CN108693531A - The processing method of automobile anti-collision radar system - Google Patents
The processing method of automobile anti-collision radar system Download PDFInfo
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- CN108693531A CN108693531A CN201810240218.2A CN201810240218A CN108693531A CN 108693531 A CN108693531 A CN 108693531A CN 201810240218 A CN201810240218 A CN 201810240218A CN 108693531 A CN108693531 A CN 108693531A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
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Abstract
It is different from traditional FMCW, FSK modulation pattern that the invention discloses a kind of processing methods of automobile anti-collision radar system, and the present invention is provided with two groups of transmitting signals, and every group of signal is with fixed frequency difference fstepIt is incremented by, the difference of maximum frequency and minimum frequency is signal modulation bandwidth B, and it is f that the frequency difference between two groups of transmitting signals, which is fixed value,shiftTwo groups of transmitting signal alternate emissions, corresponding reception signal also has two groups, above-mentioned modulating mode combines the advantage of FMCW, FSK respectively, it carries out receiving two groups of signals immediately while emitting two groups of signals, dynamic and the information of static object can be obtained simultaneously, and a series of identifications, the track algorithms such as Fourier transformation are carried out to two groups of reception signals, handled for automobile collision preventing.
Description
Technical field
The invention belongs to Anticollision Radar ranging technology field, more particularly to a kind of processing side of automobile anti-collision radar system
Method.
Background technology
Nowadays, the application of automobile anti-collision radar system is more and more extensive, and the signal modulation mode of automobile collision avoidance radar is also more
Kind is various, and that more common is CW with frequency modulation FMCW and frequency shift keying fsk modulation system.Fmcw radar has highly sensitive and high
The advantages of distance resolution, but exist and easy to produce the shortcomings that difference frequency matching obscures, is difficult to detect multiple targets simultaneously, existing skill
There is solution to the problems described above in art, but System Hardware Requirement is higher, and back-end algorithm can consume a large amount of time and deposit
Store up space.Although FSK radars can measure multiple moving targets simultaneously, cannot then be detected when opposing stationary between multiple target, and
Its accuracy of detection is not high, and when exclusive use need to rely on later stage signal processing.Recently as the development of Radar Technology, though many thunders
Up to there are two kinds of modulating modes of FSK and FMCW simultaneously, but a kind of modulating mode is only used in the same time, when practical ranging also
According to circumstances switch modulation pattern is needed, system processing response is not in time.
Invention content
The purpose of the present invention is to provide a kind of processing methods of automobile anti-collision radar system, only with a kind of modulation mould
Formula can obtain dynamic and the information of static object, complete target identification.
To achieve the goals above, the present invention takes following technical scheme:A kind of processing side of automobile anti-collision radar system
Method includes the following steps:A, modulating mode is set, wherein transmitting signal is two groups, with group signal with fixed frequency difference fstepIt is incremented by,
It is signal modulation bandwidth B with the maximum frequency of group signal and the difference of minimum frequency, the frequency difference between two groups of transmitting signals is fixed value
fshift;B, digital signal processor DSP carries out frequency measurement tabulation, and modulating mode is stored in the form of tables of data to memory RAM
In;C, digital signal processor DSP starts timer 1,2, and wherein timer 1 opens triggering DMA channel 1 and works, DMA channel 1
In the register that the tabulated data of two groups of transmitting signals of memory RAM is moved to digital analog converter DAC, digital analog converter
DAC output signals carry out modulation waveform, make two groups of transmitting signal alternate emissions;Wherein timer 2 opens triggering analog-digital converter ADC
Work, converts reception antenna received signal, DMA channel 2,3,4 moves transformed intermediate-freuqncy signal to memory
In RAM, signal acquisition is completed, the intermediate-freuqncy signal of acquisition is two groups of reception signals corresponding with transmitting signal;D, to two groups of receptions
Signal carries out FFT Fourier transformations, acquires the distance, speed, orientation of target point, and then carrying out the processing of CFAR constant false alarm makes false-alarm
Probability is kept constant, and finally carries out spectrum peak search screening, precision target point;E, target cohesion recognizer receives target point simultaneously
Distance, this vehicle body information for transmitting of speed, azimuth information and vehicle body communication unit, target point is condensed, using two
Secondary identification sorts out tracking and is handled target point, analyzed, and generates automobile collision preventing processing data and exports result to vehicle body communication
Unit reminds driver.
