Radar and ultra wide band UWB integrated system and target detection method thereof

Abstract

The invention provides a radar and ultra wide band (UWB) integrated system. The radar and UWB integrated system comprises an antenna module; the radio-frequency signal transmitting and receiving module is used for transmitting a multiplexing radio-frequency signal, receiving a multiplexing echo signal after the multiplexing radio-frequency signal is reflected by an obstacle, and feeding back the multiplexing echo signal to the waveform modulation and generation module; the multiplexing radio frequency signal comprises a radio frequency signal of the radar and a radio frequency signal of the UWB system; the multiplexing echo signal comprises a UWB system echo signal and a radar echo signal; the waveform modulation and generation module is used for generating a multiplexing radio frequency signal according to a pre-stored signal multiplexing model and controlling the antenna module to transmit the multiplexing radio frequency signal; the UWB system echo signal and the radar echo signal are decoupled after receiving the multiplexing echo signal to form a UWB system echo signal and a radar echo signal, and the UWB system echo signal and the radar echo signal are respectively sent to the signal acquisition and processing module; and the signal acquisition and processing module is used for respectively processing the decoupled UWB system echo signal and the decoupled radar echo signal and obtaining position detection information of the UWB system and the radar system on the target object.

Description

Technical Field

[0001] The present invention relates to the field of new energy vehicles, and particularly to a radar and ultra-wideband UWB integrated system and a target detection method thereof. Background Art

[0002] In-vehicle distributed radar systems and ultra-wideband systems have similar structures, both having a large number of radio frequency transceiver front-end components distributed at different positions on the vehicle body, making the existing in-vehicle multi-category sensor systems redundant and complex, which is not conducive to achieving vehicle lightweighting. Moreover, the existing radar sensing system has problems with extremely close-field high-precision positioning that it cannot handle, and the ultra-wideband system has problems with long-distance sensing.

[0003] Therefore, researching and developing an integrated radar system and ultra-wideband system, which can effectively simplify the redundancy characteristics of the existing in-vehicle multi-category sensor systems, further achieve vehicle lightweighting, and at the same time achieve far and near field function coverage of the two systems, has become a technical problem that needs to be urgently solved by those skilled in the art. Summary of the Invention

[0004] To overcome the above technical defects, the purpose of the present invention is to provide a radar and ultra-wideband UWB integrated system. By integrating two independent in-vehicle electronic systems of a radar and an ultra-wideband UWB system and sharing a set of antenna modules for radio frequency signal transmission and reception, it helps to further achieve vehicle lightweighting; the waveform modulation and generation module realizes signal multiplexing by using a signal multiplexing model design. After decoupling, the results of the two detection systems are independently output, and the signal acquisition and processing module processes the two sets of echo signals output independently, improving the capabilities of the autonomous driving and driver assistance systems.

[0005] The present invention discloses a radar and ultra-wideband UWB integrated system, including: an antenna module, a waveform modulation and generation module, and a signal acquisition and processing module;

[0006] The antenna module is used for transmitting a multiplexed radio frequency signal, receiving the multiplexed echo signal after the multiplexed radio frequency signal is reflected by an obstacle, and feeding it back to the waveform modulation and generation module; the multiplexed radio frequency signal includes the radio frequency signal of the radar and the radio frequency signal of the UWB system; the multiplexed echo signal includes the UWB system echo signal and the radar echo signal;

[0007] The waveform modulation and generation module is used for generating the multiplexed radio frequency signal according to a pre-stored signal multiplexing model and controlling the antenna module to transmit the multiplexed radio frequency signal; and

[0008] After receiving the multiplexed echo signal, it is decoupled to form a UWB system echo signal and a radar echo signal, and they are respectively sent to the signal acquisition and processing module;

[0009] The signal acquisition and processing module is used to process the decoupled UWB system echo signal and the radar echo signal respectively, and obtain the position detection information of the target object by the UWB system and the radar system respectively.

