TDM-MIMO-based radar system for traffic dynamic target detection

Abstract

A TDM-MIMO-based radar system for traffic dynamic target detection, relating to the technical field of radar detection. The system comprises a microstrip array antenna unit, a radar radio frequency front-end system, a signal processing unit, a radar data processing system, and a tracking superordinate computer unit; the microstrip array antenna unit transmits and receives electromagnetic waves in different array modes; the radar radio frequency front-end system processes the received electromagnetic waves and generates an ADC signal; the signal processing unit processes the ADC signal to generate speed, distance and angle information; the radar data processing system receives data processed by the signal processing unit and performs target tracking; and the tracking superordinate computer unit displays a tracked target. The TDM-MIMO-based radar system for traffic dynamic target detection improves the gain of radar transmitting and receiving antennas, increases the detection distance, improves the angle accuracy and the angle resolution, and increases the stability of long-range tracking.

Description

Radar system for traffic dynamic target detection based on TDM-MIMO Technical Field

[0001] The present invention relates to the fields of computer, embedded system, radar detection technology and antenna design technology, and more particularly to a radar system for traffic dynamic target detection based on TDM-MIMO. Background Art

[0002] Currently, the detection and supervision of traffic targets have become an important part of the smart transportation construction system. In the past, the supervision of urban roads usually required a large amount of manpower, which resulted in a huge workload, long supervision cycle and low efficiency.

[0003] However, with technological advancements, traffic target recognition based on visual sensors has become the mainstream method. While this method improves traffic target recognition efficiency, it is susceptible to compromising under extreme weather conditions, such as sandstorms, heavy fog, and strong sunlight, resulting in reduced recognition rates. Furthermore, due to the camera-based imaging mechanism, video cannot accurately identify targets that are far away from the data acquisition device. Using millimeter-wave radar for target detection can effectively address this issue. To achieve better angular resolution and accuracy, traditional millimeter-wave radar requires a larger number of receiving channels. Achieving a compact size, high angular resolution, and even higher angular accuracy is challenging.

[0004] Therefore, how to provide a radar detection system with small size, high angular resolution and high angular accuracy is an urgent problem that needs to be solved by those skilled in the art.

[0005] Summary of the Invention

[0006] In view of this, the present invention provides a radar system for traffic dynamic target detection based on TDM-MIMO. Based on TDM-MIMO technology, the performance of traditional radar is improved for different environments: the radar transmitting and receiving antenna gains are improved to increase the radar detection range; the angular accuracy and angular resolution are improved to increase the stability of the radar in long-distance tracking.

[0007] In order to achieve the above object, the present invention adopts the following technical solutions:

[0008] The radar system for traffic dynamic target detection based on TDM-MIMO includes: a microstrip array antenna unit, a radar RF front-end system, a signal processing unit, a radar data processing system, and a tracking host computer unit;

[0009] The microstrip array antenna units transmit and receive electromagnetic waves through different array arrangements;

[0010] The radar RF front-end system processes the electromagnetic waves received by the microstrip array antenna unit, generates an ADC signal, and transmits the ADC signal to the baseband signal processing unit;

[0011] The baseband signal processing unit processes the ADC signal to generate speed, distance and angle information, and uses the generated information as raw data;

[0012] The radar data processing system receives the raw data processed by the signal processing unit and tracks the target;

[0013] The tracking host computer unit displays the tracked target on the host computer.

[0014] Preferably, the microstrip array antenna unit includes:

[0015] 2×13 microstrip array antenna array, used to receive echo signals;

[0016] 4×8 microstrip array antenna array, used to transmit millimeter wave signals;

[0017] 6×13 microstrip array antenna array, used to transmit millimeter wave signals.

[0018] Preferably, the different array arrangements specifically include:

[0019] The 2T4R dual-channel MIMO radar antenna array consists of four 4×8 microstrip array antennas arranged in parallel and divided into two groups. The first and second groups of 4×8 microstrip array antennas are spaced 6λ apart on the same side to transmit millimeter wave signals. Four 2×13 microstrip array antennas are arranged in parallel, spaced 1.5λ, λ, and 2.5λ apart, to receive echo signals.

