CN108919271A - A kind of millimetre-wave radar system - Google Patents
A kind of millimetre-wave radar system Download PDFInfo
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- CN108919271A CN108919271A CN201810246738.4A CN201810246738A CN108919271A CN 108919271 A CN108919271 A CN 108919271A CN 201810246738 A CN201810246738 A CN 201810246738A CN 108919271 A CN108919271 A CN 108919271A
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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
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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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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
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- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
本发明公开了一种毫米波雷达系统，包括：雷达芯片模块、接收天线阵列、发射天线阵列；接收天线阵列包括多列单列天线，发射天线阵列包括至少两条发射天线；雷达芯片模块包括至少两个带有移相器的发射机，发射天线与发射机一一对应连接，移相器用于调整对应发射天线的发射波束的相位，以调整发射天线阵列的最大增益方向。本发明通过移相器调整对应发射天线的发射波束的相位，从而调节相邻的发射天线的发射波束的相位差，以调整发射天线阵列的最大增益方向随着探测方向的改变而改变，从而使毫米波雷达系统实现多方位的波束扫描，进而实现了对目标的跟踪探测，简化了雷达系统的设计，提高了集成度，降低了雷达系统的成本。
The invention discloses a millimeter-wave radar system, comprising: a radar chip module, a receiving antenna array, and a transmitting antenna array; the receiving antenna array includes multiple columns of single-row antennas, and the transmitting antenna array includes at least two transmitting antennas; A transmitter with a phase shifter, the transmitting antennas are connected to the transmitters in one-to-one correspondence, and the phase shifter is used to adjust the phase of the transmitting beam of the corresponding transmitting antenna, so as to adjust the maximum gain direction of the transmitting antenna array. The present invention adjusts the phase of the transmitting beam of the corresponding transmitting antenna through the phase shifter, thereby adjusting the phase difference of the transmitting beam of the adjacent transmitting antenna, so as to adjust the maximum gain direction of the transmitting antenna array to change with the change of the detection direction, so that The millimeter-wave radar system realizes multi-directional beam scanning, and then realizes the tracking and detection of targets, simplifies the design of the radar system, improves the integration level, and reduces the cost of the radar system.
Description
Technical field
The present embodiments relate to radar system technical field more particularly to a kind of millimetre-wave radar systems.
Background technique
With popularizing for millimetre-wave radar chip, especially 77GHz mm wave RF chip is in CMOS technology field
It breaks through, the demand sensor based on millimetre-wave radar increasingly increases.Millimetre-wave radar can be widely used intelligent driving,
Intelligent robot, Traffic monitoring, security protection imaging, the fields such as smart home.
Current most of millimetre-wave radars are generally all directed toward using fixed beam specific due to cost and the demand of design
Direction come realize detection.When realizing the detection of different directions, need respectively to detect multiple radars not by fixed beam
Same certain party is always realized.At this point, millimetre-wave radar system is not only complicated, but also at high cost, it is difficult to universal.
Summary of the invention
The present invention provides a kind of millimetre-wave radar system, in the case where realizing multi-direction detecting tracking target acquisition, letter
Change the design of radar system, improves integrated level, reduce the cost of radar system.
In a first aspect, the embodiment of the invention provides a kind of millimetre-wave radar systems, including：Radar chip module receives
Aerial array, transmitting antenna array；The receiving antenna array includes the single-row antenna of multiple row, and the transmitting antenna array includes extremely
Few two transmitting antennas；
The radar chip module includes at least two transmitters for having phase shifter, the transmitting antenna and the transmitting
Machine connects one to one, and the phase shifter is used to adjust the phase of the launching beam of the corresponding transmitting antenna, described in adjustment
The maximum gain direction of transmitting antenna array.
Specifically, the radar chip module further includes controller, and the controller is connect with the phase shifter, for adjusting
The phase of the whole phase shifter.
Specifically, the radar chip module is connect with the transmitting antenna by microstrip transmission line.
Specifically, the radar chip module is connect with the single-row antenna by coplanar waveguide transmission line.
Specifically, the distance between adjacent two described transmitting antennas are half operation wavelength.
Specifically, the radar chip module further includes receiver, the radar chip module by the receiver with
The receiving antenna array connection, for receiving the signal for reaching the receiving antenna array.
