CN115184875A - Vehicle-mounted radar detection method and vehicle-mounted radar - Google Patents

Abstract

A detection method of a vehicle-mounted radar and the vehicle-mounted radar are provided. The detection method comprises the following steps: enabling a receiving antenna of the radar to receive an echo signal of the radar at one of a plurality of positions on the vehicle body; moving a receive antenna from one location to another of a plurality of locations; and causing the receive antenna to receive the echo signal at another location. In this way, by moving the receiving antenna to a plurality of positions, a phase difference can be formed between echo signals received by the receiving antenna at different positions, and an array arrangement equivalent to a plurality of receiving antennas can be achieved.

Description

Vehicle-mounted radar detection method and vehicle-mounted radar

technical field

The present application relates to the field of radar, and more particularly, to a detection method for a vehicle-mounted radar and a vehicle-mounted radar.

Background technique

With the rapid development of mobile communications, the technical indicators of high speed, large bandwidth, and low latency have been realized, and many application scenarios that conform to the vision of the future Internet of Everything have been derived. The Internet of Vehicles is one of the more extensive research hotspots in recent years. It aims to create intelligent transportation by integrating mobile communication technology and artificial intelligence technology, thereby improving the efficiency of road traffic and the safety of vehicle driving, creating more convenient transportation. Comfortable travel environment.

In recent years, autonomous driving technology has gradually realized intelligent road navigation, roadblocks and road sign prompts, and preliminary "unmanned driving" functions. Vehicles use various sensors such as on-board radar, GPS equipment, and visual cameras to obtain various driving data, and then use technologies such as radar imaging and artificial intelligence to make "intelligent behaviors", and finally realize the function of unmanned driving. However, the accuracy of sensors has a great impact on the performance of advanced driver assistance systems (ADAS), so the study of high-resolution sensors has become one of the extensive research hotspots.

Vehicle radar is an important sensor device in autonomous vehicles, including but not limited to lidar, millimeter-wave radar, ultrasonic radar, etc. Different types of radars have different working principles and different functions, such as obstacle detection, collision prediction and other different functions. In recent years, with the breakthrough of integrated circuits in the field of millimeter waves, in order to meet the future large-scale sensor fusion scenarios of the Internet of Vehicles, millimeter-wave radars are widely used in today's mobile devices due to their low cost, high resolution and high sensitivity. in the ADAS system.

For the measurement in the angular domain, especially when distinguishing different objects with the same distance and speed characteristics, the vehicle radar often needs to have multiple receiving antennas. However, relying on array antennas to achieve measurement in the angular domain often requires large equipment costs, which is not conducive to the popularization of large-scale Internet of Vehicles applications in the future.

SUMMARY OF THE INVENTION

The present application is made in view of the above-mentioned state of the art. The purpose of the present application is to provide a detection method for a vehicle-mounted radar and a vehicle-mounted radar, which can overcome at least one of the disadvantages described in the above background art.

In order to achieve the above purpose, the present application adopts the following technical solutions.

The present application provides a detection method for a vehicle-mounted radar as follows, the detection method includes: causing a receiving antenna of the radar to receive an echo signal of the radar at one of a plurality of positions on a vehicle body; moving from the one position to another of the plurality of positions; and causing the receive antenna to receive the echo signal at the another position.

In an optional solution, at least two of the plurality of positions are spaced apart in the width direction of the vehicle body.

In another optional solution, the plurality of locations are arranged in an array.

In another optional solution, the distance between the one position and the other position is an integer multiple of half of the wavelength corresponding to the center frequency of the transmitted signal of the radar.

In another optional solution, the method further includes: performing a range fast Fourier transform on the echo signal to obtain range data; performing Doppler fast Fourier transform on the range data to obtain velocity data; and An angular fast Fourier transform is performed on the velocity data to obtain angular data.

In another optional solution, the method further includes: filtering out a portion greater than or equal to or greater than a threshold from the angle data.

The present application also provides a vehicle-mounted radar using the above-mentioned detection method, the vehicle-mounted radar includes: a receiving antenna; and a driving source, which is connected to the vehicle body and the receiving antenna, and is used to drive the receiving antenna relative to the vehicle body move.