[0020] The long-range MIMO radar antenna array consists of two 6×13 microstrip array antennas arranged in parallel with a spacing of 6λ to transmit millimeter wave signals; and four 2×13 microstrip array antennas arranged in parallel with spacing of 1.5λ, λ, and 2.5λ to receive echo signals.

[0021] The short-range MIMO radar antenna array consists of two 4×8 microstrip array antennas arranged in parallel with a spacing of 4λ to transmit millimeter wave signals; and four 2×13 microstrip array antennas arranged in parallel with spacing of 1.5λ, λ, and 2.5λ to receive echo signals.

[0022] The 3T4RMIMO radar antenna array consists of three 6×13 microstrip array antennas arranged in parallel, with intervals of 6λ and 6λ, respectively, to transmit millimeter wave signals; and four 2×13 microstrip array antennas arranged in parallel, with intervals of 1.5λ, λ, and 2.5λ, respectively, to receive echo signals.

[0023] Where λ is the wavelength of the 79 GHz millimeter wave.

[0024] Preferably, the radar RF front-end system specifically includes: a power supply unit, a baseband processing unit, and a signal processing unit. The power supply unit provides stable power supply for the RF part; the baseband processing unit converts the analog signal of the electromagnetic wave received by the microstrip array antenna unit into an ADC signal, and sends the ADC signal to the signal processing unit; the signal processing unit analyzes and processes the ADC signal to extract the vehicle speed, distance, and angle information contained therein.

[0025] Preferably, the radar data processing system specifically includes: a data receiving unit, a data parsing unit, and a data processing unit, wherein the data receiving unit receives the original data processed by the signal processing unit; the data parsing unit converts the hexadecimal data of the received processed original data into decimal data; and the data processing unit processes the decimal data and continuously and stably tracks the target through the processed decimal data.

[0026] Preferably, the tracking host computer unit includes:

[0027] Real-time command area: modify radar IP;

[0028] Host server: set the server IP;

[0029] Radar configuration area: Set various tracking parameters.

[0030] As can be seen from the above technical solution, compared with existing technologies, the present invention provides a radar system for dynamic traffic target detection based on TDM-MIMO. This system improves the performance of traditional radar for various environments: increasing the gain of the radar's transmit and receive antennas, thereby increasing the radar's detection range; and enhancing angular accuracy and resolution, which increases the radar's stability at long distances. This system can monitor traffic targets on urban roads around the clock, in all weather conditions, and is applicable in a wide range of extreme environments, including sandstorms, heavy fog, strong sunlight, and darkness. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0032] FIG1 is a schematic diagram of a 1T4R radar provided by the present invention;

[0033] FIG2 is a schematic diagram of a 2T4R MIMO radar provided by the present invention;

[0034] FIG3 is an equivalent schematic diagram of a 1T8R radar provided by the present invention;

[0035] FIG4 is a diagram showing a TDM virtual array solution with two TX channels provided by the present invention;

[0036] FIG5 is a diagram of a 16×1 microstrip array antenna provided by the present invention;

[0037] FIG6 is a diagram of a 6×13 millimeter wave array antenna model provided by the present invention;

[0038] FIG7 is a diagram of a 4×8 millimeter wave array antenna model provided by the present invention;

[0039] FIG8 is a diagram of a 2×13 millimeter wave array antenna model provided by the present invention;

[0040] FIG9 is a diagram of a long-distance MIMO antenna array provided by the present invention;

[0041] FIG10 is a diagram of a short-range MIMO antenna arrangement according to the present invention;

[0042] FIG11 is a diagram of a 2T4R MIMO dual-channel antenna array provided by the present invention;

[0043] FIG12 is a diagram of a 3T4R MIMO antenna array provided by the present invention;

[0044] FIG13 is a schematic diagram of the radar hardware structure provided by the present invention;

[0045] FIG14 is a block diagram of the radar system architecture provided by the present invention;

[0046] FIG15 is a diagram showing the simulation results of the echo signal provided by the present invention;

[0047] FIG16 is a diagram showing the range-dimensional FFT simulation results before and after IQ channel correction provided by the present invention;

[0048] FIG17 is a diagram showing the distance FFT simulation results provided by the present invention;

[0049] FIG18 is a diagram showing the range Doppler spectrum simulation results provided by the present invention;

[0050] FIG19 is a diagram showing the simulation results of CFAR detection provided by the present invention;

[0051] FIG20 is a diagram showing the simulation results of the angle measurement results provided by the present invention;