Specifically, the transmitting antenna includes the first transmitting antenna and the second transmitting antenna, and the transmitter includes first
Transmitter and the second transmitter, first transmitter include the first phase shifter, and second transmitter includes the second phase shifter,
First transmitting antenna is connect with first transmitter, and second transmitting antenna is connect with second transmitter.
Specifically, the receiving antenna array includes 4 list array antennas.
Specifically, which further includes dielectric substrate, and the radar chip module is fixed on the medium
The first side of substrate, the receiving antenna array and the transmitting antenna array are printed in described the first of the dielectric substrate
Side.
Specifically, the material of the dielectric substrate includes Dielectric Materials at Radio Frequencies.
The present invention in radar chip module by being arranged at least two transmitters for having phase shifter, transmitting antenna and hair
The machine of penetrating connects one to one, and the phase of the launching beam of corresponding transmitting antenna is adjusted using phase shifter, to adjust adjacent hair
Penetrate the phase difference of the launching beam of antenna, to adjust the maximum gain direction of transmitting antenna array with the change of detection direction and
Change, so that millimetre-wave radar system be made to realize multi-faceted beam scanning, and then realizes the tracking detection to target, simplify
The design of radar system, improves integrated level, reduces the cost of radar system.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of millimetre-wave radar system provided in an embodiment of the present invention；
Fig. 2 is the structural schematic diagram of another millimetre-wave radar system provided in an embodiment of the present invention；
Fig. 3 is the connection schematic diagram of a kind of transmitter and transmitting antenna array provided in an embodiment of the present invention；
Fig. 4 is the transmitting that a kind of phase difference provided in an embodiment of the present invention changes with the relative angle of detection direction and radar
The directional diagram of wave beam；
Fig. 5 is the structural schematic diagram of another millimetre-wave radar system provided in an embodiment of the present invention.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
Fig. 1 is a kind of structural schematic diagram of millimetre-wave radar system provided in an embodiment of the present invention, and Fig. 2 is that the present invention is implemented
The structural schematic diagram for another millimetre-wave radar system that example provides.The present embodiment is applicable to scan-type detection multiple directions
The case where millimetre-wave radar system, with reference to Fig. 1 and Fig. 2, which includes：Radar chip module 110 receives day
Linear array 120, transmitting antenna array 130；Receiving antenna array 120 includes the single-row antenna 121 of multiple row, transmitting antenna array 130
Including at least two transmitting antennas 131.
Radar chip module 110 includes at least two transmitters 111 for having phase shifter, transmitting antenna 131 and transmitter
111 connect one to one, and phase shifter is used to adjust the phase of the launching beam of corresponding transmitting antenna 131, to adjust transmitting antenna
The maximum gain direction of array 130.
Specifically, the quantity of transmitting antenna 131 is identical as the quantity of transmitter 111 in transmitting antenna array 130, and the two is real
Now correspond.It include phase shifter in each transmitter 111, phase shifter can realize the phase to 111 launching beam of transmitter
It is displaced phase, realizes the adjustment of the maximum gain direction to the launching beam of transmitting antenna array 130.For example, Fig. 3 is of the invention real
The connection schematic diagram of a kind of transmitter and transmitting antenna array of example offer is provided.As shown in figure 3, transmitting antenna array 130 includes
Two transmitting antennas 131, corresponding, radar chip module 110 includes two transmitters 111, and a transmitter 111 and one
Transmitting antenna 131 is correspondingly connected with.
Radar chip module 110 is by 111 launching beam of transmitter, when launching beam encounters barrier, via obstacle
The reflected echo of object is received by receiving antenna array 120, radar chip module 110 is transmitted to, by radar chip dies
The relative angle in orientation and radar where block 110 judges the orientation where target and calculates, by adjusting at least two phase shifts
Device phase changes the phase difference between phase shifter, makes the maximum gain side for the launching beam being emitted in transmitting antenna array 130
The orientation to where being adjusted to barrier, and orientation where barrier is detected.Because detection direction is transmitting antenna array 130
The maximum gain direction of launching beam, therefore can be realized the more detection at a distance of detection direction.When barrier and radar
When relative angle changes, is received via the reflected echo of barrier by receiving antenna array 120, be transmitted to radar
Chip module 110, orientation where judging the orientation where target again by radar chip module 110 and calculating, and adjust
The phase difference of at least two phase shifters makes the maximum gain direction of launching beam be adjusted to the present orientation of barrier to barrier
It is detected.After required detection direction changes again, can by radar chip module 110 carry out next round calculating and
Adjust the phase difference of phase shifter.It follows that transmitted wave may be implemented by adjusting the phase difference between at least two phase shifters
The maximum gain direction of beam changes, and tracks detection to the scan-type of barrier to realize.
