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CN111175753A - Vehicle-mounted anti-collision radar wave-splitting target detection method - Google Patents

Vehicle-mounted anti-collision radar wave-splitting target detection method Download PDF

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CN111175753A
CN111175753A CN202010111548.9A CN202010111548A CN111175753A CN 111175753 A CN111175753 A CN 111175753A CN 202010111548 A CN202010111548 A CN 202010111548A CN 111175753 A CN111175753 A CN 111175753A
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CN111175753B (en
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叶祥龙
蒋文
李云莉
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Sichuan Jiuzhou Electric Group Co Ltd
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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
    • 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
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems

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Abstract

The invention discloses a method for detecting a vehicle-mounted anti-collision radar sub-wave target, which comprises the following steps: step 1, performing one-dimensional distance compression on L rows of receiving antennas obtained by the MIMO antenna according to each period to obtain a one-dimensional distance image matrix X1 of the L rows of receiving antennas; step 2, performing azimuth matched filtering on the one-dimensional range profile matrix X1 according to each row to obtain a matrix X2; step 3, stepping the FOV of the L-row receiving antennas by using the beam width of the antennas to obtain a plurality of guiding angles which are not coincident with each other, and performing beam forming on the matrix X2 at each guiding angle to obtain a new matrix Y of each guiding angleθ(ii) a Step 4, new matrix Y of each guide angleθAfter the module is solved, CFAR detection is carried out to obtain the target speed distance information of each guide angle; and aggregating the targets in all the guide angle directions and simultaneously removing the targets with the same speed and distance, and then obtaining the angle information of the targets through AOA estimation. The method of the invention realizes simultaneous detection under the condition that the FOV is required to be large enoughA remote target.

