Radar radio frequency signal transmission control method, control module and radar

Abstract

The present invention discloses a radar radio frequency signal transmission control method, a control module and a radar, wherein the method comprises: in response to a received mode switching instruction, querying a preset correspondence table for a target array combination form and a target radio frequency signal transmission mode corresponding to the mode switching instruction; wherein the preset correspondence table stores a correspondence between the radio frequency signal transmission mode, the array combination form and the mode switching instruction; judging whether the current radio frequency signal transmission mode and the target radio frequency signal transmission mode are the same mode; if so, keeping the current radio frequency signal transmission mode unchanged; if not, switching the current radio frequency signal transmission mode to the target radio frequency signal transmission mode to obtain a target transmission antenna pattern corresponding to the target radio frequency signal transmission mode. The present invention is based on a general radar hardware platform, realizes multiple functions of corner radar and front radar, and is conducive to reducing radar hardware development work and reducing costs.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving technology, and in particular to a radar radio frequency signal transmission control method, a control module and a radar. Background Art

[0002] As automotive millimeter-wave radars become more and more popular in the fields of Advanced Driving Assistance Systems (ADAS) and autonomous driving, the number of millimeter-wave radars installed on a single vehicle has gradually increased, and the current mainstream configuration has reached 3-5. Currently, millimeter-wave radars mainly include two forms, namely corner radars and front radars. The current mainstream configuration is that a car is equipped with 1 front radar and 2-4 corner radars. Common functions of corner radars include blind spot detection (BSD), lane change assist (LCA), rear cross traffic alert (RCTA) and other functions. In order to achieve various functions, the FOV of the corner radar needs to have high gain in the -45° direction while maintaining a high gain in the +40°~+75° direction without obvious gain attenuation. Common functions of front radars include adaptive cruise control (ACC), automatic emergency braking (AEB), forward collision warning (FCW) and other functions. The field of view (FOV) of the forward radar is mainly ±45° of the normal of the radar.

[0003] Therefore, there are significant differences in the main FOV areas of forward radar and corner radar. At present, the development model of radar is mainly to develop corner radar and forward radar respectively by changing different antenna unit forms, antenna array forms and monolithic microwave integrated circuit (MMIC) and microcontroller unit (MCU) chips. The functions of the two are relatively simple, and the functional reusability of the two radars is poor. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the first aspect of the present invention provides a radar radio frequency signal transmission control method, comprising:

[0005] In response to the received mode switching instruction, querying the target array combination form and the target radio frequency signal transmission mode corresponding to the mode switching instruction in the preset corresponding relationship table; wherein the preset corresponding relationship table stores the correspondence between the radio frequency signal transmission mode, the array combination form and the mode switching instruction; the array combination form is the basis for combining multiple transmitting antenna units in the transmitting antenna array to form multiple transmitting antenna sub-arrays;

[0006] Determine whether the current radio frequency signal transmission mode and the target radio frequency signal transmission mode are the same radio frequency signal transmission mode;

[0007] If yes, keep the current RF signal transmission mode unchanged;

[0008] If not, the current radio frequency signal transmission mode is switched to the target radio frequency signal transmission mode to obtain a target transmitting antenna pattern corresponding to the target radio frequency signal transmission mode.

[0009] Furthermore, before determining whether the current radio frequency signal transmission mode and the target radio frequency signal transmission mode are the same radio frequency signal transmission mode, the method further includes:

[0010] Obtaining a current array combination form corresponding to the current radio frequency signal transmission mode;

[0011] Determine whether the current array combination form and the second target array combination form are the same combination form;

[0012] If yes, turn to the step of determining whether the current RF signal transmission mode and the target RF signal transmission mode are the same RF signal transmission mode;

[0013] If not, the multiple transmitting antenna units in the transmitting antenna array are recombined in the combination form of the second transmitting antenna subarray to obtain a recombined multiple transmitting antenna subarrays, and based on the recombined multiple transmitting antenna subarrays, turn to the step of determining whether the current RF signal transmission mode and the target RF signal transmission mode are the same RF signal transmission mode.

