CN111239738A - Four-dimensional information high-precision detection forward collision-proof radar for automobile - Google Patents
Four-dimensional information high-precision detection forward collision-proof radar for automobile Download PDFInfo
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- CN111239738A CN111239738A CN201910681119.2A CN201910681119A CN111239738A CN 111239738 A CN111239738 A CN 111239738A CN 201910681119 A CN201910681119 A CN 201910681119A CN 111239738 A CN111239738 A CN 111239738A
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- radar
- radio frequency
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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
- 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
- G01S7/027—Constructional details of housings, e.g. form, type, material or ruggedness
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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
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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
- G01S7/28—Details of pulse systems
- G01S7/285—Receivers
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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
- G01S7/28—Details of pulse systems
- G01S7/285—Receivers
- G01S7/292—Extracting wanted echo-signals
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention discloses a four-dimensional information high-precision detection automobile forward collision avoidance radar, which mainly comprises an MIMO radio frequency subsystem, a signal processing subsystem, a wave-transmitting cover and an airtight grade structure, wherein the MIMO radio frequency subsystem provides the radar system with longitudinal/transverse high resolution capability and pitching angle measurement capability, the signal processing subsystem provides the radar system with real-time signal processor capability, the wave-transmitting cover provides the radar system with safe protection performance and efficient wave-transmitting performance, and the airtight structure provides the radar system with a high-reliability operating environment; the vehicle-mounted millimeter wave radar senses the running environment of the vehicle, provides obstacle avoidance information according to the vehicle pose, road and obstacle information obtained by sensing, greatly reduces invalid braking caused by excessive false alarms, and improves the vehicle driving efficiency of the intelligent vehicle.
Description
Technical Field
The invention belongs to the technical field of automobile radars, and particularly relates to a four-dimensional information high-precision detection automobile forward collision avoidance radar.
Background
In an Advanced Driver Assistance System (ADAS), eight application problems in the driving process of an automobile, namely blind spot detection, parking Assistance, lane departure warning, collision prevention, adaptive vehicle lamp control, night vision, active vehicle distance control cruise and Driver physiological state monitoring, are solved by a multi-sensor fusion method. The forward collision avoidance radar of the automobile plays an especially important role, and the traditional vehicle-mounted millimeter wave radar antenna array receiving antenna can only measure the angle of a target in the horizontal direction and cannot measure the angle of the target in the pitching direction. In view of the fact that the passenger intelligent vehicle can face different terrains and vegetations (such as viaducts, height-limiting beams, tunnels and the like in urban environments) during the actual task execution, if the radar cannot distinguish the angle of the target in the pitching direction, the radar cannot judge whether the height of the front obstacle is lower than or higher than the height of the vehicle body, and therefore invalid braking caused by excessive false alarms is caused.
Disclosure of Invention
In view of this, the present invention provides a four-dimensional information high-precision detection forward collision avoidance radar for an automobile, which can not only estimate the angle of a target in the horizontal direction, but also distinguish the angle of the target in the pitch direction, thereby reducing the ineffective braking caused by excessive false alarm.
A forward collision avoidance radar for detecting automobiles comprises an MIMO radio frequency subsystem 1, a signal processing subsystem 2, a wave-transparent cover 3 and a sealing structure 4; the MIMO radio frequency subsystem 1 and the signal processing subsystem 2 are packaged in a sealing structure 4, and a wave-transparent cover 3 is arranged on the sealing structure 4 corresponding to the antenna position of the MIMO radio frequency subsystem 1.
The MIMO radio frequency subsystem completes generation, transmission and reception of electromagnetic waves;
and the signal processing subsystem calculates the distance, the azimuth angle, the pitch angle and the speed of a target according to the echo signals received by the MIMO radio frequency subsystem.
The antennas of the MIMO radio frequency subsystem adopt a layout of two rows of 3 transmitting antennas and 4 receiving antennas.
The processor in the signal processing subsystem adopts a xilinxA7 series FPGA chip.
The wave-transmitting cover is made of ABS materials.
