CN206369807U - Imaging radar and vehicle - Google Patents
Imaging radar and vehicle Download PDFInfo
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- CN206369807U CN206369807U CN201620680589.9U CN201620680589U CN206369807U CN 206369807 U CN206369807 U CN 206369807U CN 201620680589 U CN201620680589 U CN 201620680589U CN 206369807 U CN206369807 U CN 206369807U
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Abstract
This application discloses a kind of imaging radar and vehicle, the imaging radar includes：Multiple transmitting antennas, are arranged at the side of vehicle, are coupled with radio-frequency module, the signal for launching the radio-frequency module generation；Multiple reception antennas, are arranged at the side of the vehicle, are coupled with the radio-frequency module, for receiving the scattered signal that the signal dispersion launched by the target of the vehicle periphery the multiple transmitting antenna is formed respectively；The radio-frequency module, is coupled with processor, and echo data is formed for generating the signal for launching, and by the scattered signal received by the multiple reception antenna；The processor, for by the radio-frequency module obtain with the vehicle movement be transmitted back to come echo data, and according to the echo data generation dimensional radar image.The problem of obtaining using laser radar caused by vehicle-surroundings running environment is solved, Radar for vehicle is can adapt to various environment, and reduce cost.
Description
Technical field
The application is related to field of radar, in particular to imaging radar and vehicle.
Background technology
In order that vehicle traveling it is safer, or in order to adapt to automatic Pilot in future the need for, it is necessary to obtain automobile
The ambient conditions on periphery.In the prior art, it is possible to use vehicle-mounted sensor, gather at any time in the process of moving simultaneously
The 3 d image data of motor vehicle environment is analyzed, so as to allow driver to perceive the danger that may occur in advance, can be effectively increased
The security of car steering.
In the prior art, it is that environment surrounding automobile is perceived by laser radar.Its technical principle is swashed by multi-thread
Light device is monitored in real time to motor vehicle environment object, is formed high-precision high real-time three-dimensional point cloud, is rebuild environment surrounding automobile, from
And realize the functions such as lane departur warning, front truck anticollision, pedestrian detection.The 3-D view of environment surrounding automobile is obtained with laser
Data, this mode is vulnerable to the influence of the factors such as weather.Under the environment such as dense fog, sleet, effect is not fine, so that
Make the original function of vehicle almost can not normal work.In addition, the cost of laser radar is higher.
The problem of obtaining for the use laser radar in correlation technique caused by vehicle-surroundings running environment, is not yet proposed
Solution.
The content of the invention
This application provides a kind of imaging radar and vehicle, at least to solve to obtain vehicle-surroundings row using laser radar
The problem of sailing caused by environment.
According to the one side of the application there is provided a kind of imaging radar, including：Multiple transmitting antennas, are arranged at vehicle
Side, coupled with radio-frequency module, the signal for launching the generation of above-mentioned radio-frequency module；Multiple reception antennas, are arranged at above-mentioned
The side of vehicle, is coupled with above-mentioned radio-frequency module, for receiving respectively by the target of above-mentioned vehicle periphery to above-mentioned multiple transmittings
The scattered signal that the signal dispersion of antenna transmitting is formed；Above-mentioned radio-frequency module, is coupled with processor, for generating for transmitting
Above-mentioned signal, and the above-mentioned scattered signal received by above-mentioned multiple reception antennas is formed into echo data；Above-mentioned processing
Device, for by above-mentioned radio-frequency module obtain with above-mentioned vehicle movement be transmitted back to come echo data, and according to above-mentioned number of echoes
According to generation dimensional radar image.
Further, above-mentioned radio-frequency module includes：Oscillator, for generating the signal for launching；Multiple first power
Amplifier, is coupled respectively to above-mentioned oscillator and above-mentioned transmitting antenna, for amplifying to above-mentioned signal and transmitting to above-mentioned multiple
Transmitting antenna is launched；Multiple second power amplifiers, are coupled respectively to frequency mixer and above-mentioned reception antenna, for receiving
To above-mentioned multiple scattered signals be amplified, and transmit to above-mentioned frequency mixer；Above-mentioned frequency mixer, coupled to above-mentioned multiple second
Power amplifier and above-mentioned oscillator, above-mentioned echo data is produced for above-mentioned signal and above-mentioned scattered signal to be carried out into mixing.
Further, the quantity of above-mentioned transmitting antenna and the quantity of above-mentioned reception antenna are identical or different；And/or above-mentioned hair
The height for penetrating antenna is different from the height of above-mentioned reception antenna.
