Trigger time synchronization method of radar system, radar system and automobile

Abstract

The invention provides a trigger time synchronization method of a radar system. The radar system comprises a main control module and a plurality of radar units. Each radar unit comprises a slave control module, a radio frequency front-end module and a radar transceiving antenna module. The time synchronization method comprises the following steps: a master control module sends a periodic signal and a clock signal to a plurality of radar units; synchronous delay time is stored in the slave control modules, and each slave control module receives the periodic signal and the clock signal, obtains a trigger point of the periodic signal according to the received clock signal, synchronous delay time and periodic signal, and sends the periodic signal and a trigger point signal to the radio frequency front end module; the trigger point position signal comprises a trigger point position; and the radio frequency front-end module counts the period of the received periodic signal according to the triggering point position signal, and triggers the radar transceiving antenna module to start signal receiving and sending at the triggering point position.

Description

Technical Field

[0001] The present invention relates to the field of automobile radars, and in particular to a trigger time synchronization method for a radar system, a radar system and a car. Background Art

[0002] The existing multi-radar system using Ethernet communication or similar communication technology can achieve clock synchronization of tens of ns or even more than 100 ns even at the Ethernet PHY interface. However, after the radar receives the Ethernet signal, the radar MCU listens, receives, analyzes, and calculates the time synchronization, and then controls the RF transceiver front end to send and receive signals, and then samples the intermediate frequency and demodulates the signal. Due to hardware errors in the MCU and radar transceiver circuits and errors in the software operating system, the time synchronization between multiple radars is at the ms level, which cannot meet the synchronization requirements of distributed radars or coherent radars.

[0003] The traditional solution can only be used for delay calibration between the HPC Ethernet clock and the radar subunit. The errors in this solution are, first, the time error of Ethernet synchronization, which is mainly the delay time error and randomness of synchronization between the Ethernet gateway and the two radar subunit Ethernets, and second, the error within the radar unit board. The processing speed response time and delay time of each radar subunit SOC and PHY are different and random, and the time point when the SOC / or radar front-end processor notifies the RF hardware is also random. The processing time, transmission time, and response time of the PHY chip, the processing time, transmission time, and response time of the SOC and MCU, and the processing time, transmission time, and response time of the RF front-end module all have delays and randomness.

[0004] Another existing solution uses the RF front-end module of one radar subunit to control the RF front-end module of another radar subunit to achieve clock synchronization. In addition, the control signal uses a high-speed / high-frequency signal, which has strict requirements on signal quality and consistency. The transmission distance is limited, generally at the centimeter level. There cannot be any jumper connectors on the transmission path, and the two paths must be strictly consistent. Therefore, generally two radar front ends can only be arranged on one board or at a very short distance, which is not suitable for distributed radar applications.

[0005] Therefore, developing a radar system that can avoid synchronization time errors and achieve high-precision time synchronization between multiple radars for synchronous transmission and reception, and synchronous sampling; in particular, a trigger time synchronization method that can be applied to distributed radar systems has become a technical problem that technical personnel in this field urgently need to solve. Summary of the invention

[0006] In order to overcome the above technical defects, the present invention provides a trigger time synchronization method for a radar system, a radar system and a car, by adding a periodic signal to a clock signal, each slave control module pre-stores a synchronization delay time, and the slave control module calculates the trigger point position in the periodic signal corresponding to each slave control module according to the synchronization delay time, the clock synchronization time and the periodic signal. Thus, the RF front-end module counts the period of the periodic signal and triggers the radar transceiver antenna module at the trigger point to start signal reception and transmission; the trigger time synchronization of different radar units is realized.

[0007] The present invention discloses a trigger time synchronization method for a radar system. The radar system includes a main control module and a plurality of radar units; the radar units include: a slave control module, a radio frequency front-end module and a radar transceiver antenna module; the clock synchronization method includes:

[0008] The main control module sends a periodic signal and a clock signal to a plurality of the radar units;

[0009] The slave control modules all store synchronization delay time, and each of the slave control modules receives the periodic signal and the clock signal, obtains the trigger point of the periodic signal according to the received clock signal, the synchronization delay time and the periodic signal, and sends the trigger point signal to the RF front-end module; the trigger point signal includes a trigger point;

[0010] The RF front-end module receives the periodic signal, counts the period of the received periodic signal according to the trigger point signal, and triggers the radar transceiver antenna module at the trigger point to start signal reception and transmission.