[0014] Further, the switching the current radio frequency signal transmission mode to the target radio frequency signal transmission mode includes:

[0015] According to the MIMO requirements, the phase and / or power of each transmission channel is changed in the corresponding time period to obtain the transmission pattern formed by each transmitting antenna subarray;

[0016] The target transmitting antenna pattern is formed based on the transmitting antenna patterns formed by the transmitting antenna subarrays.

[0017] Further, the multiple transmitting antenna subarrays include a first transmitting antenna subarray and a second transmitting antenna subarray; and the changing the phase and / or power of each transmitting channel in a corresponding time period to obtain a transmitting pattern formed by each transmitting antenna subarray includes:

[0018] At a first moment, weighted processing is performed on the phase and amplitude of each transmission channel, and the sidelobe level in azimuth is adjusted to form a first transmission pattern;

[0019] At the second moment, the phase and amplitude of each transmission channel are weighted respectively, and the azimuth sidelobe level is adjusted to form a second transmission pattern; wherein the first moment occurs before the second moment.

[0020] Further, the target radio frequency signal transmission mode is a forward radar mode;

[0021] At the first moment, the phase weights of each transmit channel are A:A:A:A, and the amplitude weights of each transmit channel are B:C:B:0;

[0022] At the second moment, the phase weights of each transmit channel are A:A:A:A, and the amplitude weights of each transmit channel are 0:B:C:B;

[0023] Among them, 0°≤A≤360°, 0<B<C, and the values ​​of B and C satisfy the Taylor weighted distribution.

[0024] Further, the target radio frequency signal transmission mode is a long-range detection angle radar mode;

[0025] At the first moment, the phase weights of each transmission channel are A:B:C:0, and the amplitude weights of each transmission channel are D:E:D:0;

[0026] At the second moment, the phase weights of each transmission channel are 0:A:B:C, and the amplitude weights of each transmission channel are 0:D:E:D;

[0027] Among them, 0°≤A≤360°, 0°≤B≤360°, 0°≤C≤360°, and 0<D<E.

[0028] Further, the target radio frequency signal transmission mode is a wide-angle detection blind spot detection radar mode;

[0029] At the first moment, the phase weights of each transmission channel are A:B:A:0, and the amplitude weights of each transmission channel are C:D:C:0;

[0030] At the second moment, the phase weights of each transmission channel are 0:A:B:A, and the amplitude weights of each transmission channel are 0:C:D:C;

[0031] Among them, 0°≤A≤360°, 0°≤B≤360°, and 0<C<D.

[0032] Furthermore, the power difference of each transmission channel ranges from [0db, 20db].

[0033] A second aspect of the present invention provides a radar radio frequency signal transmission control module, comprising:

[0034] A query module, configured to query a preset correspondence table for a target array combination form and a target radio frequency signal transmission corresponding to the switching instruction in response to the received switching instruction; wherein the preset correspondence table stores a correspondence between the radio frequency signal transmission and the switching instruction; the array combination form is a basis for combining multiple transmitting antenna units in a transmitting antenna array to form multiple transmitting antenna subarrays;

[0035] A judgment module, used to judge whether the current RF signal transmission is the target RF signal transmission; if so, keep the current RF signal transmission unchanged; if not, turn to the transmission mode switching module;

[0036] The transmission mode switching module is used to switch the current radio frequency signal transmission to the target radio frequency signal transmission.

[0037] A third aspect of the present invention provides a radar, comprising a universal radar platform, the universal radar platform comprising a transmitting antenna array, a transmitting feed network, a receiving antenna array, a receiving feed network and a processing module; the transmitting antenna array is connected to the processing module via the transmitting feed network, the receiving antenna array is connected to the processing module via the receiving feed network, and the processing module comprises a radar radio frequency signal transmission control module according to the second aspect of the present invention;

[0038] The transmitting antenna array includes multiple transmitting antenna units arranged in an array, and the multiple transmitting units can be combined into multiple transmitting antenna sub-arrays according to the array combination form. The number of transmitting antenna units in each transmitting antenna sub-array is less than the total number of transmitting antenna units in the transmitting antenna array.

