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

Abstract

The present invention discloses a radar system for traffic dynamic target detection based on TDM-MIMO, which relates to the field of radar detection technology, including: 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; the microstrip array antenna unit transmits and receives electromagnetic waves through 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 the data processed by the signal processing unit and tracks the target; the tracking host computer unit displays the tracked target. The radar system for traffic dynamic target detection based on TDM-MIMO provided by the present invention improves the radar transmitting and receiving antenna gain, increases the detection distance, improves the angle accuracy and angle resolution, and increases the stability of long-distance tracking.

Description

Technical Field

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

[0002] At present, the detection and supervision of traffic targets has become an important part of the smart transportation construction system. In the past, the supervision of urban roads usually required a lot of manpower, which led to a huge workload, long supervision cycle and low efficiency.

[0003] However, with the advancement of science and technology, traffic target recognition based on visual sensors has become the mainstream recognition method. Although this method can improve the efficiency of traffic target recognition, its application conditions are easily affected under extreme weather conditions, such as sandstorms, fog and strong light, resulting in a lower recognition rate. In addition, due to the camera-based imaging mechanism, it is difficult for the video to accurately identify targets that are far away from the data acquisition device. Using millimeter-wave radar for target detection can effectively solve this situation. Traditional millimeter-wave radars need to use more receiving channels to obtain better angular resolution and angular accuracy. It is very difficult to achieve a balance between small size, high angular resolution and higher angular accuracy.

[0004] Therefore, how to provide a radar detection system with small volume, high angular resolution and high angular accuracy is a problem that technical personnel in this field need to solve urgently. Summary of the invention

[0005] In view of this, the present invention provides a radar system for traffic dynamic target detection based on TDM-MIMO. Based on the TDM-MIMO technology, the performance of traditional radar is improved for different environments: the radar transmitting and receiving antenna gains are improved, and the radar detection distance is increased; the angle accuracy and angle resolution are improved, and the stability of the radar in long-distance tracking is increased.

[0006] In order to achieve the above object, the present invention adopts the following technical solution:

[0007] The radar system for traffic dynamic target detection based on TDM-MIMO includes: microstrip array antenna unit, radar RF front-end system, signal processing unit, radar data processing system, and tracking host computer unit;

[0008] The microstrip array antenna unit transmits and receives electromagnetic waves through different array arrangements;

[0009] The radar RF front-end system processes the electromagnetic waves received by the microstrip array antenna unit and generates an ADC signal, and transmits the ADC signal to the baseband signal processing unit;

[0010] The baseband signal processing unit processes the ADC signal to generate speed, distance and angle information, and uses the generated information as raw data;

[0011] The radar data processing system receives the raw data processed by the signal processing unit and tracks the target;

[0012] The tracking host computer unit displays the tracked target on the host computer.

[0013] Preferably, the microstrip array antenna unit comprises:

[0014] 2×13 microstrip array antenna array, used to receive echo signals;

[0015] 4×8 microstrip array antenna array, used to transmit millimeter wave signals;

[0016] 6×13 microstrip array antenna array, used to transmit millimeter wave signals.

[0017] Preferably, the different array arrangements specifically include:

[0018] 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;

[0019] 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;

[0020] 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;

[0021] The 3T4RMIMO radar antenna array has three 6×13 microstrip array antennas arranged in parallel, with intervals of 6λ and 6λ in sequence, to transmit millimeter wave signals; four 2×13 microstrip array antennas are arranged in parallel, with intervals of 1.5λ, λ, and 2.5λ in sequence, to receive echo signals;

[0022] Where λ is the wavelength of the 79 GHz millimeter wave.

[0023] Preferably, the radar RF front-end system specifically includes: a power supply unit, a baseband processing unit, and a signal processing unit, wherein 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.

[0024] 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.

[0025] Preferably, the tracking host computer unit includes:

[0026] Real-time command area: modify radar IP;

[0027] Host server: set the server IP;

[0028] Radar configuration area: Set various tracking parameters.

[0029] It can be seen from the above technical solutions that, compared with the prior art, the present invention discloses a radar system for traffic dynamic target detection based on TDM-MIMO, which improves the performance of traditional radars for different environments: improves the radar transmitting and receiving antenna gain, increases the radar detection distance; improves the angle accuracy and angle resolution, and increases the stability of radar tracking at long distances. It can monitor traffic targets on urban roads all day and all night, and the application scenarios are not limited to extreme environments such as sandstorms, fog, strong light, and darkness. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] 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 embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0031] Figure 1 The accompanying drawing is a schematic diagram of a 1T4R radar provided by the present invention;

[0032] Figure 2 The accompanying drawing is a schematic diagram of a 2T4RMIMO radar provided by the present invention;

[0033] Figure 3 The accompanying drawing is an equivalent schematic diagram of the 1T8R radar provided by the present invention;

[0034] Figure 4 The accompanying drawing shows a TDM virtual array solution with two TX channels provided by the present invention;

[0035] Figure 5 The accompanying drawing is a diagram of a 16×1 microstrip array antenna provided by the present invention;

