CN203535221U - Vehicular millimeter wave anticollision radar system - Google Patents
Vehicular millimeter wave anticollision radar system Download PDFInfo
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- CN203535221U CN203535221U CN201320649554.5U CN201320649554U CN203535221U CN 203535221 U CN203535221 U CN 203535221U CN 201320649554 U CN201320649554 U CN 201320649554U CN 203535221 U CN203535221 U CN 203535221U
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Abstract
The utility model provides a vehicular millimeter wave anticollision radar system which includes a transceiving antenna device, a transmitting circuit module, a receiving circuit module, a DSP module, an RAM for data cache, a Flash memory, a clock module and a power supply module. The receiving circuit module comprises four receiving channels; each channel includes a filter circuit, an amplifying circuit and an A / D conversion module; an input end of the receiving module is connected to the transceiving antenna device, and an output end of the receiving module is connected to the DSP module; the transmitting circuit module includes a D / A conversion module and the amplifying circuit; the A / D conversion module is the A / D converter module of a synchronous serial output; and a synchronous serial output port is connected to a four channels synchronous serial input interface of the DSP module. The low-price AD conversion module of the synchronous serial output is used; and the limited input and output pins of the DSP module are used to build a four channels synchronous serial input interface, so as to realize synchronous sampling of the four signals. The cost of hardware is reduced, and the circuit board size is decreased.
Description
Technical field
The utility model relates to vehicle-mounted millimeter wave anti-collision radar system, belongs to automobile active safety control field.
Background technology
Along with the develop rapidly of Domestic Automotive Industry, frequent accidents occurs.Anti-collision system for automobile, can monitor in real time to road environment, and in case of emergency auxiliary driver makes correct processing, prevents fender bender.Automobile collision preventing technology mainly contains ultrasound wave, laser, infrared and radar at present.Consider the factors such as detection range, distinguishing ability, penetration power, stability and cost, Radar Technology all shows certain superiority.Therefore, the research of vehicle anti-collision radar is become the main direction of studying of automobile collision preventing technical field.Because millimetre-wave radar has without range hole, the series of advantages such as transmitter power is low, resolution is high, cost is low, automobile collision avoidance radar extensively adopts linear frequency modulation continuous wave (LFMCW) system.
In recent years, the U.S., Japan and Germany is existing part achievement in vehicle anti-collision radar field, has successively successfully developed the LFWCM automobile collision avoidance radar of multi-frequency.China is relatively late to the research of vehicle running environment perception and recognition system, and domestic research institution relatively disperses in addition, and therefore domestic car radar research is still in the development exploration stage.
The applicant, on the basis of the problems referred to above, has developed a kind of frequency domain CFAR detection method of vehicle-mounted millimeter wave anti-collision radar system, and it can effectively reduce the false alarm rate that anti-collision radar system detects, and has strengthened real-time and the validity of system.Concrete bibliographic reference is that application number is: 201210169343.1, denomination of invention is: the Patents file of the frequency domain CFAR detection method > > of < < vehicle-mounted millimeter wave anti-collision radar system, this patent discloses a kind of frequency domain CFAR detection method of vehicle-mounted millimeter wave anti-collision radar system, the borne Millimeter Wave Collision Avoidance Radars system that the method adopts comprises DSP module, radiating circuit module, receiving circuit module and dual-mode antenna device, described DSP module also connects RAM and clock module, DSP module is by radiating circuit module controls dual-mode antenna device transmitting Continuous Wave with frequency modulation, when this anti-collision radar system duck, dual-mode antenna device receives echoed signal Bing Yi tetra-road analog signal outputs, receiving circuit module Dui Zhe tetra-tunnel simulating signals are sent into DSP resume module after processing.Described receiving circuit module mainly completes the reception & disposal of time domain difference frequency signal, traditional car radar has two kinds of ways on the reception & disposal of time domain difference frequency signal: a kind of is to select with the DSP module of multi-channel A/D converting unit, signal to be sampled, processed, but because DSP inside modules is carried out order A/D conversion to signal, reach the synchronized sampling of signal, very high to the requirement of DSP module, caused the expensive of car radar.Based on this technology, another is the low-cost DSP module of using without AD converting unit, externally adopt the AD modular converter of parallel interface, time domain difference frequency signal is carried out to AD conversion, if by the parallel access of the AD modular converter of 4 12bit sampling precisions DSP module, this requires DSP module to have abundant input and output pin resource, and this class chip has stronger signal handling capacity, often high expensive simultaneously.Therefore selected the DSP module TMS320VC5502 of the TI company of the main flow that price is lower, this chip has the signal handling capacity of enriching, but peripheral input and output pin resource is considerably less.If periphery adopts the AD modular converter of parallel interface, can only utilize the external storage interface of this chip, by outside, latch and drive chip to carry out external hardware expansion, can cause that like this hardware cost rises and wiring board size increases.And the wiring board size of car radar strictly limits often, and size is the smaller the better.