[0039] The implementation of the present invention has the following beneficial effects:

[0040] The embodiment of the present invention is based on a general radar hardware platform, constructs an antenna shaped array with variable amplitude and phase, flexibly controls the shaped radiation pattern of the transmitting antenna through high-performance phase shifters and attenuators, realizes the multiple functions of corner radar and front radar, is conducive to simplifying the radar product line, reducing radar hardware development work, and reducing development and manufacturing costs.

[0041] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0043] Figure 1 is a schematic diagram of a universal radar hardware platform provided by an embodiment of the present invention;

[0044] Figure 2 is a schematic diagram of a transmitting antenna array provided by an embodiment of the present invention;

[0045] Figure 3 is a schematic diagram of another transmitting antenna array provided by an embodiment of the present invention;

[0046] Figure 4 is a schematic diagram of another transmitting antenna array provided by an embodiment of the present invention;

[0047] Figure 5 is a flow chart of a radar radio frequency signal transmission control method provided by an embodiment of the present invention;

[0048] Figure 6 is a transmitting antenna pattern provided by an embodiment of the present invention;

[0049] Figure 7 is a transmitting antenna pattern provided by an embodiment of the present invention;

[0050] Figure 8 is a transmitting antenna pattern provided by an embodiment of the present invention;

[0051] Fig. 9 is a flow chart of a matching transmitting antenna subarray combination form provided by an embodiment of the present invention;

[0052] Fig.10 It is a structural block diagram of a radar radio frequency signal transmission control module provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0053] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. Examples of the embodiments are shown in the drawings, where the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions.

[0054] Example

[0055] In the prior art, the front radar and corner radar are mainly developed by changing different antenna unit forms, antenna array forms, MMIC and MCU chips to develop corner radar and front radar respectively. The functions of the two are relatively single, and the functional reusability of the two radars is poor. The embodiment of the present invention realizes the multiple functions of the front radar and corner radar by adjusting the high-performance phase shifter and attenuator on the basis of a general radar hardware platform.

[0056] Figure 1 is a schematic diagram of a general radar hardware platform provided by an embodiment of the present invention, and specifically Figure 1 As shown, the universal radar hardware platform includes a transmitting antenna array, a receiving antenna array, a transmitting feed network, a receiving feed network, and a millimeter wave radar MMIC or system-on-a-chip (SOC) chip.

[0057] The transmitting antenna array includes multiple transmitting antenna units, which are arranged in an array with equal spacing, and the azimuth spacing between two adjacent transmitting antenna units is d / 4 to d / 2, where d is the vacuum wavelength corresponding to the radar operating center frequency. Multiple transmitting antenna units can be combined into multiple transmitting antenna subarrays, and the number of transmitting antenna units in each transmitting antenna subarray is less than the total number of transmitting antenna units in the transmitting antenna array.

[0058] The receiving antenna array includes multiple receiving antenna units, and the arrangement form of the multiple receiving antenna units is a sparse aperture array or a redundant equidistant dense array designed according to the spacing design, detection angle range and angle resolution requirements of the transmitting antenna array.

[0059] Please continue to refer to Figure 1 The transmitting antenna array is connected to the millimeter-wave radar MMIC or SOC chip through a transmitting feed network, and the receiving antenna array is connected to the millimeter-wave radar MMIC or SOC chip through a receiving feed network. The millimeter-wave radar MMIC or SOC chip has multiple transmitting and receiving channels, and the transmitting channel has an amplitude- and phase-adjustable phase shifter.

[0060] Specifically, the transmitting antenna unit can be designed into different microstrip antenna forms according to requirements, including but not limited to rectangular microstrip series-fed antenna, comb-type series-fed antenna, SIW antenna and the like.

[0061] Specifically, the receiving antenna array unit can be designed into different microstrip antenna forms according to requirements, such as rectangular microstrip series-fed antenna, comb series-fed antenna, SIW antenna, etc. Other types of microstrip antenna forms can also be used in this article.

[0062] Specifically, the transmitting feed network may use a microstrip feed line, a coplanar waveguide feed line, a SIW feed line, etc. Other types of feed line forms may also be used in the article.

[0063] Specifically, the receiving feed network may use a microstrip feed line, a coplanar waveguide feed line, a SIW feed line, etc. Other types of feed line forms may also be used in the article.