[0010] Optionally, the signal multiplexing model is: a time-division multiplexing signal model;

[0011] The waveform modulation and generation module is used to generate a multiplexed radio frequency signal according to the signal multiplexing model, specifically including:

[0012] The waveform modulation and generation module is used to generate a multiplexed radio frequency signal according to the time-division multiplexing signal model of Equation (1):

[0013]

[0014] Wherein, R(t) represents the radio frequency signal of the radar, and UWB(t) represents the radio frequency signal of the UWB system; n represents the number of complete cycle periods of the system, K represents the period of the radar system; t represents the local time, and P represents the waveform generation (radio frequency) duration of the radar system.

[0015] Optionally, the waveform modulation and generation module is used to obtain the radio frequency signal of the radar according to Equation (2):

[0016]

[0017] Wherein, A R is the amplitude of the radar radio frequency signal, f R is the carrier frequency of the radar radio frequency signal, S R is the frequency modulation slope of the radar radio frequency signal; w k is the phase modulation component of the multi-transmit antenna;

[0018] The waveform modulation and generation module is used to obtain the radio frequency signal of the UWB system according to Equation (3):

[0019]

[0020] Wherein, A U is the amplitude of the radio frequency signal of the UWB system, f U is the carrier frequency of the radio frequency signal of the UWB system, s U is the frequency modulation slope of the radio frequency signal of the UWB system, w k is the phase modulation component of the multi-transmit antenna;

[0021] Calculate the phase modulation component w of the multi-transmit antenna according to Equation (4) k :

[0022]

[0023] Among them, N t is the number of transmitting antennas.

[0024] Optionally, the signal multiplexing model includes: a frequency division multiplexing signal model;

[0025] The waveform modulation and generation module is used to generate a multiplexed radio frequency signal according to a signal multiplexing model, specifically comprising: the waveform modulation and generation module is used to generate a multiplexed radio frequency signal according to a frequency division multiplexing signal model of formula (5):

[0026]

[0027] Wherein, t′(t) represents the RF signal of the radar, and UWB′(t) represents the RF signal of the UWB system.

[0028] Optionally, the waveform modulation and generation module is used to obtain the radar's radio frequency signal according to formula (6):

[0029]

[0030] The waveform modulation and generation module is used to obtain the radio frequency signal of the UWB system according to formula (7):

[0031]

[0032] Among them, A R‘ and A U‘ are the amplitudes of the radar's RF signal and the UWB system's RF signal, f R′ and f U′ The carrier frequencies of the radar's RF signal and the UWB system's RF signal, S R′ and S U′ They are the frequency modulation slopes of the radar's RF signal and the UWB system's RF signal respectively.

[0033] The present invention also provides a target detection method for an integrated system of vehicle-mounted radar and ultra-wideband (UWB).

[0034] A waveform modulation and generation module generates a multiplexed RF signal based on a pre-stored signal multiplexing model and controls the antenna module to transmit the multiplexed RF signal; the multiplexed RF signal includes the RF signal of the radar and the RF signal of the UWB system;

[0035] The antenna module transmits the multiplexed radio frequency signal and receives the multiplexed echo signal after the multiplexed radio frequency signal is reflected by an obstacle, and feeds it back to the waveform modulation and generation module; the multiplexed echo signal includes the UWB system echo signal and the radar echo signal;

[0036] The waveform modulation and generation module receives the multiplexed echo signal, decouples it, forms the UWB system echo signal and the radar echo signal, and sends them to the signal acquisition and processing module respectively;

[0037] The signal acquisition and processing module processes the decoupled UWB system echo signal and the radar echo signal respectively, and obtains the position detection information of the target object by the UWB system and the radar respectively.

[0038] Optionally, the signal multiplexing model is a time division multiplexing signal model; the waveform modulation and generation module generates a multiplexed radio frequency signal according to the signal multiplexing model, specifically including:

[0039] The waveform modulation and generation module generates a multiplexed radio frequency signal according to the time division multiplexing signal model of formula (1):

[0040]

[0041] Where R(t) represents the radar's RF signal, UWB(t) represents the UWB system's RF signal, n represents the number of complete system cycles, K represents the radar system's cycle, t represents local time, and P represents the radar system's waveform generation (RF) duration.