[0052] FIG21 is a three-dimensional point cloud diagram of raw data of a radar system provided by the present invention;

[0053] FIG22 is a plane point cloud diagram of the original data of the radar system provided by the present invention;

[0054] FIG23 is a diagram showing the effect of the radar system road real-time host computer tracking provided by the present invention;

[0055] FIG24 is a top view of the real-time road tracking effect of the upper computer of the radar system provided by the present invention;

[0056] FIG25 is a flowchart of the system provided by the present invention. DETAILED DESCRIPTION

[0057] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0058] The embodiment of the present invention discloses a radar system for traffic dynamic target detection based on TDM-MIMO, as shown in FIG25 , comprising: a microstrip array antenna unit, a radar radio frequency front-end system, a signal processing unit, a radar data processing system, and a tracking host computer unit;

[0059] Microstrip array antenna units transmit and receive electromagnetic waves through different array arrangements;

[0060] The radar RF front-end system processes the electromagnetic waves received by the microstrip array antenna unit, generates ADC signals, and transmits the ADC signals to the baseband signal processing unit;

[0061] The baseband signal processing unit processes the ADC signal to generate speed, distance and angle information, and uses the generated information as raw data;

[0062] The radar data processing system receives the raw data processed by the signal processing unit and tracks the target;

[0063] The tracking host computer unit displays the tracked target on the host computer.

[0064] In a specific embodiment, the microstrip array antenna unit includes:

[0065] 2×13 microstrip array antenna array, used to receive echo signals;

[0066] 4×8 microstrip array antenna array, used to transmit millimeter wave signals;

[0067] 6×13 microstrip array antenna array, used to transmit millimeter wave signals.

[0068] In a specific embodiment, different array arrangements include:

[0069] The 2T4R dual-channel MIMO radar antenna array consists of four 4×8 microstrip array antennas arranged in parallel and divided into two groups. The first and second groups of 4×8 microstrip array antennas are spaced 6λ apart on the same side to transmit millimeter wave signals. Four 2×13 microstrip array antennas are arranged in parallel, spaced 1.5λ, λ, and 2.5λ apart, to receive echo signals.

[0070] The long-range MIMO radar antenna array consists of two 6×13 microstrip array antennas arranged in parallel with a spacing of 6λ to transmit millimeter wave signals; and four 2×13 microstrip array antennas arranged in parallel with spacing of 1.5λ, λ, and 2.5λ to receive echo signals.

[0071] The short-range MIMO radar antenna array consists of two 4×8 microstrip array antennas arranged in parallel with a spacing of 4λ to transmit millimeter wave signals, and four 2×13 microstrip array antennas arranged in parallel with spacing of 1.5λ, λ, and 2.5λ to receive echo signals.

[0072] The 3T4RMIMO radar antenna array consists of three 6×13 microstrip array antennas arranged in parallel, with intervals of 6λ and 6λ, respectively, to transmit millimeter wave signals, and four 2×13 microstrip array antennas arranged in parallel, with intervals of 1.5λ, λ, and 2.5λ, respectively, to receive echo signals.

[0073] Where λ is the wavelength of the 79 GHz millimeter wave.

[0074] In a specific embodiment, the radar RF front-end system specifically includes: a power supply unit, a baseband processing unit, and a signal processing unit. The power supply unit provides stable power to the RF part; the baseband processing unit converts the analog signal of the electromagnetic wave received by the microstrip array antenna unit into an ADC signal, and sends the ADC signal to the signal processing unit; the signal processing unit analyzes and processes the ADC signal to extract the vehicle speed, distance, and angle information contained therein.

[0075] In a specific embodiment, the radar data processing system specifically includes: a data receiving unit, a data parsing unit, and a data processing unit. The data receiving unit receives the original data processed by the signal processing unit; the data parsing unit converts the hexadecimal data of the received processed original data into decimal data; the data processing unit processes the decimal data and continuously and stably tracks the target through the processed decimal data.

[0076] In a specific embodiment, the tracking host computer unit includes:

[0077] Real-time command area: modify radar IP;

[0078] Host server: set the server IP;

[0079] Radar configuration area: Set various tracking parameters.