[0011] Optionally, obtaining a trigger point according to the received clock signal, synchronization delay time and periodic signal includes:

[0012] Each of the slave control modules calculates a time error of each of the slave control modules according to the received clock signal;

[0013] The slave control module calculates a trigger point of the periodic signal according to the time error, the synchronization delay time and the periodic signal.

[0014] Optionally, the slave control module calculates the trigger point of the periodic signal according to the time error, the synchronization delay time and the periodic signal, including: calculating the trigger point according to formula (1):

[0015] (Com_delay-Slave_error) / CLK_T; Formula (1);

[0016] Among them, Com_delay is the synchronization delay time; Slave_error is the time error; CLK_T is the period of the periodic signal.

[0017] Optionally, the radar system further includes: an Ethernet gateway; the main control module is connected to each of the radar units via the Ethernet gateway;

[0018] Each of the radar units also includes: an Ethernet transceiver module and a connector;

[0019] The RF front-end module is connected to the connector via a signal line; the main control module directly sends the periodic signal to the RF front-end module via the signal line;

[0020] The Ethernet transceiver module is in communication connection with the slave control module, and is connected to the Ethernet gateway via a connector; the slave control module and the connector are also directly connected via a signal line;

[0021] The master control module directly sends the periodic signal to the slave control module via the signal line; the clock signal is transmitted to the slave control module via the Ethernet transceiver module;

[0022] Alternatively, the master control module transmits the periodic signal and the clock signal to the slave control module via the Ethernet transceiver module.

[0023] The present invention also discloses a radar system, including: a main control module and a plurality of radar units; the radar units include: a slave control module, a radio frequency front-end module and a radar transceiver antenna module,

[0024] The main control module is used to send periodic signals and clock signals to the radar units;

[0025] The slave control modules all store synchronization delay time, and each of the slave control modules is used to receive the periodic signal and the clock signal, obtain the trigger point of the periodic signal according to the received clock signal, the synchronization delay time and the periodic signal, and send the periodic signal and the trigger point signal to the RF front-end module; the trigger point signal includes the trigger point;

[0026] The RF front-end module is used to count the period of the received periodic signal according to the trigger point signal, and trigger the radar transceiver antenna module at the trigger point to start signal reception and transmission.

[0027] Optionally, each of the slave control modules is used to calculate the clock error of each of the slave control modules based on the received clock signal; and calculate the trigger point of the periodic signal based on the time error, the synchronization delay time and the periodic signal.

[0028] Optionally, the slave control module is used to calculate the trigger point according to formula (1):

[0029] (Com_delay-Slave_error) / CLK_T; Formula (1);

[0030] Among them, Com_delay is the synchronization delay time; Slave_error is the time error; CLK_T is the period of the periodic signal.

[0031] Optionally, the radar system further includes: an Ethernet gateway; the main control module is connected to each of the radar units via the Ethernet gateway;

[0032] Each of the radar units further includes: an Ethernet transceiver module and a connector; the Ethernet transceiver module is communicatively connected to the slave control module and is connected to the Ethernet gateway via a connector; the slave control module is also directly connected to the connector via a signal line;

[0033] The main control module directly sends the periodic signal to the slave control module through the signal line; the clock signal is transmitted to the slave control module through the Ethernet transceiver module.

[0034] Optionally, a CLK host is provided in the main control module; the CLK host is used to generate the periodic signal.

[0035] The present invention also discloses a car, comprising the radar system described in any one of the aforementioned embodiments of the present invention.

[0036] Compared with the prior art, the above technical solution has the following beneficial effects:

[0037] 1. The present invention provides a high-precision synchronized multi-radar solution, which can achieve nano-level radar RF transmission and reception synchronization and intermediate frequency sampling, greatly improving the synchronization accuracy and performance of such systems.

[0038] 2. It gets rid of the limitation of the spatial distance between the synchronization objects in the traditional clock synchronization method, and can be better applied to distributed radar systems or coherent radar systems.

[0039] 3. No additional instructions are required. Just add a periodic signal to the synchronization signal to achieve synchronization and eliminate the time error caused by other frames of multiple interactions that are not the same periodic frame.

