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Signal processing system and method for unmanned vehicle collision avoidance radar system based on combined waveform

A technology of unmanned vehicles and combined waveforms, which is applied in radio wave measurement systems, radio wave reflection/reradiation, instruments, etc., and can solve the problems of ultrasonic weather conditions, limited anti-collision performance, and poor all-weather working effects, etc. question

Active Publication Date: 2021-02-12
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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  • Signal processing system and method for unmanned vehicle collision avoidance radar system based on combined waveform
  • Signal processing system and method for unmanned vehicle collision avoidance radar system based on combined waveform
  • Signal processing system and method for unmanned vehicle collision avoidance radar system based on combined waveform

Examples

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 above combination waveform 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 operating frequency range is 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, the IQ data collected by the A / D is removed from the first part of the data points...

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Abstract

The signal processing system and method of the automatic driving vehicle collision avoidance radar system based on the combined waveform belongs to the field of radar signal processing and is used to solve the technical problem of automatic driving vehicle collision avoidance. The technical points are: S1. For each segment of the waveform, the A / D For the collected IQ data, remove the first part of the data points and remove the DC, perform time-frequency FFT transformation, and convert the time-domain data into frequency data; S2. Perform CFAR threshold detection on the complex modulus values ​​of each segment of the waveform after FFT transformation , for the data after the CFAR threshold detection, let each data be a distance unit, perform binary accumulation on the data of each distance unit, output the first peak point that passes the threshold, and calculate the phase; S3. Calculate the sawtooth band One or more of the difference frequency value, the Doppler frequency value of the constant frequency band, the relative velocity value, the calculation of the relative distance value, and the calculation of the direction angle.

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 Patents(China)
IPC IPC(8): G01S13/931G01S13/86
CPCG01S13/931
Inventor 田雨农王鑫照
Owner DALIAN ROILAND SCI & TECH CO LTD
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