[0042] Optionally, the waveform modulation and generation module obtains the radar's radio frequency signal according to formula (2):

[0043]

[0044] Among them, A R is the amplitude of the radar RF signal, f R is the carrier frequency of the radar RF signal, s R is the frequency modulation slope of the radar RF signal; w k It is the phase modulation component of multiple transmitting antennas;

[0045] The waveform modulation and generation module is used to obtain the radio frequency signal of the UWB system according to formula (3):

[0046]

[0047] Among them, A U is the amplitude of the RF signal of the UWB system, f U is the carrier frequency of the RF signal of the UWB system, s U is the frequency modulation slope of the RF signal of the UWB system, w k It is the phase modulation component of multiple transmitting antennas;

[0048] The multi-transmit antenna phase modulation component w is calculated according to formula (4): k :

[0049]

[0050] Among them, N t is the number of transmitting antennas.

[0051] Optionally, the signal multiplexing model includes: a frequency division multiplexing signal model; the waveform modulation and generation module generates a multiplexed RF signal according to the signal multiplexing model, specifically including:

[0052] The waveform modulation and generation module generates a multiplexed RF signal according to the frequency division multiplexing signal model of Equation (5):

[0053]

[0054] Among them, R′(t) represents the RF signal of the radar, and UWB′(t) represents the RF signal of the UWB system.

[0055] Optionally, the RF signal of the radar is obtained according to Equation (6):

[0056] The waveform modulation and generation module is used to obtain the RF signal of the radar according to Equation (6):

[0057]

[0058] The waveform modulation and generation module is used to obtain the RF signal of the UWB system according to Equation (7):

[0059]

[0060] Among them, A R‘ and A U‘ are the amplitudes of the RF signal of the radar and the RF signal of the UWB system respectively, f R′ and f U′ are the carrier frequencies of the RF signal of the radar and the RF signal of the UWB system respectively, S R′ and S U′ are the frequency modulation slopes of the RF signal of the radar and the RF signal of the UWB system respectively.

[0061] After adopting the above technical solution, compared with the prior art, it has the following beneficial effects:

[0062] 1. The integrated system sharing the antenna module helps to effectively simplify the redundancy characteristics of the existing vehicle-mounted multi-category sensor system, improve the integration degree of the vehicle-mounted component system, and contribute to further realizing the lightweight of the whole vehicle.

[0063] 2. Integrate the integrated circuits and arithmetic processors of the above two systems at the system hardware level for functional integration design; at the same time, design a signal multiplexing model at the software level to achieve multiplexed waveform design, forming an integrated integration solution; complete the signal processing and data processing processes of the system at the software level to form a complete new product system.

[0064] 3. Integrate the integrated circuits and arithmetic processors of the two systems for functional integration design. Using the multiplexing model, obtain the detection results of long-distance targets of the radar system, such as obstacles in front of the vehicle, and the precise positioning detection results of short-distance targets of the UWB system, such as objects around when parking, which can help the vehicle-mounted system better understand and perceive the surrounding environment, especially improving the capabilities of the autonomous driving and driver assistance systems.

[0065] 4. Through signal model design, not only the distinction between the two systems is achieved, but also the decoupling of the echo signals of different systems can be realized only according to the relevant design parameters, achieving the integration of independent detection systems. It does not strongly rely on the application of the central arithmetic processor, but on the actual application parameter design of the system solution, and only an ECU processing unit is required. Description of the Drawings

[0066] Figure 1 Schematic diagram of the structure of a radar and ultra-wideband UWB integrated system according to an embodiment of the present invention;

[0067] Figure 2 Schematic diagram of a two-transmitter and two-receiver antenna combination according to an embodiment of the present invention;

[0068] Figure 3 Frequency-modulated continuous wave of a multiple-transmitter and multiple-receiver hardware ultra-wideband system according to an embodiment of the present invention,

[0069] Figure 4 Schematic diagram of time-division multiplexing period allocation according to an embodiment of the present invention;

[0070] Figure 5 Schematic diagram of the flow of a target detection method for a vehicle-mounted radar and ultra-wideband UWB integrated system according to an embodiment of the present invention;

[0071] Reference Signs:

[0072] 1 - Antenna module;

[0073] 2 - Central processor;

[0074] 21 - Waveform modulation and generation module;

[0075] 22 - Signal acquisition and processing module;

[0076] 3 - Signal interface module;

[0077] 4 - Power supply module. Detailed implementation mode

[0078] The advantages of the present invention will be further elaborated below in conjunction with the accompanying drawings and specific embodiments.

