CN108267721B - Radar and vehicle - Google Patents
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- CN108267721B CN108267721B CN201611264053.XA CN201611264053A CN108267721B CN 108267721 B CN108267721 B CN 108267721B CN 201611264053 A CN201611264053 A CN 201611264053A CN 108267721 B CN108267721 B CN 108267721B
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- Radar, Positioning & Navigation (AREA)
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- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention discloses a radar and a vehicle. Wherein, this radar includes: at least one transmitting antenna for transmitting electromagnetic wave signals to detect objects around the vehicle, wherein the wavelength band of the electromagnetic wave signals is a millimeter wave band; the receiving antenna is used for receiving echo signals reflected by target objects around the vehicle, and the wavelength band of the echo signals is a millimeter wave band; wherein the at least one transmitting antenna and the at least one receiving antenna are arranged in a plane such that the radar generates a three-dimensional radar image after detecting objects around the vehicle. The invention solves the technical problem that the laser radar is used as a sensor to acquire the three-dimensional image data of the surrounding environment of the automobile in the related art and is greatly influenced by weather.
Description
Technical Field
The invention relates to the field of radars, in particular to a radar and a vehicle.
Background
The sensor arranged on the automobile is utilized to collect and analyze three-dimensional image data around the automobile at any time in the driving process, so that a driver can perceive possible danger in advance, and the comfort and safety of automobile driving can be effectively improved.
In the prior art, the laser radar is mainly used for sensing the surrounding environment of the automobile. The technical principle is that objects around the automobile are monitored in real time through the multi-line laser, so that high-precision high-instantaneity three-dimensional point cloud is formed, the surrounding environment of the automobile is rebuilt, and the functions of lane departure warning, front automobile collision prevention, pedestrian detection and the like are realized. However, the laser radar is used as a sensor to acquire three-dimensional image data of the surrounding environment of the automobile, which has the defects that: under the environments of heavy fog, rain, snow and the like, the performance of the laser radar is seriously affected. High price, for example HDL-64E of Velodyne, which is nearly millions of RMB (summer 2016)
In view of the above problems, no effective solution has been proposed at present.
Disclosure of Invention
The embodiment of the invention provides a radar and a vehicle, which at least solve the technical problem that the radar is greatly influenced by weather when a laser radar is used as a sensor to acquire three-dimensional image data of the surrounding environment of an automobile in the related art.
According to an aspect of an embodiment of the present invention, there is provided a radar including: at least one transmitting antenna for transmitting electromagnetic wave signals to detect objects around the vehicle, wherein the wavelength band of the electromagnetic wave signals is a millimeter wave band; and the at least one receiving antenna is used for receiving echo signals reflected by the objects around the vehicle, the wavelength band of the echo signals is a millimeter wave band, and the at least one transmitting antenna and the at least one receiving antenna are arranged into a plane so that the radar can generate a three-dimensional radar image after detecting the objects around the vehicle.
Further, arranging the at least one transmitting antenna and the at least one receiving antenna in a plane includes: the at least one transmitting antenna is arranged according to a first preset distance; and/or the at least one receiving antennas are arranged according to a second preset distance.
Further, the radar further includes: and the radio frequency module is coupled with the at least one transmitting antenna and the at least one receiving antenna and is used for processing electromagnetic wave signals transmitted by the at least one transmitting antenna and echo signals received by the at least one receiving antenna.
Further, the radio frequency module includes: and the voltage-controlled oscillator is used for generating a transmitting signal and transmitting the transmitting signal to the at least one transmitting antenna so that the at least one transmitting antenna transmits electromagnetic wave signals.
Further, the radio frequency module includes: a plurality of first power amplifiers respectively coupled to each of the voltage-controlled oscillator and the at least one transmitting antenna for amplifying the transmitting signal generated by the voltage-controlled oscillator and transmitting the amplified transmitting signal to each of the transmitting antennas for transmission; a plurality of second power amplifiers respectively coupled to the mixer and each of the at least one receiving antenna for amplifying the echo signals received by the at least one receiving antenna and transmitting the amplified echo signals to the mixer; and the mixer is coupled with the voltage-controlled oscillator and is used for mixing a transmitting signal generated by the voltage-controlled oscillator and an echo signal received by the at least one receiving antenna amplified by the power amplifier to obtain mixed echo data.