[0064] Figure 2 is a schematic diagram of a transmitting antenna array provided by an embodiment of the present invention, specifically as shown in FIG. Figure 2 As shown, taking the 4T4R transceiver channel as an example, the transmitting antenna array shown in the figure includes 4 transmitting antenna units, namely T×1, T×2, T×3 and T×4. The transmitting channel of each transmitting antenna unit is connected to the millimeter wave radar SOC / MMIC chip through the transmitting feed network, and each transmitting channel provides an amplitude and phase controllable phase shifter. The spacing between two adjacent transmitting antenna units in the transmitting antenna array shown in the figure is d / 2.

[0065] The transmitting antenna array includes two transmitting antenna subarrays, which are two antenna arrays with three units of equal spacing in azimuth, namely, the T1 antenna subarray (solid frame) composed of T×1-T×3 and the T2 antenna subarray (dotted frame) composed of T×2-T×4. The phase centers of the T1 antenna subarray and the T2 antenna subarray are d / 2 apart, thus forming an equivalent transmit and receive channel mode of 2T4R. By adjusting the phase shifter, a variety of transmitting antenna patterns can be achieved, thereby realizing different radar functions.

[0066] In addition to the above-mentioned transmitting antenna configuration scheme (i.e. Figure 2 In addition to the transmit antenna configuration scheme shown in the figure), other types of transmit antenna configuration schemes can also be used in this article.

[0067] Figure 3 is a schematic diagram of another transmitting antenna array provided by an embodiment of the present invention, specifically as follows Figure 3 As shown, the transmitting antenna array includes two transmitting antenna sub-arrays, that is, T×1 and T×2 form a T1 antenna sub-array (solid line frame), and T×3 and T×4 form a T2 antenna sub-array (dashed line frame).

[0068] Figure 4is a schematic diagram of another transmitting antenna array provided by an embodiment of the present invention, specifically as follows Figure 4 As shown, the transmitting antenna array includes four transmitting antenna sub-arrays, namely, T×1, T×2, T×3, and T×4 are respectively used as antenna sub-arrays.

[0069] Figure 5 is a flow chart of a radar radio frequency signal transmission control method provided by an embodiment of the present invention, specifically as follows Figure 5 As shown, a radar radio frequency signal transmission control method proposed in an embodiment of the present invention includes the following steps:

[0070] S101: In response to a received mode switching instruction, query a preset correspondence table for a target array combination form and a target radio frequency signal transmission mode corresponding to the mode switching instruction; wherein the preset correspondence table stores a correspondence between the radio frequency signal transmission mode, the array combination form and the mode switching instruction; the array combination form is a basis for combining multiple transmitting antenna units in a transmitting antenna array to form multiple transmitting antenna sub-arrays;

[0071] S102: Determine whether the current RF signal transmission mode and the target RF signal transmission mode are the same RF signal transmission mode; if so, go to step S103; if not, go to step S104;

[0072] S103: Keep the current radio frequency signal transmission mode unchanged;

[0073] S104: Switch the current radio frequency signal transmission mode to a target radio frequency signal transmission mode to obtain a target transmission antenna pattern corresponding to the target radio frequency signal transmission mode.

[0074] Specifically, the current RF signal transmission mode is switched to the target RF signal transmission mode, including: according to the MIMO requirements, changing the phase of each transmission channel by adjusting the phase shifter and / or changing the power of each transmission channel by adjusting the attenuator in the corresponding time period to obtain the transmission radiation pattern formed by each transmitting antenna subarray; forming the target transmitting antenna radiation pattern based on the transmission radiation pattern formed by each transmitting antenna subarray.