[0079] Here, the exemplary embodiments will be described in detail, and the examples are shown in the accompanying drawings. When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation manners described in the following exemplary embodiments do not represent all implementation manners consistent with the present disclosure. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0080] The terms used in the present disclosure are only for the purpose of describing specific embodiments and are not intended to limit the present disclosure. The singular forms "a", "the", and "said" used in the present disclosure and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0081] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by terms such as "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is 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 should not be construed as a limitation of the present invention.

[0082] In the description of the present invention, unless otherwise specified and defined, it should be noted that the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it can be a mechanical connection or an electrical connection, or it can be the communication inside two elements. It can be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms can be understood according to specific circumstances.

[0083] In the subsequent description, the use of suffixes such as "module", "component", or "unit" to represent elements is only for the convenience of describing the present invention, and it has no specific meaning in itself. Therefore, "module" and "component" can be used interchangeably.

[0084] According to the central frequency band value and bandwidth relied on by the millimeter-wave radar system and the UWB system, the millimeter-wave radar system currently on the market has a narrower bandwidth and a higher central frequency value compared to the UWB system, and is more suitable for detecting dynamic targets at a relatively long distance and providing more accurate angle azimuth determination. In contrast, the UWB system can accurately capture nearby surrounding targets due to its larger bandwidth range, but is limited by the generally single-transmit and single-receive RF components, resulting in inaccurate azimuth angle information of the targets. Therefore, in order to obtain the detection results of long-distance targets of the radar system, such as obstacles in front of a vehicle, and the UWB system accurately locates the detection results of short-distance targets, such as objects around when parking, to help the vehicle-mounted system better understand and perceive the surrounding environment, especially to enhance the capabilities of the autonomous driving and driver assistance systems, the present invention proposes a radar and ultra-wideband UWB integrated system, which conducts a multiplexing design on the antenna modules of the distributed radar and the ultra-wideband system at the system hardware level; conducts a functional integration design on the integrated circuits and operation processors of the above two systems at the system hardware level; at the same time, designs a signal multiplexing model at the software level to achieve multiplexing waveform design, forming an integrated integration solution; and conducts a complete signal processing and data processing process on the system at the software level, forming a complete new product system.

[0085] Refer to Figure 1 , Figure 1 shows a radar and ultra-wideband UWB integrated system according to an embodiment of the present invention. The radar and ultra-wideband UWB integrated system includes: an antenna module 1, a waveform modulation and generation module 21, and a signal acquisition and processing module 22.

[0086] The antenna module 1 is used for transmitting a multiplexed RF signal, receiving the multiplexed echo signal after the multiplexed RF signal is reflected by an obstacle, and feeding it back to the waveform modulation and generation module 21; the multiplexed RF signal includes the RF signal of the radar and the RF signal of the UWB system; the multiplexed echo signal includes the UWB system echo signal and the radar echo signal;

[0087] The waveform modulation and generation module 21 is used for generating the multiplexed RF signal according to a pre-stored signal multiplexing model and controlling the antenna module 1 to transmit the multiplexed RF signal; and

[0088] After receiving the multiplexed echo signal, it is used for decoupling to form a UWB system echo signal and a radar echo signal, and respectively sending them to the signal acquisition and processing module 22;

[0089] The signal acquisition and processing module 22 is used for respectively processing the decoupled UWB system echo signal and the radar echo signal, and obtaining the position detection information of the target object by the UWB system and the radar system respectively.