Adjusting phase difference between at least two phase shifters, there are many modes, for example, one of phase shifter can be kept
Phase invariant, adjust the phase of another phase shifter, thus change at least two phase shifters between phase difference；Alternatively, same
When adjust the phases of at least two phase shifters, so that the phase difference between at least two phase shifters is met necessary requirement.
In above process, between the phase difference and detection direction and the relative angle of radar between at least two phase shifters
Formula it is as follows：
Wherein, α 1 is the phase of a phase shifter, and α 2 is the phase of another phase shifter, and d is in transmitting antenna array 130
Spacing between two transmitting antennas 131, λ are the operation wavelength of launching beam, and β is the relative angle of detection direction and radar.
It follows that the i.e. adjustable detection of phase difference for passing through the launching beam for changing the transmitter 111 with phase shifter
The change to detection direction is realized in direction.When phase difference realizes the variation of continuous a cycle, millimetre-wave radar system can be with
Realize the detection with the relative angle of radar within the scope of ± 90 °.
Fig. 4 is the transmitting that a kind of phase difference provided in an embodiment of the present invention changes with the relative angle of detection direction and radar
The directional diagram of wave beam.As shown in figure 4, abscissa is the maximum gain direction of launching beam and the relative angle of radar in figure, indulge
Coordinate is gain of the launching beam in different directions.As shown in Figure 4, in figure curve 101 maximum gain direction with radar
On the direction that relative angle is 0 °, the maximum gain direction of curve 102 is bent on the direction for being -20 ° with the relative angle of radar
The maximum gain direction of line 103 is on the direction for being+8 ° with the relative angle of radar.It can be seen that by adjusting phase shifter
Phase, realizes the change of phase difference, and the maximum gain direction of launching beam can be directed toward different directions, therefore millimetre-wave radar
The detection to different directions may be implemented in system, realizes that the tracking to target detects.
It should be noted that the quantity when transmitting antenna 131 is greater than 2, the quantity of the transmitter 111 with phase shifter is also big
When 2, the phase difference of the phase shifter of adjacent phase is equal.For example, illustratively, when transmitter has 3, according to transmitter
111 phase sorts from small to large, and two adjacent transmitter phase differences are equal, i.e. phase of the phase size in intermediate phase shifter
The phase and phase size that the difference of the phase of position and the smallest phase shifter of phase is equal to the maximum phase shifter of phase are in intermediate shifting
The phase of phase device.
The technical solution of the present embodiment has the transmitter of phase shifter, hair by radar chip module setting at least two
It penetrates antenna to connect one to one with transmitter, the phase of the launching beam of corresponding transmitting antenna is adjusted using phase shifter, to adjust
The phase difference of the launching beam of adjacent transmitting antenna is saved, to adjust the maximum gain direction of transmitting antenna array with detection side
To change and change, so that millimetre-wave radar system be made to realize multi-faceted beam scanning, so realize to target with
Track detection, simplifies the design of radar system, improves integrated level, reduce the cost of radar system.
On the basis of the above embodiments, with continued reference to Fig. 3, transmitting antenna 131 includes the first transmitting antenna and the second hair
Antenna is penetrated, transmitter 111 includes the first transmitter and the second transmitter, and the first transmitter includes the first phase shifter, the second transmitting
Machine includes the second phase shifter, and the first transmitting antenna is connect with the first transmitter, and the second transmitting antenna and second transmitter connect
It connects.
