CN219245761U - Centralized calculation millimeter wave radar system adopting high-speed digital bus - Google Patents
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Abstract
The utility model belongs to the technical field of millimeter wave radars, and particularly relates to a centralized calculation millimeter wave radar system adopting a high-speed digital bus. The system comprises a plurality of millimeter wave radars and a central controller, wherein each millimeter wave radar is connected with an intermediate frequency signal switch and a signal processor of the central controller in a point-to-point mode through a high-speed digital bus in an independent sequence; the vehicle-mounted voltage is connected with a power module of the central controller through a power line, and the power module of the central controller is connected with each millimeter wave radar through a power line; the radar radio frequency chip in each millimeter wave radar is connected with the control signal switch in the central controller through a control signal bus. The utility model cancels the signal processing unit of each millimeter wave radar, thereby miniaturizing and lightening the millimeter wave radar and facilitating the installation and arrangement.
Description
Technical Field
The utility model belongs to the technical field of millimeter wave radars, and particularly relates to a centralized calculation millimeter wave radar system adopting a high-speed digital bus.
Background
Millimeter wave radar is the only environmental-sensing sensor in an autopilot system that can operate in severe weather. More and more millimeter wave radars are installed on an autopilot, and each millimeter wave radar consists of an antenna, a millimeter wave radio frequency chip and a signal processing chip. At present, signal processing of millimeter wave radars is finished on a signal processing chip in the radar, then data processed by the radar are transmitted to a central controller through a vehicle-mounted bus, and the central controller performs fusion processing on targets detected by a plurality of millimeter wave radars. Considering that each radar needs to be provided with a signal processing chip, not all millimeter wave radars need to be used under each driving condition of the automobile, and waste of chip resources is caused.
Disclosure of Invention
The utility model aims to provide a miniaturized and light-weight centralized calculation millimeter wave radar system which is convenient to install and arrange and adopts a high-speed digital bus.
In order to achieve the above object, the present utility model provides the following technical solutions:
a centralized calculation millimeter wave radar system adopting a high-speed digital bus comprises a plurality of millimeter wave radars and a central controller, wherein the millimeter wave radars comprise radar antennas, radar radio frequency chips, millimeter wave radar circuit boards and a power module of the millimeter wave radars, and the millimeter wave radars further comprise built-in clocks. The central controller comprises a signal processor, an intermediate frequency signal switch, a control signal switch, a power module of the central controller and a power switch;
the radar radio frequency chip comprises a radio frequency circuit, wherein the radio frequency circuit comprises a millimeter wave signal generator, a millimeter wave transmitter, a millimeter wave receiver and the like;
the radar antenna comprises a radar transmitting antenna and a radar receiving antenna;
each millimeter wave radar is connected with an intermediate frequency signal switch and a signal processor of the central controller in a point-to-point mode through a high-speed digital bus in an independent sequence;
the vehicle-mounted voltage is connected with a power module of the central controller through a power line, and the power module of the central controller is connected with each millimeter wave radar through a power line;
the radar radio frequency chip in each millimeter wave radar is connected with the control signal switch in the central controller through a control signal bus.
The high-speed digital bus is not limited to a high-speed serial line, but may be a high-speed parallel line.
The millimeter wave radar has a waterproof enclosure.
Compared with the prior art, the utility model has the beneficial effects that:
as autopilot vehicles move to higher levels, millimeter wave radar installations on vehicles may exceed 10 to more accurately and omnidirectionally detect traffic participants and obstacles around the vehicle. More and more millimeter wave radars not only lead to a sharp rise in vehicle cost, but also occupy significantly more space within the vehicle.
The utility model cancels the signal processing unit of each millimeter wave radar, thereby miniaturizing and lightening the millimeter wave radar and facilitating the installation and arrangement. The signal processor of more than ten radars is replaced by a high-power signal processor, so that the system cost and the system weight can be reduced. Meanwhile, the central controller selectively turns on part or all of millimeter wave radars according to the current traffic condition, flexibly switches the working mode of the millimeter wave radars, can reduce the system power consumption, selectively strengthens radar detection capability in certain directions on the same hardware, turns off the current unnecessary radars, for example, strengthens the near-range high-resolution detection capability of peripheral radars in the reversing and warehousing process, and turns off the long-range radar detection capability; in the high-speed driving process, the detection capability of the middle-distance radar and the long-distance radar from the target is enhanced, and the short-distance high-resolution detection capability of the peripheral radar is closed. Meanwhile, the high-speed digital bus is utilized to time the millimeter wave radar, so that clocks of the millimeter wave radar and a central controller can be synchronized with high precision, the millimeter wave radar transmits target information and simultaneously transmits information acquisition time corresponding to the target information, and the precision of multi-radar information fusion can be improved.