[0090] The radar and ultra-wideband UWB integrated system provided by the present invention innovatively integrates two independent vehicle-mounted electronic systems, namely the radar and the ultra-wideband UWB system, and shares a set of antenna modules 1 for RF signal transmission and reception. The waveform modulation and generation module 21 realizes signal multiplexing by using a signal multiplexing model. After decoupling, the results of the two detection systems are independently output. The signal acquisition and processing module 22 separately processes the two sets of echo signals output independently to obtain the detection results of long-distance targets of the radar system, such as obstacles in front of the vehicle, and the precise positioning detection results of short-distance targets of the UWB system, such as objects around when parking. The two themselves have overlapping sensing functions and both have high-precision positioning functions for targets within a specific range. Therefore, they can help the vehicle-mounted system better understand and perceive the surrounding environment, especially improving the capabilities of autonomous driving and driver assistance systems. The present invention enables the original two independent systems to still be competent for their original basic functional characteristics under the new multiplexing mechanism. Subsequently, the design scheme of the multiplexing model can be further optimized, and even better system performance can be obtained. The integrated system sharing the antenna module 1 helps to effectively simplify the redundancy characteristics of the existing vehicle-mounted multi-category sensor system, improve the integration degree of the vehicle-mounted component system, and contribute to further realizing the lightweight of the whole vehicle.

[0091] Continue to refer to Figure 1 , in a further embodiment of the present invention, the antenna module 1 includes several RF transceiver fronts such as RF transceiver front 1, RF transceiver front 2... RF transceiver front N. Compared with the large number of distributed RF transceiver front components in the current independent systems on the market, the present invention integrates and multiplexes the hardware of the transceiver antenna module 1, effectively realizing system lightweight. Further specifically, the number of transceiver antennas in each RF transceiver front is more than two. The more, the better the overall scheme performance, but the higher the cost will be. The integrated scheme of the present invention is also applicable to the case of equipped with one transmit and one receive antenna, but the one transmit and one receive RF transmit front can only measure distance and cannot position.

[0092] The signal acquisition and processing module 22 and the waveform modulation and generation module are integrated in the central processor 2. In this embodiment, the waveform modulation and generation module is a microwave integrated circuit MMIC (Monolithic Microwave Integrated Circuit). The signal acquisition and processing module 22 controls each RF transceiver front to perform RF signal transmission and reception through the system start control signal.

[0093] Waveform modulation generation module. For the integrated system of radar and UWB system, when choosing time division or frequency division, there is a hidden logic that when there is no shared frequency band, only time division multiplexing can be used for the integrated system; when there is a shared frequency band, time division multiplexing or frequency division multiplexing system can be selected for system design. Therefore, under known preconditions, such as when the regulations have not been officially promulgated, there is no need for special judgment, and the frequency division multiplexing system design can be directly used. However, if corresponding regulations are promulgated and recognized by the industry (usually requiring some time and the maturity of the industry development), technically, the two multiplexing systems can coexist, and a corresponding switching mechanism is required. However, even when the two coexist, the system will not need to judge the system usage conditions based on frequency band crossover. Instead, the usage switching will be more based on the actual scenario application requirements.

[0094] The actual scenario usage requirements of the system of the present invention include but are not limited to near-field and far-field detection requirements, high / low-precision detection requirements, detection response speed requirements, etc. Further, it can correspond to, for example, the environmental perception requirements in the high-speed driving scenario, which will be equivalent to those often required in parking in terms of real-time performance, accuracy, etc. However, the parking scenario will require more real-time responses for extremely near-field detection. Correspondingly, the time division multiplexing system generally has a lower implementation difficulty, relatively poor efficiency, and better single-index ultimate performance with the use of more frequency bands (such as the farthest ranging, range resolution, etc.), while the frequency division multiplexing system has high real-time performance and high efficiency, but the single-index ultimate performance will be limited (such as ranging resolution). After receiving the decoupled echo multiplexing signal, the signal acquisition and processing module 22 samples and preprocesses the echo signals of the radar and the ultra-wideband UWB system, and after signal processing, outputs the perception communication result, so as to realize the separate processing of the UWB system echo signal and the radar echo signal after decoupling, and finally obtain the position detection information of the target object by the UWB system and the radar system respectively.