Further, the radar further includes: and the signal processing module is coupled with the radio frequency module and is used for receiving and processing the echo data mixed by the mixer.
Further, the signal processing module includes: the transformation submodule is used for carrying out Fourier transformation on the echo data mixed by the mixer according to the first time to obtain transformed first echo data; the calculation sub-module is used for determining pixel points according to the transformed first echo data and calculating the distance history and scattering intensity of the pixels; and the generation sub-module is used for generating a three-dimensional radar image according to the distance history and the scattering intensity.
Further, the transformation submodule performs fourier transformation on the echo data mixed by the mixer according to the following formula at a first time to obtain transformed first echo data:
S(f；k,l)＝∫s(t；k,l)exp(-j2πft)dt，
Wherein k represents a kth transmitting antenna, l represents a ith receiving antenna, S (t; k, l) represents echo data after mixing by the mixer, t represents fast time, and S (f; k, l) represents the first echo data.
Further, the calculating sub-module calculates the distance history according to the following formula based on the pixel points determined by the transformed first echo data:
Wherein the pixel point is denoted by (x n,yn,zn) (n=1, 2..once, N), and the y-axis is defined as the vehicle motion direction vector; the x-axis is the direction vector of the vehicle in the direction perpendicular to the y-axis and in the ground plane; the z-axis is the height direction; and/> Representing the tangential heading position and the altitude position of the kth transmitting antenna; /(I)And/>Representing the tangential heading position and the altitude position of the first receiving antenna; x n、yn and z n represent the coordinates of the pixel point in the x, y, and z axes, respectively.
Further, the calculating sub-module calculates the scattering intensity according to the following formula according to the pixel point determined by the transformed first echo data:
Wherein the pixel point is denoted as (x n,yn,zn) (n=1, 2., N), and B is the emission signal bandwidth; t represents the time width of the transmitted signal; f c represents the radar operating frequency; c represents the propagation speed of the electromagnetic wave signal.
According to another aspect of an embodiment of the present invention, there is also provided a vehicle including: the radar is provided at a front end of the vehicle to detect an object in front of the vehicle.
In an embodiment of the present invention, a radar is used, including: at least one transmitting antenna for transmitting electromagnetic wave signals to detect objects around the vehicle, wherein the wavelength band of the electromagnetic wave signals is a millimeter wave band; the receiving antenna is used for receiving echo signals reflected by target objects around the vehicle, and the wavelength band of the echo signals is a millimeter wave band; the device comprises at least one transmitting antenna and at least one receiving antenna, wherein the transmitting antenna and the at least one receiving antenna are arranged to form a plane, so that a radar can generate a three-dimensional radar image after detecting a target object around a vehicle, the purpose that millimeter wave three-dimensional imaging radar collects and analyzes three-dimensional image data around an automobile and is not influenced by weather factors is achieved, normal operation under any illumination environment and any weather environment is achieved, the cost is far lower than the technical effect of a laser radar, and the technical problem that the laser radar is used as a sensor to obtain three-dimensional image data of the surrounding environment of the automobile in the related art is greatly influenced by weather is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:
FIG. 1 is a schematic diagram of an alternative radar according to an embodiment of the present invention;
FIG. 2 is a block diagram of an alternative three-dimensional imaging radar according to the present embodiment;
FIG. 3 is a schematic diagram of an alternative RF module according to an embodiment of the invention;
fig. 4 is a flowchart of an alternative internal processing method of the signal processing module according to the present embodiment.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
According to an embodiment of the present invention, there is provided an alternative radar embodiment, fig. 1 is a schematic diagram of an alternative radar according to an embodiment of the present invention, as shown in fig. 1, including: at least one transmitting antenna for transmitting electromagnetic wave signals to detect objects around the vehicle, wherein the wavelength band of the electromagnetic wave signals is a millimeter wave band; the system comprises at least one receiving antenna, a radar and a control unit, wherein the receiving antenna is used for receiving echo signals reflected by objects around a vehicle, the wavelength band of the echo signals is a millimeter wave band, and the at least one transmitting antenna and the at least one receiving antenna are arranged into a plane so that the radar can generate a three-dimensional radar image after detecting the objects around the vehicle.