Further, above-mentioned processor, is transmitted back to the echo data come, according to above-mentioned for obtaining with above-mentioned vehicle movement
Echo data formation synthetic aperture, generates dimensional radar image.
Further, above-mentioned radio-frequency module is used to generate millimeter wave as the above-mentioned signal of transmitting.
According to further aspect of the application, a kind of vehicle is additionally provided, including：Above-mentioned imaging radar.
Further, above-mentioned imaging radar is arranged at the side of above-mentioned vehicle.
Further, above-mentioned imaging radar, is arranged on and makes a reservation for apart from the trailing wheel of above-mentioned vehicle and/or the front-wheel of above-mentioned vehicle
The side of the above-mentioned vehicle of distance.
Further, above-mentioned imaging radar, is arranged on and makes a reservation for apart from the headlight of above-mentioned vehicle and/or the back light of above-mentioned vehicle
The side of the above-mentioned vehicle of distance.
Further, above-mentioned imaging radar is one or more.
Imaging radar is employed by the application, the imaging radar includes：Multiple transmitting antennas, are arranged at the side of vehicle
Face, is coupled with radio-frequency module, the signal for launching above-mentioned radio-frequency module generation；Multiple reception antennas, are arranged at above-mentioned vehicle
Side, coupled with above-mentioned radio-frequency module, for receiving respectively by the target of above-mentioned vehicle periphery to above-mentioned multiple transmitting antennas
The scattered signal that the signal dispersion of transmitting is formed；Above-mentioned radio-frequency module, is coupled with processor, above-mentioned for what is launched for generating
Signal, and the above-mentioned scattered signal received by above-mentioned multiple reception antennas is formed into echo data；Above-mentioned processor, is used
In by above-mentioned radio-frequency module obtain with above-mentioned vehicle movement be transmitted back to come echo data, and according to above-mentioned echo data generation
Dimensional radar image.The problem of obtaining using laser radar caused by vehicle-surroundings running environment is solved, enables Radar for vehicle
Various environment are enough adapted to, and reduce cost.
Brief description of the drawings
Accompanying drawing described herein is used for providing further understanding of the present application, constitutes the part of the application, this Shen
Schematic description and description please is used to explain the application, does not constitute the improper restriction to the application.Also, for this
For the those of ordinary skill of field, on the premise of not paying creative work, it can also obtain other according to these accompanying drawings
Accompanying drawing.In the accompanying drawings：
Fig. 1 is the structured flowchart of the imaging radar according to the present embodiment；
Fig. 2 is the flow chart of the imaging method according to the present embodiment；
Fig. 3 is the schematic diagram set according to the imaging radar of the present embodiment；
Fig. 4 is the structured flowchart of the optional three-dimensional imaging radar according to the present embodiment；
Fig. 5 is the structural representation of the radio-frequency module according to the present embodiment；
Fig. 6 is the flow chart of the signal processor inter-process according to the present embodiment.
Embodiment
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the application can phase
Mutually combination.Describe the application in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
It should be noted that can be in the executable finger of such as one group computer the step of the schematic flow sheet of accompanying drawing is shown
Performed in the computer system of order, and, although logical order is shown in schematic flow sheet, but in some cases,
Can be with the step shown or described by being performed different from order herein.
A kind of imaging radar in the present embodiment, Fig. 1 is the structured flowchart of the imaging radar according to the present embodiment, such as Fig. 1
Shown, the imaging radar includes：
Multiple transmitting antennas 10, are arranged at the side of vehicle, are coupled with radio-frequency module 30, are given birth to for launching radio-frequency module 30
Into signal；
Multiple reception antennas 20, are arranged at the side of vehicle, are coupled with radio-frequency module 30, for receiving by vehicle periphery
Multiple scattered signals that the signal dispersion that target is launched multiple transmitting antennas 10 is formed；
Radio-frequency module 30, is coupled with processor 40, for generating the signal for launching, and will pass through reception antenna 20
The scattered signal formation echo data received；
Processor 40, for by radio-frequency module 30 obtain with vehicle movement be transmitted back to come echo data, and according to return
Wave number is according to generation dimensional radar image.
By above-mentioned imaging radar, the processing to signal has been used, and make use of the characteristics of vehicle is constantly moved, so that
The target of vehicle-surroundings can be recognized using radar, vehicle-surroundings running environment institute is obtained using laser radar so as to solve
The problem of causing, Radar for vehicle is set to can adapt to various environment, and reduce cost.
