CN111025254A - Method for eliminating short-range false target of vehicle-mounted millimeter wave radar based on digital filter - Google Patents
Method for eliminating short-range false target of vehicle-mounted millimeter wave radar based on digital filter Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/411—Identification of targets based on measurements of radar reflectivity
- G01S7/412—Identification of targets based on measurements of radar reflectivity based on a comparison between measured values and known or stored values
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Abstract
The invention provides a method for eliminating a short-distance false target of a vehicle-mounted millimeter wave radar based on a digital filter, which is characterized in that the difference of signal amplitude variation trends under two conditions is searched by comparing the signal amplitude variation trend of whether a real target exists at a short distance, and based on the difference, a threshold value for distinguishing the two conditions is searched in amplitude; and based on a threshold confirmation result, performing true and false discrimination on the detection target based on the digital filtering through threshold judgment, adding labels to all detection points which are discriminated as false targets, and further filtering the false targets in a final output result.
Description
Technical Field
The invention belongs to the technical field of radar false alarm detection, and relates to a false alarm removing method for an airborne wide area scanning GMTI (Ground moving target Indication) radar system, in particular to a short-range false target eliminating method for a vehicle-mounted millimeter wave radar based on a digital filter.
Background
The millimeter Wave radar has the characteristics of good directionality, high resolution, low power and the like, and particularly, the Frequency Modulation Continuous Wave (FMCW) radar has the advantages of no range-finding blind area, easiness in realizing miniaturization and the like, so that the millimeter Wave radar is favored in the field of automobiles and becomes one of important devices for sensing the surrounding environment of the automobiles. However, problems such as insufficient isolation between the receiving and transmitting channels of the continuous wave Radar, impedance matching of a radio frequency link, and the like all cause radio frequency signal power leakage to a certain extent, the leakage signal is reflected in a plurality of false targets of strong Radar Cross Section (RCS) distributed on a zero frequency unit and a frequency unit adjacent to the zero frequency unit, and the echo amplitude of the leakage signal is even higher than that of a real target on the same frequency unit, so that the detection capability of a target in a short distance is influenced.
In response to this problem, from a signal processing perspective, the magnitude of the leakage signal can be effectively attenuated by adding a method of digital filtering, thereby reducing its effect on the detection of strong RCS targets (RCS >10 dBsm) at the same or nearby frequencies. However, in practical application scenarios, due to the fact that the leakage signal shows a variation trend of rapid amplitude attenuation on adjacent frequency units and the influence of the digital filter on the amplitude of the original signal, the problems that false target false alarm and many real weak RCS targets (RCS <10 dBsm) are generated within a certain distance range after the digital filter is applied are often caused.
Disclosure of Invention
In order to solve the technical problems, the invention provides an optimization method for performing autocorrelation analysis on the amplitude of a time domain echo signal based on the scheme of the conventional digital filter by using an FMCW vehicle-mounted millimeter wave radar as a research basis, so as to discriminate a real target and remove a false target, thereby improving the target detection capability of the vehicle-mounted radar in a short distance.
A method for eliminating short-distance false targets of a vehicle-mounted millimeter wave radar based on a digital filter specifically comprises the following steps.
S1, the radar system monitors whether a target exists in a set range, if so, the target echo is obtained and sent to the signal processing subsystem; otherwise, continuing monitoring.
And S2, the signal processing subsystem performs A/D conversion on the echo, performs digital filtering before FFT conversion, performs CFAR target detection in a frequency domain, and outputs a target set A.
And extracting the targets with the distance smaller than the set distance value in the target set A, and recording as a short-distance target set A'.
And S3, traversing the close-range target set A ', comparing the signal amplitude variation trend of the real target, judging whether the signal amplitude variation value of A ' (i) is greater than X, if so, labeling the false target, updating the close-range target set A ', and finishing the elimination of the false target.
And S4, otherwise, continuously traversing until the signal amplitude change value is detected to be larger than X, and executing S3.
Wherein, after determining whether the signal amplitude variation value of a' (i) is greater than X, the method further comprises: and (4) performing true and false discrimination on the detection target based on the digital filtering, if the discrimination result is false, performing false target marking, and otherwise, not performing marking.
Preferably, the vehicle-mounted millimeter wave radar adopts 5V power supply to generate a 24GHz microwave oscillation signal for the voltage-controlled oscillator, and the signal is divided into two paths through the power divider: one path is filtered by a passive filter and then transmitted out by a planar microstrip transmitting antenna; the other path is provided for a receiving channel to be used as a local oscillation source of the mixer.