Namely, the radar comprising one or more transmitting antennas and one or more receiving antennas can detect objects, pedestrians, animals and other objects around a vehicle, the wavelength band of electromagnetic wave signals transmitted by the radar and received echo signals reflected by the objects is a millimeter wave band, and the smaller antenna size can obtain higher angular resolution due to the short working wavelength of the radar in the millimeter wave band. The millimeter wave radar three-dimensional imaging radar can be used for realizing high resolution of distance direction, heading cutting and height direction. In addition, at least one transmitting antenna and at least one receiving antenna are arranged into a plane, and the phase of the target echoes in different directions is different by utilizing a two-dimensional real aperture array (shown in fig. 1), so that the high resolution of the tangential heading can be realized by carrying out beam forming on the target echoes in different directions; the two-dimensional real aperture array is utilized to carry out beam forming processing on different pitching target echoes with different phases, so that high resolution in the height direction can be realized.
In the above manner, a radar is adopted, comprising: at least one transmitting antenna for transmitting electromagnetic wave signals to detect objects around the vehicle, wherein the wavelength band of the electromagnetic wave signals is a millimeter wave band; the receiving antenna is used for receiving echo signals reflected by the objects around the vehicle, and the wavelength band of the echo signals is a millimeter wave band; the at least one transmitting antenna and the at least one receiving antenna are arranged into a plane, so that the radar generates a three-dimensional radar image after detecting a target object around the vehicle, the purpose that millimeter wave three-dimensional imaging radar collects and analyzes three-dimensional image data around an automobile and is not influenced by weather factors is achieved, normal operation under any illumination environment and any weather environment is achieved, the cost is far less than that of a laser radar, and the technical problem that the laser radar is used as a sensor to obtain three-dimensional image data around the automobile in the related art and is greatly influenced by weather is solved.
Optionally, arranging the at least one transmitting antenna and the at least one receiving antenna in one plane comprises: at least one transmitting antenna is arranged according to a first preset distance; and/or at least one receiving antenna is arranged at a second predetermined distance from each other.
That is, in order to achieve accurate detection of the target object, at least one transmitting antenna may be arranged at a first predetermined distance, and at least one receiving antenna may be arranged at a second predetermined distance, wherein the first predetermined distance and the second predetermined distance may be the same or may be different, for example, a space between at least one transmitting antenna or between at least one receiving antenna may be less than half a wavelength of the electromagnetic wave. The millimeter wave three-dimensional imaging radar can be placed in front of a car (as shown in fig. 1), and a wide-band signal is used for forming a distance to high resolution.
Optionally, the radar further comprises: and the radio frequency module is coupled with the at least one transmitting antenna and the at least one receiving antenna and is used for processing electromagnetic wave signals transmitted by the at least one transmitting antenna and echo signals received by the at least one receiving antenna.
Specifically, as shown in fig. 2, fig. 2 is a block diagram of an alternative three-dimensional imaging radar according to the present embodiment, where the three-dimensional imaging radar includes K transmitting antennas and L receiving antennas. The radio frequency module is configured with a transmitting signal, and electromagnetic waves are transmitted by the transmitting antenna; the electromagnetic wave is scattered by a target object in the observation area, the receiving antenna receives a target scattering signal and an echo signal, and the radio frequency module transmits echo data converted by the echo signal to the signal processor (i.e. the signal processing module). The receiving and transmitting chips of the radio frequency module are high in integration level, the whole radar radio frequency front end can be completed by one millimeter wave radio frequency chip, and the whole radar is relatively low in cost based on the high-integration level radar radio frequency front end.
Optionally, the radio frequency module includes: and the voltage-controlled oscillator is used for generating a transmitting signal and transmitting the transmitting signal to the at least one transmitting antenna so that the at least one transmitting antenna transmits electromagnetic wave signals. Optionally, the radio frequency module includes: the first power amplifiers are respectively coupled to the voltage-controlled oscillator and each transmitting antenna in the transmission of the at least one transmitting antenna and are used for amplifying the transmitting signals generated by the voltage-controlled oscillator and transmitting the amplified transmitting signals to each transmitting antenna for transmission; a plurality of second power amplifiers respectively coupled to the mixer and each of the at least one receiving antenna for amplifying the echo signals received by the at least one receiving antenna and transmitting the amplified echo signals to the mixer; and the mixer is coupled with the voltage-controlled oscillator and is used for mixing the transmitting signal generated by the voltage-controlled oscillator and the echo signal received by the at least one receiving antenna amplified by the power amplifier to obtain mixed echo data.