[0075] Please continue to refer to Figure 2 , below Figure 2 Taking the 4T4R transceiver channel shown as an example, the control process of switching the current RF signal transmission mode to the target RF signal transmission mode is described:

[0076] When the target RF signal transmission mode is the forward radar mode, the ACC and other functions of the forward radar need to have the longest detection capability in the normal direction of the radar. Therefore, the transmitting antenna subarray realizes the maximum normal gain pattern. The radar adopts the time division MIMO system, which is divided into the first moment and the second moment for time division transmission. The radar transmitting antenna array control process is as follows:

[0077] At a first moment, weighted processing is performed on the phase and amplitude of each transmission channel, and the sidelobe level in azimuth is adjusted to form a first transmission pattern;

[0078] At the second moment, the phase and amplitude of each transmitting channel are weighted respectively, and the azimuth sidelobe level is adjusted to form a second transmitting radiation pattern; wherein the phase weights of each transmitting channel are A:A:A:A, and the amplitude weights of each transmitting channel are 0:B:C:B; the first moment occurs before the second moment.

[0079] Among them, 0°≤A≤360°, 0<B<C, and the values ​​of B and C satisfy the Taylor weighted distribution; preferably, A=0°, B=0.3, C=1, and optionally, A=0°, B=0.55, C=1; the power value of the sidelobe level is designed according to 25dB. It should be pointed out that the channel power and phase can also be adjusted according to the chip power control capability and the sidelobe level index requirements.

[0080] Figure 6 is the transmitting antenna pattern provided by the embodiment of the present invention, specifically as Figure 6 As shown, the first transmitting antenna subarray and the second transmitting antenna subarray can be respectively formed Figure 6 The emission pattern shown in the figure achieves high gain in the azimuth axis while reducing the gain in the azimuth ±60°, thus meeting the application of forward radar.

[0081] When the target RF signal transmission mode is the long-range detection corner radar mode, the corner radar's LCA and other functions require the radar to have the longest detection capability directly behind the vehicle. This angle is generally 40° in the normal direction of the corner radar. Therefore, the transmitting antenna subarray realizes the maximum gain pattern of 40° in the normal direction, and does not produce obvious zero depth within ±75°. The radar adopts a time-division MIMO system, which is divided into the first moment and the second moment for time-division transmission. The radar transmitting antenna array control process is as follows:

[0082] At the first moment, the phase weights of the transmission channels are A:B:C:0, and the amplitude weights of the transmission channels are D:E:D:0, respectively, and the azimuth sidelobe levels are adjusted to form a first transmission pattern;

[0083] At the second moment, the phase weights of each transmitting channel are 0:A:B:C, the amplitude weights of each transmitting channel are 0:D:E:D, and the azimuth sidelobe levels are adjusted to form a second transmitting radiation pattern; wherein the first moment occurs before the second moment.

[0084] Among them, 0°≤A≤360°, 0°≤B≤360°, 0°≤C≤360°, 0<D<E. Preferably, A=254°, B=127°, C=0°, D=0.5, E=1. It should be pointed out that the channel power and phase can also be adjusted according to the chip power control capability and beam pointing requirements. The adjustment range is as follows: the phase of each channel can be adjusted within 0°~360°, and the maximum and minimum difference range of each channel power can be [0dB, 20dB].

[0085] Figure 7 is the transmitting antenna pattern provided by the embodiment of the present invention, the T1 antenna subarray and the T2 antenna subarray can respectively form Figure 7 The transmission pattern shown. The maximum energy beam of the T1 antenna subarray is directed to the 40° direction of the radar normal, and the -50° direction forms the second highest gain. This transmission pattern is suitable for corner radar applications with long detection distances behind the vehicle, and long detection distances at the oblique side and the front side of the vehicle.

[0086] When the target RF signal transmission mode is the wide-angle detection blind spot detection radar mode, the commercial vehicle steering blind spot detection radar requires the radar to have a wide detection range in the azimuth plane, and the detection FOV in the radar normal area is lower than the ±45° direction. Therefore, the corresponding radar transmit antenna pattern needs to have a symmetrical wide beam characteristic, and the gain in the 0° direction area is lower than the ±45° direction. The radar adopts a time-division MIMO system, which is divided into time-division transmission at the first moment and the second moment. The radar transmit antenna array control process is as follows:

[0087] At the first moment, the phase weights of the transmission channels are A:B:A:0, and the amplitude weights of the transmission channels are C:D:C:0, respectively, and the azimuth sidelobe levels are adjusted to form a first transmission pattern;

[0088] At the second moment, the phase weights of each transmitting channel are 0:A:B:A, and the amplitude weights of each transmitting channel are 0:C:D:C, respectively. The azimuth sidelobe levels are adjusted to form a second transmitting radiation pattern; wherein the first moment occurs before the second moment.

