna, and l represents l-th of reception antenna, s (t；K, l) represent above-mentioned frequency mixer mixing
Back echo data, wherein, t represents fast time, S (f；K, l) represent above-mentioned first echo data.
Further, above-mentioned computational submodule according to the pixel that the first echo data after above-mentioned transformation determines according to
Lower formula calculates above-mentioned apart from history：
Wherein, above-mentioned pixel is expressed as (xn,yn,zn) (n=1,2 ..., N), it defines y-axis and is transported for the above-mentioned vehicles
Dynamic direction vector；X-axis is vertical with y-axis at it for the above-mentioned vehicles and in the direction vector in ground level；Z-axis is height
Direction；WithRepresent k-th transmitting antenna cuts course position and height to position；WithRepresent l-th of reception antenna
Cut course position and height to position；xn、ynAnd znCoordinate of the above-mentioned pixel in x, y and z axes is represented respectively.
Further, above-mentioned computational submodule according to the pixel that the first echo data after above-mentioned transformation determines according to
Lower formula calculates scattering and includes by force：
Wherein, above-mentioned pixel is expressed as (xn,yn,zn) (n=1,2 ..., N), B is transmitted signal bandwidth；T represents hair
Penetrate signal time width；fcRepresent above-mentioned radar operating frequency；C represents electromagnetic wave signal spread speed.
Another aspect according to embodiments of the present invention additionally provides a kind of vehicles, including：Above-mentioned radar, wherein, on
The front end that radar is arranged on the above-mentioned vehicles is stated, to be detected to the object in front of the above-mentioned vehicles.
In embodiments of the present invention, using a kind of radar, including：At least one transmitting antenna, for emitting electromagnetic wave letter
Number, to detect the object around the vehicles, wherein, the wavelength band of electromagnetic wave signal is millimeter wave frequency band；It is at least one
Reception antenna, for receiving through the reflected echo-signal of object around the vehicles, the wavelength band of echo-signal
For millimeter wave frequency band；Wherein, at least one transmitting antenna is arranged in a plane at least one reception antenna, so that radar exists
Dimensional radar image is generated after object around the detection vehicles, has reached millimeter wave three-dimensional imaging radar and has acquired and analyze
The 3 d image data of motor vehicle environment not by the purpose of inside even from weather, it is achieved thereby that can any light environment, appoint
What worked normally under weather environment, and its cost is much smaller than the technique effect of laser radar, and then solves in the relevant technologies
When obtaining the 3 d image data of environment surrounding automobile as sensor using laser radar the technical issues of big is influenced by weather.
Description of the drawings
Attached drawing described herein is used to provide further understanding of the present invention, and forms the part of the application, this hair
Bright illustrative embodiments and their description do not constitute improper limitations of the present invention for explaining the present invention.In the accompanying drawings：
Fig. 1 is a kind of schematic diagram of optional radar according to embodiments of the present invention；
Fig. 2 is the structure diagram according to a kind of optional three-dimensional imaging radar of the present embodiment；
Fig. 3 is a kind of structure diagram of optional radio-frequency module according to embodiments of the present invention；
Fig. 4 is the flow chart according to a kind of optional signal processing module inter-process method of the present embodiment.
Specific embodiment
In order to which those skilled in the art is made to more fully understand the present invention program, below in conjunction in the embodiment of the present invention
The technical solution in the embodiment of the present invention is clearly and completely described in attached drawing, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
Member's all other embodiments obtained without making creative work should all belong to the model that the present invention protects
It encloses.
It should be noted that term " first " in description and claims of this specification and above-mentioned attached drawing, "
Two " etc. be the object for distinguishing similar, and specific sequence or precedence are described without being used for.It should be appreciated that it uses in this way
Data can be interchanged in the appropriate case, so as to the embodiment of the present invention described herein can in addition to illustrating herein or
Sequence other than those of description is implemented.In addition, term " comprising " and " having " and their any deformation, it is intended that cover
Cover it is non-exclusive include, be not necessarily limited to for example, containing the process of series of steps or unit, method, system, product or equipment
Those steps or unit clearly listed, but may include not listing clearly or for these processes, method, product
Or the intrinsic other steps of equipment or unit.