Further, the target set a includes: frame rate, simultaneous measurement of the number of obstacles, detection range, detection relative speed, detection angle, and multi-target discrimination distance.
Preferably, the extracting of the targets in the target set a with distances smaller than the set distance value includes:
searching an echo point M in the target set A, giving the amplitude value of the parameter value of the echo point M to a first barrier target Q, continuously searching an echo point M +1, and calculating the minimum Manhattan distance L between the first barrier target Q and the echo point M + 1;
judging whether the distance L is smaller than a preset value, if so, adding the echo point M into a target set A'; otherwise, searching the next echo point M.
Preferably, the a/D conversion uses an ADC module built in the DSP to perform analog-to-digital conversion, and stores the digital signal into an SRAM memory built in the DSP to execute algorithm processing through a DMA transfer channel of the ADC module without occupying a CPU running period.
Preferably, the updating the short-distance target set a' includes deleting the echo point M with the label.
Further, the updating the close-range target set a' to complete the elimination of the false target further includes: and updating the near distance target set A' before outputting the result, filtering the echo point M with the label, storing the echo point M after filtering, and outputting the result.
The method for eliminating the short-distance false target of the vehicle-mounted millimeter wave radar based on the digital filter is easy to implement and high in practicability, not only can effectively eliminate the false target, but also can remarkably improve the detection capability of the weak RCS target. The method has the main ideas that when the real target exists or not at a short distance, the signal amplitude variation trend at the short distance is analyzed, characteristic difference under two conditions is searched, self-adaptive discrimination is carried out, and based on the characteristic difference, the filtering detection result is identified by the real target and the false target, so that the false target is removed.
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Fig. 1 is a flowchart of a method for eliminating false targets in a short distance by using a vehicle-mounted millimeter wave radar based on a digital filter in an embodiment.
Detailed Description
The core of the invention is that an FMCW-based vehicle-mounted millimeter wave radar provides a method for eliminating false targets in a short distance for a vehicle-mounted millimeter wave radar of a digital filter for research basis, and specifically, whether targets exist in a set range is monitored, the monitored results are processed through a signal processing subsystem, a short-distance target set A' is established, the signal amplitude variation trend of real targets is compared, and therefore characteristic differences under two conditions are searched and self-adaptive discrimination is carried out, and on the basis, true and false targets are identified on the filtering detection results, and the false targets are removed.
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a flow chart of a method for eliminating false targets in a short distance by using a vehicle-mounted millimeter wave radar based on a digital filter. Specifically, a preferred embodiment of the method for eliminating the short-distance false target of the vehicle-mounted millimeter wave radar based on the digital filter comprises a radar echo input end, echo filtering preprocessing, FFT/CFAR/parameter estimation and other processing performed by an information processing subsystem, a short-distance target set A' is constructed, and finally the result is eliminated and output through the false target.
The millimeter wave refers to electromagnetic waves with the wave band of 1-10mm, namely the frequency of 30GHz-300GHz, and in the field of vehicle-mounted radars, the millimeter wave refers to the frequency band of 24-26GHz and also includes the frequency band of 76-77GHz, wherein the radar with the frequency band of 76GHz has higher measurement precision and a longer measurement range. Furthermore, the frequency of the millimeter wave is between the infrared wave and the centimeter wave, so the advantages of the infrared wave and the centimeter wave are integrated, the millimeter wave can be used in all-weather environment like the centimeter wave, and has high resolution of the infrared wave.
The invention relates to a method for eliminating short-distance false targets of a vehicle-mounted millimeter wave radar based on a digital filter, which specifically comprises the following steps.
S1, the radar system monitors whether a target exists in a set range, if so, the target echo is obtained and sent to the signal processing subsystem; otherwise, continuing monitoring.
Preferably, the continuous wave radar is used for controlling and generating a continuously-changed transmitting wave signal by a continuously-changed modulation signal to realize the measurement of the object, and further, the FMCW radar is used for realizing the measurement of the target information by modulating the frequency of the transmitting wave, so that the cost is reduced, the development process is simplified, and the measurement precision is high.