According to the utility model, each millimeter wave radar is controlled in real time by the central controller through the control bus, and is independently turned on and off by the central controller, so that the system is more flexible and efficient, the central controller can select one or more millimeter wave radars which need to work at present and the corresponding detection performances (detection area size and target speed range) of the millimeter wave radars according to the current road condition and vehicle condition, turn on the corresponding power switch, supply power to the corresponding millimeter wave radars through the power line, and send control signals to the corresponding millimeter wave radars, and the millimeter wave radars enter a target detection mode. In addition, the utility model also has the functions of information fusion and high-precision time service of a plurality of millimeter wave radars.
Drawings
Fig. 1 is a schematic diagram of a frame of a centralized computing millimeter wave radar system employing a high-speed digital bus in accordance with the present utility model.
Detailed Description
The utility model will be further described with reference to the drawings and examples.
As shown in fig. 1, a centralized computing millimeter wave radar system employing a high-speed digital bus includes a plurality of millimeter wave radars and a central controller. The millimeter wave radar comprises a radar antenna, a radar radio frequency chip, a millimeter wave radar circuit board and a power module of the millimeter wave radar, and the millimeter wave radar further comprises a built-in clock. The central controller comprises a signal processor, an intermediate frequency signal switch, a control signal switch, a power module of the central controller and a power switch.
The radar radio frequency chip comprises a radio frequency circuit, wherein the radio frequency circuit comprises a millimeter wave signal generator, a millimeter wave transmitter, a millimeter wave receiver and the like.
The radar antenna includes a radar transmitting antenna and a radar receiving antenna.
Each millimeter wave radar is connected with an intermediate frequency signal switch and a signal processor of the central controller in a point-to-point mode through a high-speed digital bus in an independent sequence.
After the radar radio frequency chip generates radio frequency signals, the radio frequency signals are emitted into a free space by a radar antenna to form millimeter waves, after the millimeter waves are reflected back by an object, the millimeter waves are received by the radar antenna, the millimeter waves enter the radar radio frequency chip to be amplified, down-converted and re-amplified and filtered to form intermediate frequency signals, and the intermediate frequency signals are sampled by a high-speed ADC (analog to digital converter) integrated in the radar radio frequency chip or arranged on a millimeter wave radar circuit board to become intermediate frequency sampling signals (intermediate frequency). The intermediate frequency sampling signal is transmitted to a signal processor in the central controller through a high-speed digital bus. Besides high-speed digital bus connection, the central controller and the millimeter wave radar are also provided with a power line and a control signal bus.
The vehicle-mounted voltage is connected with a power module of the central controller through a power line, and the power module of the central controller is connected with each millimeter wave radar through the power line.
The radar radio frequency chip in each millimeter wave radar is connected with the control signal switch in the central controller through a control signal bus.
The central controller provides input voltage for the millimeter wave radar through the power line and also controls the millimeter wave radar through the control signal bus. Each millimeter wave radar is provided with a waterproof shell, and the requirements of vehicle-mounted electromagnetic compatibility and durable ageing tests are met.
The high-speed digital bus used in the present utility model is not limited to a high-speed serial line, but may be a high-speed parallel line, so a serializer and a deserializer are not required.
In applications where multiple millimeter wave radars are used to jointly detect one or more targets, time synchronization of the multiple millimeter wave radars is important, and considering that a vehicle travels at a speed of 30 meters per second, a time synchronization error of 0.1 seconds may result in a distance deviation of 30 meters per second by 0.1 seconds=3 meters for different radars for distance measurement of the same target, and one target may be misjudged as multiple targets. So the time of the millimeter wave radars and the central controller needs to be synchronized. Time synchronization is ensured by:
1. the intermediate frequency signal of each radar is independently connected with the central controller point to point through a high-speed digital bus; the network congestion and delay caused by simultaneous data transmission of multiple radars are avoided;
2. the central controller is internally provided with a clock, the time of the clock is used as the reference time of the system, and the time of the built-in clock can be calibrated through the time provided by the GPS/Beidou navigation satellite;
3. time service function: the central controller sends control signals to one or more radars to enable the radars to enter a time service mode, and the time service flow is as follows;
s1, a central controller sends control signals to one or more millimeter wave radars to command the millimeter wave radars to enter a time service mode; in the time service mode, the millimeter wave radar does not execute other tasks, and the millimeter wave radar immediately processes every 6 bytes of data received on the high-speed digital bus; the controlled millimeter wave radar sends a response signal to the central controller to confirm entering a time service mode;
s2, the central controller transmits the current time of the built-in clock of the central controller for a plurality of times at intervals to one or more millimeter wave radars entering a time service mode through a high-speed digital bus, wherein each time the transmission time interval is fixed, for example, 2 microseconds is accurate to nanoseconds, the data format is 5bit representation hours, 6bit representation minutes, 6bit representation seconds, 10bit representation milliseconds, 10bit representation microseconds, 10bit representation nanoseconds, 1bit is parity check bits (the first 47 bits have odd numbers of 1, and the first 47 bits have even numbers of 1 to 0), and 48 bits = 6 bytes.