Embodiment 1
According to embodiments of the present invention, a kind of optional radar embodiment is provided, Fig. 1 is according to embodiments of the present invention one
The schematic diagram of the optional radar of kind, as shown in Figure 1, including：At least one transmitting antenna, for electromagnetic signals, to visit
The object around the vehicles is surveyed, wherein, the wavelength band of electromagnetic wave signal is millimeter wave frequency band；At least one reception day
Line, for receiving through the reflected echo-signal of object around the vehicles, the wavelength band of echo-signal is millimeter
Wave frequency section, wherein, at least one transmitting antenna is arranged in a plane at least one reception antenna, so that radar is handed in detection
Dimensional radar image is generated after object around logical tool.
That is, the radar including one or more transmitting antennas and one or more reception antennas can be to vehicles week
Object, the objects such as pedestrian, animal enclosed are detected, by the electromagnetic wave signal of the radar emission and reception through target
The wavelength band of the reflected echo-signal of object is millimeter wave frequency band, due to the radar operating wave length of millimeter wave frequency band, compared with
Small antenna size can obtain higher angular resolution.Using millimetre-wave radar three-dimensional imaging radar, can realize away from
Descriscent, cut course and height to high-resolution.In addition, by the way that at least one transmitting antenna and at least one reception antenna are arranged
Into a plane, using two-dimentional real array of apertures (as shown in Figure 1), the phase of different direction target echo is had differences, it is right
It carries out Wave beam forming processing, can realize the high-resolution for cutting course；Using two-dimentional real array of apertures, different pitching targets are returned
The phase of wave has differences, and Wave beam forming processing is carried out to it, can realize height to high-resolution.
By the above-mentioned means, using a kind of radar, including：At least one transmitting antenna, for electromagnetic signals, with
The object around the vehicles is detected, wherein, the wavelength band of above-mentioned electromagnetic wave signal is millimeter wave frequency band；It is at least one to connect
Antenna is received, for receiving through the reflected echo-signal of object around the above-mentioned vehicles, the wave of above-mentioned echo-signal
Long frequency range is millimeter wave frequency band；Wherein, above-mentioned at least one transmitting antenna is arranged in one with above-mentioned at least one reception antenna
Plane so that above-mentioned radar generates dimensional radar image after the object around the above-mentioned vehicles is detected, has reached millimeter
Wave three-dimensional imaging radar acquires and analyzes the 3 d image data of motor vehicle environment not by the purpose of inside even from weather, so as to fulfill
It can be worked normally under any light environment, any weather environment, and its cost is imitated much smaller than the technology of laser radar
Fruit, and then solve when obtaining the 3 d image data of environment surrounding automobile as sensor using laser radar in the relevant technologies by day
Gas influences the technical issues of big.
Optionally, at least one transmitting antenna is arranged in a plane at least one reception antenna and includes：It is at least one
It is arranged between transmitting antenna according to the first preset distance；And/or it is arranged between at least one reception antenna according to the second preset distance
Row.
It, can will be pre- according to first between at least one transmitting antenna that is, accurately detected to object to reach
Set a distance arranges, and is arranged between at least one reception antenna according to the second preset distance, wherein, the first preset distance and second is in advance
Set a distance can be identical or can also be different, for example, between at least one transmitting antenna or between at least one reception antenna
Away from the half that can be less than electromagnetic wavelength.Millimeter wave three-dimensional imaging radar can be placed in vehicle front (as shown in Figure 1), profit
Distance is formed to high-resolution with broadband signal.
Optionally, radar further includes：Radio-frequency module is coupled at least one transmitting antenna and at least one reception antenna,
The echo-signal received for the electromagnetic wave signal for handling at least one transmitting antenna transmitting at least one reception antenna.