Different from traditional FMCW, FSK modulation pattern in above-mentioned technical proposal, the present invention is provided with two groups of transmitting signals,
Every group of signal is with fixed frequency difference fstepIt is incremented by, the difference of maximum frequency and minimum frequency is signal modulation bandwidth B, two groups of transmitting signals
Between frequency difference be fixed value be fshift, two groups of transmitting signal alternate emissions, corresponding reception signal also has two groups, above-mentioned tune
Molding formula combines the advantage of FMCW, FSK respectively, carries out receiving two groups of signals, Ke Yitong immediately while emitting two groups of signals
When obtain dynamic and the information of static object, a series of identifications such as Fourier transformation are carried out to two groups of reception signals, tracking is calculated
Method is handled for automobile collision preventing.
Description of the drawings
Fig. 1 is process flow figure of the present invention;
Fig. 2 is that analog-to-digital conversion device ADC of the present invention handles schematic diagram;
Fig. 3 is modulating mode oscillogram of the present invention;
Fig. 4 is that CFAR constant false alarm process situation one of the present invention detects block diagram;
Fig. 5 is that CFAR constant false alarm process situation two of the present invention detects block diagram;
Fig. 6 is that CFAR constant false alarm process situation two of the present invention detects block diagram;
Fig. 7 is target point original data sequence schematic diagram of the present invention;
Fig. 8 is the data sequence schematic diagram after present invention filling.
Specific implementation mode
In conjunction with attached drawing, 1~8 couple of present invention makes further instructions:
A kind of processing method of automobile anti-collision radar system, includes the following steps:A, modulating mode is set, wherein transmitting letter
Number be two groups, with organize signal with fixed frequency difference fstepIt is incremented by, the difference with the maximum frequency and minimum frequency of organizing signal is signal tune
Bandwidth B processed, the frequency difference between two groups of transmitting signals are fixed value fshift;B, digital signal processor DSP carries out frequency measurement tabulation, will adjust
Molding formula is stored in the form of tables of data into memory RAM;C, digital signal processor DSP starts timer 1,2, wherein fixed
When device 1 open triggering DMA channel 1 and work, the tabulated data of two groups of transmitting signals of memory RAM moved number by DMA channel 1
In the register of mode converter DAC, digital analog converter DAC output signals carry out modulation waveform, make two groups of transmitting signal alternate emissions;
Wherein timer 2 opens triggering analog-digital converter ADC work, is converted to reception antenna received signal, DMA channel 2,3,
4 move transformed intermediate-freuqncy signal into memory RAM, complete signal acquisition, the intermediate-freuqncy signal of acquisition is two groups and transmitting
The corresponding reception signal of signal;D, FFT Fourier transformations are carried out to two groups of reception signals, acquires the distance, speed, side of target point
Position, then carrying out the processing of CFAR constant false alarm makes false-alarm probability keep constant, and finally carries out spectrum peak search screening, precision target point;
E, target cohesion recognizer receives this vehicle that distance, speed, azimuth information and the vehicle body communication unit of target point transmit simultaneously
Body information is condensed target point, is handled target point, is analyzed using secondary identification classification tracking, generates automobile
Anticollision handles data and exports result to vehicle body communication unit, reminds driver.
Different from traditional FMCW, FSK modulation pattern, the present invention is provided with two groups of transmitting signals, and every group of signal is with fixation
Frequency difference fstepIt is incremented by, the difference of maximum frequency and minimum frequency is signal modulation bandwidth B, and the frequency difference between two groups of transmitting signals is to fix
Value is fshift, two groups of transmitting signal alternate emissions, corresponding reception signal also has two groups, and above-mentioned modulating mode combines
The advantage of FMCW, FSK respectively, emit two groups of signals while carry out immediately receive two groups of signals, can obtain simultaneously dynamic with
And the information of static object, referred to as FMSK modulating modes, to two groups of reception signals carry out a series of identifications such as Fourier transformation,
Track algorithm is handled for automobile collision preventing.