For example, a 17 hour 4 minute 15 second 17 microsecond 4 nanosecond binary representation is: 10001 000100 001111 0000010001 0000000100 0;
after the millimeter wave radar receives the time transmitted by the high-speed digital bus, the clock time in the millimeter wave radar is set as the time transmitted by the high-speed bus. Considering that the time difference between the multiple times of transmission by the central controller is fixed in theory, for example, 2 microseconds, the clock of the millimeter wave radar can refer to the time overlapping of multiple times of transmission by the bus and the fixed time difference and then average to improve the time service precision;
s3, the millimeter wave radar sends the current time of the built-in clock of the millimeter wave radar to the central controller for a plurality of times through the high-speed digital bus, each time the sending time interval is fixed, for example, 2 microseconds and accurate to nanoseconds, the data format is 5bit characterizing hours, 6bit characterizing minutes, 6bit characterizing seconds, 10bit characterizing milliseconds, 10bit characterizing microseconds, 10bit characterizing nanoseconds, 1bit is a parity check bit (the first 47 bits have odd 1, and the first 47 bits have even 1 0), and 48 bit=6 bytes.
After the central controller receives the time of the built-in clock of the millimeter wave radar transmitted by the high-speed digital bus, the time is subtracted from the time of the built-in clock of the central controller, and the sum of the deviation of the millimeter wave radar and the built-in clock of the central controller and the double-pass delay of the high-speed digital bus is obtained. Considering that the millimeter wave radar has different times of transmission and the time difference of two times before and after the millimeter wave radar is fixed in theory, for example, 2 microseconds, the sum of the deviation and the delay can be averaged through multiple measurement results to improve the estimation precision;
s4, repeating the steps S2 and S3 until the sum of clock deviation and delay of the central controller and the millimeter wave radar meets the requirement. The value is stored in the central controller as a parameter for subsequent time-synchronized calibration.
The central controller sends a control signal to the millimeter wave radar, and the time service mode is required to be ended;
the millimeter wave radar finishes the time service mode and sends a response signal to the central controller;
the method for detecting the target by using the centralized calculation millimeter wave radar system adopting the high-speed digital bus comprises the following steps:
after the millimeter wave radar finishes time service, the central controller selects one or more millimeter wave radars which need to work at present and corresponding detection performances (detection area size and target speed range) of the millimeter wave radars according to the current road condition and vehicle condition, and sends control signals to the corresponding millimeter wave radars, wherein the millimeter wave radars enter a target detection mode, and the specific flow is as follows:
the method comprises the steps that S1, a central controller starts a power switch of a power module of the central controller, corresponding millimeter wave radars are powered through a power line, control signals are sent to one or more millimeter wave radars, the millimeter wave radars are required to start a target detection mode (the target detection mode refers to a mode of detecting surrounding targets by the millimeter wave radars, in the target detection mode, the millimeter wave radars repeatedly execute a series of operations such as radio frequency signal generation, radio frequency signal transmission, radio frequency signal reception, amplification, frequency conversion, filtering sampling, transmission of an intermediate frequency sampling signal formed after sampling to the central controller and the like), and meanwhile radar waveform parameters including central frequency, radar bandwidth, frequency modulation slope, frequency modulation period, adoption frequency, sampling point number per period, continuous sampling period number, radar period and the like are sent to the radars; the central controller is ready for receiving the millimeter wave radar intermediate frequency sampling signals, and comprises an intermediate frequency sampling signal switch for ensuring smooth link from the millimeter wave radar to the signal processor and emptying a register corresponding to the high-speed digital interface;
the millimeter wave radars start a radio frequency circuit in a radar radio frequency chip, start a high-speed ADC in the radio frequency chip or mounted on a millimeter wave radar circuit board, set parameters of the radar radio frequency chip according to control signals, and send all ready signals to a central controller after the setting is completed;
s2, the millimeter wave radar generates a radio frequency signal according to the parameters of the radar radio frequency chip set in the step S1, the radio frequency signal is emitted by a radar transmitting antenna to form electromagnetic waves, the electromagnetic waves are reflected on a target and received by a radar receiving antenna, the amplification, the frequency conversion and the filtering are finished on the radar radio frequency chip to form an intermediate frequency signal, and the intermediate frequency signal is sampled by a high-speed ADC integrated in the radar radio frequency chip or mounted on a millimeter wave radar circuit board to form an intermediate frequency sampling signal; the intermediate frequency sampling signal of each radar period is transmitted to an intermediate frequency signal switch in the central controller through a high-speed digital bus together with the time of a radar built-in clock when the radar period starts and/or ends and/or the time of a radar built-in clock when the radar frequency modulation period starts and/or ends; the signal enters a signal processor through an intermediate frequency sampling signal switch and is stored in an internal or external memory of the signal processor;
the radar period is the time when the millimeter wave radar finishes the generation of radio frequency signals, the emission of the radio frequency signals, the reception, amplification, frequency conversion, filtering and sampling of the radio frequency signals, and the total transmission of intermediate frequency sampling signals formed after the sampling to the central controller; one radar period includes one or more radar frequency modulation periods. The radar frequency modulation period is the time during which the frequency and/or amplitude of the radar radio frequency signal changes (continuously increases and/or continuously decreases and/or steps increases and/or steps decreases) from an initial value and eventually returns to the initial value during millimeter wave radar radio frequency signal generation.