[0089] Among them, 0°≤A≤360°, 0°≤B≤360°, 0<C<D; preferably, A=150°, B=0°, C=0.2, D=1; It should be noted that the channel power and phase can also be adjusted according to the chip power control capability and beam pointing requirements. The adjustment range is as follows: the phase of each channel can be adjusted within 0°~360°, and the maximum and minimum difference range of each channel power can be [0dB, 20dB].

[0090] Figure 8 is the transmitting antenna pattern provided by the embodiment of the present invention, specifically as Figure 8As shown, the T1 antenna subarray and the T2 antenna subarray can be formed respectively Figure 8 The transmission pattern shown. This transmission pattern realizes the saddle-shaped transmission antenna pattern. Figure 3 The dB beam width reaches 135°, achieving symmetrical high gain in the main detection area of ​​±30° to ±50°, and low gain within ±20°. It meets the development requirements of ±45° high gain and normal low gain for commercial vehicle blind spot detection radar.

[0091] In addition, by repeating steps 1 and 2 in the above radar transmitting antenna array control process to transmit the radar waveform, the above three schemes can realize the time-sharing MIMO expansion of the radar transceiver synthesis array. The aperture of the transceiver synthesis array can be increased by 0.5 times the spatial wavelength, which has the effect of improving the radar angle measurement accuracy and angle resolution.

[0092] It should be pointed out that the above three radar transmitting antenna array control processes are only used to illustrate the control process of switching the current RF signal transmission mode to the target RF signal transmission mode. In actual applications, other forms of directional patterns can also be formed by adjusting the amplitude phase of the transmitting channel.

[0093] Fig. 9 This is a flowchart of the matching transmit antenna subarray combination provided by an embodiment of the present invention. Please refer to Fig. 9 In one embodiment, before step S102, the following steps are also included:

[0094] S201: Obtaining a current array combination form corresponding to a current radio frequency signal transmission mode;

[0095] It should be noted that step S201 and step S101 may occur simultaneously, or before or after step S101 , and this embodiment is not limited to one time.

[0096] S202: Determine whether the current array combination form and the target array combination form are the same combination form; if so, go to step S102; if not, go to step S203;

[0097] S203: Recombining the multiple transmitting antenna units in the transmitting antenna array according to the target array combination form to obtain multiple recombined transmitting antenna subarrays. Based on the multiple recombined transmitting antenna subarrays, the process goes to step S102.

[0098] Fig.10 is a structural block diagram of a radar radio frequency signal transmission control module provided by an embodiment of the present invention, specifically as follows Fig.10 As shown, in one embodiment, the radar radio frequency signal transmission control module includes the following modules:

[0099] The query module 301 is used to query the target array combination form and the target radio frequency signal transmission corresponding to the switching instruction in the preset corresponding relationship table in response to the received switching instruction; wherein the preset corresponding relationship table stores the corresponding relationship between the radio frequency signal transmission and the switching instruction; the array combination form is the basis for combining multiple transmitting antenna units in the transmitting antenna array to form multiple transmitting antenna sub-arrays;

[0100] The judging module 302 is used to judge whether the current RF signal transmission is the target RF signal transmission; if so, keep the current RF signal transmission unchanged; if not, turn to the transmission mode switching module;

[0101] The transmission mode switching module 303 is used to switch the current radio frequency signal transmission to the target radio frequency signal transmission.

[0102] The embodiment of the present invention further provides a radar, including a universal radar platform, please continue to refer to Figure 1 The general radar platform includes a transmitting antenna array, a transmitting feed network, a receiving antenna array, a receiving feed network and a processing module; the transmitting antenna array is connected to the processing module through the transmitting feed network, and the receiving antenna array is connected to the processing module through the receiving feed network, wherein the processing module includes the radar RF signal transmission control module provided in the above embodiment.

[0103] Specifically, the processing module includes but is not limited to a radar SOC / MMIC chip.