Radio-frequency module 30 has many implementations, and there is provided a kind of optional implementation in the present embodiment.This is penetrated
Frequency module 30 can include：Oscillator (can use voltage controlled oscillator), for generating the signal for launching；Multiple first work(
Rate amplifier, is coupled respectively to oscillator and multiple transmitting antennas 10, for amplifying to signal and transmitting to multiple transmitting antennas
10 are launched；Multiple second power amplifiers, be coupled respectively to frequency mixer and multiple reception antennas 20, for receiving
Scattered signal is amplified, and is transmitted to frequency mixer；Frequency mixer, coupled to multiple second power amplifiers and oscillator, is used for
Signal and scattered signal are subjected to mixing and produce echo data.Power amplifier has been used in the present embodiment, so as to more
Be conducive to the scattering of signal, and the identification to scattered signal.
It is 3-D view due to need generation in an optional embodiment, now, transmitting antenna 10 and reception day
The quantity of line 20 can be the same or different, and the height of transmitting antenna is different from the height of reception antenna.
Dimensional radar image can be generated in an optional embodiment using synthetic aperture.Now, processor
40, the echo data come is transmitted back to vehicle movement for obtaining, synthetic aperture is formed according to echo data, three-dimensional radar is generated
Image.
The signal of transmitting can be handled using a variety of ripples, in a ratio preferably embodiment, radio-frequency module
30 are used to generate millimeter wave as the signal of transmitting.
A kind of vehicle is additionally provided in the present embodiment, including：Above-mentioned imaging radar.Imaging radar can be arranged on energy
The position enough set, can be selected according to the actual needs, for example, imaging radar is arranged at the side of vehicle.Vehicle
Side has many positions to set imaging radar, for example, can be arranged on before the trailing wheel and/or vehicle of vehicle
Take turns the side of the vehicle of preset distance.In another example, imaging radar is arranged on pre- apart from the headlight of vehicle and/or the back light of vehicle
The side of the vehicle of set a distance.Above-mentioned imaging radar can be one or more.
In the present embodiment, a kind of imaging method is additionally provided, Fig. 2 is the flow of the imaging method according to the present embodiment
Figure, as shown in Fig. 2 this method includes：
Step S202, launches multiple signals；
Step S204, receives the multiple scatterings formed by the target of vehicle periphery to the multiple signal dispersion of transmitting and believes
Number；
Step S206, by the multiple scattered signals received formation echo data；
Step S208, obtains the echo data for being transmitted back to come with vehicle movement, and generate three-dimensional radar according to echo data
Image.
By above-mentioned steps, the processing to signal has been used, and make use of the characteristics of vehicle is constantly moved, so as to
The target of vehicle-surroundings is recognized using radar, is obtained so as to solve using laser radar caused by vehicle-surroundings running environment
The problem of, Radar for vehicle is can adapt to various environment, and reduce cost.
In an optional embodiment, synthetic aperture can be formed according to echo data, generate dimensional radar image.
For example, Fourier transformation is carried out to echo data, when the data after conversion；Pixel is obtained according to the data after conversion, it is right
Pixel is calculated apart from history and scattering strength；Dimensional radar image is obtained according to apart from history and scattering strength.
Preferably, the application can also provide a computer program for being used to perform above-described embodiment and preserve above-mentioned
The carrier of computer program, i.e. the above embodiments of the present application by a suitable counting system structure can meet certainly
The running of right rule.Although in addition, the application described in above-mentioned context, above-mentioned based on realizing and performing step
Calculation machine program is not meant to be restricted, and described action and each side of operation can also be realized with hardware.
The principle of the application can use other universal or special calculating or communication environment or configure to operate.Suitable for this
Well-known computing system, environment and the example of configuration of application include but is not limited to, personal computer, server, many places
Manage device system, the system based on microprocessor, minicomputer, mainframe computer, smart machine, terminal (including mobile terminal) and
DCE including any said system or equipment.
Its implementation process is described in detail below in conjunction with optional embodiment.
A kind of millimeter wave three-dimensional imaging radar for safe driving of vehicle is provided in the present embodiment, due to using
Millimeter wave, therefore, the alternative embodiment can under any photoenvironment, any weather environment normal work.Also, cost compared with
It is low.
For the selection of imaging radar, the radar of mm-wave imaging is used in the present embodiment.It is of course also possible to adopt
With the radar of metric wave, decimetric wave or superhigh frequency band.The present embodiment is using mm-wave imaging radar relative to other common thunders
Up to frequency range, for example, metric wave, decimetric wave and centimeter wave frequency range etc., millimeter wave frequency band radar has following advantage：Radar operation wavelength
Short, less antenna size is to result in higher angular resolution；Rf chip integrated level is high, whole radar radio frequency
Front end can be completed with a mm wave RF chip；Radar radio-frequency front-end based on high integration, complete machine radar cost phase
To relatively low.