Summary of the invention
The purpose of this utility model is to provide vehicle-mounted millimeter wave anti-collision radar system, adopts the AD modular converter of the synchronous serial output of low price, utilizes limited input and output pin in DSP module to build 4 road synchronous serial input interfaces, realizes the synchronized sampling of 4 road signals.Reduce like this hardware cost, reduced again wiring board size.
technical scheme
Vehicle-mounted millimeter wave anti-collision radar system, comprises dual-mode antenna device, radiating circuit module, receiving circuit module, DSP module, data buffer storage RAM, Flash storer, clock module and power module; The output terminal of radiating circuit module is connected to the input end of dual-mode antenna device, the control end of DSP module is connected to the input end of radiating circuit module, the output terminal of described dual-mode antenna device is connected to the input end of receiving circuit module, the output terminal of receiving circuit module is connected to the input end of DSP module, described DSP module output terminal is connected to respectively the control end of data buffer storage RAM, Flash storer, clock module and power module, receiving circuit module comprises 4 receiving cables, and each passage comprises filtering circuit, amplifying circuit and A/D modular converter; Radiating circuit module comprises D/A modular converter and amplifying circuit; Described A/D modular converter is the A/D modular converter of synchronous serial output, and the input end of described DSP module comprises 4 road synchronous serial input interfaces, and the synchronous serial output port of described A/D modular converter is connected to 4 road synchronous serial input interfaces of DSP module.
As further prioritization scheme of the present invention, described A/D modular converter is the double channel A/D modular converter with serial line interface.
As further prioritization scheme of the present invention, the amplifier device of radiating circuit module adopts the low noise amplifier chip AD8651 of ADI company; The amplifier device of receiving circuit module adopts the low noise amplifier chip AD8652 of ADI company.
As further prioritization scheme of the present invention, 12 chip AD7866 of the master chip WeiADI company of the A/D modular converter of receiving circuit module; 12 chip AD 5320 of the master chip WeiADI company of the D/A modular converter of radiating circuit module.
As further prioritization scheme of the present invention, the master chip of DSP module adopts the TMS5000 family chip TMS320VC5502 of TI company.
beneficial effect
Borne Millimeter Wave Collision Avoidance Radars system provided by the utility model is succinct, and size is little, and cost is low, is easy to install.Receiving circuit adopts the AD modular converter of binary channels serial line interface, reaches the synchronized sampling to 4 road signals.
Accompanying drawing explanation
Fig. 1 is the structural representation of the utility model 24GHz vehicle-mounted millimeter wave anti-collision radar system.