[0104] Specifically, the transmitting antenna array includes multiple transmitting antenna units. Please continue to refer to Figure 2-Figure 4 The plurality of transmitting antenna units are arranged in an array with equal spacing, and the plurality of transmitting units can be combined into a plurality of transmitting antenna sub-arrays according to an array combination form, and the number of transmitting antenna units in each transmitting antenna sub-array is less than the total number of transmitting antenna units in the transmitting antenna array; the array combination form includes a plurality of array combination forms;

[0105] Specifically, the radar RF signal transmission control module also includes a phase shifter group and an amplifier group; the phase shifter group is used to respond to the phase adjustment instruction issued by the radar RF signal transmission control module to change the phase of the RF signal emitted by the transmitting antenna array; the amplifier group is used to respond to the amplitude adjustment instruction issued by the radar RF signal transmission control module to change the amplitude of the RF signal emitted by the transmitting antenna array.

[0106] In one embodiment, the radar is specifically a millimeter wave radar.

[0107] According to the above-mentioned radar RF signal transmission control method, radar RF signal transmission control module and radar, it can be known that the embodiment of the present invention is based on a general radar hardware platform, constructs an antenna shaping array with variable amplitude and phase, and flexibly controls the transmitting antenna shaping pattern through high-performance phase shifters and attenuators to shape different antenna beams, thereby realizing multiple functions of corner radar and front radar, which is conducive to simplifying the radar product line, reducing radar hardware development work, and reducing development and manufacturing costs.

[0108] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0109] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification.

[0110] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify and vary the above embodiments within the scope of the present invention.

Claims

1. A radar radio frequency signal transmission control method, characterized in that: include: In response to the received mode switching instruction, querying the target array combination form and the target radio frequency signal transmission mode corresponding to the mode switching instruction in a preset correspondence table; wherein the preset correspondence table stores the correspondence between the radio frequency signal transmission mode, the array combination form and the mode switching instruction; the array combination form is a basis for combining multiple transmitting antenna units in a transmitting antenna array to form multiple transmitting antenna subarrays, and the multiple transmitting antenna subarrays include a first transmitting antenna subarray and a second transmitting antenna subarray; Determine whether the current radio frequency signal transmission mode and the target radio frequency signal transmission mode are the same radio frequency signal transmission mode; If yes, keep the current RF signal transmission mode unchanged; If not, switching the current radio frequency signal transmission mode to the target radio frequency signal transmission mode to obtain a target transmitting antenna pattern corresponding to the target radio frequency signal transmission mode; The switching of the current radio frequency signal transmission mode to the target radio frequency signal transmission mode includes: changing the phase and / or power of each transmission channel in a corresponding period according to MIMO requirements to obtain a transmission pattern formed by each transmitting antenna subarray; and forming the target transmitting antenna pattern based on the transmission pattern formed by each transmitting antenna subarray; The step of changing the phase and / or power of each transmission channel in a corresponding time period to obtain a transmission pattern formed by each transmission antenna subarray includes: at a first moment, performing weighted processing on the phase and amplitude of each transmission channel, adjusting the azimuth sidelobe level, so as to form a first transmission pattern; at a second moment, performing weighted processing on the phase and amplitude of each transmission channel, adjusting the azimuth sidelobe level, so as to form a second transmission pattern; wherein the first moment occurs before the second moment; When the target RF signal transmission mode is a forward radar mode; at the first moment, the phase weights of each transmission channel are A:A:A:A, and the amplitude weights of each transmission channel are B:C:B:0; at the second moment, the phase weights of each transmission channel are A:A:A:A, and the amplitude weights of each transmission channel are 0:B:C:B; wherein 0°≤A≤360°, 0<B<C, and the values ​​of B and C satisfy the Taylor weighted distribution.

2. The radar radio frequency signal transmission control method according to claim 1, characterized in that: Before determining whether the current radio frequency signal transmission mode and the target radio frequency signal transmission mode are the same radio frequency signal transmission mode, the method further includes: Obtaining a current array combination form corresponding to the current radio frequency signal transmission mode; Determine whether the current array combination form and the target array combination form are the same combination form; If yes, turn to the step of determining whether the current RF signal transmission mode and the target RF signal transmission mode are the same RF signal transmission mode; If not, the multiple transmitting antenna units in the transmitting antenna array are recombined according to the target array combination form to obtain the recombined multiple transmitting antenna sub-arrays, and based on the recombined multiple transmitting antenna sub-arrays, turn to the step of determining whether the current RF signal transmission mode and the target RF signal transmission mode are the same RF signal transmission mode.