Specifically, as shown in figure 3, the first transmitting antenna is connect with the first transmitter, therefore first in the first transmitter
Phase shifter is used to control the phase of the launching beam of the first transmitting antenna；Second transmitting antenna is connect with the second transmitter, therefore
The second phase shifter in second transmitter is used to control the phase of the launching beam of the second transmitting antenna.When detection direction and radar
Relative angle when changing, adjustable first phase shifter controls the phase of the launching beam of the first transmitting antenna, and/or
The phase that the second phase shifter controls the launching beam of the second transmitting antenna is adjusted, the phase of the launching beam of the first transmitting antenna is made
And the difference of the phase of the launching beam of the second transmitting antenna is equal in formula (1) on the right of equation, to make transmitting antenna array 130
Maximum gain direction be detection direction.
On the basis of the various embodiments described above, with continued reference to Fig. 2, radar chip module 110 passes through micro- with transmitting antenna 131
Band transmission line 140 connects.
Microstrip transmission line 140 is the microwave transmission line being made of the plain conductor band propped up on dielectric substrate, is suitable for
Make the planar structure transmission line of microwave integrated circuit.Compared with metal waveguide, microstrip transmission line 140 is small in size, it is light-weight, make
It is low etc. with bandwidth, high reliablity and manufacturing cost.Radar chip module 110 it is small-sized, and the frequency of millimeter wave is high, because
This radar chip module 110 is connect with transmitting antenna 131 by microstrip transmission line 140.
On the basis of the various embodiments described above, with continued reference to Fig. 2, the distance between adjacent two transmitting antennas 131 are two
/ mono- operation wavelength.
It can see in formula (1), the phase difference and detection direction and radar between at least two phase shifters of calculating
It is also related to the operation wavelength of the distance between adjacent transmission antenna 131 and launching beam when the relationship of relative angle.When setting
The multiple for setting the operation wavelength that the distance between adjacent transmission antenna 131 is launching beam, then can eliminate adjacent transmission antenna
The distance between 131 and launching beam operation wavelength to calculate at least two phase shifters between phase difference and detection direction
With the influence of the relative angle of radar.For example, when the distance between adjacent two transmitting antennas 131 are half operating wave
It is long, i.e.,It substitutes into formula (1), then formula (1) becomes α 1- α 2=π sin β.It follows that between at least two phase shifters
Phase difference is directlyed proportional to detection direction to the relative angle of radar, and proportionality coefficient is definite value, is easy to calculate.
It should be noted that the distance of adjacent two transmitting antennas 131 is homogeneous when the quantity of transmitting antenna 131 is greater than 2
Deng.Make the distance between adjacent transmission antenna 131 d definite value in formula (1).
On the basis of the various embodiments described above, with continued reference to Fig. 2, receiving antenna array 120 includes 4 list array antennas 121.
Receiving antenna array 120 includes a plurality of single-row antenna 121, therefore receiving antenna array 120 has received multiple groups echo
Data, radar chip module 110 calculate the orientation and the information such as movement velocity where barrier according to multiple groups echo data, improve
The accuracy of detection.Illustratively, receiving antenna array 120 includes 4 list array antennas 121, and receiving antenna array 120 receives
4 groups of echo datas, radar chip module 110 are averaged orientation and fortune where calculating barrier according to 4 groups of echo datas
The information such as dynamic speed, can be improved the accuracy of millimetre-wave radar system.
On the basis of the various embodiments described above, with continued reference to Fig. 2, radar chip module 110 and single-row antenna 121 pass through altogether
Coplanar waveguide transmission line 150 connects.
The quantity of the single-row antenna 121 of receiving antenna array 120 is relatively more, and is respectively connected to radar chip module 110.
Radar chip module 110 includes plurality of passages, and the single-row antenna 121 of each column in receiving antenna array 120 respectively corresponds radar core
One channel of piece module 110.Small-sized, the interval of the receiving channel of radar chip module 110 of radar chip module 110
It is relatively close, therefore using the connection of coplanar waveguide structure 150 realization receiving antenna array 120 and radar chip module 110, it increases
Interval between receiving channel reduces the coupling effect between different single-row antennas 121.
On the basis of the various embodiments described above, with continued reference to Fig. 2, millimetre-wave radar system further includes dielectric substrate 100, thunder
The first side of dielectric substrate 100 is fixed on up to chip module 110, receiving antenna array 120 and transmitting antenna array 130 print
In the first side of dielectric substrate 100.Radar chip module 110, receiving antenna array 120 and transmitting antenna array 130 are located
In the same side of dielectric substrate 100, it is easy to implement radar chip module 110 and receiving antenna array 120 and launching antenna array
The connection of column 130.