In the step C, reception antenna is three tunnels, respectively antenna 1,2,3, is divided into as I, Q two-way just per road antenna
It is modules A, B, C, D to hand over signal, ADC points of analog-digital converter, and modules A includes conversion module SOC1, SOC2, and module B includes conversion
Module SOC3, SOC4, module C include conversion module SOC5, and module D includes conversion module SOC6,
Wherein antenna 1I is acquired using the pin 1 of modules A, and antenna 1Q is acquired using the pin 1 of module B, and antenna 2I is utilized
The pin 2 of modules A acquires, and antenna 2Q is acquired using the pin 2 of module B, and antenna 3I is acquired using the pin 1 of module C, antenna 3Q
It is acquired using the pin 1 of module D;The pin 1 of modules A is converted using conversion module SOC1, and the pin 2 of modules A utilizes modulus of conversion
Block SOC2 conversions, the pin 1 of module B are converted using conversion module SOC3, and the pin 2 of module B is converted using conversion module SOC4,
The pin 1 of module C is converted using conversion module SOC5, and the pin 1 of module D is converted using conversion module SOC6;
DMA channel 2,3,4 moves the data of analog-digital converter ADC, and the I and Q data of antenna 1, i.e. modulus of conversion are moved in channel 2
The content of the result register of block SOC1, SOC3;The I and Q data of antenna 2 are moved in channel 3, i.e. conversion module SOC2, SOC4's
The content of result register;The I and Q data of antenna 3 are moved in channel 4, i.e., the result register of conversion module SOC5, SOC6 is interior
Hold.
Digital analog converter DAC moves modulated signal data using DMA channel 1, and 1 trigger source of DMA channel is set as timing
Device 1, source address be tabulated data where memory RAM space in address, destination address be digital analog converter DAC data
Register, by the DMA ram spaces that can be accessed be limit some address spaces, tabulated data storage when
Data are stored in the addressable ram spaces of DMA, and the data that DMA channel 1 will be moved in data-moving are divided into Burst data
Frame and Transfer data blocks, each Burst transmit several data, and each Transfer transmits several Burst, in we
In method, source address adds 1 in address after often transferring 1 data, and destination address remains unchanged, because every time data transmission
Into the data register of digital analog converter DAC.
The trigger source of analog-to-digital conversion device ADC is all timer 2, when timer 2 timing completion, generates set, modules A
The SOC6 of SOC1, the SOC3 of module B, the SOC5 of module C, module D start simultaneously at conversion, convert SOC2, the mould of rear modules A
The SOC4 of block B starts to convert again, and when the SOC2 of modules A converts enabled interruption, analog-to-digital conversion device ADC's all at this time is each
Module all has converted completion, waits for the data-moving of DMA channel 2,3,4.
2,3,4 trigger source of DMA channel is set as the SOC2 interrupt flag bits of modules A, 2 source address of DMA channel be SOC1 with
The content of SOC3 result registers, destination address are the external RAM space by EMIF1 connections;3 source address of DMA channel is
The content of SOC2 and SOC4 result registers, destination address are the external RAM space by EMIF1 connections;4 source of DMA channel
Location is the content of SOC5 and SOC6 result registers, and destination address is the external RAM space by EMIF1 connections.The sources Burst
Location adds 32 in address after often transferring 1 data, because the result register of analog-digital converter ADC module A, B, C, D all differ
32, and address adds 1 after destination address transfers 1 data, is arranged in order in external RAM, Transfer source addresses are in every biography
Address subtracts 32 after Burst data of being totally lost, the address of the ADC result registers before returning, and repeats to transmit ADC result registers
Value, address adds 1 after destination address transfers 1 data, is equally arranged in order in external RAM.
FFT Fourier transformations in the step D use following algorithm:
Two groups of transmitting signals are respectively to emit signal 1,2, wherein transmitting signal 2 subtracts the difference f of transmitting signal 1shiftFor
Negative value, corresponding two groups of reception signals are respectively to receive signal 1,2, receive signal 1,2 and become after reception antenna front end is mixed
Frequency arrives intermediate-freuqncy signal, and analog-digital converter ADC carries out sample conversion to intermediate-freuqncy signal, then using FFT Fourier transform centering frequencies
Signal is calculated, and the corresponding k point values of spectral peak are acquired, you can obtains difference frequency fB, while fBCalculation formula is as follows:
Wherein, λ is radar wavelength, and R and v is respectively at a distance from target and speed, and c is the light velocity, TchripFor modulating mode
Period;
It is very small to receive signal 1, the distance between 2 deviations, can be neglected, therefore, it is considered that two groups of intermediate-freuqncy signals are through in Fu
Position of spectral line after leaf transformation is consistent, but its corresponding phase is different, two groups of intermediate-freuqncy signal s1(t) and s2(t) may be used
It is expressed as:
s1(t)=exp (j2 π (fB·t+φ1)) (2)
s2(t)=exp (j2 π (fB·t+φ2)) (3)
Wherein, φ 1 and φ 2 is respectively the phase of two groups of intermediate-freuqncy signals;
s1(t) and s2(t) after Fourier transformation, the corresponding phase difference φ of same spectral peak can be acquired by following formula:
Wherein Δ v is speed resoluting force,N indicates one group of transmitting signal in T modulation periodchripInterior
The number of different frequency ingredient;
It can be acquired at a distance from target with (4) by formula (1) and speed:
Wherein, Δ R is range resolution,
The orientation θ of target can the spacing d according to reception antenna and the phase difference between themIt acquires:
Final distance R, speed v, the orientation θ for obtaining target point.