There are various implementation manners of the radio frequency module, and an alternative implementation manner is provided in this embodiment, specifically, as shown in fig. 3, fig. 3 is a schematic structural diagram of an alternative radio frequency module according to an embodiment of the present invention; the transmit signal may be generated by a voltage controlled oscillator and transmitted by a transmit antenna through a power amplifier. The receiving antenna receives the target echo, passes through the power amplifier, mixes with the transmitting signal generated by the voltage-controlled oscillator, and finally transmits the mixed radar echo data to the signal processor.
Optionally, the radar further comprises: and the signal processing module is coupled with the radio frequency module and is used for receiving and processing the echo data after the frequency mixing of the frequency mixer. There are various processing manners inside the signal processing module (i.e., the signal processor), fig. 4 provides an alternative manner, fig. 4 is a flowchart of an alternative processing method inside the signal processing module according to the present embodiment, the kth transmitting antenna transmits electromagnetic wave signals, and radar echo data received by the lth receiving antenna is denoted by s (t; K, L), where t represents fast time.
Optionally, the signal processing module includes: the transformation submodule is used for carrying out Fourier transformation on the echo data mixed by the mixer according to the first time to obtain transformed first echo data; the calculation sub-module is used for determining pixel points according to the transformed first echo data and calculating the distance history and scattering intensity of the pixels; and the generation submodule is used for generating a three-dimensional radar image according to the distance history and the scattering intensity.
Optionally, the transforming submodule performs fourier transform on the echo data after the frequency mixing by the mixer according to the following formula at a first time to obtain transformed first echo data:
S (f; k, l) = ≡s (t; k, l) exp (-j 2 pi ft) dt, where k represents the kth transmitting antenna, l represents the ith receiving antenna, S (t; k, l) represents the echo data after mixing by the mixer, where t represents the fast time and S (f; k, l) represents the first echo data.
Optionally, the calculating submodule calculates the distance history according to the following formula according to the pixel points determined by the transformed first echo data:
Wherein the pixel point is denoted (x n,yn,zn) (n=1, 2,., N), defining the y-axis as the vehicle motion direction vector; the x-axis is the direction vector of the vehicle in the direction perpendicular to the y-axis and in the ground plane; the z-axis is the height direction; and/> Representing the tangential heading position and the altitude position of the kth transmitting antenna; /(I)And/>Representing the tangential heading position and the altitude position of the first receiving antenna; x n、yn and z n represent the coordinates of the pixel point in the x, y, and z axes, respectively.
Optionally, the calculating submodule calculates the scattering intensity according to the following formula according to the pixel point determined by the transformed first echo data:
wherein the pixel point is denoted as (x n,yn,zn) (n=1, 2,.., N), B is the transmit signal bandwidth; t represents the time width of the transmitted signal; f c denotes the radar operating frequency; c represents the propagation speed of the electromagnetic wave signal.