The radar system monitoring comprises the transmission and the reception of radio frequency signals, wherein a frequency modulation signal input from the outside of a radar controls an oscillator to generate a transmission signal with frequency change, one part of the transmission signal is amplified by a power amplifier and then transmitted by a transmission antenna, the other part of the transmission signal is transmitted to a mixer through a directional coupler to wait for being subjected to frequency mixing processing with a received signal, the transmission signal is reflected after encountering an object and then received by a receiving antenna, further, the received signal is weak, then the amplification processing is carried out through a low-noise amplifier, and then the frequency mixing processing is carried out through the mixer and the transmission signal, so that an output signal is finally obtained.
However, in the prior art, the voltage of the voltage-controlled oscillator of the frequency-modulated continuous wave radar has a linear relationship with the transmitting frequency, but actually, the voltage-controlled oscillator has a nonlinear relationship with a certain deviation from the linear relationship in an ideal state. It is mainly caused by the following reasons: the problems of insufficient isolation between receiving and transmitting channels of the continuous wave radar, impedance matching of a radio frequency link and the like cause radio frequency signal power leakage to a certain degree, echo amplitude values of leaked signals on resonance frequency and adjacent frequency can be greatly raised, and finally, the voltage of a voltage-controlled oscillator of the frequency modulation continuous wave radar and the transmitting frequency are in a non-linear state.
Therefore, the invention further sets the invalid target of eliminating the false signal and reducing the leakage signal. Wherein, also include.
S2, the signal processing subsystem performs A/D conversion on the echo, digital filtering is performed before FFT conversion, CFAR target detection is performed in a frequency domain, and a target set A is output;
extracting targets with the distance smaller than a set distance value in the target set A, and recording as a short-distance target set A';
and the signal processing subsystem is internally provided with an AD module for carrying out analog-to-digital conversion on the radar signal.
And filtering the low-frequency wave signals and the high-frequency interference signals by a filter.
The FFT conversion is used for obtaining the signal distance and further determining a near-distance target, the CFAR target detection detects a target in the signal through a feature extraction and analysis technology, and optionally outputs the identified target or the position of the space where the target is located.
And S3, traversing the close-range target set A ', comparing the signal amplitude variation trend of the real target, judging whether the signal amplitude variation value of A ' (i) is greater than X, if so, labeling the false target, updating the close-range target set A ', and finishing the elimination of the false target.
Further, the signal amplitude variation trend at a short distance is analyzed, characteristic difference under two conditions is searched for, adaptive discrimination is carried out, and based on the characteristic difference, true and false target identification is carried out on the filtering detection result, so that false targets are removed.
Further, after the determining whether the signal amplitude variation value of a' (i) is greater than X, the method further includes: and (4) performing true and false discrimination on the detection target based on the digital filtering, if the discrimination result is false, performing false target marking, and otherwise, not performing marking.
S4, otherwise, continuously traversing until the signal amplitude is detected to be larger than X, and executing S3.
The vehicle-mounted millimeter wave radar adopts 5V power supply to generate a 24GHz microwave oscillation signal for the voltage-controlled oscillator, and the signal is divided into two paths through the power divider: one path is filtered by a passive filter and then transmitted out by a planar microstrip transmitting antenna; the other path is provided for a receiving channel to be used as a local oscillation source of the mixer.
Further, the target set a includes: frame rate, simultaneous measurement of the number of obstacles, detection range, detection relative speed, detection angle, and multi-target discrimination distance.
Preferably, the extracting of the targets in the target set a with distances smaller than the set distance value includes:
and searching an echo point M in the target set A, assigning the value of the echo point M to a first obstacle target Q, continuously searching an echo point M +1, and calculating the minimum Manhattan distance L between the first obstacle target Q and the echo point M +1, thereby obtaining a near-distance target.
Judging whether the distance L is smaller than a preset value, if so, adding the echo point M into a target set A'; otherwise, searching the next echo point M, thereby obtaining the variation trend of the echo point M.
Preferably, the a/D conversion uses an ADC module built in the DSP to perform analog-to-digital conversion, and stores the digital signal into an SRAM memory built in the DSP to execute algorithm processing through a DMA transfer channel of the ADC module without occupying a CPU running period.
Preferably, the updating the short-distance target set a' includes deleting the echo point M with the label.
Wherein, the updating of the close-range target set A' completes the elimination of the false target, and the method further comprises the following steps: and updating the near distance target set A' before outputting the result, filtering the echo point M with the label, storing the echo point M after filtering, and outputting the result.
The invention relates to a method for detecting a short-distance target by a vehicle-mounted millimeter wave radar, which is carried out based on a short-distance target detection system of the vehicle-mounted millimeter wave radar, wherein the short-distance target detection system of the vehicle-mounted millimeter wave radar comprises the following steps: an analog part and a digital part.