[0080] In a specific embodiment, the baseband signal processing unit also includes a CFAR constant false alarm detection unit, which, as a part of the signal processing unit, processes the signal after two-dimensional FFT, including: detecting targets by using different CFAR algorithms in different regions; and setting different decision thresholds for target detection in different regions.

[0081] Referring to Figure 1-4, virtual multiple-input multiple-output (MIMO) is a method of virtualizing more RX channels by increasing the number of TX channels. TDM achieves data orthogonality in the time domain. Within a sawtooth linear frequency modulation pulse width period, the radar transmit signal frequency increases linearly with time. The beat frequency signal generated by mixing the echo signal reflected by the target at different distances with the local oscillator signal is different in frequency. (where d is the distance between the radar and the target, C is the speed of light, and f IF represents the beat frequency after mixing, T represents the pulse width of the sawtooth linear FM signal, and B represents the bandwidth of the linear FM signal) to obtain the distance information between the target and the radar.

[0082] If there is radial velocity between the target and the radar, due to the existence of the Doppler effect between two adjacent pulses, the beat frequency of the echo signal received by different radar cycles is different, and this frequency implies the speed information of the target, which is calculated by the formula (f d Represents the Doppler frequency, f0 represents the center frequency of the carrier, v represents the radial velocity of the target, and c represents the electromagnetic wave velocity) can be used to obtain the radial velocity of the target. Combined with the above measurement methods, the position and velocity information of the traffic target can be obtained.

[0083] Based on the above method, the distance and speed information of the target are obtained, and then the CFAR algorithm is used to traverse and detect the range-Doppler matrix of each frame and perform heat map visualization based on the signal amplitude to obtain a range-Doppler map that characterizes the target characteristics. In order to determine the position of the target more accurately, the millimeter-wave radar needs to measure the angle of the target. It is not enough to just grasp the speed and distance information of the target. Through angle measurement, the target can be distinguished in three dimensions. The 3D-FFT algorithm is an algorithm for target detection. Its basic principle is: first, the reflected echo signal is processed by the range-Doppler two-dimensional FFT, and then the detection results of each receiving channel are arranged in sequence, and FFT is performed again to obtain the angle estimate of each target. If the target data sequence detected by N channels is F(n), then the principle of the 2D-FFT detection algorithm shows that each data in F(n) comes from the FFT peak of a complex signal sequence. Therefore, the complex envelope sequence composed of these data should also be a complex sequence. The complex signal sequence can be expressed as A is the amplitude of the complex signal sequence, It is the target because the angle corresponds to the phase change in each receiving channel. If the number of antenna array elements is N, the angle between the target and the antenna normal direction is θ, and the distance between two adjacent array elements is d, The angle measurement resolution is

[0084] Furthermore, referring to Figure 5, a microstrip millimeter-wave linear array with unequal elements of good performance is designed. Referring to Figures 6-8, three types of microstrip millimeter-wave planar arrays are designed. First, the background and significance of high-frequency microstrip array antennas are analyzed, and the theory and analysis methods of microstrip antennas are studied to lay a theoretical foundation for the design of subsequent antennas. After that, the design process of these antennas is introduced, and the Chebyshev synthesis method is used to control the sidelobe level of the antenna. The E-plane radiation pattern of the linear array antenna has a gain of 17.9dBi, a reasonable energy distribution, a beam width of 16°, a sidelobe level of 20dB, a resonant frequency of 78.72GHz, and an S 11 The working bandwidth is 1.56GHz. The frequency of the 6×13 microstrip array antenna in the array is 80.7GHz, S 11 The working bandwidth of -10dB is 2.45GHz, the working frequency band is 78.8GHz to 81.55GHz, and the gain is 22.1dBi. The frequency of 2×13 microstrip array antenna is 79.7GHz, S 11 The operating bandwidth is -30.8dB, -10dB reaches 1.45GHz, the operating frequency band is 79.1GHz to 80.55GHz, and the gain is 18.2dBi.

[0085] Based on the application requirements of millimeter-wave radar, different types of MIMO radars have been designed to meet different scenarios. To this end, the already designed antennas were rationally arranged, resulting in several MIMO radar array configurations. Among them, long- and short-range MIMO radars use two different transmit antennas: one for long-range detection and the other for close-range detection. This effectively resolves the contradiction between the low gain of wide-beam antennas and the large blind spots of narrow-beam antennas. The 2T4R dual-channel MIMO radar increases the number of transmit channels and transmit power through an array configuration, resolving the issue of low time-sharing transmit power in MIMO systems. The 3T4RMIMO radar improves angular resolution and angle estimation accuracy by increasing the aperture.