The radar frequency modulation period is the time during which the frequency and/or amplitude of the radar radio frequency signal changes (continuously increases and/or continuously decreases and/or steps increases and/or steps decreases) from an initial value and eventually returns to the initial value during millimeter wave radar radio frequency signal generation.
S3, the signal processor in the central controller processes intermediate frequency sampling signals transmitted by the millimeter wave radars stored in the internal or external memory of the signal processor in parallel or in series according to the parameters of the millimeter wave radars set in the step S1; and calculating information such as the position, speed, size, class and the like of the targets detected by each millimeter wave radar relative to the radar, and deducting the sum of deviation and delay of a central controller and the millimeter wave radar clock measured in the millimeter wave radar time service process according to time information (the time of a radar built-in clock when a radar period starts and/or ends and/or the time of the radar built-in clock when each frequency modulation period starts and/or ends) transmitted by each millimeter wave radar to obtain the time corresponding to the target information.
S4, the positions and the speeds of targets detected by the millimeter wave radars are firstly calculated into positions and speeds under the same coordinate system by adopting coordinate transformation, for example, the geometric center of the vehicle is taken as an origin, the direction right ahead is taken as an X positive direction axis, the direction left to the driver is taken as a Y positive direction, and the direction right above is taken as a Z positive direction;
fusing and tracking target information (position, speed, size and category) of all targets detected by the radar, wherein the time corresponding to the target information is used as one of input variables in the fusing and tracking calculation;
s5, repeating the steps S2 to S4 until the central controller judges that the currently selected millimeter wave radar and/or the detection performance corresponding to the millimeter wave radar cannot meet the current automatic driving function, wherein the judgment criterion is that the actual maximum detection distance of the millimeter wave radar to the target is lower than the automatic driving function requirement; or the actual precision of the angle measurement of the millimeter wave radar to the target is lower than the requirement of the automatic driving function, or some millimeter wave radars have faults, or the hardware resource of the central controller needs to execute the task with higher priority;
the method comprises the steps that a central controller sends a control signal to a millimeter wave radar which performs target detection at present after a current target detection mode is finished, and the target detection mode is required to be finished;
after receiving the control signal, the millimeter wave radar stops generating, transmitting and receiving the radio frequency signal, closes a radio frequency circuit and a high-speed ADC in the radar radio frequency chip, and sends a response signal of stopping target detection to the central controller through the control signal bus.
Claims (3)
1. A centralized calculation millimeter wave radar system adopting a high-speed digital bus is characterized in that: the system comprises a plurality of millimeter wave radars and a central controller, wherein the millimeter wave radars comprise radar antennas, radar radio frequency chips, millimeter wave radar circuit boards and power supply modules of the millimeter wave radars, the millimeter wave radars further comprise built-in clocks, and the central controller comprises a signal processor, an intermediate frequency signal switch, a control signal switch, and the power supply modules and the power supply switches of the central controller;
the radar radio frequency chip comprises a radio frequency circuit, wherein the radio frequency circuit comprises a millimeter wave signal generator, a millimeter wave transmitter and a millimeter wave receiver;
the radar antenna comprises a radar transmitting antenna and a radar receiving antenna;
each millimeter wave radar is connected with an intermediate frequency signal switch and a signal processor of the central controller in a point-to-point mode through a high-speed digital bus in an independent sequence;
the vehicle-mounted voltage is connected with a power module of the central controller through a power line, and the power module of the central controller is connected with each millimeter wave radar through a power line;
the radar radio frequency chip in each millimeter wave radar is connected with the control signal switch in the central controller through a control signal bus.
2. The centrally-computed millimeter-wave radar system employing a high-speed digital bus according to claim 1, wherein: the high-speed digital bus is a high-speed serial line or a high-speed parallel line.
3. The centrally-computed millimeter-wave radar system employing a high-speed digital bus according to claim 1, wherein: the millimeter wave radar has a waterproof enclosure.
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