Specifically, as shown in Fig. 2, Fig. 2 is according to a kind of structure diagram of optional three-dimensional imaging radar of the present embodiment,
Wherein, three-dimensional imaging radar includes K transmitting antenna and L reception antenna.Radio-frequency module configuration transmitting signal, by transmitting antenna
Emit electromagnetic wave；Electromagnetic wave is received target scattering signal by reception antenna and (is returned via the scattering of object in observation area
Wave signal), and the echo data after echo-signal is converted by radio-frequency module is transmitted to signal processor (i.e. signal processing mould
Block).The reception of radio-frequency module and transmitting chip integrated level are high, and entire radar radio-frequency front-end can use a mm wave RF core
Piece is completed, the radar radio-frequency front-end based on high integration, and complete machine radar cost is relatively low.
Optionally, radio-frequency module includes：Voltage controlled oscillator emits signal for generating, and will emit signal transmission to extremely
A few transmitting antenna, so that at least one transmitting antenna electromagnetic signals.Optionally, radio-frequency module includes：Multiple
One power amplifier, each transmitting antenna being coupled respectively in voltage controlled oscillator and the transmitting of at least one transmitting antenna, is used for
The transmitting signal that voltage controlled oscillator generates is amplified and emits amplified transmitting signal transmission to each transmitting antenna；
Multiple second power amplifiers, each reception antenna being coupled respectively in frequency mixer and at least one reception antenna, for pair
The echo-signal that at least one reception antenna receives is amplified, and amplified echo-signal is transmitted to frequency mixer；Mixing
Device is coupled with voltage controlled oscillator, amplified at least for the transmitting signal for generating voltage controlled oscillator and through power amplifier
The echo-signal mixing that one reception antenna receives, the echo data after being mixed.
The realization method of radio-frequency module also there are many kinds of, provide a kind of optional embodiment in the present embodiment, have
Body, as shown in figure 3, Fig. 3 is a kind of structure diagram of optional radio-frequency module according to embodiments of the present invention；It can be by pressing
It controls oscillator and generates transmitting signal, emitted by power amplifier by transmitting antenna.Reception antenna receives target echo, by work(
Rate amplifier, and the transmitting signal generated with voltage controlled oscillator is mixed, finally by the radar return data transmission after mixing to letter
Number processor.
Optionally, radar further includes：Signal processing module is coupled with radio-frequency module, is mixed for receiving and processing frequency mixer
Echo data after frequency.Wherein, the internal processing mode of signal processing module (i.e. signal processor) also there are many kinds of, Fig. 4 is carried
A kind of optional mode is supplied, Fig. 4 is the stream according to a kind of optional signal processing module inter-process method of the present embodiment
Cheng Tu, k-th transmitting antenna electromagnetic signals, and the radar return data s received by l-th reception antenna
(t；K, l) it represents, wherein t represents the fast time.
Optionally, signal processing module includes：Transformation submodule, for the echo data after frequency mixer is mixed by first
Time carries out Fourier transformation, the first echo data after being converted；Computational submodule, for according to first time after transformation
Wave number according to determine pixel, and calculate pixel apart from history and scattering strength；Generate submodule, for according to apart from history and
Scattering strength generates dimensional radar image.
Optionally, the echo data after frequency mixer is mixed by transformation submodule according to the following formula carries out Fu by first time
In leaf transformation, the first echo data after being converted：
S(f；K, l)=∫ s (t；K, l) exp (- j2 π ft) dt, wherein, k represents k-th of transmitting antenna, and l represents to connect for l-th
Receive antenna, s (t；K, l) represent frequency mixer mixing back echo data, wherein, t represents fast time, S (f；K, l) represent the first echo
Data.