[0086] Furthermore, different types of MIMO radars were designed to meet the needs of different scenarios. To this end, the already designed antennas were rationally arranged, resulting in several MIMO radar array configurations. As shown in Figures 9 and 10, the long- and short-range MIMO radars use two different transmit antennas: one for long-range detection and the other for close-range detection. This effectively resolves the contradiction between the low gain of wide-beam antennas and the large blind spots of narrow-beam antennas. As shown in Figure 11, the 2T4R dual-channel MIMO radar increases the number of transmit channels and transmit power through an array configuration, resolving the issue of low time-sharing transmit power in MIMO systems. As shown in Figure 12, the 3T4R MIMO radar improves angular resolution and angle estimation accuracy by increasing the aperture. These improvements and optimizations will help better adapt to different application scenarios.

[0087] Furthermore, the fabricated antenna is calibrated. Due to issues like machining precision, the actual fabricated receiving antenna may have phase and positional deviations, which can lead to bias in the subsequent angle estimation results. To eliminate these deviations, antenna calibration is required. First, zero-point calibration can determine the phase difference of the receiving antenna. Second, by testing positive and negative angles and recording the angle values ​​at different antenna phase differences, it can be found that the phase difference increases linearly with angle. Based on this trend, the precise position of the antenna can be inferred. After antenna calibration, the same angle estimation algorithm can produce more accurate angle estimates, thereby improving system accuracy and reliability.

[0088] Furthermore, referring to FIG13 and FIG14 , the hardware structure and system architecture block diagram of the millimeter-wave radar RF front-end system, baseband processing system, and data processing system were designed, and the hardware system was processed.

[0089] Furthermore, referring to Figures 15-20, the entire signal processing system was simulated. Common CFAR algorithms were introduced, and the potential impact of different CFAR algorithms and configurations on radar tracking was studied. Four algorithms were first introduced, and different CFAR algorithms were simulated for the same target using acquired ADC data, comparing their differences. The different CFAR algorithms were compared in both low- and high-target scenarios, concluding that SOGO-CFAR performed best in these scenarios, while OS-CFAR had some advantages in direction detection. The resulting SOGO-CFAR algorithm was further configured to adjust the size of the protection and reference cells. The detection range was partitioned into four different range zones based on the number of range FFT points. Different decision thresholds were assigned to each zone, resulting in optimal results: 8 reference cells in the range dimension, 4 protection cells in the range dimension, 8 reference cells in the velocity dimension, and 4 protection cells in the velocity dimension. The optimal value of i, representing the threshold, was {3, 2, 1, 3} for the range partitions {30, 60, 256} and the range FFT number of 512. Next, a millimeter-wave radar was calibrated, and the improvement in radar angle estimation before and after calibration was compared. Finally, a configuration was implemented for velocity ambiguity resolution in a MIMO millimeter-wave array radar, expanding the unambiguous range.

[0090] Furthermore, referring to Figures 21 and 22, the raw data collected after angle estimation is compared with the radar point cloud images. By analyzing the point cloud images, the performance of different radars can be intuitively understood. Next, a brief introduction to radar tracking principles is given. Referring to Figures 23 and 24, the tracking performance of millimeter-wave radars with five different antenna arrangements is compared, and their respective advantages and disadvantages are analyzed. This analysis provides a better understanding of the impact of different antenna arrangements on millimeter-wave radar tracking performance and allows the selection of the most suitable solution for practical applications: for long-range, high-precision detection and tracking, a 2T4R dual-channel MIMO array radar is used; for medium- and long-range, high-precision detection and tracking requiring close-range precision, a long- and short-range MIMO array radar is used; and for high-angle precision tracking of multiple targets in complex environments, a 3T4R MIMO array radar is used.

[0091] Combining all the above technical solutions, the advantages and positive effects of this invention are as follows: Based on TDM-MIMO technology, it improves the performance of traditional radar for different environments: increasing the gain of the radar's transmit and receive antennas, thereby increasing the radar's detection range; improving angular accuracy and angular resolution, and enhancing the radar's stability during long-range tracking. A partitioning method is proposed for the CFAR algorithm, which uses different decision thresholds and signal-to-noise ratio scaling factors in different areas to achieve better detection results.