The invention has the following beneficial effects:
the invention discloses a four-dimensional information high-precision detection automobile forward collision avoidance radar, wherein a vehicle-mounted millimeter wave radar senses the running environment of a vehicle and provides obstacle avoidance information according to vehicle pose, road and obstacle information obtained by sensing. However, the conventional vehicle-mounted millimeter wave radar antenna array receiving antennas are arranged at the same height, and the system can only measure the angle of the target in the horizontal direction and cannot measure the angle of the target in the pitching direction. In view of the fact that the passenger intelligent vehicle can face different terrains and vegetations (such as viaducts, height-limiting beams, tunnels and the like in the urban environment) during the actual task execution period, the radar can further distinguish the types of the targets if the target value can be distinguished in the pitching angle, if the intelligent vehicle can judge that the height of the front obstacle is far lower than or higher than the height of the vehicle body through the radar, the intelligent vehicle can directly pass through without braking, so that the invalid braking caused by excessive false alarms is greatly reduced, and the dynamic efficiency of the intelligent vehicle is improved. The radar system mainly comprises an MIMO radio frequency subsystem, a signal processing subsystem, a wave-transmitting cover and an airtight grade structure, wherein the MIMO radio frequency subsystem provides longitudinal/transverse high resolution capability and pitching angle measurement capability for the radar system, the signal processing subsystem provides real-time signal processor capability for the radar system, the wave-transmitting cover provides safe protection performance and efficient wave-transmitting performance for the radar system, and the airtight structure provides a high-reliability operation environment for the radar system.
Drawings
FIG. 1 is a schematic diagram of an automotive radar according to the present invention;
FIG. 2 is a schematic diagram of an antenna layout of the MIMO radio frequency subsystem of the present invention;
the system comprises a 1-MIMO radio frequency subsystem, a 2-signal processing subsystem, a 3-wave-transparent cover, a 4-sealing structure and a 5-external interface.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
The invention relates to a four-dimensional information high-precision detection automobile forward anti-collision radar, which mainly comprises an MIMO radio frequency subsystem 1, a signal processing subsystem 2, a wave-transparent cover 3 and a sealing structure 4; the MIMO radio frequency subsystem 1 and the signal processing subsystem 2 are packaged in a sealing structure 4, and a wave-transparent cover 3 is arranged on the sealing structure 4 corresponding to the antenna position of the MIMO radio frequency subsystem 1.
The MIMO radio frequency subsystem completes generation, transmission and reception of electromagnetic waves; the MIMO radio frequency subsystem comprises a single-chip millimeter wave transceiving component and a high-resolution four-dimensional measuring antenna, wherein the single-chip millimeter wave transceiving component can output a chirp signal through serial interface configuration and can perform functional operations such as frequency mixing, intermediate frequency amplification, automatic gain control and the like with an input echo chirp; the high-resolution four-dimensional measuring antenna can perform four-dimensional resolution on objects in a certain view field of a space according to the MIMO layout of the antenna, and the four dimensions respectively comprise a distance dimension, an azimuth dimension, a pitching dimension and a speed dimension.
The MIMO antenna multi-dimensional layout design adopts two-row layout of 3-transmitting and 4-receiving antennas, can distinguish the azimuth dimension, can measure the angle of the pitching dimension, and can effectively distinguish obstacles such as overpasses, road arc slopes and the like;
and the pitch angle and the azimuth angle are measured respectively, and the phase difference between the channels is determined by the pitch angle and the azimuth angle together, when the one-dimensional angle is 0 degree, the other-dimensional angle can be accurately measured, otherwise, the measured value has integral deviation, and the larger the one-dimensional deviation normal is, the farther the other-dimensional measured value deviates from the true value.
Wherein, the dotted line frame part is used for azimuth angle measurement, and the solid line frame is used for elevation angle measurement. Elevation goniometry may be performed using FFT or single pulse goniometry.
The single-chip 77GHz millimeter wave transceiving system adopts a domestic 77GHz millimeter wave radar single-chip solution, and designs a plurality of synchronous cascade working methods, the design expands the channel number of the radar on the premise of ensuring synchronous working among a plurality of chips, solves the problem of insufficient transceiving channel number of the single chip, and greatly improves the spatial resolution capability rate of radar products;
the signal processing subsystem is used for completing digitization of 4-channel analog signals and a real-time signal processor and outputting a radar four-dimensional information detection result; carrying out 8-path synchronous full-coherent AD sampling design, wherein the design is a necessary condition for lossless accumulation of each channel of the MIMO system radar, and the processor adopts an xil inxA7 series FPGA chip to realize the transplantation of an algorithm in a soft core in a chip and realize a single-core processing chip signal real-time processing system;
the wave-transmitting cover provides reliable outer layer protection for the radar and has extremely high millimeter wave electromagnetic wave-transmitting performance; after theoretical analysis and test comparison and measurement of various materials, novel ABS is adopted as a main body material of the wave-transmitting cover, the thickness is controlled within 0.39 +/-0.2 mm, the penetration rate of millimeter waves reaches 93%, the wave-transmitting paint is coated on the outside, the wave-transmitting paint is a bi-component paint consisting of a prepolymer A component prepared by organic silicon modified elastic polyurethane resin, organic solvent, pigment, filler and the like and diisocyanate and a B component prepared by polyurethane rubber vulcanizing agent and other materials, and the wave-transmitting rate is more than 90%.
