CN102680976A - Vehicle-mounted radar system - Google Patents
Vehicle-mounted radar system Download PDFInfo
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- CN102680976A CN102680976A CN2011100617722A CN201110061772A CN102680976A CN 102680976 A CN102680976 A CN 102680976A CN 2011100617722 A CN2011100617722 A CN 2011100617722A CN 201110061772 A CN201110061772 A CN 201110061772A CN 102680976 A CN102680976 A CN 102680976A
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Abstract
The invention provides a vehicle-mounted radar system which comprises a processor, a radar transmitter, an antenna, a beam splitter and a beam deflecting device. The processor controls the radar transmitter to generate radar wave, the antenna transmits the radar wave, and the beam deflecting device deflects the propagation direction of the radar wave so as to enable the radar wave to at least cover 180-degree directions, or even 360-degree directions. The vehicle-mounted radar system adopts a single radar antenna and can detect obstacles in the 360-degree directions. A radar detecting dead zone does not exist, full-directional detecting can be provided, and safety of vehicle driving is improved.
Description
[technical field]
The present invention relates to field of automobile safety, relate in particular to a kind of Vehicular radar system.
[background technology]
Car radar as its name suggests, is the radar that is used for automobile or other ground maneuver vehicles.It mainly can be divided into following several types: velocity radar, and can measure the rotating speed of wheel and measure car speed; The obstacle detection radar, this radar can be surveyed the terrain under the very poor situation of visibility zero or visibility, thereby prevents accident to alarm driver; The adaptive cruise control radar can adapt to the environment of vehicle periphery, and keeps a safe speed according to the speed and the front truck of Ben Che and front truck; Collision avoidance radar can be according to the current direction of vehicle and velocity survey to the dangerous obstacles that on the vehicle front road, possibly cause collision, and alerting driver will be opened air bag or other braking equipments, the speed of Control of Automobile; And other vehicle supervision and control radars.
In vehicle anti-collision radar, different according to principle of work with the course of work, be divided into ultrasonic radar, infrared radar, laser radar and millimetre-wave radar.The first three radar all is through the detection to echo, compares with transmitting, and obtains the difference of pulse or phase place, thereby calculates emission and the mistiming that receives signal.Calculate distance and relative velocity with barrier according to velocity of propagation then.This three type systematic simple in structure, cheap, but receive the influence of bad weather condition easily, can't but show distance accuracy.The advantage of millimeter wave is, does not receive the interference of target object shape color, does not receive the influence of air turbulence, has stable detection performance, good environmental adaptability.
Yet existing millimeter wave vehicle anti-collision radar system cost is expensive, performance is stable inadequately, and single radar antenna only can survey the barrier in (normally the place ahead) on the specific direction, has the blind area of radar detection, and omnibearing detection can't be provided.
[summary of the invention]
The present invention will provide a kind of Vehicular radar system, and wherein, this Vehicular radar system comprises: processor is used to control the operation of Vehicular radar system; Radar transmitter is used to produce radar wave; Antenna is used for radar wave is launched; And the wave beam deflection device is used for the beam direction deviation with radar wave; Wherein, Processor control radar transmitter produces radar wave, and antenna is launched radar wave, and the wave beam deflection device makes radar wave can cover 180 ° of orientation at least radar direction of wave travel deviation.
In preferred implementation of the present invention, the wave beam deflection device is ultra material wave beam deflection device.
In preferred implementation of the present invention, ultra material wave beam deflection device comprises base material and attached to a plurality of artificial microstructure on the said base material.
In preferred implementation of the present invention, on ultra material, along the size constancyization of the artificial microstructure that first direction adhered to, the artificial microstructure of adhering to along second direction becomes big by the center section of base material to the two side portions of base material gradually.
In preferred implementation of the present invention, the refractive index of ultra material is constant on first direction, and the centre by base material on second direction diminishes to the two side portions of base material gradually.
In preferred implementation of the present invention, artificial microstructure comprises first tinsel and is connected to the first tinsel two ends and perpendicular to this first second tinsel wiry.
In preferred implementation of the present invention, artificial microstructure comprises two orthogonal first tinsels and is connected to each said first tinsel two ends and perpendicular to this first second tinsel wiry.