Specific embodiments
Below in conjunction with accompanying drawing, the technical solution of the utility model is described in further detail:
As shown in Figure 1, a kind of 24GHz vehicle-mounted millimeter wave anti-collision radar system, comprise that one for transmitting and receiving the dual-mode antenna device of Continuous Wave with frequency modulation, a radiating circuit module for generation of required modulation waveform, one for carrying out to received signal the receiving circuit module of front-end processing, a DSP module for digital signal is processed, a RAM for data buffer storage and a stored program Flash storer, a clock module that is used to DSP module that reference clock is provided, a power module that is used to system each several part that power supply is provided.Wherein receiving circuit module comprises 4 receiving cables, each passage by amplifying, filtering circuit, A/D modular converter form; Radiating circuit module consists of D/A modular converter, amplifying circuit.
During radar work, DSP module produces sweep voltage digital signal, through D/A, operational amplification circuit, produce the voltage controlled oscillator that an analog voltage carrys out control antenna, produce a linear frequency modulation continuous wave that modulation waveform is symmetric triangular ripple, its initial frequency and termination frequency can write by programming.A Continuous Wave with frequency modulation part is gone out through transmission antennas transmit, and a part is divided into again 4 road I1, Q1, I2, Q2 and is coupled to frequency mixer as local oscillation signal, and wherein in Q1, Q2 passage, signal is that original signal obtains after 90 degree phase shifts.
Transmit and by two receiving antennas, received after target reflection, every antenna is all divided into two groups receiving echo, and antenna RX1 puts into I1, Q1 passage by the echo receiving, and the echo that RX2 receives is put into I2, Q2 passage.Echoed signal, after low noise amplification is processed, then is carried out mixing through frequency mixer with the 4 road signals that existed before and is obtained difference frequency signal.The difference frequency signal obtaining after mixing is processed through intermediate frequency filtering again, finally through dual-mode antenna device, in the mode of 4 road analog intermediate frequency signals, outputs to receiving circuit module.
Receiving circuit module mainly completes the reception & disposal of time domain difference frequency signal, traditional car radar has two kinds of ways on the reception & disposal of time domain difference frequency signal: a kind of is to select with the DSP module of multi-channel A/D converting unit, signal to be sampled, processed, but because DSP inside modules is carried out order A/D conversion to signal, reach the synchronized sampling of signal, very high to the requirement of DSP module, caused the expensive of car radar.Another is the low-cost DSP module of using without AD converting unit, externally adopt the AD modular converter of parallel interface, time domain difference frequency signal is carried out to AD conversion, if by the parallel access of the AD modular converter of 4 12bit sampling precisions DSP module, this requires DSP module to have abundant input and output pin resource, and this class chip has stronger signal handling capacity, often high expensive simultaneously.Therefore selected the DSP module TMS320VC5502 of the TI company of the main flow that price is lower, this chip has the signal handling capacity of enriching, but peripheral input and output pin resource is considerably less.If periphery adopts the AD modular converter of parallel interface, can only utilize the external storage interface of this chip, by outside, latch and drive chip to carry out external hardware expansion, can cause that like this hardware cost rises and wiring board size increases.And the wiring board size of car radar strictly limits often, and size is the smaller the better, therefore, design adopts the AD modular converter of the synchronous serial output of low price, utilize limited input and output pin in DSP module to build 4 road synchronous serial input interfaces, realize the synchronized sampling of 4 road signals.Reduce like this hardware cost, reduced again wiring board size.
Receiving circuit module to 4 tunnel intermediate-freuqncy signals amplify respectively, filtering, A/D conversion generating digital signal sends into DSP module and carries out digital signal processing.In receiving circuit module, adopt the double channel A/D modular converter with serial line interface, only need two AD modular converter conversions, just reached the synchronized sampling of 4 road signals of system requirements, on the basis reducing costs, greatly saved DSP module pin resource.
