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Unmanned automobile complex environment collision avoidance radar system based on combination waveforms and signal processing method

A technology for unmanned vehicles and complex environments, applied in the field of radar, it can solve the problems of poor all-weather work effect, large influence of ultrasonic weather conditions, and short detection distance.

Inactive Publication Date: 2018-03-09
DALIAN ROILAND SCI & TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Infrared, camera and other optical technologies are cheap and simple in technology, but the all-weather working effect is not good, and the anti-collision performance is limited; the ultrasonic wave is greatly affected by the weather state, and the detection distance is relatively short

Method used

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  • Unmanned automobile complex environment collision avoidance radar system based on combination waveforms and signal processing method
  • Unmanned automobile complex environment collision avoidance radar system based on combination waveforms and signal processing method
  • Unmanned automobile complex environment collision avoidance radar system based on combination waveforms and signal processing method

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Embodiment 1

[0039] Embodiment 1: A long-distance complex environment collision avoidance millimeter-wave radar system for unmanned vehicles, including an antenna subsystem, a radio frequency subsystem, a signal conditioning subsystem, and a signal processing subsystem;

[0040] The antenna subsystem forms the transmitting and receiving beams required for radar detection, radiates the transmitting signal to the designated area, and receives the scattered echo signal of the target in the designated area;

[0041] The radio frequency subsystem generates a transmission signal and the frequency of the transmission signal changes according to the law of the modulation signal, so as to realize the output of linear frequency modulation continuous wave;

[0042] The signal conditioning subsystem is used to filter and amplify the amplitude of the intermediate frequency analog signal;

[0043] The signal processing subsystem enables the four-way I / Q intermediate frequency signals output by the signa...

Embodiment 2

[0047] Embodiment 2: the signal processing method of the complex environment anti-collision radar system of unmanned vehicles based on combined waveforms described in each scheme of embodiment 1, it is characterized in that, described combined waveforms are FMCW signals and constant frequency waves modulated by triangular waves The waveform formed by the combination of modulated CW signals, the first section is a triangle wave, and the second section is a constant frequency wave;

[0048] The signal processing method includes the following steps:

[0049] S1. For each segment of the waveform, the IQ data collected by the A / D is subjected to time-frequency FFT transformation, and the time domain data is converted into frequency data;

[0050] S2. Use the complex modulus value after the FFT transformation of each segment of the waveform as the threshold detection CFAR, output the position of the threshold point, calculate the corresponding frequency value according to the point ...

Embodiment 3

[0061] Embodiment 3: As a supplement to Embodiment 1, this embodiment mainly introduces the use of millimeter wave radar to realize the obstacle avoidance function of unmanned vehicles. Compared with other detection methods, millimeter-wave radar mainly has the advantages of stable detection performance, good environmental adaptation, small size, low price, and can be used in relatively severe rainy and snowy weather.

[0062] Aiming at the insufficient perception ability of unmanned vehicles to their driving environment, especially the lack of obstacle avoidance ability or lack of obstacle avoidance ability in complex environment, or the obstacle avoidance time is too short to avoid obstacles in time, resulting in unmanned vehicles Driving car collisions, resulting in damage to unmanned vehicles, etc., this embodiment provides a long-distance and complex environment anti-collision millimeter-wave radar system for unmanned vehicles. Obstacles, including static targets and dyna...

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Abstract

The invention relates to an unmanned automobile complex environment collision avoidance radar system based on combination waveforms and a signal processing method, belongs to the radar signal processing field and solves an unmanned automobile complex environment collision avoidance problem. The method is characterized by comprising steps that S1, for each waveform band, for IQ data acquired through an A / D, time frequency FFT transformation is carried out, and time domain data is converted into frequency data; S2, CFAR threshold detection of a complex modulus value of each waveform band after FFT transformation is carried out, the overthreshold point position is outputted, corresponding frequency values are calculated according to overthreshold points, frequency matrixes of the corresponding points are acquired, phase values corresponding to the overthreshold points of a constant frequency band are further calculated, and the phase matrixes of the corresponding points are acquired; andS3, for constant frequency waves, the speed matrix is acquired through calculation; for triangular waves, matching of an upper frequency sweep frequency matrix and a lower frequency sweep frequency matrix is carried out to calculate the distance and the speed, and the distance matrix and the speed matrix are acquired.

Description

technical field [0001] The invention belongs to the field of radar, and relates to a complex environment anti-collision radar system and a signal processing method for unmanned vehicles based on combined waveforms. Background technique [0002] In recent years, with the development of the economy, the demand for transportation has increased day by day. Urban traffic congestion and frequent traffic accidents have become common problems faced by countries all over the world. The analysis of road traffic accidents shows that among the three links of drivers, cars and roads, the driver is the weakest link in reliability. Therefore, in recent years, unmanned cars that replace drivers have been born. Self-driving cars are also known as Driverless cars and computer-driven cars are intelligent cars that realize driverless driving through computer systems. [0003] In order to improve the safety of self-driving cars, self-driving cars rely on the cooperation of artificial intelligen...

Claims

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Application Information

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IPC IPC(8): G01S13/93
CPCG01S13/931
Inventor 田雨农王鑫照
Owner DALIAN ROILAND SCI & TECH CO LTD
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