It is calculated using two groups of reception signals of Fourier algorithm pair, to calculate the distance, speed, orientation of target point
Related data determines target point data.
The processing of CFAR constant false alarm includes following algorithm in the step D:
The data that the target point calculated by FFT Fourier transformations is arranged are cells D to be detected, two lateral areas adjacent with D
Domain is protection location, takes the data that length is n to be used as respectively other than the protection location of the both sides D and refers to unit, on the left of wherein D
The data that length other than protection location is n are denoted as X, and the length other than protection location on the right side of D is that the data of n are denoted as Y;
It includes following three kinds of situations wherein to calculate:
Situation one:When the number of the data other than protection location at left and right sides of the D is not less than n, n is respectively taken in left and right respectively
A data.
Situation two:When the number of data other than the protection location of the left sides D is less than n, right side normally takes n data, false
The number for determining the data on the left of D other than protection location is n-m (m<N), after taking the data of all n-m X on the left of D, then it is right from D
Side end takes m data to supplement the data in left side as with reference to unit;
Situation three:When the number of data other than the protection location of the right sides D is less than n, left side normally takes n data, false
It is m (m< to determine the data amount check on the right side of D other than protection location;N), after taking the data of m all Y on the right side of D, then the end on the left of D
The data that tail takes n-m number to supplement right side according to this are used as with reference to unit;
It sorts together after the data reference unit of the both sides D is taken out and refers to thresholding Z, S=ZT as reference to ask to obtain
Thresholding, T are threshold factor, and unit more to be detected and the size with reference to thresholding are then determined with mesh when unit to be detected is larger
Mark, when reference unit is larger, then judgement detects each target point according to the method described above without target, until completion until detecting.
It being handled using CFAR constant false alarm and calculated target point data in step C is detected, it is ensured that false alarm rate is constant,
Screen precision target point.
Spectrum peak search includes following algorithm in the step D:
As shown in fig. 7, the data of each target point calculated by FFT Fourier transformations are denoted as former data sequence, it will be former
Data sequence is set as X1, X2......Xn, and data are filled to former data sequence, as shown in figure 8, respectively in former data sequence
Head and the tail fill a data, data sequence after filling is Y1, Y2......Yn+2, and first X1 of former data sequence is being filled out
Data sequence after filling just becomes second Y2, and the data sequence of the second X2 of former data sequence after filling just becomes third
Position Y3, and so on, the data sequence of n-th Xn of former data sequence after filling just becomes (n+1)th Yn+1, former data sequence
Row are n shared, and the data sequence after filling is n+2 shared;
Spectrum peak search is then carried out, when the modulus value of Searching point is not less than the left and right sides and numerical value itself, judges the point
For peak value, each data cell from Y2 to Yn+1 is searched for according to the method described above, calculates all peak points, completes screening, essence
True target point.
To the target point data in step C carry out after spectrum peak search can precision target point again, then by this target point
It is compared with the target point after the processing of CFAR constant false alarm calculates, finally determines target point.
Further include following content in the step E:While carrying out target cohesion recognizer, Digital Signal Processing
Device DSP reads feedback frequency, needs to carry out frequency calibration if feedback frequency is more than a certain range, i.e., frequency measurement is tabulated again,
If feedback frequency, continues to start the detections of radar that timer starts next round in error range.The variation of feedback frequency
Caused by mainly chip temperature or other external environments influence, frequency measurement system again is needed if feedback frequency is there are error
Table carries out the acquisition process of a new round, and accurate Anticollision information is provided for driver.