[0036] Figure 6 The accompanying drawing is a diagram of a 6×13 millimeter wave array antenna model provided by the present invention;

[0037] Figure 7 The accompanying drawing is a diagram of a 4×8 millimeter wave array antenna model provided by the present invention;

[0038] Figure 8 The accompanying drawing is a diagram of a 2×13 millimeter wave array antenna model provided by the present invention;

[0039] Fig. 9 The accompanying drawing is a diagram of the long-distance MIMO antenna array provided by the present invention;

[0040] Fig.10 The accompanying drawing is a diagram of the short-range MIMO antenna arrangement provided by the present invention;

[0041] Fig.11 The accompanying drawing is a diagram of the 2T4R MIMO dual-channel antenna array provided by the present invention;

[0042] Fig.12 The accompanying drawing is a diagram of the 3T4R MIMO antenna array provided by the present invention;

[0043] Fig.13 The accompanying drawing is a schematic diagram of the radar hardware structure provided by the present invention;

[0044] Fig.14 The accompanying drawing is a block diagram of the radar system architecture provided by the present invention;

[0045] Fig.15 The accompanying drawing is a diagram of the echo signal simulation result provided by the present invention;

[0046] Fig.16 The accompanying drawing is a diagram of the distance dimension FFT simulation results before and after the IQ channel correction provided by the present invention;

[0047] Fig.17 The accompanying drawing is a diagram of the distance FFT simulation result provided by the present invention;

[0048] Fig.18 The accompanying drawing is a diagram of the range Doppler spectrum simulation result provided by the present invention;

[0049] Fig.19 The accompanying drawings are diagrams of CFAR detection simulation results provided by the present invention;

[0050] Fig. 20 The accompanying drawing is a diagram of the simulation results of the angle measurement results provided by the present invention;

[0051] Fig.21 The accompanying drawing is a three-dimensional point cloud diagram of the original data of the radar system provided by the present invention;

[0052] Fig. 22 The accompanying drawing is a plane point cloud diagram of the original data of the radar system provided by the present invention;

[0053] Fig.23 The accompanying drawing is a diagram showing the tracking effect of the real-time upper computer of the radar system provided by the present invention;

[0054] Fig.24 The accompanying drawing is a top view of the real-time road tracking effect of the upper computer of the radar system provided by the present invention;

[0055] Fig.25 The accompanying drawing is a system flow chart provided by the present invention. DETAILED DESCRIPTION

[0056] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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 creative work are within the scope of protection of the present invention.

[0057] The embodiment of the present invention discloses a radar system for traffic dynamic target detection based on TDM-MIMO, such as Fig.25 As shown, it 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;

[0058] Microstrip array antenna units transmit and receive electromagnetic waves through different array arrangements;

[0059] 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;

[0060] The baseband signal processing unit processes the ADC signal to generate speed, distance and angle information, and uses the generated information as raw data;

[0061] The radar data processing system receives the raw data processed by the signal processing unit and tracks the target;

[0062] The tracking host computer unit displays the tracked target on the host computer.

[0063] In a specific embodiment, the microstrip array antenna unit includes:

[0064] 2×13 microstrip array antenna array, used to receive echo signals;

[0065] 4×8 microstrip array antenna array, used to transmit millimeter wave signals;

[0066] 6×13 microstrip array antenna array, used to transmit millimeter wave signals.

[0067] In a specific embodiment, different array arrangements specifically include:

[0068] 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;

[0069] 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;

[0070] 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, and four 2×13 microstrip array antennas are arranged in parallel with intervals of 1.5λ, λ, and 2.5λ, respectively, to receive echo signals.

[0071] The 3T4RMIMO radar antenna array has 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.

[0072] Where λ is the wavelength of the 79 GHz millimeter wave.

[0073] 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 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.

[0074] 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.

[0075] In a specific embodiment, the tracking host computer unit includes:

[0076] Real-time command area: modify radar IP;

[0077] Host server: set the server IP;

[0078] Radar configuration area: Set various tracking parameters.

[0079] In a specific embodiment, the baseband signal processing unit also includes a CFAR constant false alarm detection unit, which processes the signal after two-dimensional FFT as a part of the signal processing unit, including: detecting targets by using different CFAR algorithms in different regions; and setting different decision thresholds for detecting targets in different regions.

[0080] refer to Figure 1-4 , virtual array (MIMO) is a method to virtualize more RX channels by increasing the number of TX channels, and TDM realizes the orthogonality of data in the time domain. In a sawtooth linear frequency modulation pulse width period, the frequency of the radar transmission signal increases linearly with time. The echo signal reflected by the target at different distances and the beat frequency signal generated by mixing with the local oscillator signal are different. Through the formula (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 frequency modulation signal, and B represents the bandwidth of the linear frequency modulation signal) can obtain the distance information between the target and the radar.

[0081] 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 velocity information of the target, which is calculated by the formula (f d represents the Doppler frequency, f 0 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 method, the position and velocity information of the traffic target can be obtained.