Obtain the parameter information of target, need to analyze respectively difference frequency signal at the frequency spectrum of frequency modulation ascent stage and descending branch, concrete disposal route can be referring to number of patent application: 201210169343.1 patent application document.As follows for this digital signal processing: DSP module first the digital signal after sampling is divided into the frequency ascent stage and descending branch is latching in RAM respectively.After data latch, utilize DSP module to carry out fast fourier transform (FFT) to the data that latch, can obtain the frequency spectrum of difference frequency signal.By spectrum peak search algorithm, detect the spectrum corresponding Frequency point in peak and measure its corresponding phase place, and then produced crest frequency point being made to CFAR and process (CFAR).CFAR is actually a kind of adaptive threshold detecting, utilizes the contiguous reference window sample in to-be-measured cell front and back to estimate the parameter of neighbourhood noise, and this estimated value can be adjusted decision threshold in real time, to reach the object of CFAR detection.Because each crest frequency point may be the corresponding spectral line of target echo, may be also noise jamming, after employing the method, can under the prerequisite of effectively controlling false alarm rate, effectively detect target spectral line.Now in frequency spectrum, only can there is spectral line corresponding to target in theory, but in the actual working environment due to radar, there is the interference such as background clutter and receiver thermonoise, when signal to noise ratio (S/N ratio) drops to a certain degree, in the frequency spectrum after CFAR processes, still can there is false-alarm targets.At this moment signal is carried out to clutter and offset processing, clutter offsets method, as the term suggests be exactly that the spectral line that in frequency modulation ascent stage and descending branch, spectral line place frequency values is equal is removed.Whether the situation of moving target spectral line being removed for fear of mistake, carrying out clutter while offseting, take into full account amplitude spectrum value and equate.If frequency and amplitude spectrum all equate, remove spectral line; If in both, have one unequal, retain spectral line.In addition, the impact of frequency spectrum shake must be considered, when clutter offsets, certain error space will be reserved.Utilize clutter to offset the clutter that can effectively remove static target and be produced by target.
In order overcoming owing to lacking correlativity, to cause the problem that has false target, to carry out frequency spectrum matcher.Finally according to target frequency modulation ascent stage and descending branch the frequency of corresponding spectral line and distance, speed and the phase angle information that phasometer is calculated target.
Above-mentioned dual-mode antenna device comprises a transmit antennas and two receiving antennas, adopts the comprehensive radar sensor IVQ-905 of Innosent company;
Sweep voltage signal after attenuator circuit in radiating circuit module is changed D/A is decayed, and produces a simulating signal by a small margin, and amplifier device adopts the low noise amplifier chip AD8651 of ADI company;
Amplifier device in receiving circuit module adopts the low noise amplifier chip AD8652 of ADI company;
12 chip AD7866 of the master chip WeiADI company of A/D modular converter;
12 chip AD 5320 of the master chip WeiADI company of D/A modular converter
The master chip of DSP module adopts the TMS5000 family chip TMS320VC5502 of TI company;
Extend out the 256K*16bit chip I S61LV25616 that RAM storer adopts ISSI company;
Extend out the 4 mega electron volt Am29LV400B that Flash storer adopts AMD.
Above-described embodiment is only the utility model preferred embodiment, and the utility model is not defined in this.All any equivalence or improvement of doing within the open scope of the utility model, within all falling into the scope of the utility model protection.
Claims (5)
1. vehicle-mounted millimeter wave anti-collision radar system, comprises dual-mode antenna device, radiating circuit module, receiving circuit module, DSP module, data buffer storage RAM, Flash storer, clock module and power module; The output terminal of radiating circuit module is connected to the input end of dual-mode antenna device, the control end of DSP module is connected to the input end of radiating circuit module, the output terminal of described dual-mode antenna device is connected to the input end of receiving circuit module, the output terminal of receiving circuit module is connected to the input end of DSP module, described DSP module output terminal is connected to respectively the control end of data buffer storage RAM, Flash storer, clock module and power module, receiving circuit module comprises 4 receiving cables, and each passage comprises filtering circuit, amplifying circuit and A/D modular converter; Radiating circuit module comprises D/A modular converter and amplifying circuit; It is characterized in that: described A/D modular converter is the A/D modular converter of synchronous serial output, the input end of described DSP module comprises 4 road synchronous serial input interfaces, and the synchronous serial output port of described A/D modular converter is connected to 4 road synchronous serial input interfaces of DSP module.