In the present embodiment, using millimetre-wave radar three-dimensional imaging radar, can realize distance to, orientation and height to
High-resolution.Wherein it is possible to make the big bandwidth signal of radar emission, realize distance to high-resolution using pulse compression technique.Due to
Imaging radar is arranged on vehicle, and vehicle is always in ceaselessly moving.So as to so that imaging radar can also be moved, make into
As radar utilizes displacement, the Doppler frequency to different azimuth target echo is had differences, and doppler processing is carried out to it,
The high-resolution of orientation can be realized.Because the height and position of multiple transmitting antennas, multiple reception antennas is different, each echo
Phase is had differences, and this phase difference is handled, can realize height to high-resolution.
Fig. 3 is the schematic diagram set according to the imaging radar of the present embodiment, as shown in figure 3, the milli involved by the present embodiment
Metric wave three-dimensional imaging radar, can be placed in vehicle body side (for example, can be arranged near vehicle side square tail portion, or close
The marginal portion of tail gate, or it is arranged on the top of vehicle side front wheel), three-dimensional imaging radar mainly utilizes automobile certainly
Body is moved, and is formed synthetic aperture, is realized radar three-dimensional imaging.
It is related to imaging radar in the present embodiment, in the present embodiment, it is contemplated that amount of calculation, can be using three-dimensional imaging
Radar.The building form of three-dimensional imaging radar has many kinds, in the present embodiment there is provided a kind of optional three-dimensional imaging radar
Structured flowchart, Fig. 4 is the structured flowchart of the optional three-dimensional imaging radar according to the present embodiment, as shown in figure 4, the millimeter wave
Three-dimensional imaging radar can include：Dual-mode antenna, radio-frequency module and signal processor, in Fig. 4 comprising K transmitting antenna and L
Individual reception antenna, K and L quantity is identical or difference, and the antenna of multi-quantity can be distributed in the different places of antenna, for example, divide
At various height, so that the signal of radar can be sent and received, these signals can also be handled cloth, so that
Obtained 3-D view is more accurate.
The implementation of radio-frequency module also has many kinds, in the present embodiment there is provided a kind of optional embodiment, Fig. 5
It is the structural representation of the radio-frequency module according to the present embodiment, as shown in figure 5, transmission signal can be produced by voltage controlled oscillator,
Launched by power amplifier by transmitting antenna.Reception antenna receives target echo, by power amplifier, and and VCO
The transmission signal mixing that device is produced, finally by the radar return data transfer after mixing to signal processor.
Processing mode inside signal processor also has many kinds, and Fig. 6 provides a kind of optional mode, and Fig. 6 is basis
The flow chart of the signal processor inter-process of the present embodiment, k-th of transmitting antenna transmitting, and connect by l-th of reception antenna
Radar return data s (t, the u received；K, l) represent, wherein t represents the fast time, and u represents the slow time.As shown in fig. 6, the stream
Journey comprises the following steps：
Step S1, to radar return data s (t, u；K, l) carry out Fourier transformation, the number after being converted by fast time t
According to S (f, u；K, l), i.e.,
S(f,u；K, l)=∫ s (t, u；k,l)exp(-j2πft)dt (1)
Step S2, for the pixel (x in radar imagen,yn) (n=1,2 ..., N), its distance is calculated according to the following formula to be gone through
History, i.e.,
Wherein, define y-axis and represent motor racing direction vector；X-axis represents that automobile is vertical with y-axis and positioned at Horizon at it
Direction vector in face；Represent coordinate of the automobile in x directions；Represent coordinate of the automobile in y directions；hTRepresent first radar
Height of the transmitting antenna relative to ground level；dTRepresent distance between transmitting antenna；hRRepresent first radar receiving antenna relative to
The height of ground level；dRRepresent distance between reception antenna；V represents motor racing speed；xnAnd ynRepresent that image slices vegetarian refreshments exists respectively
X and y-axis coordinate.
Step S3, for the pixel (x in radar imagen,yn) (n=1,2 ..., N), it is strong that its scattering is calculated according to the following formula
Angle value, i.e.,
Wherein, B represents transmitted signal bandwidth；T represents transmission signal time width；fcRepresent radar operating frequency；C represents electromagnetism
Velocity of wave propagation.
In the present embodiment, millimeter wave three-dimensional imaging radar is placed in automobile side, and radar imagery is carried out to broadside target,
The millimeter wave three-dimensional imaging radar can include：One transmitting antenna, reception antenna, radio-frequency module and signal transacting mould
Block.Then by millimeter wave three-dimensional imaging method for processing radar signals, radar is finally given to radar return data progress processing
Image.