In an optional solution, a position sensor and an acceleration sensor are also included, the position sensor is connected to the receiving antenna for measuring the position of the receiving antenna, and the acceleration sensor is connected to the receiving antenna for The acceleration of the receiving antenna is measured.

The present application also provides a vehicle-mounted radar using the above-mentioned detection method, the vehicle-mounted radar includes: a receiving antenna; and an elastic body, which is connected with the vehicle body and the receiving antenna, so that the receiving antenna can be within the limit of the elastic body. It moves relative to the vehicle body in the state of the bit position.

In an optional solution, a position sensor and an acceleration sensor are also included, the position sensor is connected to the receiving antenna for measuring the position of the receiving antenna, and the acceleration sensor is connected to the receiving antenna for The acceleration of the receiving antenna is measured.

With the above technical solution, by moving the receiving antenna to multiple positions, a phase difference can be formed between the echo signals received by the receiving antenna at different positions, which is equivalent to the arrangement of multiple receiving antennas in an array manner.

Description of drawings

FIG. 1 shows a schematic diagram of a vehicle-mounted radar according to a first embodiment of the present application.

FIG. 2 shows a schematic diagram of a receiving module of the vehicle-mounted radar in FIG. 1 .

FIG. 3 shows a schematic diagram of the detection method of the vehicle-mounted radar in FIG. 1 .

FIG. 4 shows a schematic diagram of a vehicle-mounted radar according to a second embodiment of the present application.

Description of reference numerals

1 vehicle radar; 11 chassis; 12 transmitter module; 121 transmitter antenna; 13 receiver module; 131 receiver antenna; 132 drive source; 133 position sensor; 134 acceleration sensor; 14 transceiver integrated module;

a first position; b second position; c third position;

A transmits the signal; B echoes the signal.

Detailed ways

Exemplary embodiments of the present application are described below with reference to the accompanying drawings. It should be understood that these specific descriptions are only used to teach those skilled in the art how to implement the present application, and are not used to exhaust all possible ways of the present application, nor to limit the scope of the present application.

(first embodiment)

1 to 3 show a vehicle-mounted radar 1 according to the present application, in particular a millimeter-wave radar. The vehicle-mounted radar 1 may include a chassis 11 , a transmitting module 12 and a receiving module 13 .

Referring to FIG. 1 , the chassis 11 may be fixed to the vehicle body (not shown in the figure), and the transmitting module 12 and the receiving module 13 may be disposed inside the chassis 11 and fixed to the chassis 11 . Specifically, the transmitting module 12 may include a transmitter and a transmitting antenna 121, and the transmitting antenna 121 may be electrically connected with the transmitter and send out a transmitting signal A, such as a pulse signal. 2 , the receiving module 13 may include a receiver, a receiving antenna 131 , a driving source 132 , a position sensor 133 and an acceleration sensor 134 . The receiving antenna 131 may be electrically connected with the receiver and receive the echo signal B. As shown in FIG. The driving source 132 can be a motor, which can be connected with the vehicle body and the receiving antenna 131 , so that the driving source 132 can drive the receiving antenna 131 to move relative to the vehicle body. The position sensor 133 and the acceleration sensor 134 may be connected to the receiving antenna 131 . The position sensor 133 can measure the real-time position of the receiving antenna 131 , and the acceleration sensor 134 can measure the real-time acceleration of the receiving antenna 131 .

The detection method of the vehicle-mounted radar 1 is introduced below, and the detection method may roughly include:

causing the receiving antenna 131 to receive the echo signal B at one of a plurality of positions on the vehicle body;

moving the receive antenna 131 from one position to another of the plurality of positions;

Make the receiving antenna 131 receive the echo signal B at another location;

Perform a range fast Fourier transform (range-FFT) on the echo signal B received from each position to obtain range data;

Doppler fast Fourier transform (doppler-FFT) on the range data to obtain velocity data;

performing an angle fast Fourier transform (angle-FFT) on the velocity data to obtain angle data; and

Filter out the parts that are greater than or equal to a threshold from the angle data.

Further, before performing the angle-FFT, the velocity data may be dimensionally sorted in the vertical direction and the horizontal direction (direction perpendicular to the vertical direction) according to the position where the receiving antenna 131 receives the echo signal B. The obtained angle data may include azimuth angle data and pitch angle data.