[0040] 4. The time error caused by the MCU module operation control instructions in the radar and the radar operating system can be eliminated.

[0041] 5. By directly connecting a signal line from the connector to the slave control module and the RF front-end module, the periodic signal does not pass through the Ethernet transceiver module, which can eliminate the time difference in the data transmission chip (such as the Ethernet physical layer chip) during the transmission process and on the transmission chip. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 A schematic diagram of a flow chart of a trigger time synchronization method for a radar system according to an embodiment of the present invention;

[0043] Figure 2 A schematic diagram of the structure of a radar system according to an embodiment of the present invention;

[0044] Figure 3 A schematic diagram of the triggering points of the CLK signal of the radar unit 1 in accordance with an embodiment of the present invention;

[0045] Figure 4 A schematic diagram of the triggering points of the CLK signal of the radar unit 2 in accordance with an embodiment of the present invention;

[0046] Figure 5 The figure is a schematic diagram of the working principle of an IEEE1588 clock according to an embodiment of the present invention.

[0047] Reference numerals:

[0048] 1- Radar unit;

[0049] 11- slave control module;

[0050] 12-RF front-end module;

[0051] 13-Ethernet transceiver module;

[0052] 14- Radar transceiver antenna module;

[0053] 15-connector;

[0054] 2- Main control module;

[0055] 3-Ethernet gateway;

[0056] 4-Signal recovery circuit. DETAILED DESCRIPTION

[0057] The advantages of the present invention are further described below in conjunction with the accompanying drawings and specific embodiments.

[0058] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0059] The terms used in this disclosure are for the purpose of describing specific embodiments only and are not intended to limit the disclosure. The singular forms of "a", "said" and "the" used in this disclosure and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0060] In the description of the present invention, it is necessary to understand that the terms "inside", "outside", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0061] In the description of the present invention, unless otherwise specified and limited, it should be noted that the terms "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be a mechanical connection or an electrical connection, or it can be the internal connection between two components. It can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to the specific circumstances.

[0062] In the following description, the suffixes such as "module", "component" or "unit" used to represent elements are only used to facilitate the description of the present invention, and have no specific meanings. Therefore, "module" and "component" can be used interchangeably.

[0063] On the one hand, the present invention provides a trigger time synchronization method for a radar system. Figure 1 , shows a schematic flow chart of a clock synchronization system of a radar system in accordance with the present invention. The radar system includes a main control module and a plurality of radar units; the radar unit includes: a slave control module, a radio frequency front-end module and a radar transceiver antenna module. In this embodiment, the main control module is a master control module, and the slave control module is an MCU module. The trigger time synchronization method of the radar system includes the following steps:

[0064] S1: The main control module sends a periodic signal and a clock synchronization signal in the main control module to the radar units. In this embodiment, a periodic signal such as a clock periodic signal or a square wave periodic signal is added to the clock signal, and the period of the clock periodic signal or the square wave periodic signal is CLK_T. The main control module includes: a CLK host, and the periodic signal CLK and its period CLK_T are respectively generated and set by the CLK host in the main control module.

[0065] S2: The slave control modules all store synchronization delay time, and each slave control module receives the periodic signal and the clock signal, obtains the trigger point of the periodic signal according to the received clock signal, the synchronization delay time and the periodic signal, and sends the trigger point signal to the RF front-end module; the trigger point signal includes the trigger point; the trigger point of the periodic signal refers to the rising edge or falling edge of a corresponding period in the periodic signal when the RF front-end module starts to trigger the radar transceiver antenna module, that is, for example Figure 3 or Figure 4 The trigger points of radar unit 1 and radar unit 2 are shown in the figure. A certain time delay can be added after the rising edge and the falling edge as the trigger point. This time delay is the indivisible decimal part of (Com_delay-Slave_error) / CLK_T. In this embodiment, the synchronization delay time is the total delay time for each radar unit to trigger the radar transceiver antenna module to receive signals. The present invention is based on the fact that the trigger delay time of each radar unit is different. Different trigger points determine that different radar units need to continue to delay on the basis of their own delay time until the personalized delay time of the total delay time. Therefore, through the secondary delay design, the total delay time of each radar unit is kept consistent, and the effect of consistent signal receiving and transmitting time is achieved.