The present invention adopts single radar antenna can survey the barrier at least 180 ° of orientation; Even can survey 360 ° of barriers on the orientation; Reduce or eliminated fully the blind area of radar detection, omnibearing detection can be provided, improved the security of vehicle drive.And this system is simple, realizes easily.
[description of drawings]
Fig. 1 shows the single antenna vehicle anti-collision radar of using millimeter wave in the prior art;
Fig. 2 shows many antennas vehicle anti-collision radar of using millimeter wave in the prior art;
Fig. 3 shows according to vehicle anti-collision radar of the present invention system 100.
Fig. 4 shows the concrete structure according to ultra material wave beam deflection device 140 of the present invention;
Fig. 5 shows the index distribution on the ultra material wave beam deflection device 140 of the present invention;
Fig. 6 shows the concrete structure according to wave beam reverser 150 of the present invention;
Fig. 7 shows a kind of concrete form of the artificial microstructure 220 of ultra material wave beam deflection device 140;
Fig. 8 shows the another kind of concrete form of the artificial microstructure 220 of ultra material wave beam deflection device 140.
[embodiment]
Below in conjunction with accompanying drawing and embodiment the present invention is elaborated.
Fig. 1 shows the single antenna vehicle anti-collision radar of using millimeter wave in the prior art.In this single antenna vehicle anti-collision radar kind; The single antenna millimetre-wave radar is installed in the front portion (normally on the front window windshield) of automobile; This single antenna millimetre-wave radar can be surveyed the barrier situation in the tens meters scopes in driver the place ahead, and in time feeds back to vehicle-mounted computer, carries out data processing.When the speed of a motor vehicle during less than 30km/h; When the place ahead meets with barrier, adopt this single antenna millimetre-wave radar to get automobile and can start brake system, the speed below 15km/s automatically; Adopt this single antenna millimetre-wave radar to get automobile and car is stopped automatically stopped, reduce to the possibility of vehicle collision minimum.Protection pedestrian and driver's safety.Yet this single antenna millimetre-wave radar only can be surveyed the a-quadrant between the place ahead L1 and L2 among Fig. 1.For the B zone at vehicular sideview and rear, this single antenna millimetre-wave radar can't be surveyed, and is the radar detection blind area.
In order to solve the detection blind area problem among Fig. 1, Fig. 2 has provided the vehicle anti-collision radar of using many antennas millimeter wave in the prior art.In order to make trailer-mounted radar can survey bigger zone, in trailer-mounted radar shown in Figure 2, a plurality of radar antennas have been used, to a plurality of directions emission millimeter waves, so that can survey the bigger regional A that surrounds by L1 among Fig. 2 and L2.Yet along with the increase of antenna amount, it is more complicated that radar system becomes, and manufacturing cost also increases greatly.
Vehicle anti-collision radar of the present invention system 100 has been shown among Fig. 3.This system comprises vehicle-mounted computer 110, radar transmitter 120, antenna 130 and wave beam deflection device 140.
Vehicle-mounted computer 110 is responsible for whole Vehicular radar system 100 operate as normal of control, comprises that control radar transmitter 120 comes launching electromagnetic wave, and the feedback data of radar wave is handled, and provide the prompting of control vehicle operating according to result.
Wave beam deflection device 140 is used for the radar wave of antenna 130 emissions is carried out deviation, so that radar wave can cover 180 ° of orientation at least, even can cover 360 ° of barriers on the orientation, like the represented zone of M among the figure.Adopt ultra material wave beam deflection device as the wave beam deflection device of using among the present invention 140 in the present invention.
Fig. 4 shows the concrete structure according to ultra material wave beam deflection device 140 of the present invention, and wave beam is through thereafter propagation condition.Visible by Fig. 4, ultra material wave beam deflection device 140 according to the present invention comprises base material 210 and a plurality of artificial microstructure 220.Base material 210 adopts dielectric insulation material to process, and processes for base material 210 adopts teflon in the present invention.Base material 210 is provided with a plurality of artificial microstructures 220, and these artificial microstructures 220 are formed on the base material 210 through technologies such as photoetching, the moment.Can know by ultra material technology,, can adjust everywhere effective dielectric constant and equivalent permeability on the whole ultra material through geometric configuration, size and the distribution on base material 210 thereof of adjusting artificial microstructure 220.When artificial microstructure 220 adopted identical geometric configuration, for example during " I " font in this embodiment, if the size of the artificial microstructure 220 in somewhere is big more on the ultra material wave beam deflection device 140, effective dielectric constant and the equivalent permeability that then should locate were big more.