Referring to FIG. 3 , in this embodiment, the plurality of positions may include a first position a, a second position b, and a third position c. Specifically, the first position a, the second position b, and the third position c may be located in the same plane perpendicular to the traveling direction of the vehicle body. The plurality of positions may be arranged in an array, and the first position a, the second position b, and the third position c may be arranged side by side and spaced apart in the width direction of the vehicle body. The distance between the first position a and the second position b (the shortest distance) and the distance between the second position b and the third position c (the shortest distance) may be half of the wavelength corresponding to the center frequency of the transmitted signal A. integer multiples. For example, the distance between the first position a and the second position b and the distance between the second position b and the third position c may be half the wavelength corresponding to the center frequency of the transmitted signal A.

After the single receiving antenna 131 receives the echo signal B at the first position a, the driving source 132 can drive the receiving antenna 131 to move to the second position b. During the movement of the receiving antenna 131, the driving source 132 may cooperate with the position sensor 133 and the acceleration sensor 134, so that the receiving antenna 131 can accurately reach the second position b. After the receiving antenna 131 reaches the second position b, the receiving antenna 131 can receive the echo signal B at the second position b. Next, the receiving antenna 131 may be moved to the third position c and other positions in a similar manner. After the echo signal B is obtained, a range fast Fourier transform, a Doppler fast Fourier transform, and an angle fast Fourier transform can be sequentially performed on the echo signal B to generate a 4D point cloud image.

In this way, by moving the receiving antenna 131 to multiple positions, a phase difference can be formed between the echo signals B received by the receiving antenna 131 at different positions, which is equivalent to the arrangement of multiple receiving antennas 131 in an array manner. The in-vehicle radar 1 can measure the azimuth angle with a smaller number of receiving antennas 131 , so that the cost of the in-vehicle radar 1 can be reduced.

In addition, by spacing at least two positions out of the plurality of positions in the width direction of the vehicle body, the on-board radar 1 can easily distinguish two measured objects that are spatially symmetrically distributed with respect to the on-board radar 1 in the width direction of the vehicle body. object, so that the detection capability of the vehicle-mounted radar 1 can be improved. By making the distance between one position and another position an integral multiple of half the wavelength corresponding to the center frequency of the transmitted signal A, phase ambiguity between echo signals B received by the receiving antenna 131 at different positions is less likely to occur.

(Second Embodiment)

The vehicle-mounted radar 1 according to the second embodiment of the present application is a modification of the first embodiment, and for the same or similar features as the first embodiment, the same reference numerals are used in this embodiment, and the description of these features is omitted. Details.

Referring to FIG. 4 , in this embodiment, the vehicle-mounted radar 1 may include a chassis 11 and an integrated transceiver module 14 . Specifically, the integrated transceiver module 14 may be located inside the chassis 11 and fixed with the chassis 11 . The transceiver integrated module 14 may include a transmitter, a receiver, an integrated antenna, an elastic body, a position sensor and an acceleration sensor. The integrated antenna can be electrically connected with the transmitter and the receiver, so that the integrated antenna can be used for both sending out transmit signals and receiving echo signals. The elastic body may be a spring, which may be connected with the vehicle body and the integrated antenna. When the vehicle body moves, under the action of inertia, the integrated antenna can move relative to the vehicle body in the state where the elastic body is limited. The position sensor and acceleration sensor can be connected with the integrated antenna. The position sensor can measure the position of the integrated antenna, and the acceleration sensor can measure the acceleration of the integrated antenna. When the integrated antenna moves relative to the vehicle body, the position of the integrated antenna on the vehicle body can be obtained through the data measured by the position sensor and the acceleration sensor.

This application has at least the following advantages:

(i) By moving the receiving antenna 131 to multiple positions, a phase difference can be formed between the echo signals B received by the receiving antenna 131 at different positions, which is equivalent to the arrangement of multiple receiving antennas 131 in an array. The in-vehicle radar 1 can measure the azimuth angle with a smaller number of receiving antennas 131 , so that the cost of the in-vehicle radar 1 can be reduced.