Optionally, computational submodule is calculated according to the pixel that the first echo data after transformation determines according to the following formula
Apart from history：
Wherein, pixel is expressed as (xn,yn,zn) (n=1,2 ..., N), it defines y-axis and is sweared for vehicle motion direction
Amount；X-axis is vertical with y-axis at it for the vehicles and in the direction vector in ground level；Z-axis is short transverse；With
Represent k-th transmitting antenna cuts course position and height to position；WithRepresent l-th reception antenna cuts course position
With height to position；xn、ynAnd znCoordinate of the pixel in x, y and z axes is represented respectively.
Optionally, computational submodule is calculated according to the pixel that the first echo data after transformation determines according to the following formula
Scattering includes by force：
Wherein, pixel is expressed as (xn,yn,zn) (n=1,2 ..., N), B is transmitted signal bandwidth；T represents transmitting letter
Number time width；fcRepresent radar operating frequency；C represents electromagnetic wave signal spread speed.
Embodiment 2
Another aspect according to embodiments of the present invention additionally provides a kind of vehicles, including：Radar, wherein, above-mentioned thunder
Up to the front end for being arranged on the above-mentioned vehicles, to be detected to the object in front of the above-mentioned vehicles.The radar includes：Extremely
A few transmitting antenna, for electromagnetic signals, to detect the object around the vehicles, wherein, above-mentioned electromagnetic wave
The wavelength band of signal is millimeter wave frequency band；At least one reception antenna, for receiving through the target around the above-mentioned vehicles
The reflected echo-signal of object, the wavelength band of above-mentioned echo-signal is millimeter wave frequency band；Wherein, above-mentioned at least one transmitting
Antenna is arranged in a plane with above-mentioned at least one reception antenna, so that above-mentioned radar is being detected around the above-mentioned vehicles
Dimensional radar image is generated after object.Further, above-mentioned at least one transmitting antenna and above-mentioned at least one reception antenna
A plane is arranged in include：It is arranged between above-mentioned at least one transmitting antenna according to the first preset distance；And/or it is above-mentioned at least
It is arranged between one reception antenna according to the second preset distance.Further, above-mentioned radar further includes：Radio-frequency module, it is and above-mentioned
At least one transmitting antenna and above-mentioned at least one reception antenna coupling, for handling above-mentioned at least one transmitting antenna transmitting
The echo-signal that electromagnetic wave signal is received with above-mentioned at least one reception antenna.Further, above-mentioned radio-frequency module includes：It is voltage-controlled
Oscillator emits signal, and by above-mentioned transmitting signal transmission to above-mentioned at least one transmitting antenna for generating so that it is above-mentioned extremely
Few transmitting antenna electromagnetic signals.Further, above-mentioned radio-frequency module includes：Multiple first power amplifiers, point
Each transmitting antenna that Ou Hezhi be in above-mentioned voltage controlled oscillator and the transmitting of above-mentioned at least one transmitting antenna, for above-mentioned pressure
The transmitting signal that control oscillator generates amplifies and emits amplified transmitting signal transmission to above-mentioned each transmitting antenna；
Multiple second power amplifiers, each reception antenna being coupled respectively in frequency mixer and above-mentioned at least one reception antenna, are used for
The echo-signal received to above-mentioned at least one reception antenna is amplified, and amplified echo-signal is transmitted to above-mentioned mixing
Device；Above-mentioned frequency mixer is coupled with above-mentioned voltage controlled oscillator, for the transmitting signal for generating above-mentioned voltage controlled oscillator and through above-mentioned work(
The echo-signal mixing that the amplified above-mentioned at least one reception antenna of rate amplifier receives, the echo data after being mixed.Into
One step, above-mentioned radar further includes：Signal processing module is coupled with above-mentioned radio-frequency module, for receiving and processing above-mentioned frequency mixer
Echo data after mixing.Further, above-mentioned signal processing module includes：Transformation submodule, for above-mentioned frequency mixer to be mixed
Echo data afterwards is by progress Fourier transformation at the first time, the first echo data after being converted；Computational submodule, for root
