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

A technology of unmanned vehicles and combined waveforms, applied in radio wave measurement systems, radio wave reflection/re-radiation, utilization of re-radiation, etc. question

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

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Experimental program
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Effect test

Embodiment 1

[0068] Embodiment 1: A collision avoidance radar system for unmanned vehicles based on combined waveforms, including an ARM processing system, a signal generator, a voltage-controlled oscillator, a transmitter, a receiver, a mixer, a signal conditioning circuit, and an A / D Converter, one end of the ARM chip is connected to the signal generator, the signal generator is connected to the voltage-controlled oscillator, the voltage-controlled oscillator is respectively connected to the transmitter and the first end of the mixer, and the second end of the mixer is connected to the receiver The third end of the mixer is connected to the signal conditioning circuit, the signal conditioning circuit is connected to the A / D converter, and the A / D converter is connected to the other end of the ARM chip.

[0069] The working principle of the anti-collision millimeter-wave radar system for unmanned vehicles is to use the frequency difference between the transmitted signal and the echo signal...

Embodiment 2

[0071] Embodiment 2: As a supplementary technical solution to Embodiment 1, the transmitter is a transmitting antenna, and the receiver is a three-row receiving antenna. The three rows of receiving antennas form two receiving antennas through the back feed network, and use microstrip rectangular patches to form an array. The transmitting antenna and receiving antenna are connected to the microwave circuit on the back through the via hole. The ARM processing system includes an ARM processing module, a power supply module, a serial port module and a CAN module. The AMR processing module enters the four-way I / Q intermediate frequency signals output by the signal conditioning circuit into the four-way I / Q intermediate frequency signals carried by the ARM chip through the signal conditioning circuit. AD acquisition channel, output through serial port module or CAN module.

[0072] In this embodiment, the transmitter and receiver are mainly: 1. Forming the transmitting and receivin...

Embodiment 3

[0076] Embodiment 3: In embodiment 1 or 2, each unmanned vehicle anti-collision radar system based on the combined waveform, the present embodiment provides its corresponding signal processing method, in this method, the radar center frequency f is 24.125GHz, so The combination waveform mentioned above is a combination waveform of a sawtooth wave and a constant frequency wave. The transmission waveform is a combination waveform of a sawtooth wave and a constant frequency wave. The first segment of the waveform is a sawtooth wave with a period of 10ms, and the working frequency ranges from 24.025GHz to 24.225GHz with a bandwidth of 200MHz. The second section selects the constant frequency wave, the period is 10ms, and the working frequency is 24.125GHz. The emission waveform is as figure 1 shown.

[0077] Described processing method comprises the steps:

[0078] S1. For each segment of the waveform, remove the IQ data collected by the A / D, remove the first part of the data p...

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Abstract

The invention relates to an unmanned automobile collision avoidance radar system signal processing system and method based on combination waveforms, belongs to the radar signal processing field and solves a technical problem of automatic driving automobile collision avoidance. The method comprises steps that S1, for each waveform band, front data points of IQ data acquired through an A / D are removed, DC removal after data point removal is carried out, 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, for the data after CFAR threshold detection, each data is made to be a distance unit, binary accumulation of the data ofeach distance unit is carried out, a first peak point surpassing the threshold is outputted, and the phase is acquired through calculation; and S3, one or more types of a difference frequency value of a sawtooth band, a Doppler frequency value of a constant frequency band, a relative velocity value, a relative distance value and a direction angle is calculated.

Description

technical field [0001] The invention belongs to the field of radar signal processing, and relates to a signal processing system and method for an anti-collision radar system of an unmanned vehicle. 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 intelligence, visual comput...

Claims

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Application Information

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Patent Type & Authority Applications(China)
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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