It is above-mentioned to be preferred embodiment used in combination.In addition, as used in this application, term " module " or
" unit " can refer to the software object performed on said apparatus or routine.Disparate modules and unit described herein can be by realities
Now to perform the object or process of (for example, being used as single thread) on said apparatus, meanwhile, said apparatus using hardware or
The realization of the combination of software and hardware is also that may and be contemplated.
Obviously, those skilled in the art should be understood that each module or each step of above-mentioned the application can be with general
Computing device realize that they can be concentrated on single computing device, or be distributed in multiple computing devices and constituted
Network on, alternatively, the program code that they can be can perform with computing device be realized, it is thus possible to they are stored
Performed in the storage device by computing device, either they are fabricated to respectively each integrated circuit modules or by they
In multiple modules or step single integrated circuit module is fabricated to realize.So, the application is not restricted to any specific
Hardware and software is combined.
The preferred embodiment of the application is the foregoing is only, the application is not limited to, for the skill of this area
For art personnel, the application can have various modifications and variations.It is all within spirit herein and principle, made any repair
Change, equivalent substitution, improvement etc., should be included within the protection domain of the application.
Claims (10)
1. a kind of imaging radar, it is characterised in that including：
Multiple transmitting antennas, are arranged at the side of vehicle, are coupled with radio-frequency module, the letter for launching the radio-frequency module generation
Number；
Multiple reception antennas, are arranged at the side of the vehicle, are coupled with the radio-frequency module, for receiving by vehicle week
The scattered signal that the signal dispersion that the target enclosed is launched transmitting antenna is formed；
The radio-frequency module, is coupled with processor, for generating the signal for launching, and will pass through the reception day
The scattered signal formation echo data that line is received；
The processor, for by the radio-frequency module obtain with the vehicle movement be transmitted back to come echo data, and root
Dimensional radar image is generated according to the echo data.
2. imaging radar according to claim 1, it is characterised in that the radio-frequency module includes：
Oscillator, for generating the signal for launching；
Multiple first power amplifiers, are coupled respectively to the oscillator and each transmitting antenna, for amplifying to the signal
And transmit to each transmitting antenna and launched；
Multiple second power amplifiers, are coupled respectively to frequency mixer and each reception antenna, for the scattering to receiving
Signal is amplified, and is transmitted to the frequency mixer；
The frequency mixer, coupled to the multiple second power amplifier and the oscillator, for by the signal and described
Scattered signal carries out mixing and produces the echo data.
3. imaging radar according to claim 1, it is characterised in that
The quantity of the transmitting antenna and the quantity of the reception antenna are identical or different；And/or
The height of the transmitting antenna is different from the height of the reception antenna.
4. imaging radar according to claim 1, it is characterised in that the processor, is transported for obtaining with the vehicle
It is dynamic to be transmitted back to the echo data come, synthetic aperture is formed according to the echo data, dimensional radar image is generated.
5. imaging radar according to any one of claim 1 to 4, it is characterised in that the radio-frequency module is used to generate
Millimeter wave as transmitting the signal.
6. a kind of vehicle, it is characterised in that including：Imaging radar any one of claim 1 to 5.
7. vehicle according to claim 6, it is characterised in that the imaging radar is arranged at the side of the vehicle.
8. vehicle according to claim 7, it is characterised in that the imaging radar, is arranged on after the vehicle
The side of the vehicle of the front-wheel preset distance of wheel and/or the vehicle.
9. vehicle according to claim 7, it is characterised in that the imaging radar, is arranged on before the vehicle
The side of the vehicle of the back light preset distance of lamp and/or the vehicle.
10. the vehicle according to any one of claim 6 to 9, it is characterised in that the imaging radar is one or many
It is individual.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620680589.9U CN206369807U (en) | 2016-06-30 | 2016-06-30 | Imaging radar and vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620680589.9U CN206369807U (en) | 2016-06-30 | 2016-06-30 | Imaging radar and vehicle |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112201032A (en) * | 2020-08-28 | 2021-01-08 | 武汉理工大学 | Road traffic flow monitoring method, storage medium and system |
| CN112216110A (en) * | 2020-10-16 | 2021-01-12 | 王晔 | Intelligent traffic monitoring system and method with traffic flow detection function |
-
2016
- 2016-06-30 CN CN201620680589.9U patent/CN206369807U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112201032A (en) * | 2020-08-28 | 2021-01-08 | 武汉理工大学 | Road traffic flow monitoring method, storage medium and system |
| CN112216110A (en) * | 2020-10-16 | 2021-01-12 | 王晔 | Intelligent traffic monitoring system and method with traffic flow detection function |
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