Claims (6)
1. a kind of processing method of automobile anti-collision radar system, includes the following steps:
A, modulating mode is set, wherein transmitting signal is two groups, with group signal with fixed frequency difference fstepIt is incremented by, most with group signal
Big frequency and the difference of minimum frequency are signal modulation bandwidth B, and the frequency difference between two groups of transmitting signals is fixed value fshift;
B, digital signal processor DSP carries out frequency measurement tabulation, and modulating mode is stored in the form of tables of data to memory RAM
In;
C, digital signal processor DSP starts timer 1,2, and wherein timer 1 opens triggering DMA channel 1 and works, DMA channel 1
In the register that the tabulated data of two groups of transmitting signals of memory RAM is moved to digital analog converter DAC, digital analog converter
DAC output signals carry out modulation waveform, make two groups of transmitting signal alternate emissions;Wherein timer 2 opens triggering analog-digital converter ADC
Work, converts reception antenna received signal, DMA channel 2,3,4 moves transformed intermediate-freuqncy signal to memory
In RAM, signal acquisition is completed, the intermediate-freuqncy signal of acquisition is two groups of reception signals corresponding with transmitting signal;
D, FFT Fourier transformations are carried out to two groups of reception signals, acquires the distance, speed, orientation of target point, then carries out CFAR
Constant false alarm processing makes false-alarm probability keep constant, and finally carries out spectrum peak search screening, precision target point;
E, target cohesion recognizer receives what the distance of target point, speed, azimuth information and vehicle body communication unit transmitted simultaneously
This vehicle body information, is condensed target point, is handled target point, is analyzed using secondary identification classification tracking, generated
Automobile collision preventing handles data and exports result to vehicle body communication unit, reminds driver.
2. the processing method of automobile anti-collision radar system according to claim 1, it is characterised in that:In the step C,
Reception antenna is three tunnels, respectively antenna 1,2,3, is divided into per road antenna as I, Q two-way orthogonal signalling, ADC points of analog-digital converter
For modules A, B, C, D, modules A includes conversion module SOC1, SOC2, and module B includes conversion module SOC3, SOC4, and module C includes
Conversion module SOC5, module D include conversion module SOC6,
Wherein antenna 1I is acquired using the pin 1 of modules A, and antenna 1Q is acquired using the pin 1 of module B, and antenna 2I utilizes modules A
Pin 2 acquire, antenna 2Q is acquired using the pin 2 of module B, and antenna 3I is acquired using the pin 1 of module C, and antenna 3Q is utilized
The pin 1 of module D acquires;The pin 1 of modules A is converted using conversion module SOC1, and the pin 2 of modules A utilizes conversion module
SOC2 is converted, and the pin 1 of module B is converted using conversion module SOC3, and the pin 2 of module B is converted using conversion module SOC4, mould
The pin 1 of block C is converted using conversion module SOC5, and the pin 1 of module D is converted using conversion module SOC6;
DMA channel 2,3,4 moves the data of analog-digital converter ADC, and the I and Q data of antenna 1, i.e. conversion module are moved in channel 2
The content of the result register of SOC1, SOC3;Move the I and Q data of antenna 2, the i.e. knot of conversion module SOC2, SOC4 in channel 3
The content of fruit register;The I and Q data of antenna 3 are moved in channel 4, i.e., the result register of conversion module SOC5, SOC6 is interior
Hold.