Determine pixel according to the first echo data after above-mentioned transformation, and calculate above-mentioned pixel apart from history and scattering strength；Generation
Module, for generating dimensional radar image apart from history and above-mentioned scattering strength according to above-mentioned.Further, above-mentioned transformation submodule
Echo data after above-mentioned frequency mixer is mixed according to the following formula by carrying out Fourier transformation at the first time, and the after being converted
One echo data：S(f；K, l)=∫ s (t；K, l) exp (- j2 π ft) dt, wherein, k represents k-th of transmitting antenna, and l represents l-th of reception
Antenna, s (t；K, l) represent above-mentioned frequency mixer mixing back echo data, wherein, t represents fast time, S (f；K, l) it represents above-mentioned first time
Wave number evidence.Further, the pixel that above-mentioned computational submodule is determined according to the first echo data after above-mentioned transformation is according to following
Formula calculates above-mentioned apart from history：Its
In, above-mentioned pixel is expressed as (xn,yn,zn) (n=1,2 ..., N), definition y-axis is above-mentioned vehicle motion direction vector；
X-axis is vertical with y-axis at it for the above-mentioned vehicles and in the direction vector in ground level；Z-axis is short transverse；With
Represent k-th transmitting antenna cuts course position and height to position；WithRepresent l-th reception antenna cuts course position
With height to position；xn、ynAnd znCoordinate of the above-mentioned pixel in x, y and z axes is represented respectively.Further, above-mentioned calculating submodule
Root tuber calculates scattering according to the following formula according to the pixel that the first echo data after above-mentioned transformation determines and includes by force：
Wherein, above-mentioned pixel is expressed as (xn,yn,zn) (n=1,2 ..., N), B is transmitted signal bandwidth；T represents hair
Penetrate signal time width；fcRepresent above-mentioned radar operating frequency；C represents electromagnetic wave signal spread speed.
It acquires by the above-mentioned means, having reached millimeter wave three-dimensional imaging radar and analyzes the 3 d image data of motor vehicle environment
Not by the purpose of inside even from weather, it is achieved thereby that can be worked normally under any light environment, any weather environment, and
And its cost is much smaller than the technique effect of laser radar, and then solves in the relevant technologies and obtain vapour by sensor of laser radar
During the 3 d image data of vehicle ambient enviroment the technical issues of big is influenced by weather.
It should be noted that each embodiment of radar and the embodiment of radar in embodiment 1 are opposite in embodiment 2
It answers, specific descriptions repeat no more, and please refer to the explanation in embodiment 1.
The embodiments of the present invention are for illustration only, do not represent the quality of embodiment.
In the above embodiment of the present invention, all emphasize particularly on different fields to the description of each embodiment, do not have in some embodiment
The part of detailed description may refer to the associated description of other embodiment.
In several embodiments provided herein, it should be understood that disclosed technology contents can pass through others
Mode is realized.Wherein, the apparatus embodiments described above are merely exemplary, such as the division of the module, Ke Yiwei
A kind of division of logic function, can there is an other dividing mode in actual implementation, for example, multiple module or components can combine or
Person is desirably integrated into another system or some features can be ignored or does not perform.Another point, shown or discussed is mutual
Between coupling, direct-coupling or communication connection can be INDIRECT COUPLING or communication link by some interfaces, unit or module
It connects, can be electrical or other forms.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (11)
1. a kind of radar, which is characterized in that including：
At least one transmitting antenna, for electromagnetic signals, to detect the object around the vehicles, wherein, it is described
The wavelength band of electromagnetic wave signal is millimeter wave frequency band；
At least one reception antenna, for receiving through the reflected echo-signal of object around the vehicles, institute
The wavelength band for stating echo-signal is millimeter wave frequency band,
Wherein, at least one transmitting antenna is arranged in a plane at least one reception antenna, so that the thunder
Dimensional radar image is generated up to after the object around the vehicles is detected.