[0092] The present invention comprehensively utilizes radar detection technology, antenna design and other technologies to provide a radar system for traffic dynamic target detection based on TDM-MIMO. With the help of radar, traffic targets on urban roads can be monitored all day and all night, and the application scenarios are not limited to extreme environments such as sandstorms, heavy fog, strong light, and darkness.

[0093] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Reference can be made to the common and similar parts between the various embodiments. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the method description.

[0094] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A radar system for traffic dynamic target detection based on TDM-MIMO, characterized in that: include: Microstrip array antenna unit, radar RF front-end system, baseband signal processing unit, radar data processing system, tracking host computer unit; Microstrip array antenna units transmit and receive electromagnetic waves through different array arrangements; The radar RF front-end system processes the electromagnetic waves received by the microstrip array antenna unit and generates ADC signals, which are then transmitted to the baseband signal processing unit; The baseband signal processing unit processes the ADC signal to generate speed, distance and angle information, and uses the generated information as raw data; The radar data processing system receives the raw data after signal processing and tracks the target; The tracking host computer unit displays the tracked target on the host computer.

2. The radar system for traffic dynamic target detection based on TDM-MIMO according to claim 1, characterized in that: The microstrip array antenna unit includes: 2×13 microstrip array antenna array, used to receive echo signals; 4×8 microstrip array antenna array, used to transmit millimeter wave signals; 6×13 microstrip array antenna array, used to transmit millimeter wave signals.

3. The radar system for traffic dynamic target detection based on TDM-MIMO according to claim 2, characterized in that: The different deployment methods include: 2T4R dual-channel MIMO radar antenna array mode, four 4×8 microstrip array antenna arrays are arranged in parallel and evenly divided into two groups. The first group and the second group of 4×8 microstrip array antenna arrays on the same side are separated by 6λ to transmit millimeter wave signals; four 2×13 microstrip array antenna arrays are arranged in parallel, separated by 1.5λ, λ, and 2.5λ in sequence to receive echo signals; The long-distance mode MIMO radar antenna array is arranged in parallel with two 6×13 microstrip array antennas, separated by 6λ, to transmit millimeter wave signals; four 2×13 microstrip array antennas are arranged in parallel, separated by 1.5λ, λ, and 2.5λ, to receive echo signals; The short-range mode MIMO radar antenna array is arranged in parallel with two 4×8 microstrip array antennas, separated by 4λ, to transmit millimeter wave signals; four 2×13 microstrip array antennas are arranged in parallel, separated by 1.5λ, λ, and 2.5λ, to receive echo signals; 3T4R MIMO radar antenna array mode, three 6×13 microstrip array antenna arrays are arranged in parallel, with intervals of 6λ and 6λ in sequence, to transmit millimeter wave signals; four 2×13 microstrip array antenna arrays are arranged in parallel, with intervals of 1.5λ, λ, and 2.5λ in sequence, to receive echo signals; Where λ is the wavelength of the 79 GHz millimeter wave.

4. The radar system for traffic dynamic target detection based on TDM-MIMO according to claim 1, characterized in that: The radar RF front-end system specifically includes: a power supply unit, a baseband processing unit, and a signal processing unit. The power supply unit provides stable power for the RF part; the baseband processing unit converts the analog signal of the electromagnetic wave received by the microstrip array antenna unit into an ADC signal, and sends the ADC signal to the signal processing unit; the signal processing unit analyzes and processes the ADC signal to extract the vehicle speed, distance, and angle information contained therein.

5. The radar system for traffic dynamic target detection based on TDM-MIMO according to claim 1, characterized in that: The radar data processing system specifically includes: a data receiving unit, a data parsing unit, and a data processing unit. The data receiving unit receives the original data processed by the signal processing unit; the data parsing unit converts the hexadecimal data of the received processed original data into decimal data; the data processing unit processes the decimal data and continuously and stably tracks the target through the processed decimal data.

6. The radar system for traffic dynamic target detection based on TDM-MIMO according to claim 1, characterized in that: Tracking host unit, including: Real-time command area: modify radar IP; Host server: set the server IP; Radar configuration area: Set various tracking parameters.

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