3. The radar radio frequency signal transmission control method according to claim 1, characterized in that: When the target radio frequency signal transmission mode is a long-range detection angle radar mode; At the first moment, the phase weights of each transmission channel are A:B:C:0, and the amplitude weights of each transmission channel are D:E:D:0; At the second moment, the phase weights of each transmission channel are 0:A:B:C, and the amplitude weights of each transmission channel are 0:D:E:D; Among them, 0°≤A≤360°, 0°≤B≤360°, 0°≤C≤360°, 0<D<E.

4. The radar radio frequency signal transmission control method according to claim 1, characterized in that: When the target radio frequency signal transmission mode is a wide-angle detection blind spot detection radar mode; At the first moment, the phase weights of each transmission channel are A:B:A:0, and the amplitude weights of each transmission channel are C:D:C:0; At the second moment, the phase weights of each transmission channel are 0:A:B:A, and the amplitude weights of each transmission channel are 0:C:D:C; Among them, 0°≤A≤360°, 0°≤B≤360°, 0<C<D.

5. The radar radio frequency signal transmission control method according to claim 3 or 4, characterized in that: The power difference of each transmission channel ranges from [0db, 20db].

6. A radar radio frequency signal transmission control module, characterized in that: include: A query module, configured to query a preset correspondence table for a target array combination form and a target radio frequency signal transmission corresponding to the switching instruction in response to the received switching instruction; wherein the preset correspondence table stores a correspondence between the radio frequency signal transmission and the switching instruction; the array combination form is a basis for combining multiple transmitting antenna units in a transmitting antenna array to form multiple transmitting antenna subarrays; A judgment module, used to judge whether the current RF signal transmission is the target RF signal transmission; if so, keep the current RF signal transmission unchanged; if not, turn to the transmission mode switching module; The transmission mode switching module is used to switch the current radio frequency signal transmission to the target radio frequency signal transmission; The switching of the current radio frequency signal transmission mode to the target radio frequency signal transmission mode includes: changing the phase and / or power of each transmission channel in a corresponding period according to MIMO requirements to obtain a transmission pattern formed by each transmitting antenna subarray; and forming the target transmitting antenna pattern based on the transmission pattern formed by each transmitting antenna subarray; The step of changing the phase and / or power of each transmission channel in a corresponding time period to obtain a transmission pattern formed by each transmission antenna subarray includes: at a first moment, performing weighted processing on the phase and amplitude of each transmission channel, adjusting the azimuth sidelobe level, so as to form a first transmission pattern; at a second moment, performing weighted processing on the phase and amplitude of each transmission channel, adjusting the azimuth sidelobe level, so as to form a second transmission pattern; wherein the first moment occurs before the second moment; When the target RF signal transmission mode is a forward radar mode; at the first moment, the phase weights of each transmission channel are A:A:A:A, and the amplitude weights of each transmission channel are B:C:B:0; at the second moment, the phase weights of each transmission channel are A:A:A:A, and the amplitude weights of each transmission channel are 0:B:C:B; wherein 0°≤A≤360°, 0<B<C, and the values ​​of B and C satisfy the Taylor weighted distribution.

7. A radar, characterized in that: The invention comprises a universal radar platform, wherein the universal radar platform comprises a transmitting antenna array, a transmitting feed network, a receiving antenna array, a receiving feed network and a processing module; the transmitting antenna array is connected to the processing module via the transmitting feed network, the receiving antenna array is connected to the processing module via the receiving feed network, and the processing module comprises a radar radio frequency signal transmission control module according to claim 6; The transmitting antenna array includes multiple transmitting antenna units arranged in an array, and the multiple transmitting units can be combined into multiple transmitting antenna sub-arrays according to the array combination form. The number of transmitting antenna units in each transmitting antenna sub-array is less than the total number of transmitting antenna units in the transmitting antenna array.

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