Example 2
According to another aspect of an embodiment of the present invention, there is also provided a vehicle including: and the radar is arranged at the front end of the vehicle so as to detect an object in front of the vehicle. The radar includes: at least one transmitting antenna for transmitting electromagnetic wave signals to detect objects around the vehicle, wherein the wavelength band of the electromagnetic wave signals is a millimeter wave band; the receiving antenna is used for receiving echo signals reflected by the objects around the vehicle, and the wavelength band of the echo signals is a millimeter wave band; the at least one transmitting antenna and the at least one receiving antenna are arranged in a plane, so that the radar can generate a three-dimensional radar image after detecting a target object around the vehicle. Further, arranging the at least one transmitting antenna and the at least one receiving antenna in a plane includes: the at least one transmitting antenna is arranged according to a first preset distance; and/or the at least one receiving antennas are arranged according to a second preset distance. Further, the radar further includes: and the radio frequency module is coupled with the at least one transmitting antenna and the at least one receiving antenna and is used for processing electromagnetic wave signals transmitted by the at least one transmitting antenna and echo signals received by the at least one receiving antenna. Further, the radio frequency module includes: and the voltage-controlled oscillator is used for generating a transmitting signal and transmitting the transmitting signal to the at least one transmitting antenna so that the at least one transmitting antenna transmits electromagnetic wave signals. Further, the radio frequency module includes: a plurality of first power amplifiers respectively coupled to each of the voltage-controlled oscillator and the at least one transmitting antenna for amplifying the transmitting signal generated by the voltage-controlled oscillator and transmitting the amplified transmitting signal to each of the transmitting antennas for transmission; a plurality of second power amplifiers respectively coupled to the mixer and each of the at least one receiving antenna for amplifying the echo signals received by the at least one receiving antenna and transmitting the amplified echo signals to the mixer; and the mixer is coupled with the voltage-controlled oscillator and is used for mixing a transmitting signal generated by the voltage-controlled oscillator and an echo signal received by the at least one receiving antenna amplified by the power amplifier to obtain mixed echo data. Further, the radar further includes: and the signal processing module is coupled with the radio frequency module and is used for receiving and processing the echo data mixed by the mixer. Further, the signal processing module includes: the transformation submodule is used for carrying out Fourier transformation on the echo data mixed by the mixer according to the first time to obtain transformed first echo data; the calculation sub-module is used for determining pixel points according to the transformed first echo data and calculating the distance history and scattering intensity of the pixels; and the generation sub-module is used for generating a three-dimensional radar image according to the distance history and the scattering intensity. Further, the transformation submodule performs fourier transformation on the echo data mixed by the mixer according to the following formula at a first time to obtain transformed first echo data: s (f; k, l) = ≡s (t; k, l) exp (-j 2 pi ft) dt, where k represents the kth transmit antenna, l represents the ith receive antenna, s (t; k, l) represents echo data after mixing by the mixer, where t represents a fast time, S (f; k, l) represents the first echo data. Further, the calculating sub-module calculates the distance history according to the following formula based on the pixel points determined by the transformed first echo data: Wherein the pixel point is denoted by (x n,yn,zn) (n=1, 2..once, N), and the y-axis is defined as the vehicle motion direction vector; the x-axis is the direction vector of the vehicle in the direction perpendicular to the y-axis and in the ground plane; the z-axis is the height direction; /(I) And/>Representing the tangential heading position and the altitude position of the kth transmitting antenna; /(I)And/>Representing the tangential heading position and the altitude position of the first receiving antenna; x n、yn and z n represent the coordinates of the pixel point in the x, y, and z axes, respectively. Further, the calculating sub-module calculates the scattering intensity according to the following formula according to the pixel point determined by the transformed first echo data:
Wherein the pixel point is denoted as (x n,yn,zn) (n=1, 2., N), and B is the emission signal bandwidth; t represents the time width of the transmitted signal; f c represents the radar operating frequency; c represents the propagation speed of the electromagnetic wave signal.
By the mode, the purpose that the millimeter wave three-dimensional imaging radar collects and analyzes three-dimensional image data around the automobile and is not influenced by weather factors is achieved, so that normal operation under any illumination environment and any weather environment is achieved, the cost is far smaller than that of the laser radar, and the technical problem that the laser radar is used as a sensor to obtain the three-dimensional image data around the automobile and is greatly influenced by weather in the related art is solved.
It should be noted that, each implementation manner of the radar in embodiment 2 corresponds to the implementation manner of the radar in embodiment 1, and detailed description thereof will not be repeated, please refer to the description in embodiment 1.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
In the foregoing embodiments of the present invention, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed technology may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the modules may be divided into a logic function, and there may be other division manners in actual implementation, for example, multiple modules or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.