[0066] S3: The RF front-end module receives the periodic signal and generates the received periodic signal according to the trigger point signal.

[0067] The period of the periodic signal is counted.

[0068] And the radar transceiver antenna module is triggered at the trigger point to start signal reception and transmission.

[0069] In this solution, the periodic signal is used as the hard trigger input source of the RF front-end module to directly trigger the radar transceiver antenna module, and the entire process only involves the clock signal of the main control module, which avoids the trigger time error caused by the periodic error of the control instruction of the slave control module in each radar unit in the traditional solution. More importantly, the trigger time synchronization method of the radar system provided by the present invention gets rid of the limitation of the spatial distance between the synchronization objects (each radar unit) of the traditional clock synchronization method, and provides a solution for the clock synchronization between each radar unit in the distributed radar system.

[0070] In this embodiment, the step of obtaining the trigger point according to the received clock signal, synchronization delay time and periodic signal specifically includes: each slave control module calculates the time error of each slave control module according to the received clock signal. The slave control module calculates the trigger point of the periodic signal according to the time error, synchronization delay time and periodic signal.

[0071] See also Figure 5 Specifically, in this embodiment, the process of calculating the trigger point of the periodic signal specifically includes: First, the time error of each radar unit is calculated. When the time error calculation starts, the Master clock and the slave clock initiate network time synchronization; wherein, the Master clock: the main control unit, or the main control module and the Ethernet gateway; hereinafter described as the Master clock; the slave clock: the slave control processing unit, mainly the Ethernet transceiver module and the slave control module; hereinafter described as the slave clock.

[0072] The master clock and the slave clock start calculating the time error according to the IEEE1588 clock through the PTP protocol:

[0073] The Master clock periodically sends out sync messages (including an estimated sending time) and records the precise sending time t1 when the sync message leaves the Master clock; the Master clock encapsulates the precise sending time t1 into a Follow_up message and sends it to the slave clock; the slave clock records the precise arrival time t2 when the sync message reaches the slave clock; the slave clock sends out a delay_req message and records the precise sending time t3; the Master clock records the precise arrival time t4 when the delay_req message reaches the Master clock; the Master clock sends out a delay_resp message carrying the precise timestamp information t4 to the slave clock; in this way, the slave clock obtains the four precise message sending and receiving times t1, t2, t3, and t4. Figure 5Here, Offset indicates the deviation between clocks, and delay indicates the transmission delay.

[0074] The slave clock can obtain the master slave clock deviation offset and transmission delay delay through the four precise timestamp information of t1, t2, t3, and t4: the specific calculation formula is as follows:

[0075]

[0076] Substitute t1, t2, t3, and t4, and the slave clock will calculate the offset and delay according to the above formula to correct the local time error. The delay error measured in real time before the trigger operation starts is the time error between the master clock and the slave clock. In this embodiment, the time errors between radar unit 1, radar unit 2 and the main control module are calculated as slave1-error and slave2-error respectively; and by analogy, the time errors of all radar units can be calculated.

[0077] Secondly, according to the time error and synchronization delay time, the trigger point of each radar unit's periodic signal is calculated. The Slave (MCU module) stores the calculation formula for the trigger point: (Com_delay-Slave_error) / CLK_T; Formula (1); where Com_delay is the synchronization delay time; Slave_error is the time error; CLK_T is the period of the periodic signal. Substitute the time errors Sla1_error and Slave2_error, the synchronization delay time; Com_delay, and the period CLK_T of the periodic signal into Formula (1) to calculate the trigger points of radar unit 1 and radar unit 2: (Com_delay-Slave1_error) / CLK_T, (Com_delay-Slave2_error) / CLK_T, respectively. Similarly, the trigger points of all radar units are calculated.