[0082] 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 each frame of the range-Doppler matrix and visualize the heat map according to the signal amplitude, so as to obtain a distance-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, 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

[0083] Further, refer to Figure 5 , designed a microstrip millimeter wave linear array with unequal array elements with better performance, referring to Figure 6-8 , design three types of microstrip millimeter wave arrays. 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. Then 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 S 11 is -40.83dB. 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.

[0084] According to the application requirements of millimeter-wave radar, different types of MIMO radars are designed to meet the needs of different scenarios. To this end, the antennas that have been designed are reasonably arranged to form several MIMO radar arrays. Among them, the long- and short-range mode MIMO radar uses two different transmitting antennas, one for long-distance detection and the other for close detection, which reasonably solves the contradiction between the small gain of wide-beam antennas and the large blind area of ​​narrow-beam antennas. The 2T4R dual-channel MIMO radar increases the number of transmitting channels and enhances the transmitting power through array, solving the problem of low time-sharing transmitting power of the MIMO system. The 3T4RMIMO radar improves the angular resolution and angle estimation accuracy by increasing the aperture.

[0085] Furthermore, different types of MIMO radars were designed to meet different scenario requirements. To this end, the antennas that have been designed were reasonably arranged to form several MIMO radar arrays. Fig. 9 and Fig.10 , the long- and short-range mode MIMO radar uses two different transmitting antennas, one for long-range detection and the other for close-range detection, thus reasonably solving the contradiction between the small gain of wide-beam antennas and the large blind area of ​​narrow-beam antennas. Fig.11 , 2T4R dual-channel MIMO radar increases the number of transmission channels and enhances the transmission power through array layout, solving the problem of low transmission power in MIMO system. Fig.12 , 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.

[0086] Furthermore, the processed antenna is calibrated. Due to problems such as processing accuracy, the actually processed receiving antenna may have phase difference and position deviation, which will cause deviations in the subsequent angle estimation results. In order to eliminate these deviations, antenna calibration is required. First, the phase difference of the receiving antenna can be obtained by calibrating the zero point. Secondly, by testing the positive and negative angles and recording the angle values ​​under different antenna phase differences, it can be found that the phase difference tends to increase linearly with the change of angle. Based on this trend, the exact position of the antenna can be inferred. After antenna calibration, the same angle estimation algorithm can obtain more accurate angle estimation results. This can improve the accuracy and reliability of the system.

[0087] Further, refer to Fig.13 and Fig.14 , designed the hardware structure and system architecture block diagram of the millimeter-wave radar RF front-end system, baseband processing system and data processing system, and processed the hardware system.

[0088] Further, refer to Figure 15-20, and simulate the whole signal processing system. Common CFAR algorithms are introduced, and the possible effects of different CFAR algorithms and configurations on radar tracking are studied. First, four algorithms are introduced, and different CFAR algorithms for the same target are simulated using the collected ADC data, and the differences between them are compared. Different CFAR algorithms are compared in scenarios with few targets and many targets, and it is concluded that SOGO-CFAR performs best in the case of many targets and few targets, while OS-CFAR has certain advantages in the detection of the direction of arrival. The algorithm is further configured using the better SOGO-CFAR algorithm, the size of the protection unit and the reference unit are configured, the detection distance is partitioned according to the number of distance FFT points, and it is divided into four different areas according to the distance. Different decision thresholds are configured in different areas, and the best results are obtained: the number of reference units in the distance dimension is 8, the number of protection units in the distance dimension is 4, the number of reference units in the speed dimension is 8, the number of protection units in the speed dimension is 4, and the value of i representing the threshold is {3,2,1,3} as the optimal value when the distance partition is {30,60,256} and the number of distance dimension FFT points is 512. Next, the millimeter-wave radar was calibrated and the improvement of radar angle estimation before and after calibration was compared. Finally, the MIMO millimeter-wave array radar velocity ambiguity resolution was configured to expand the unambiguous range.

[0089] Further, refer to Fig.21 , Fig. 22 , collect the original data after angle estimation to compare the point cloud images of each radar. By analyzing the point cloud images, we can intuitively understand the advantages and disadvantages of different radar performances. Next, the radar tracking principle is briefly introduced. Fig.23 , Fig.24 , compare the millimeter wave radar tracking effects of five different antenna arrangements, and analyze their respective advantages and disadvantages. Through these analyses, we can better understand the impact of different antenna arrangements on the millimeter wave radar tracking effect, and choose the most suitable solution in practical applications: use 2T4R dual-channel MIMO array radar for long-distance high-precision detection and tracking; use long-short distance mode MIMO array radar for medium-long distance high-precision detection and close-range precision detection and tracking; use 3T4R MIMO array radar for high-angle precision tracking of multiple targets in complex environments.

[0090] Combining all the above technical solutions, the advantages and positive effects of the present invention are as follows: 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 distance; the angle accuracy and angle resolution are improved to increase the stability of radar in long-distance tracking. For the CFAR algorithm, a partitioning method is proposed to adopt different decision thresholds and signal-to-noise ratio scaling factors in different areas to achieve better detection effects.

[0091] 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.

[0092] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0093] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be 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 will not be limited to the embodiments shown herein, but rather 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; 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; 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.

2. 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 baseband 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.

3. 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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