Claims (8)
1. A radar, comprising:
At least one transmitting antenna for transmitting electromagnetic wave signals to detect objects around the vehicle, wherein the wavelength band of the electromagnetic wave signals is a millimeter wave band;
At least one receiving antenna for receiving echo signals reflected by objects around the vehicle, the wavelength band of the echo signals being millimeter wave band,
Wherein the at least one transmitting antenna and the at least one receiving antenna are arranged in a plane, so that the radar generates a three-dimensional radar image after detecting an object around the vehicle, wherein the arrangement of the at least one transmitting antenna and the at least one receiving antenna in a plane comprises: the at least one transmitting antenna is arranged according to a first preset distance; and/or the at least one receiving antennas are arranged according to a second preset distance, and the space between the at least one transmitting antenna or the space between the at least one receiving antennas is smaller than half of the wavelength of electromagnetic waves;
The radar further comprises a signal processing module, wherein the signal processing module comprises a transformation submodule, and the transformation submodule carries out Fourier transformation on echo data after frequency mixing of the mixer according to the following formula at a first time to obtain transformed first echo data:
S(f；k,l)＝∫s(t；k,l)exp(-j2πft)dt，
wherein k represents a kth transmitting antenna, l represents a ith receiving antenna, S (t; k, l) represents echo data after mixing by the mixer, wherein t represents fast time, and S (f; k, l) represents the first echo data;
the signal processing module further comprises a calculating sub-module, and the calculating sub-module calculates the scattering intensity according to the following formula according to the pixel point determined by the transformed first echo data, wherein the calculating sub-module comprises:
The pixel point is represented as (x n,yn,zn) (n=1, 2, …, N), and B is the bandwidth of the emission signal; t represents the time width of the transmitted signal; f c denotes the operating frequency of the radar; c represents the propagation speed of electromagnetic wave signals, R (k, l; x n,yn,zn) represents the distance history, and x n and y n represent the coordinates of the pixel point on the x and y axes, respectively.
2. The radar of claim 1, further comprising:
And the radio frequency module is coupled with the at least one transmitting antenna and the at least one receiving antenna and is used for processing electromagnetic wave signals transmitted by the at least one transmitting antenna and echo signals received by the at least one receiving antenna.
3. The radar of claim 2, wherein the radio frequency module comprises:
And the voltage-controlled oscillator is used for generating a transmitting signal and transmitting the transmitting signal to the at least one transmitting antenna so that the at least one transmitting antenna transmits electromagnetic wave signals.
4. A radar according to claim 3 wherein the radio frequency module comprises:
a plurality of first power amplifiers respectively coupled to the voltage-controlled oscillator and each of the at least one transmitting antenna for amplifying the transmitting signal generated by the voltage-controlled oscillator and transmitting the amplified transmitting signal to each transmitting antenna for transmission;
A plurality of second power amplifiers respectively coupled to the mixer and each of the at least one receiving antenna for amplifying the echo signals received by the at least one receiving antenna and transmitting the amplified echo signals to the mixer;
the mixer is coupled with the voltage-controlled oscillator and is used for mixing a transmitting signal generated by the voltage-controlled oscillator and an echo signal received by the at least one receiving antenna amplified by the power amplifier to obtain mixed echo data.
5. The radar of claim 4, further comprising:
and the signal processing module is coupled with the radio frequency module and is used for receiving and processing the echo data mixed by the mixer.
6. The radar of claim 5, wherein the signal processing module comprises:
The transformation submodule is used for carrying out Fourier transformation on the echo data after the frequency mixing of the frequency mixer according to the first time to obtain transformed first echo data;
The calculation sub-module is used for determining pixel points according to the transformed first echo data and calculating the distance history and scattering intensity of the pixel points;
and the generation submodule is used for generating a three-dimensional radar image according to the distance history and the scattering intensity.
7. The radar of claim 6, wherein the computation sub-module computes the range history from pixels determined from the transformed first echo data according to the following formula:
Wherein the pixel points are represented as (x n,yn,zn) (n=1, 2.,; N), defining a y-axis as the vehicle motion direction vector; the x-axis is the direction vector of the vehicle in the direction perpendicular to the y-axis and in the ground plane; the z-axis is the height direction; and/> Representing the tangential heading position and the altitude position of the kth transmitting antenna; /(I)And/>Representing the tangential heading position and the altitude position of the first receiving antenna; x n、yn and z n represent the coordinates of the pixel point in the x, y and z axes, respectively.
8. A vehicle, comprising: the radar of any one of claims 1 to 7, wherein the radar is provided at a front end of the vehicle to detect objects in front of the vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611264053.XA CN108267721B (en) | 2016-12-30 | 2016-12-30 | Radar and vehicle |
Applications Claiming Priority (1)
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