[0078] See also Figure 2Before the formal clock synchronization or before the vehicle leaves the factory, each slave clock obtains the time error between each slave clock and the master clock according to the PTP protocol, where the time error of slave1 (MCU module in radar unit 1) is slave1-error, the time error of slave2 (MCU module in radar unit 2) is slave2-error, and so on. The time errors of all radar units are calculated according to the IEEE1588 clock: slave1-error, slave2-error... The slave (MCU module in the radar unit) pre-sets a common synchronization delay time: Com_delay according to the calculated time errors of each slave clock and stores it. The synchronization delay time is greater than the maximum value of the time errors of each radar unit, for example, a 100ns delay time is set, so that it can be used to determine the trigger point of each radar unit in the subsequent clock synchronization process; by setting the synchronization delay time, the slave clock can adjust the trigger duration according to its own Slave Error (time error) and align it with the synchronization delay time, thereby eliminating the influence of different Slave Errors of each Slave clock on synchronization.

[0079] When clock synchronization officially starts, the CLK host provides a clock cycle signal, the main control module adds the clock cycle signal to the clock signal and outputs it to radar unit 1, radar unit 2... The clock cycle signal includes multiple CLK clocks, and the time interval between each adjacent CLK clock is CLK_T. The MCU module in each radar unit receives the cycle signal and the clock cycle signal, and calculates the real-time time error slave1-error, slave2-error... according to the clock synchronization time; according to the synchronization delay time Com_delay, the time error slave1-error, slave2-error..., and the CLK clock cycle CLK_T, the slave1 trigger time is calculated to be Com_delay-Slave1error, the trigger point is (Com_delay-Slave1error) / CLK-T; the Slave2 trigger time is (Com_del ay-Slave2error), trigger point (Com_delay-Slave2error) / CLK_T, and so on, determine the trigger points of all radar units, and send all trigger point signals together with the clock signal to each RF front-end module 12 to directly receive the clock cycle signal through the signal line. The clock cycle signal CLK is used as the trigger signal of the RF front-end module 12, which directly triggers the RF front-end module 12 to start counting the received CLK cycle. When the received CLK signal accumulates to the trigger point (the rising edge or falling edge of a clock CLK), a hardware trigger is performed to achieve synchronization of the triggering of the radar transceiver antenna module 14. For example: at the trigger point (Com_delay-Slave 1error) / CL-T, the RF front-end module 12 in the radar unit 1 triggers the radar transceiver antenna module 14 to transmit and receive signals when counting to the rising edge of the 11th additional CLK, such as Figure 3 As shown; the radar unit 2 is at the trigger point (Com_delay-Slave 2error) / CLK-T, and the RF front-end module 12 in the radar unit 2 counts to the rising edge of the 8th additional CLK, such as Figure 4 As shown, the time delay alignment is achieved by counting the CLK clock of the RF front-end module 12; the consistency of the radar signal receiving and sending time of each radar unit avoids the RF front-end module triggering time accuracy error caused by the period difference of the MCU module periodic signal.

[0080] In the solution provided by the present invention, since the same instruction (clock signal) is always used as the standard clock, the error of the clock cycle of the MCU module of the radar unit 1, the radar unit 2... is eliminated, and the error is shortened to the nanometer level.

[0081] Continue to refer Figure 2In a further solution of the present invention, the radar system further includes: an Ethernet gateway 3; the main control module 2 is connected to each of the radar units 1 through the Ethernet gateway 3; in this embodiment, in addition to the above-mentioned independent Ethernet gateway function scheme, in other optional schemes, the Ethernet gateway function can be incorporated into the main control unit. Each of the radar units 1 also includes: an Ethernet transceiver module 13 and a connector 15; the RF front-end module 12 is connected to the connector 15 through a signal line; the main control module 2 directly sends the periodic signal to the RF front-end module 12 through the signal line to trigger the RF front-end to perform time synchronization and control the radar transceiver antenna module to perform signal transceiver at the same time. The Ethernet transceiver module 13 is connected to the slave control module 11 in communication, and the Ethernet transceiver module 13 is connected to the Ethernet gateway 3 through the connector 15; the main control module 2 transmits the periodic signal and the clock signal to the slave control module 11 through the Ethernet gateway 3, the connector 15, the Ethernet transceiver module 13, MII / GMII, etc. and the transmission line ②, so that the slave control module can calculate the trigger point.

[0082] In a further preferred embodiment, the slave control module 11 and the connector 15 are directly connected via a signal line ①.