3. the processing method of automobile anti-collision radar system according to claim 2, it is characterised in that:In the step D
FFT Fourier transformations use following algorithm:
Two groups of transmitting signals are respectively to emit signal 1,2, wherein transmitting signal 2 subtracts the difference f of transmitting signal 1shiftFor negative value,
Corresponding two groups of reception signals are respectively to receive signal 1,2, during reception signal 1,2 is converted to after reception antenna front end is mixed
Frequency signal, analog-digital converter ADC to intermediate-freuqncy signal carry out sample conversion, then using FFT Fourier transform centering frequency signals into
Row calculates, and acquires the corresponding k point values of spectral peak, you can obtains difference frequency fB, while fBCalculation formula is as follows:
Wherein, λ is radar wavelength, and R and v is respectively at a distance from target and speed, and c is the light velocity, TchripFor the period of modulating mode;
It is very small to receive signal 1, the distance between 2 deviations, can be neglected, therefore, it is considered that two groups of intermediate-freuqncy signals become through Fourier
Position of spectral line after changing is consistent, but its corresponding phase is different, two groups of intermediate-freuqncy signal s1(t) and s2(t) can distinguish
It is expressed as:
s1(t)=exp (j2 π (fB·t+φ1)) (2)
s2(t)=exp (j2 π (fB·t+φ2)) (3)
Wherein, φ 1 and φ 2 is respectively the phase of two groups of intermediate-freuqncy signals;
s1(t) and s2(t) after Fourier transformation, the corresponding phase difference φ of same spectral peak can be acquired by following formula:
Wherein Δ v is speed resoluting force,N indicates one group of transmitting signal in T modulation periodchripInterior difference
The number of frequency content;
It can be acquired at a distance from target with (4) by formula (1) and speed:
Wherein, Δ R is range resolution,
The orientation θ of target can the spacing d according to reception antenna and the phase difference between themIt acquires:
Final distance R, speed v, the orientation θ for obtaining target point.
4. the processing method of automobile anti-collision radar system according to claim 3, it is characterised in that:In the step D
The processing of CFAR constant false alarm includes following algorithm:
The data that the target point calculated by FFT Fourier transformations is arranged are cells D to be detected, and the two side areas adjacent with D is
Protection location takes the data that length is n to be used as other than the protection location of the both sides D and refers to unit respectively, the protection on the left of wherein D
The data that length other than unit is n are denoted as X, and the length other than protection location on the right side of D is that the data of n are denoted as Y;
When the number of the data other than protection location at left and right sides of the D is not less than n, n data are respectively taken in left and right respectively.
When the number of data other than the protection location of the left sides D is less than n, right side normally takes n data, it is assumed that protection on the left of D
The number of data other than unit is n-m (m<N), after taking the data of all n-m X on the left of D, then take m a from end on the right side of D
Data are to supplement the data in left side as with reference to unit;
When the number of data other than the protection location of the right sides D is less than n, left side normally takes n data, it is assumed that protection on the right side of D
Data amount check other than unit is m (m<N), after taking the data of m all Y on the right side of D, then from the left sides D end n-m number is taken
The data on supplement right side, which are used as, according to this refers to unit;
It sorts together after the data reference unit of the both sides D is taken out and as refers to thresholding with reference to thresholding Z, S=ZT to ask to obtain,
T is threshold factor, and unit more to be detected and the size with reference to thresholding are then determined with target when unit to be detected is larger, when
When reference unit is larger, then judgement detects each target point according to the method described above without target, until completion until detecting.
5. the processing method of automobile anti-collision radar system according to claim 4, it is characterised in that:In the step D
Spectrum peak search includes following algorithm:
The data of each target point calculated by FFT Fourier transformations are denoted as former data sequence, by former data sequence be set as X1,
X2......Xn is filled data to former data sequence, a data is filled in the head and the tail of former data sequence respectively, after filling
Data sequence be Y1, Y2......Yn+2, the data sequence of first X1 of former data sequence after filling just becomes second
The data sequence of position Y2, the second X2 of former data sequence after filling just becomes third position Y3, and so on, former data sequence
N-th Xn data sequences after filling just become (n+1)th Yn+1, former data sequence is n shared, the data sequence after filling
Row are n+2 shared;
Spectrum peak search is then carried out, when the modulus value of Searching point is not less than the left and right sides and numerical value itself, judges the point for peak
Value, searches for each data cell from Y2 to Yn+1 according to the method described above, calculates all peak points, completes screening, accurate mesh
Punctuate.
6. the processing method of automobile anti-collision radar system according to claim 5, it is characterised in that:In the step E
It further include following content:While carrying out target cohesion recognizer, digital signal processor DSP reads feedback frequency, such as
Fruit feedback frequency then needs to carry out frequency calibration more than a certain range, i.e., frequency measurement is tabulated again, if feedback frequency is in error model
In enclosing, then continue to start the detections of radar that timer starts next round.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111352102A (en) * | 2020-03-18 | 2020-06-30 | 重庆邮电大学 | Multi-target number detection method and device based on frequency modulation continuous wave radar |
| WO2023142126A1 (en) * | 2022-01-30 | 2023-08-03 | 华为技术有限公司 | Detection apparatus, terminal device, and signal processing method |
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