2. vehicle-mounted millimeter wave anti-collision radar system according to claim 1, is characterized in that: described A/D modular converter is the double channel A/D modular converter with serial line interface.
3. vehicle-mounted millimeter wave anti-collision radar system according to claim 1 and 2, is characterized in that: the amplifier device of radiating circuit module adopts the low noise amplifier chip AD8651 of ADI company; The amplifier device of receiving circuit module adopts the low noise amplifier chip AD8652 of ADI company.
4. vehicle-mounted millimeter wave anti-collision radar system according to claim 1, is characterized in that: 12 chip AD7866 of the master chip WeiADI company of the A/D modular converter of receiving circuit module; 12 chip AD 5320 of the master chip WeiADI company of the D/A modular converter of radiating circuit module.
5. vehicle-mounted millimeter wave anti-collision radar system according to claim 1, is characterized in that: the master chip of DSP module adopts the TMS5000 family chip TMS320VC5502 of TI company.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201320649554.5U CN203535221U (en) | 2013-10-22 | 2013-10-22 | Vehicular millimeter wave anticollision radar system |
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| CN201320649554.5U CN203535221U (en) | 2013-10-22 | 2013-10-22 | Vehicular millimeter wave anticollision radar system |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104808189A (en) * | 2015-05-04 | 2015-07-29 | 奇瑞汽车股份有限公司 | Millimeter-wave radar signal processing system and method |
| CN104991253A (en) * | 2015-07-27 | 2015-10-21 | 芜湖市汽车产业技术研究院有限公司 | Wave radar system |
| CN105334515A (en) * | 2015-11-25 | 2016-02-17 | 袁帅 | Mirror reflection based radar for obstacle avoidance of unmanned aerial vehicles |
| CN105629234A (en) * | 2015-12-29 | 2016-06-01 | 大连楼兰科技股份有限公司 | Automobile lane-changing auxiliary system signal processing method |
| CN108466582A (en) * | 2018-04-18 | 2018-08-31 | 芜湖博高光电科技股份有限公司 | A kind of millimeter wave headlight for vehicle light lamp automatic switchover system |
| CN110311701A (en) * | 2018-03-23 | 2019-10-08 | 中兴通讯股份有限公司 | Transceiver, receiving channel, sendaisle calibration method and device |
-
2013
- 2013-10-22 CN CN201320649554.5U patent/CN203535221U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104808189A (en) * | 2015-05-04 | 2015-07-29 | 奇瑞汽车股份有限公司 | Millimeter-wave radar signal processing system and method |
| CN104991253A (en) * | 2015-07-27 | 2015-10-21 | 芜湖市汽车产业技术研究院有限公司 | Wave radar system |
| CN105334515A (en) * | 2015-11-25 | 2016-02-17 | 袁帅 | Mirror reflection based radar for obstacle avoidance of unmanned aerial vehicles |
| CN105629234A (en) * | 2015-12-29 | 2016-06-01 | 大连楼兰科技股份有限公司 | Automobile lane-changing auxiliary system signal processing method |
| CN110311701A (en) * | 2018-03-23 | 2019-10-08 | 中兴通讯股份有限公司 | Transceiver, receiving channel, sendaisle calibration method and device |
| CN110311701B (en) * | 2018-03-23 | 2022-03-01 | 中兴通讯股份有限公司 | Transceiver, receiving channel and transmitting channel calibration method and device |
| CN108466582A (en) * | 2018-04-18 | 2018-08-31 | 芜湖博高光电科技股份有限公司 | A kind of millimeter wave headlight for vehicle light lamp automatic switchover system |
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Granted publication date: 20140409 Termination date: 20161022 |
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| CF01 | Termination of patent right due to non-payment of annual fee |