Further, the analog part also comprises: radar interface, radar signal processing unit and radar modulation signal production unit, well include power module. The radar signal processing unit is used for performing corresponding echo filtering and A/D conversion according to signals received by the radar interface, optionally, is also used for FFT conversion, and further is used for executing CFAR target detection.
The digital part includes: the CPU unit is used for executing the vehicle-mounted millimeter wave radar short-distance target detection method according to the signals sent by the radar signal processing unit and the radar modulation signal production unit, and further comprises a power supply module.
Furthermore, all the functional units in the analog part and the digital part are communicated through electric connection.
In conclusion, the invention provides a method for detecting the short-distance target of the vehicle-mounted millimeter wave radar, which solves the problem of inaccurate detection of the short-distance target of the vehicle-mounted millimeter wave radar caused by leakage of a transmitting signal, leakage of a local oscillator signal, multiple reflections of the signal and the like in a radar system, further solves the problem of low-frequency envelope formed by the parasitic leaked signal on a useful signal, compared with the prior art, the method can effectively eliminate false targets, remarkably improve the detection capability of weak RCS targets, improve the detection capability of the vehicle-mounted millimeter wave radar on the short-distance targets, and further enhance the effectiveness and accuracy of the vehicle-mounted millimeter wave radar system for providing decision information for an automobile system.
While the invention has been described in conjunction with the specific embodiments set forth above, it is evident that many alternatives, modifications, and variations will be apparent to those skilled in the art in light of the foregoing description. Accordingly, it is intended to embrace all such alternatives, modifications, and variations that fall within the spirit and scope of the appended claims.
Claims (7)
1. A method for eliminating short-range false targets of vehicle-mounted millimeter wave radar based on a digital filter is characterized in that,
s1, the radar system monitors whether a target exists in a set range, if so, the target echo is obtained and sent to the signal processing subsystem; otherwise, continuing monitoring;
s2, the signal processing subsystem performs A/D conversion on the echo, digital filtering is performed before FFT conversion, CFAR target detection is performed in a frequency domain, and a target set A is output;
extracting targets with the distance smaller than a set distance value in the target set A, and recording as a short-distance target set A';
s3, traversing the close-range target set A ', comparing the signal amplitude variation trend of the real target, judging whether the signal amplitude variation value of A ' (i) is larger than X, if so, marking a false target, updating the close-range target set A ', and finishing the elimination of the false target;
and S4, otherwise, continuously traversing until the signal amplitude change value is detected to be larger than X, and executing S3.
2. The method of claim 1, wherein: after the determining whether the signal amplitude variation value of a' (i) is greater than X, the method further includes: and (4) performing true and false discrimination on the detection target based on the digital filtering, if the discrimination result is false, performing false target marking, and otherwise, not performing marking.
3. The method of claim 1, wherein: the vehicle-mounted millimeter wave radar generates a 24GHz microwave oscillation signal for the voltage-controlled oscillator by adopting 5V power supply, and is divided into two paths through the power divider: one path is filtered by a passive filter and then transmitted out by a planar microstrip transmitting antenna; the other path is provided for a receiving channel to be used as a local oscillation source of the mixer.
4. The method of claim 1, wherein: the target set A includes: frame rate, simultaneous measurement of the number of obstacles, detection range, detection relative speed, detection angle, and multi-target discrimination distance.
5. The method of claim 1, wherein: before extracting the targets with the distance smaller than the set distance value in the target set A, the method comprises the following steps:
searching an echo point M in the target set A, assigning a parameter value of the echo point M to a first barrier target Q, continuously searching an echo point M +1, and calculating a minimum Manhattan distance L between the first barrier target Q and the echo point M + 1;
judging whether the distance L is smaller than a preset value, if so, adding the echo point M into a target set A'; otherwise, searching the next echo point M.
6. The method of claim 1, wherein: the A/D conversion adopts an ADC module built in the DSP to carry out analog-to-digital conversion, and stores the digital signal into an SRAM memory built in the DSP to execute algorithm processing under the condition of not occupying the running period of a CPU through a DMA transmission channel of the ADC module.
7. The method of claim 1, wherein: the updating of the close-range target set A' to complete the elimination of the false target further comprises the following steps: and updating the near distance target set A' before outputting the result, filtering the echo point M with the label, storing the echo point M after filtering, and outputting the result.
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