Unmanned vehicle complex environment collision avoidance millimeter wave radar signal processing system and method
A driverless car and millimeter-wave radar technology, applied in the field of radar, can solve the problems of large influence of ultrasonic weather conditions, limited anti-collision performance, poor all-weather working effect, etc.
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Embodiment 1
[0055] Embodiment 1: A millimeter-wave radar system for anti-collision in a complex environment of an unmanned vehicle, including an antenna subsystem, a radio frequency subsystem, a signal conditioning subsystem, and a signal processing subsystem;
[0056] 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;
[0057] 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;
[0058] The signal conditioning subsystem is used to filter and amplify the amplitude of the intermediate frequency analog signal;
[0059] The signal processing subsystem enables the four-way I / Q intermediate frequency signals output by the signal conditi...
Embodiment 2
[0063] Embodiment 2: the signal processing method of the complex environment anti-collision millimeter-wave radar signal processing system of unmanned vehicles as described in each scheme of embodiment 1, comprises the following steps:
[0064] S1. AD data collection;
[0065] S2. to direct current;
[0066] S3. Window function processing;
[0067] S4. FFT transformation;
[0068] S5. Threshold detection;
[0069] S6. Binary detection;
[0070] S7. Calculate one or a combination of speed, distance or angle.
[0071] Wherein: the concrete method of described step S1 is:
[0072] (3) The continuous IQ data in channel 1 and channel 2 are digitized by AD sampling;
[0073] (4) Divide the data collected in channel 1 and channel 2 into up-sweep data and down-sweep data of the triangular wave, remove the first part of the data points and then go to direct current, perform time-frequency FFT transformation, and convert the time-domain data into frequency data;
[0074] The con...
Embodiment 3
[0099]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.
[0100] Aiming at the lack of ability to perceive the driving environment of unmanned vehicles during driving, especially the lack of obstacle avoidance ability or lack of obstacle avoidance ability in complex environments, or the obstacle avoidance time is too short to avoid obstacles in time, resulting in The driverless car collides, causing damage to the driverless car, etc. This embodiment provides a millimeter-wave radar system for collision avoidance in complex environments for driverless cars. For multiple obstacles, including static targets and dynamic ta...
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