It is connected because passing through microstrip transmission line 140 between radar chip module 110 and transmitting antenna array 130, radar chip
It is connected between module 110 and receiving antenna array 120 by coplanar waveguide transmission line 150, therefore radar chip module 110 is fixed
On dielectric substrate 100, and receiving antenna array 120 and transmitting antenna array 130 are then printed on dielectric substrate 100.
On the basis of the above embodiments, the material of dielectric substrate 100 includes Dielectric Materials at Radio Frequencies.
Specifically, the wavelength of millimetre-wave radar system transmitted wave is generally in 1-10mm, frequency in 30-300GHz, for example,
The millimeter wave frequency band that automobile can be used is mainly 77GHz.The transmitted wave or received wave of millimetre-wave radar system are high-frequency
Millimeter wave, therefore dielectric substrate 100 use Dielectric Materials at Radio Frequencies, to reduce loss of the dielectric substrate 100 to signal energy.
Fig. 5 is the structural schematic diagram of another millimetre-wave radar system provided in an embodiment of the present invention.With reference to Fig. 5, upper
On the basis of stating technical solution, radar chip module 110 further includes controller 112 and receiver 114, radar chip module 110
It is connect by receiver 114 with receiving antenna array 120；Controller 112 respectively with the phase shifter and receiver in transmitter 111
114 connections, for adjusting the phase of phase shifter and analyzing the signal for the receiving antenna array 120 that receiver 114 receives
It calculates, the relative angle in orientation and barrier and radar where disturbance in judgement object.
Specifically, the wave beam that transmitting antenna array 130 emits encounters barrier back reflection, receiving antenna array 120 is received
To echo-signal, and it being transmitted to the receiver 114 of radar chip module 110, receiver 114 receives the echo-signal of high frequency, and
It will be amplified after echo-signal filtering mixing, then clutter filtered out from mixing by wave detector, keep echo-signal pure, most
It is amplified afterwards by amplifier, and the echo-signal of amplification is transmitted to the controller 112 in radar chip module 110；Control
Device 112 processed passes through the orientation where analytical calculation disturbance in judgement object, calculates the relative angle of barrier and radar, and by obstacle
The relative angle of object and radar substitutes into formula (1), calculates the phase difference between adjacent transmission antenna 131.Adjacent hair at this time
The phase difference penetrated between antenna 131 can make where the maximum gain direction barrier of the launching beam of transmitting antenna array 130
Orientation.The value of phase difference between the adjacent transmission antenna 131 of calculating is transmitted to controller 112, the transmission of controller 112 refers to
It enables to phase shifter, controls the phase shift value of phase shifter, the phase difference between adjacent transmitting antenna 131 is made to meet formula (1) calculating
The value of the phase difference between adjacent transmitting antenna 131 out.When the orientation where barrier changes, above-mentioned mistake is repeated
Journey is scanned formula tracking detection.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (10)
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| CN201810246738.4A CN108919271A (en) | 2018-03-23 | 2018-03-23 | A kind of millimetre-wave radar system |
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| CN109683159A (en) * | 2018-12-25 | 2019-04-26 | 上海匀羿电磁科技有限公司 | A kind of vehicle-mounted profile scanning ULTRA-WIDEBAND RADAR and orientation method |
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| CN113013583B (en) * | 2021-01-29 | 2023-08-18 | 中国电子科技集团公司第三十八研究所 | Millimeter wave radar packaging module |
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| CN112986918A (en) * | 2021-03-10 | 2021-06-18 | 浙江大华技术股份有限公司 | Radar antenna system and signal processing method |
| CN113311425A (en) * | 2021-05-24 | 2021-08-27 | 深圳市道通智能汽车有限公司 | Antenna front-end system and vehicle-mounted radar |
| CN114637000A (en) * | 2022-03-10 | 2022-06-17 | 深圳市道通智能汽车有限公司 | Millimeter wave radar, distance detection method and device, controller and storage medium |
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Application publication date: 20181130 |