Visible by Fig. 4; On X-direction; The size constancy of artificial microstructure 220, on Y direction, the size of the artificial microstructure 220 of center section is minimum; The size of artificial microstructure 220 becomes greatly along the axial both sides of Y gradually, and measure-alike apart from the artificial microstructure 220 at center section same distance place.Because the size of artificial microstructure 220 size on X-direction is identical; Make so on the ultra material wave beam deflection device 140 with the parallel straight line of X axle on everywhere effective dielectric constant and equivalent permeability identical; And because there are following relation in the refractive index of material and its specific inductive capacity and magnetic permeability:
wherein k is scale-up factor; Its value can be positive and negative 1; ε is the specific inductive capacity of material; U is the magnetic permeability of material, make on the ultra material wave beam deflection device 140 with the parallel straight line of X axle on everywhere refractive index identical.
In like manner; Part becomes big gradually to both sides from the centre because the size of artificial microstructure 220 is big or small on Y direction; The size of center section is minimum; And measure-alike apart from the artificial microstructure 220 at center section same distance place makes on straight line parallel with the Y axle on the ultra material wave beam deflection device 140 everywhere effective dielectric constant and equivalent permeability become gradually greatly, and the effective dielectric constant of center section and equivalent permeability are minimum; Thereby making that on straight line parallel on the ultra material wave beam deflection device 140 part increases to two side portions gradually from the centre for everywhere refractive index with the Y axle, the refractive index of center section is minimum.Fig. 5 shows the index distribution on the ultra material wave beam deflection device 140 of the present invention.
In Fig. 5; Because everywhere refractive index is all identical on the X-direction of Fig. 4; And the variations in refractive index on Fig. 4 Y direction; Thereby will surpass with many straight lines that are parallel to the X axle that the identical part of refractive index is divided into a unit on the material wave beam deflection device 140, and the refractive index of each unit use respectively n1, n2 ... np representes.Again because, on the Y axle,, thereby represent with identical label apart from the refractive index at center section same distance place on the Y axle identical apart from the refractive index at center section same distance place, as shown in Figure 5.Can know by above-mentioned argumentation, n1＜n2＜...＜np.
Fig. 6 shows wave beam through the propagation condition according to the 140 back wave beams of the ultra material wave beam deflection device shown in Fig. 4.After wave beam S incides the ultra material wave beam deflection device 140 in this embodiment; Deviation takes place; The relevant q of number of the angle θ of deviation and Δ n and the artificial microstructure 220 of on X-direction, arranging; Physical relationship is following: Sin θ=q Δ n, wherein Δ n representes the variations in refractive index of adjacent cells, and 0＜q Δ n＜1.Can know by above-mentioned formula, when the variations in refractive index of adjacent cells size is identical, same for the deviation angle homogeneous phase that incides the wave beam on the ultra material wave beam deflection device 140 so.And when the variations in refractive index size of adjacent cells becomes big gradually; Then less for the deviation angle that incides the wave beam of center section on the ultra material wave beam deflection device 140, and the deviation angle that incides the wave beam of the two side portions on the Y direction on the ultra material wave beam deflection device 140 becomes big gradually.And then the bigger zone of the more enough coverings of radar wave that makes incident, can cover 180 ° of orientation at least, even cover 360 ° of orientation.
Simultaneously with reference to figure 3 to Fig. 6; When using according to Vehicular radar system 100 of the present invention; Processor 110 control radar transmitters 120 produce radar wave; The radar wave emission that antenna 130 is produced this radar transmitter 120, radar wave be through wave beam deflection device 140 back deviations, makes radar wave can cover 180 ° of orientation at least even can cover 360 ° of orientation.Reduce the radar detection blind area even realize real non-blind area.Omnibearing detection is provided, has improved the security of vehicle drive.And this system is simple, realizes easily.