Description

Vehicle-mounted anti-collision radar wave-splitting target detection method
Technical Field
The invention relates to the technical field of radar signal processing, in particular to a method for detecting a vehicle-mounted anti-collision radar sub-wave target.
Background
77GHZ millimeter wave radar frequency is high, and the wavelength is short, and the speed measurement range finding precision is high, in the field (for example car anticollision field) that requires the precision very much, 77GHZ millimeter wave radar has become the mainstream selection in the industry because can work in all weather, does not receive influences such as bad weather environment such as haze dust and sand, light, consequently also is the key subject of automobile electronics manufacturer and each big colleges and universities's research.
The general millimeter wave radar adopts a non-coherent accumulation method, and the SNR of the millimeter wave radar is not enough to simultaneously detect a long-distance target under the condition that the FOV is required to be large enough.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the existing problems, a vehicle-mounted anti-collision radar wave-splitting target detection method is provided.
The technical scheme adopted by the invention is as follows:
a vehicle-mounted anti-collision radar wave-splitting target detection method comprises the following steps:
step 1, performing one-dimensional distance compression on L rows of receiving antennas obtained by the MIMO antenna according to each period to obtain a one-dimensional distance image matrix X1 of the L rows of receiving antennas;
step 2, performing azimuth matched filtering on the obtained one-dimensional range profile matrix X1 of the receiving antennas in the row I according to each row to obtain a matrix X2;
step 3, stepping the FOV of the L-row receiving antennas by using the beam width of the antennas to obtain a plurality of guiding angles which are not coincident with each other, and performing beam forming on the matrix X2 at each guiding angle to obtain a new matrix Y of each guiding angleθ；
Step 4, new matrix Y of each guide angleθAfter the module is solved, CFAR detection is carried out to obtain the target speed distance information of each guide angle; and aggregating the targets in all the guide angle directions and simultaneously removing the targets with the same speed and distance, and then obtaining the angle information of the targets through AOA estimation.
Further, the method in step 1 comprises:
step 1.1, to
Figure BDA0002390202870000026
A complex signal representing the nth sampling point (N is 1,2 … N) of the mth cycle (M is 1,2 … M) of the mth column receiving antenna (L is 1,2 … L) has a matrix
Figure BDA0002390202870000021
Step 1.2, matrix X is alignedlEvery row of the matrix is processed by FFT to obtain a matrix
Figure BDA0002390202870000022
The one-dimensional range profile compression result of the l column receiving antenna is obtained;
step 1,3, obtaining a one-dimensional range profile matrix of L rows of receiving antennas according to the operation of the step 1.1-1.2 for each row of receiving antennas
Figure BDA0002390202870000023
Further, the method of step 1.2 is: for each period, adding 178 points of Hanning window and then supplementing 0, and after supplementing 256 points, adding matrix XlEach row of the matrix is subjected to 256-point FFT to obtain a matrix
Figure BDA0002390202870000024
Namely the one-dimensional range profile compression result of the l-th column of receiving antennas.
Further, the method in step 2 comprises: and adding a 128-point Hanning window to each column of the matrix X1 and then performing 128-point FFT to obtain a matrix X2.
Further, the method in step 3 is as follows:
step 3.1, stepping the FOV of the L-row receiving antennas by taking the beam width of the antennas as a step to obtain a plurality of guiding angles which are not coincident with each other:
Figure BDA0002390202870000025
wherein K represents the number of steering angles, Delta theta represents the antenna beam width, and FOV is in the range of [ theta ]1,θ2]；
Step 3.2, calculating a guide vector:
waveguide angular position for kth guide angle
Figure BDA0002390202870000031
Wherein, theta is belonged to (theta)1,θ2) (ii) a Calculating array plane normalization space domain frequency k θ2 pi d sin theta/lambda, wherein d is the array antenna spacing and lambda is the radar wavelength; then the guide vector
Figure BDA0002390202870000032
Step 3.3, carrying out dot multiplication on the matrix X2 and the guide vector to obtain a new matrix
Figure BDA0002390202870000033
Figure BDA0002390202870000034
Wherein,
Figure BDA0002390202870000035
Figure BDA0002390202870000036
the result of one-dimensional distance compression of the step 1 and the result of matching filtering of the azimuth direction of the step 2 are shown after the ith row of receiving antennas are finished;
Figure BDA0002390202870000037
represents
Figure BDA0002390202870000038
Multiplication of each element of the matrix by
Figure BDA0002390202870000039
This phase factor;
step 3.4, obtaining a new matrix Y of each guiding angle according to the operation of the step 3.2-3.3 on each guiding angleθ。
Further, the range of the FOV used for calculating the steering angle is shifted according to the measurement index to be achieved and the antenna beam range.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:
1. according to the invention, on the basis of distance compression and azimuth matching filtering, an L-column receiving antenna matrix is subjected to DBF at different guide angles, and then targets in different azimuths are gathered, so that the remote targets can be simultaneously detected under the condition that the FOV is required to be large enough, namely, the target SNR is improved on the premise of not losing the FOV by using a target Beam Forming (Digital Beam Forming) technology aiming at the problem that the SNR of a 77GHZ millimeter wave radar collision avoidance technology is insufficient.
2. The invention shifts the FOV range used for calculating the steering angle according to the measurement index to be achieved and the antenna beam range, and can achieve the measurement index of the detection range. The method can particularly satisfy the detection range of a 2-transmitting and 4-receiving antenna system of [ -60 degrees, 60 degrees ].
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In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic diagram of a wavefront of an exemplary incident angle to a uniform linear array.
Fig. 2 is an exemplary flow chart.
Figure 3 is an exemplary one-dimensional distance compression result,
FIG. 4 is a graph of an exemplary target amplitude versus steering angle.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the detailed description and specific examples, while indicating the preferred embodiment of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, the method for detecting the vehicle-mounted anti-collision radar sub-wave target of the invention is characterized by comprising the following steps:
step 1, performing one-dimensional distance compression on L rows of receiving antennas obtained by the MIMO antenna according to each period to obtain a one-dimensional distance image matrix X1 of the L rows of receiving antennas;
step 2, performing azimuth matched filtering on the obtained one-dimensional range profile matrix X1 of the L rows of receiving antennas according to each row to obtain a matrix X2;