[0083] The main control module 2 directly sends the periodic signal to the slave control module 11 through the Ethernet gateway 3, the connector 15, and the signal line ①. The periodic signal does not need to pass through the Ethernet transceiver module 13, thereby avoiding different clock delays of different radar units 1 caused by monitoring, receiving, analyzing, and calculating. The clock signal is transmitted to the slave control module 11 through the Ethernet transceiver module. In a further preferred solution, a signal recovery circuit 4 can also be added to the signal line of the periodic signal between the connector and the RF front end and the slave control module; when the periodic signal is transmitted over a long distance, the signal recovery circuit 4 can restore a periodic signal with higher signal quality to ensure the accuracy of time synchronization.

[0084] The method mentioned in the present invention can also be applied to other transmission technologies with similar primary time or clock synchronization functions, such as CAN / LIN, etc. When the technology and ideas of the present invention are applied, the synchronization accuracy can also be improved.

[0085] See also Figure 1 The present invention further provides a radar system, comprising: a plurality of radar units 1, a main control module 2, and an Ethernet gateway 13 connecting the plurality of radar units 1 and the main control module 2. In this embodiment, the main control module 2 is a main control module. The radar unit 1, for example, comprises a radar unit 1, a radar unit 2, ... and the like.

[0086] Each radar unit 1 includes: a slave control module 11, a radio frequency front-end module and an Ethernet transceiver module 13, and a radar transceiver antenna module, which are connected to the slave control module 11; the radio frequency front-end module is connected to the radar transceiver antenna module; the Ethernet gateway 13 is connected to the Ethernet transceiver module 13 via a connector 15. In this embodiment, the slave control module 11 is an MCU module, and the MCU module and the radio frequency front end are integrated in the SOC module.

[0087] The main control module is used to send a periodic signal and a clock signal in the main control module to the radar unit 1, the radar unit 2, ... and other radar units 1.

[0088] Each of the MCU modules stores a synchronization delay time. Each of the MCU modules is used to receive the periodic signal and the clock signal, obtain the trigger point of the periodic signal according to the received clock signal, the synchronization delay time and the periodic signal, and send the periodic signal and the trigger point signal to the RF front-end module 12; the trigger point signal includes the trigger point. In a further solution, each of the MCU modules calculates its own time error according to the received clock signal; for example, according to Figure 5 The clock synchronization principle shown calculates the time errors Sla_error1, Slave_error2... of each radar unit 1 respectively, and according to the period CLK_T of the periodic signal, the synchronization delay time Com_delay and the time errors Sla_error1, Slave_error2..., it is calculated that the trigger point of the MCU module in the radar unit 1 is at the beginning of the rising edge of the 11th additional CLK_T of the periodic signal, and the trigger point of the MCU module in the radar unit 2 is at the beginning of the rising edge of the 8th additional CLK_T of the periodic signal.

[0089] The RF front-end module 12 in the radar unit 1 is based on the trigger point signal Figure 3 The period of the periodic signal received in the process is counted, and the radar transceiver antenna module is triggered at the 11th additional CLK_T to start signal reception and transmission; the RF front-end module 12 is triggered according to the trigger point signal Figure 4 The period of the periodic signal received in the 8th additional CLK_T is counted, and the radar transceiver antenna module is triggered to start signal reception and transmission at the 8th additional CLK_T. A certain time delay can be added after the rising edge and the falling edge as the trigger point. This time delay is the indivisible decimal part of (Com_delay-Slave_error) / CLK_T. By analogy, each radar unit 1 is delayed by the same synchronization delay time Com_delay and triggered at the same time.

[0090] In one embodiment, the main control module is used to transmit the periodic signal and the clock signal to the MCU module through the Ethernet transceiver module 13, MII / GMII, etc. and the transmission line ②.

[0091] In another preferred embodiment, the connector 15 is connected to the GPIO or interrupt interface of the MCU module through a signal line ① and a port; the main control module directly transmits the periodic signal to the MCU module without passing through the Ethernet transceiver module 13, thereby avoiding different clock delays of different radar units 1 caused by monitoring, receiving, analyzing, and calculating.

[0092] The present invention also discloses a car, comprising the radar system described in any one of the aforementioned embodiments of the present invention.