In above-mentioned explanation, understand the principle of work of radar system of the present invention specifically.Visible by above-mentioned explanation, the design of ultra material wave beam deflection device 140 is most important.Specify in base material 210 and a plurality of artificial microstructure 220 below ultra material wave beam deflection device 140.Fig. 7 shows the concrete form of artificial microstructure 220; In embodiments of the present invention; The size of this artificial microstructure 220 is less than 1/10th of the radar wave wavelength, and preferably, the order of magnitude of the size of this artificial microstructure 220 is 1/10th of a radar wave wavelength.And artificial microstructure 220 is " I " font, comprises first tinsel 221 and is connected to first tinsel, 221 two ends and perpendicular to this first second tinsel 222 wiry.
Can know by ultra material technology,, can adjust everywhere effective dielectric constant and equivalent permeability on the whole ultra material through geometric configuration, size and the distribution on base material thereof of adjusting artificial microstructure 220.Thereby among the present invention, artificial microstructure 220 can be geometric configuration, the size with other on the ultra material wave beam deflection device 140, also can anisotropically be arranged on the base material.As long as make that effective dielectric constant and the equivalent permeability of ultra material wave beam deflection device 140 on X-direction shown in Figure 4 do not change; And effective dielectric constant on Y direction and equivalent permeability gradually change; Also promptly the equivalent refractive index on X-direction is constant; Equivalent refractive index on Y direction gradually changes, and also can realize goal of the invention of the present invention.
For example; In other embodiments of the present invention; Artificial microstructure 220 can adopt other geometric configuration, and is as shown in Figure 8, in this embodiment; Artificial microstructure 220 is orthogonal " I " font, and this artificial microstructure 220 comprises two orthogonal first tinsels 221 and is connected to each said first tinsel, 221 two ends and perpendicular to this first second tinsel 222 wiry.Regulate the size of artificial microstructure 220; Make that effective dielectric constant and the equivalent permeability of ultra material wave beam deflection device 140 on X-direction shown in Figure 4 do not change; And effective dielectric constant on Y direction and equivalent permeability gradually change; Also promptly the equivalent refractive index on X-direction is constant, and the equivalent refractive index on Y direction gradually changes, and also can realize goal of the invention of the present invention.
Through above-mentioned explanation can, artificial microstructure 220 can adopt other geometric configuration.Even on same ultra material wave beam deflection device 140, adopt the artificial microstructure 220 of two or more different geometries; As long as make that effective dielectric constant and the equivalent permeability of ultra material wave beam deflection device 140 on X-direction shown in Figure 4 do not change; And effective dielectric constant on Y direction and equivalent permeability gradually change; Also promptly the equivalent refractive index on X-direction is constant, and the equivalent refractive index on Y direction gradually changes, and just can realize goal of the invention of the present invention.
Certainly; In other embodiments of the present invention; Also can change the physical dimension of artificial microstructure 220 in the ultra material wave beam deflection device 140 and the distribution on base material thereof; Realize that effective dielectric constant and the equivalent permeability of ultra material wave beam deflection device 140 on X-direction shown in Figure 4 do not change, and effective dielectric constant on Y direction and equivalent permeability gradually change, also promptly the equivalent refractive index on X-direction is constant; Equivalent refractive index on Y direction gradually changes, and just can realize goal of the invention of the present invention.Its principle is identical with principle in the above-mentioned explanation.Repeat no more at this.
Use is according to radar of the present invention, can cover 180 ° of orientation at least even can cover on 360 ° of orientation.Reduce the radar detection blind area even realize real non-blind area.Omnibearing detection is provided, has improved the security of vehicle drive.And this system is simple, realizes easily.
In the above-described embodiments, only the present invention has been carried out exemplary description, but those skilled in the art can carry out various modifications to the present invention after reading present patent application under the situation that does not break away from the spirit and scope of the present invention.
Claims (7)
1. a Vehicular radar system is characterized in that, said Vehicular radar system comprises:
Processor is used to control the operation of said Vehicular radar system;
Radar transmitter is used to produce radar wave;
Antenna is used for said radar wave emission; And,
The wave beam deflection device is used for said radar wave division and deviation,
Wherein, said processor is controlled said radar transmitter and is produced radar wave, and said antenna is launched said radar wave, and said wave beam deflection device makes said radar wave can cover 180 ° of orientation at least said radar wave division and deviation.