step 3, stepping the FOV of the L-row receiving antennas by using the beam width of the antennas to obtain a plurality of guiding angles which are not coincident with each other, and performing beam forming on the matrix X2 at each guiding angle to obtain a new matrix Y of each guiding angleθ；
Step 4, new matrix Y of each guide angleθAfter the module is solved, CFAR detection is carried out to obtain the target speed distance information of each guide angle;
step 5, aggregating the targets in all the guide angle directions and simultaneously removing the targets with the same speed and distance, and then obtaining the angle information of the targets through AOA estimation
The features and properties of the present invention are described in further detail below with reference to examples.
Step 1, one-dimensional distance compression
Performing one-dimensional distance compression on L rows of receiving antennas obtained by the MIMO antenna according to each period to obtain a one-dimensional distance image matrix X1 of the L rows of receiving antennas;
specifically, the method comprises the following steps:
step 1.1, to
Figure BDA0002390202870000051
A complex signal representing the nth sampling point (N is 1,2 … N) of the mth cycle (M is 1,2 … M) of the mth column receiving antenna (L is 1,2 … L) has a matrix
Figure BDA0002390202870000052
Step 1.2, matrix X is alignedlEvery row of the matrix is processed by FFT to obtain a matrix
Figure BDA0002390202870000053
The one-dimensional range profile compression result of the l column receiving antenna is obtained;
step 1,3, obtaining a one-dimensional range profile matrix of L rows of receiving antennas according to the operation of the step 1.1-1.2 for each row of receiving antennas
Figure BDA0002390202870000054
Step 2, azimuth compression
Performing azimuth matched filtering on the obtained one-dimensional range profile matrix X1 of the L rows of receiving antennas according to each row to obtain a matrix X2 which is expressed as
Figure BDA0002390202870000055
Step 3, steering angle beam forming
Stepping FOV of L-column receiving antennas by using antenna beam width to obtain a plurality of guiding angles which are not coincident with each other, and performing beam forming on the matrix X2 at each guiding angle to obtain a new matrix Y of each guiding angleθ；
Specifically, the method comprises the following steps:
step 3.1, stepping the FOV of the L-row receiving antennas by taking the beam width of the antennas as a step to obtain a plurality of guiding angles which are not coincident with each other:
Figure BDA0002390202870000061
wherein K represents the number of steering angles, Delta theta represents the antenna beam width, and FOV is in the range of [ theta ]1,θ2]；
Step 3.2, calculating a guide vector:
waveguide angular position for kth guide angle
Figure BDA0002390202870000062
Wherein, theta is belonged to (theta)1,θ2) (ii) a Calculating array plane normalization space domain frequency k θ2 pi d sin theta/lambda, wherein d is the array antenna spacing and lambda is the radar wavelength; then the guide vector
Figure BDA0002390202870000063
Step 3.3, carrying out dot multiplication on the matrix X2 and the guide vector to obtain a new matrix
Figure BDA0002390202870000064
Figure BDA0002390202870000065
Wherein,
Figure BDA0002390202870000066
Figure BDA0002390202870000067
the result of one-dimensional distance compression of the step 1 and the result of matching filtering of the azimuth direction of the step 2 are shown after the ith row of receiving antennas are finished;
Figure BDA0002390202870000068
represents
Figure BDA0002390202870000069
Multiplication of each element of the matrix by
Figure BDA00023902028700000610
This phase factor;
step 3.4, obtaining a new matrix Y of each guiding angle according to the operation of the step 3.2-3.3 on each guiding angleθ。
Step 4, target detection
New matrix Y for each steering angleθAfter the module is solved, CFAR detection is carried out to obtain the target speed distance information of each guide angle; all targets in the direction of the steering angle are gathered and simultaneously the targets with the same speed and distance are eliminated, and then the targets are estimated through AOAAngle to target information.
Example (c): the diagram of the wavefront from the incident angle to the uniform line array shown in fig. 1, the flowchart of the example shown in fig. 2, the one-dimensional distance compression result shown in fig. 3, and the relationship diagram of the target amplitude and the steering angle shown in fig. 4.
Step 1, one-dimensional distance compression
For 8 columns of receiving antennas, 128 periods are formed for each column of receiving antennas, 178-point Hanning window is added in each period to complement 0, and after 256 points are complemented, each column of receiving antennas is subjected to (namely, matrix X)lEach row) of the 8 rows of receiving antennas, and obtaining a one-dimensional range image compression result of the 8 rows of receiving antennas
Figure BDA0002390202870000071
As shown in fig. 3, it can be seen that there is a target around 34 m.
Step 2, azimuth compression
Adding 128-point Hanning window to each column of the one-dimensional range image compression result of the 8 columns of receiving antennas obtained in the step 1, and then performing 128-point FFT to obtain a new matrix of the 8 columns of receiving antennas
Figure BDA0002390202870000072
Step 3, steering angle beam forming
It is to be noted that the range of the FOV used for calculating the steering angle is shifted depending on the measurement index to be achieved and the antenna beam range. For example, the measurement range is [ -60 °,60 ° ]]And the beam range of the antenna is [ -7.5 DEG, 7.5 DEG ]]Thus, the FOV used to calculate the steering angle ranges from [ -52.5,52.5 [ -52.5 [ ]]8 mutually non-coincident steering angles are formed by taking the antenna beam width of 15 degrees as a step. Then, a steering vector is calculated: waveguide angular position for kth guide angle
Figure BDA0002390202870000073
Wherein, theta is belonged to (theta)1,θ2) (ii) a Calculating array plane normalization space domain frequency k θ2 pi dsin theta/lambda, wherein d is the array antenna spacing and lambda is the radar wavelength; then the guide vector
Figure BDA0002390202870000074
Then, the matrix X2 and the guide vector are subjected to point multiplication to obtain a new matrix Yθ(ii) a Finally, the 8 guide angles are operated according to the above operation to obtain a new matrix Y of the 8 guide anglesθ。
Step 4, target detection
New matrix Y for each steering angleθAfter the module is solved, CFAR detection is carried out to obtain the target speed distance information of each guide angle; and aggregating the targets in all the guide angle directions and simultaneously removing the targets with the same speed and distance, and then obtaining the angle information of the targets through AOA estimation.
Fig. 4 shows a target moving at a radar radial distance of about 35m towards the radar at a speed of 18km/h, the abscissa indicates the steering angle, the ordinate indicates the target amplitude at 1 deg. sub-wave position from [ -52.5 deg., 52.5 deg. ] and it can be seen from fig. 4 that the target is most energetic at the steering angle of 7.5 deg., and attenuates more than one times after 0.5 deg. and 13.5 deg. with a beam width of 13 deg. similar to the above-set beam width of 15 deg.. The graph shows that the target energy attenuation from 0.5 to 13.5 at the center of the 7.5 steering angle is within 3db, and the other wave potential energy attenuation is above 3 db.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims (6)