[0093] It should be noted that the embodiments of the present invention have better practicability and do not impose any form of limitation on the present invention. Any technician familiar with the field may use the technical content disclosed above to change or modify it into an equivalent effective embodiment. However, any modification or equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A trigger time synchronization method for a radar system, the radar system comprising a main control module and a plurality of radar units; The radar unit comprises: From the control module, the radio frequency front-end module and the radar transceiver antenna module, it is characterized in that the clock synchronization method includes: The main control module sends a periodic signal and a clock signal to a plurality of the radar units; The slave control modules all store synchronization delay time, and each of the slave control modules receives the periodic signal and the clock signal, obtains the trigger point of the periodic signal according to the received clock signal, the synchronization delay time and the periodic signal, and sends the trigger point signal to the RF front-end module; the trigger point signal includes a trigger point; The RF front-end module receives the periodic signal, counts the period of the received periodic signal according to the trigger point signal, and triggers the radar transceiver antenna module at the trigger point to start signal reception and transmission.

2. The trigger time synchronization method of the radar system as claimed in claim 1, characterized in that: According to the received clock signal, synchronization delay time and periodic signal, a trigger point is obtained, including: Each of the slave control modules calculates a time error of each of the slave control modules according to the received clock signal; The slave control module calculates a trigger point of the periodic signal according to the time error, the synchronization delay time and the periodic signal.

3. The trigger time synchronization method of the radar system as claimed in claim 2, characterized in that: The slave control module calculates the trigger point of the periodic signal according to the time error, the synchronization delay time and the periodic signal, including: calculating the trigger point according to formula (1): (Com_delay-Slave_error) / CLK_T; Formula (1); Among them, Com_delay is the synchronization delay time; Slave_error is the time error; CLK_T is the period of the periodic signal.

4. The trigger time synchronization method of the radar system as claimed in claim 1, characterized in that: The radar system further includes: an Ethernet gateway; the main control module is connected to each of the radar units via the Ethernet gateway; Each of the radar units also includes: an Ethernet transceiver module and a connector; The RF front-end module is connected to the connector via a signal line; the main control module directly sends the periodic signal to the RF front-end module via the signal line; The Ethernet transceiver module is in communication connection with the slave control module, and is connected to the Ethernet gateway via a connector; the slave control module and the connector are also connected via a signal line; The master control module directly sends the periodic signal to the slave control module via the signal line; the clock signal is transmitted to the slave control module via the Ethernet transceiver module; Alternatively, the master control module transmits the periodic signal and the clock signal to the slave control module via the Ethernet transceiver module.

5. A radar system comprising: A main control module and several radar units; the radar unit includes: a slave control module, a radio frequency front-end module and a radar transceiver antenna module, characterized in that: The main control module is used to send periodic signals and clock signals to the radar units; The slave control modules all store synchronization delay time, and each of the slave control modules is used to receive the periodic signal and the clock signal, obtain the trigger point of the periodic signal according to the received clock signal, the synchronization delay time and the periodic signal, and send the periodic signal and the trigger point signal to the RF front-end module; the trigger point signal includes the trigger point; The RF front-end module is used to count the period of the received periodic signal according to the trigger point signal, and trigger the radar transceiver antenna module at the trigger point to start signal reception and transmission.

6. The radar system according to claim 5, characterized in that Each of the slave control modules is used to calculate the time error of each of the slave control modules according to the received clock signal; and calculate the trigger point of the periodic signal according to the time error, the synchronization delay time and the periodic signal.

7. The radar system according to claim 6, characterized in that The slave control module is used to calculate the trigger point according to formula (1): (Com_delay-Slave_error) / CLK_T; Formula (1); Among them, Com_delay is the synchronization delay time; Slave_error is the time error; CLK_T is the period of the periodic signal.

8. The radar system according to claim 7, characterized in that The radar system further includes: an Ethernet gateway; the main control module is connected to each of the radar units via the Ethernet gateway; Each of the radar units further includes: an Ethernet transceiver module and a connector; the Ethernet transceiver module is communicatively connected to the slave control module and is connected to the Ethernet gateway via a connector; the slave control module is also directly connected to the connector via a signal line; The main control module directly sends the periodic signal to the slave control module through the signal line; the clock signal is transmitted to the slave control module through the Ethernet transceiver module.

9. The radar system according to claim 5, characterized in that A CLK host is arranged inside the main control module; the CLK host is used to generate the periodic signal.

10. An automobile, characterized in that: A radar system comprising any one of claims 5-9.

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