2. Vehicular radar system according to claim 1 is characterized in that, said wave beam deflection device is ultra material wave beam deflection device.
3. geological radar according to claim 2 is characterized in that, said ultra material wave beam deflection device comprises base material and attached to a plurality of artificial microstructure on the said base material.
4. geological radar according to claim 3; It is characterized in that; On said ultra material; Along the size constancyization of the said artificial microstructure that first direction adhered to, the said artificial microstructure of adhering to along second direction becomes big by the center section of said base material to the two side portions of said base material gradually.
5. geological radar according to claim 3 is characterized in that the refractive index of said ultra material does not change on first direction, the center section by said base material on second direction becomes big gradually to the two side portions of said base material.
6. geological radar according to claim 3 is characterized in that, said artificial microstructure comprises first tinsel and is connected to the first tinsel two ends and perpendicular to this first second tinsel wiry.
7. geological radar according to claim 3 is characterized in that, said artificial microstructure comprises two orthogonal first tinsels and is connected to each said first tinsel two ends and perpendicular to this first second tinsel wiry.
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| CN201110061772.2A CN102680976B (en) | 2011-03-15 | 2011-03-15 | Vehicle-mounted radar system |
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| CN201110061772.2A CN102680976B (en) | 2011-03-15 | 2011-03-15 | Vehicle-mounted radar system |
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| CN102680976A true CN102680976A (en) | 2012-09-19 |
| CN102680976B CN102680976B (en) | 2014-03-12 |
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| CN104076362A (en) * | 2014-07-07 | 2014-10-01 | 芜湖航飞科技股份有限公司 | Railway train operation safety monitoring and controlling radar |
| CN104176043A (en) * | 2014-08-13 | 2014-12-03 | 芜湖航飞科技股份有限公司 | Vehicle-mounted radar |
| CN105607041A (en) * | 2015-09-22 | 2016-05-25 | 吉林大学 | Pulse positioning model based on bionic sand scorpion positioning function |
| WO2018172866A1 (en) * | 2017-03-20 | 2018-09-27 | International Business Machines Corporation | High spatial resolution 3d radar based on a single sensor |
| WO2020253554A1 (en) * | 2019-06-17 | 2020-12-24 | Oppo广东移动通信有限公司 | Lens antenna module and electronic device |
| CN113156445A (en) * | 2021-05-11 | 2021-07-23 | 东风汽车集团股份有限公司 | Ultrasonic radar blind area monitoring system and monitoring method |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104076362A (en) * | 2014-07-07 | 2014-10-01 | 芜湖航飞科技股份有限公司 | Railway train operation safety monitoring and controlling radar |
| CN104176043A (en) * | 2014-08-13 | 2014-12-03 | 芜湖航飞科技股份有限公司 | Vehicle-mounted radar |
| CN105607041A (en) * | 2015-09-22 | 2016-05-25 | 吉林大学 | Pulse positioning model based on bionic sand scorpion positioning function |
| CN105607041B (en) * | 2015-09-22 | 2018-04-10 | 吉林大学 | Pulse location model based on bionical husky scorpion positioning function |
| WO2018172866A1 (en) * | 2017-03-20 | 2018-09-27 | International Business Machines Corporation | High spatial resolution 3d radar based on a single sensor |
| GB2575578A (en) * | 2017-03-20 | 2020-01-15 | Ibm | High spatial resolution 3D radar based on a single sensor |
| GB2575578B (en) * | 2017-03-20 | 2022-02-23 | Ibm | High spatial resolution 3D radar based on a single sensor |
| WO2020253554A1 (en) * | 2019-06-17 | 2020-12-24 | Oppo广东移动通信有限公司 | Lens antenna module and electronic device |
| CN113156445A (en) * | 2021-05-11 | 2021-07-23 | 东风汽车集团股份有限公司 | Ultrasonic radar blind area monitoring system and monitoring method |
| CN113156445B (en) * | 2021-05-11 | 2023-10-20 | 东风汽车集团股份有限公司 | Ultrasonic radar blind area monitoring system and monitoring method |
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