1. A vehicle-mounted anti-collision radar wave-splitting target detection method is characterized by comprising the following steps:
step 1, performing one-dimensional distance compression on L rows of receiving antennas obtained by the MIMO antenna according to each period to obtain a one-dimensional distance image matrix X1 of the L rows of receiving antennas;
step 2, performing azimuth matched filtering on the obtained one-dimensional range profile matrix X1 of the L rows of receiving antennas according to each row to obtain a matrix X2;
step 3, stepping the FOV of the L-row receiving antennas by using the beam width of the antennas to obtain a plurality of mutually non-coincident guidesAngle, beamforming the matrix X2 at each steering angle to obtain a new matrix Y for each steering angleθ；
Step 4, new matrix Y of each guide angleθAfter the module is solved, CFAR detection is carried out to obtain the target speed distance information of each guide angle; and aggregating the targets in all the guide angle directions and simultaneously removing the targets with the same speed and distance, and then obtaining the angle information of the targets through AOA estimation.
2. The vehicle-mounted anti-collision radar wave-splitting target detection method according to claim 1, characterized in that the method in the step 1 is as follows:
step 1.1, to
Figure FDA0002390202860000011
A complex signal representing the nth sampling point (N is 1,2 … N) of the mth cycle (M is 1,2 … M) of the mth column receiving antenna (L is 1,2 … L) has a matrix
Figure FDA0002390202860000012
Step 1.2, matrix X is alignedlEvery row of the matrix is processed by FFT to obtain a matrix
Figure FDA0002390202860000013
The one-dimensional range profile compression result of the l column receiving antenna is obtained;
step 1,3, obtaining a one-dimensional range profile matrix of L rows of receiving antennas according to the operation of the step 1.1-1.2 for each row of receiving antennas
Figure FDA0002390202860000014
3. The vehicle-mounted anti-collision radar wave-splitting target detection method according to claim 2, characterized in that the method in step 1.2 is as follows: for each period, adding 178 points of Hanning window and then supplementing 0, and after supplementing 256 points, adding matrix XlEach row of the matrix is subjected to 256-point FFT to obtain a matrix
Figure FDA0002390202860000015
Namely the one-dimensional range profile compression result of the l-th column of receiving antennas.
4. The vehicle-mounted anti-collision radar wave-splitting target detection method according to claim 1, wherein the method in the step 2 is as follows: and adding a 128-point Hanning window to each column of the matrix X1 and then performing 128-point FFT to obtain a matrix X2.
5. The vehicle-mounted anti-collision radar wave-splitting target detection method according to claim 1, characterized in that the method in the step 3 is as follows:
step 3.1, stepping the FOV of the L-row receiving antennas by taking the beam width of the antennas as a step to obtain a plurality of guiding angles which are not coincident with each other:
Figure FDA0002390202860000021
wherein K represents the number of steering angles, Delta theta represents the antenna beam width, and FOV is in the range of [ theta ]1,θ2]；
Step 3.2, calculating a guide vector:
waveguide angular position for kth guide angle
Figure FDA0002390202860000022
Wherein, theta is belonged to (theta)1,θ2) (ii) a Calculating array plane normalization space domain frequency kθ2 pi d sin theta/lambda, wherein d is the array antenna spacing and lambda is the radar wavelength; then the guide vector
Figure FDA0002390202860000023
Step 3.3, carrying out dot multiplication on the matrix X2 and the guide vector to obtain a new matrix
Figure FDA0002390202860000024
Figure FDA0002390202860000025
Wherein,
Figure FDA0002390202860000026
Figure FDA0002390202860000027
the result of one-dimensional distance compression of the step 1 and the result of matching filtering of the azimuth direction of the step 2 are shown after the ith row of receiving antennas are finished;
Figure FDA0002390202860000028
represents
Figure FDA0002390202860000029
Multiplication of each element of the matrix by
Figure FDA00023902028600000210
This phase factor;
step 3.4, obtaining a new matrix Y of each guiding angle according to the operation of the step 3.2-3.3 on each guiding angleθ。
6. The on-vehicle anti-collision radar wave-splitting target detection method according to claim 5, wherein a range of the FOV for calculating the steering angle is shifted according to a measurement index to be achieved and an antenna beam range.
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