The airtight grade structure provides a high-reliability sealed cavity for the radar, and prolongs the service life of radar products. The airtight structure adopts the design methods of one-step molding of the structural main body, independent sealing design of the connector, filling of a certain volume of inert gas in the structural cavity and the like, so that the protection level of the whole radar reaches IP68 level, and the service life of the product is greatly prolonged.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. A forward collision avoidance radar for detecting automobiles is characterized by comprising an MIMO radio frequency subsystem (1), a signal processing subsystem (2), a wave-transparent cover (3) and a sealing structure (4); the MIMO radio frequency subsystem (1) and the signal processing subsystem (2) are packaged in a sealing structure (4), and a wave-transmitting cover (3) is arranged on the sealing structure (4) corresponding to the antenna position of the MIMO radio frequency subsystem (1).
The MIMO radio frequency subsystem (1) completes generation, transmission and reception of electromagnetic waves;
and the signal processing subsystem (2) calculates the distance, the azimuth angle, the pitch angle and the speed of a target according to the echo signals received by the MIMO radio frequency subsystem (1).
2. A radar for detecting forward collision avoidance of automobiles as claimed in claim 1, wherein the antennas of the MIMO radio frequency subsystem (1) are arranged in two rows of 3-transmitter 4-receiver antennas.
3. A radar for detecting forward collision avoidance of a motor vehicle as claimed in claim 1, wherein said processor in said signal processing subsystem (2) is implemented as a xilinxA7 series FPGA chip.
4. A radar for detecting forward collision avoidance of a motor vehicle as claimed in claim 1, wherein said wave-transparent cover (3) is of ABS material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910681119.2A CN111239738A (en) | 2019-07-26 | 2019-07-26 | Four-dimensional information high-precision detection forward collision-proof radar for automobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910681119.2A CN111239738A (en) | 2019-07-26 | 2019-07-26 | Four-dimensional information high-precision detection forward collision-proof radar for automobile |
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| Publication Number | Publication Date |
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| CN111239738A true CN111239738A (en) | 2020-06-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910681119.2A Pending CN111239738A (en) | 2019-07-26 | 2019-07-26 | Four-dimensional information high-precision detection forward collision-proof radar for automobile |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022023296A3 (en) * | 2020-07-29 | 2022-03-24 | Valeo Schalter Und Sensoren Gmbh | Radar system, antenna array for a radar system, vehicle, and method for operating a radar system |
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| CN104332705A (en) * | 2014-10-16 | 2015-02-04 | 西安电子工程研究所 | Integral type airborne millimeter wave radar antenna cover |
| CN107076832A (en) * | 2014-09-23 | 2017-08-18 | 罗伯特·博世有限公司 | For decoupling determine the angle of pitch and azimuthal MIMO radar equipment of object and the method for running MIMO radar equipment |
| CN108780147A (en) * | 2016-02-29 | 2018-11-09 | 罗伯特·博世有限公司 | It include the radar system of the antenna equipment for sending and receiving electromagnetic beam |
| CN109343053A (en) * | 2018-11-26 | 2019-02-15 | 上海瀚唯科技有限公司 | 4D millimetre-wave radar system space information sensing method |
| CN109358322A (en) * | 2018-10-25 | 2019-02-19 | 森思泰克河北科技有限公司 | Forward direction target detection radar and method |
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2019
- 2019-07-26 CN CN201910681119.2A patent/CN111239738A/en active Pending
Patent Citations (5)
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| CN107076832A (en) * | 2014-09-23 | 2017-08-18 | 罗伯特·博世有限公司 | For decoupling determine the angle of pitch and azimuthal MIMO radar equipment of object and the method for running MIMO radar equipment |
| CN104332705A (en) * | 2014-10-16 | 2015-02-04 | 西安电子工程研究所 | Integral type airborne millimeter wave radar antenna cover |
| CN108780147A (en) * | 2016-02-29 | 2018-11-09 | 罗伯特·博世有限公司 | It include the radar system of the antenna equipment for sending and receiving electromagnetic beam |
| CN109358322A (en) * | 2018-10-25 | 2019-02-19 | 森思泰克河北科技有限公司 | Forward direction target detection radar and method |
| CN109343053A (en) * | 2018-11-26 | 2019-02-15 | 上海瀚唯科技有限公司 | 4D millimetre-wave radar system space information sensing method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2022023296A3 (en) * | 2020-07-29 | 2022-03-24 | Valeo Schalter Und Sensoren Gmbh | Radar system, antenna array for a radar system, vehicle, and method for operating a radar system |
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Application publication date: 20200605 |