2. radar according to claim 1, which is characterized in that at least one transmitting antenna at least one connects with described
Antenna alignment is received into a plane to include：
It is arranged between at least one transmitting antenna according to the first preset distance；And/or
It is arranged between at least one reception antenna according to the second preset distance.
3. radar according to claim 1, which is characterized in that the radar further includes：
Radio-frequency module is coupled at least one transmitting antenna and at least one reception antenna, for handle it is described extremely
The echo-signal that the electromagnetic wave signal of few transmitting antenna transmitting is received at least one reception antenna.
4. radar according to claim 3, which is characterized in that the radio-frequency module includes：
Voltage controlled oscillator emits signal for generating, and by the transmitting signal transmission at least one transmitting antenna, with
Make at least one transmitting antenna electromagnetic signals.
5. radar according to claim 4, which is characterized in that the radio-frequency module includes：
Multiple first power amplifiers are coupled respectively in the voltage controlled oscillator and at least one transmitting antenna transmitting
Each transmitting antenna, for the transmitting signal amplification generated to the voltage controlled oscillator and by amplified transmitting signal transmission extremely
Each transmitting antenna is emitted；
Multiple second power amplifiers are coupled respectively to each reception day in frequency mixer and at least one reception antenna
Line, the echo-signal for being received at least one reception antenna are amplified, and amplified echo-signal is transmitted
To the frequency mixer；
The frequency mixer is coupled with the voltage controlled oscillator, for the transmitting signal for generating the voltage controlled oscillator and through institute
State the echo-signal mixing that the amplified at least one reception antenna of power amplifier receives, the number of echoes after being mixed
According to.
6. radar according to claim 5, which is characterized in that the radar further includes：
Signal processing module is coupled with the radio-frequency module, for receiving and processing the echo data after the frequency mixer mixing.
7. radar according to claim 6, which is characterized in that the signal processing module includes：
Transformation submodule carries out Fourier transformation by first time for the echo data after the frequency mixer is mixed, obtains
The first echo data after transformation；
Computational submodule, for determining pixel according to the first echo data after the transformation, and calculate the pixel away from
From history and scattering strength；
Submodule is generated, for generating dimensional radar image apart from history and the scattering strength according to described.
8. radar according to claim 7, which is characterized in that the transformation submodule is according to the following formula by the mixing
Echo data after device mixing is by progress Fourier transformation at the first time, the first echo data after being converted：
S(f；K, l)=∫ s (t；K, l) exp (- j2 π ft) dt,
Wherein, k represents k-th of transmitting antenna, and l represents l-th of reception antenna, s (t；K, l) represent that the frequency mixer returns after being mixed
Wave number evidence, wherein, t represents fast time, S (f；K, l) represent first echo data.
9. radar according to claim 7, which is characterized in that the computational submodule is according to first time after the transformation
Wave number calculates described apart from history according to determining pixel according to the following formula：
Wherein, the pixel is expressed as (xn,yn,zn) (n=1,2 ..., N), definition y-axis is the vehicle motion side
To vector；X-axis is vertical with y-axis at it for the vehicles and in the direction vector in ground level；Z-axis is height side
To；WithRepresent k-th transmitting antenna cuts course position and height to position；WithRepresent l-th reception antenna
Course position and height are cut to position；xn、ynAnd znCoordinate of the pixel in x, y and z axes is represented respectively.
10. radar according to claim 7, which is characterized in that the computational submodule is according to first after the transformation
The pixel that echo data determines calculates scattering according to the following formula and includes by force：
Wherein, the pixel is expressed as (xn,yn,zn) (n=1,2 ..., N), B is transmitted signal bandwidth；T represents transmitting letter
Number time width；fcRepresent the radar operating frequency；C represents electromagnetic wave signal spread speed.
11. a kind of vehicles, which is characterized in that including：Any one of claims 1 to 10 radar, wherein, the thunder
Up to the front end for being arranged on the vehicles, to be detected to the object in front of the vehicles.
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