(ii) By spacing at least two positions out of the plurality of positions in the width direction of the vehicle body, the on-board radar 1 can easily distinguish two objects that are spatially symmetrically distributed with respect to the on-board radar 1 in the width direction of the vehicle body. Therefore, the detection capability of the vehicle-mounted radar 1 can be improved.

(iii) By making the distance between one position and another position an integral multiple of half of the wavelength corresponding to the center frequency of the transmission signal A, the echo signals B received by the receiving antenna 131 at different positions are less likely to appear between the echo signals B Phase blur.

It should be understood that the above-mentioned embodiments are only exemplary, and are not intended to limit the present application. Those skilled in the art can make various modifications and changes to the above embodiments under the teachings of the present application without departing from the scope of the present application.

It should be understood that the number of receiving antennas 131 is not limited to a single one. For example, the number of receiving antennas 131 may be plural, and at least two of the plural receiving antennas 131 may be moved between plural positions independently of each other. Alternatively, at least two of the plurality of receive antennas 131 may move between the plurality of positions fixed to each other.

It should be understood that the plurality of positions are not limited to include a first position a, a second position b, and a third position c, and that the receiving antenna 131 can be moved between any possible number of positions known to those skilled in the art.

It should be understood that the vehicle-mounted radar 1 is not limited to be a millimeter-wave radar. For example, the in-vehicle radar 1 may be a lidar, an ultrasonic radar, or the like.

It should be understood that, in the present application, the array formed by a plurality of positions may be an array of different forms such as a rectangular array or a circular array. In the case of using a rectangular array, it is not limited to a rectangular array composed of multiple rows and columns, and may be an array composed of multiple rows and a single column, or an array composed of a single row and multiple columns.

Claims (10)

1. the detection method of a vehicle-mounted radar, is characterized in that, comprises: causing the radar's receiving antenna (131) to receive the radar's echo signal (B) at one of a plurality of positions on the vehicle body; moving the receive antenna (131) from the one position to another of the plurality of positions; and The receiving antenna (131) is caused to receive the echo signal (B) at the other position. 2 . The detection method of the vehicle-mounted radar according to claim 1 , wherein at least two positions among the plurality of positions are spaced apart in the width direction of the vehicle body. 3 . 3 . The detection method of the vehicle-mounted radar according to claim 1 or 2 , wherein the plurality of positions are arranged in an array. 4 . 4. The detection method of vehicle-mounted radar according to claim 1 or 2, wherein the distance between the one position and the other position is the wavelength corresponding to the center frequency of the transmitted signal of the radar. an integer multiple of half. 5. The detection method of vehicle-mounted radar according to claim 1 or 2, characterized in that, further comprising: performing a range fast Fourier transform on the echo signal (B) to obtain range data; Doppler Fast Fourier Transforming the range data to obtain velocity data; and An angular fast Fourier transform is performed on the velocity data to obtain angular data. 6. The detection method of vehicle-mounted radar according to claim 5, is characterized in that, also comprises: Parts greater than or equal to a threshold value are filtered out from the angle data. 7. A vehicle-mounted radar using the detection method according to any one of claims 1 to 6, characterized in that, comprising: a receive antenna (131); and A driving source (132), which is connected to the vehicle body and the receiving antenna (131), is used for driving the receiving antenna (131) to move relative to the vehicle body. 8. The vehicle-mounted radar according to claim 7, characterized in that, further comprising a position sensor (133) and an acceleration sensor (134), The position sensor (133) is connected to the receiving antenna (131) for measuring the position of the receiving antenna (131), The acceleration sensor (134) is connected to the receiving antenna (131) for measuring the acceleration of the receiving antenna (131). 9. A vehicle-mounted radar using the detection method according to any one of claims 1 to 6, characterized in that, comprising: a receiving antenna; and The elastic body is connected with the vehicle body and the receiving antenna, so that the receiving antenna can move relative to the vehicle body when the elastic body is limited. 10. The vehicle-mounted radar according to claim 9, further comprising a position sensor and an acceleration sensor, the position sensor is connected to the receiving antenna for measuring the position of the receiving antenna, The acceleration sensor is connected to the receiving antenna for measuring the acceleration of the receiving antenna.

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