[0095] Each radio frequency transceiver front end is connected to the central processor 2 through a time synchronization and signal transmission channel (such as a high-speed data transmission channel: Ethernet / SerDes). Generally, at least 100M Ethernet transmission mode is used. If multiple radio frequency front ends are distributed, at least 1G Ethernet transmission mode is preferably used.

[0096] The integrated system of radar and ultra-wideband UWB further includes a power supply module 4 and a signal interface module 3. The signal interface module is used for the input and output of the electronic system to the outside.

[0097] In an optional solution, when there is no shared frequency band, the time division multiplexing method is used to achieve the near-field and far-field function coverage of the two systems. The signal multiplexing model is selected as: time division multiplexing signal model.

[0098] Taking the implementation of relevant functions with two sets of reused radio frequency transceiver front-ends, a two-transmitter and two-receiver radio frequency transceiver front-end as an example, the design principle of the reuse model is described as follows:

[0099] Suppose there are two radio frequency transceiver front-ends, which are respectively deployed at the left front and right front outside the vehicle. The two radio frequency transceiver front-ends are respectively equipped with two-transmitter and two-receiver antenna combinations. The two-transmitter and two-receiver antennas are as Figure 2 shown, Tx represents the transmitting antenna, and the spacing is d Tx , Rx represents the receiving antenna, and the spacing is d Rx ; the spacing between the transmitting antenna Tx and the receiving antenna Rx is d TxRx .

[0100] In the case of non-shared frequency bands, currently, vehicle-mounted millimeter-wave radars use 76 - 81 GHz, and ultra-wideband systems use 3.6 - 10.1 GHz. Therefore, special waveform scheme modulation is required for the two functional systems of the reused hardware radio frequency devices.

[0101] Figure 3 FIG. 3 shows a frequency-modulated continuous wave of a multi-transmitter and multi-receiver hardware ultra-wideband system according to an embodiment of the present invention. It is a typical radar FMCW (Frequency Modulated Continuous Wave) modulation waveform example. Multiple oblique lines are continuous frequency signals that change with time, called chirps. The calculation formula for the modulation slope S is as follows:

[0102]

[0103] where B is the modulation waveform bandwidth, and Tc is the modulation duration of each chirp;

[0104] f0 is the starting frequency, f1 is the modulation cut-off frequency, and N represents the number of chirps in a typical frequency-modulated signal frame (generally, the number is an exponent of 2).

[0105] For millimeter-wave radar systems, f0 and f1 are in the range of 76 - 81 GHz, and the general bandwidth is taken as 1G. For ultra-wideband systems, f0 and f1 are in the range of 3.6 - 10.1 GHz. The main difference between the two is that the center frequencies and available bandwidths used by the two are different. When designing the time-division multiplexing scheme, combined with the working characteristics of the two systems, for example: the millimeter-wave radar commonly uses a system cycle of 100 ms (replaced by K in the following formula description), but within 100 ms, in fact, the transmission waveform modulation only occupies a duration of less than 20 ms (replaced by P in the following formula description), and the remaining time is occupied by the received signal and data processing unit. Therefore, the radio frequency transmitting device can fully reuse the idle time to perform waveform modulation for the ultra-wideband system. At the same time, at the signal and data processing level, thanks to the powerful central processing unit, there is no need to consider multiplexing, and it is default that there is sufficient computing reserve to process the echo signals from the millimeter-wave radar and the ultra-wideband system respectively.

[0106] Figure 4 Fig. shows a cycle allocation method for time-division multiplexing different systems according to an embodiment of the present invention. Refer to Figure 4 , which shows the allocation method of the system signal type changing with time. The millimeter-wave radar radio frequency signal is transmitted within P ms, and the radio frequency signal of the ultra-wideband system is transmitted within q ms. During the working cycle of the millimeter-wave radar, within the idle time of receiving and processing signals (such as several q ms other than P ms in each cycle in the figure), the transmitting device transmits the UWB signal for positioning processing; thus, within a complete cycle (the complete cycle refers to, for example, Figure 4 within k ms), according to the above allocation method, the millimeter-wave radar signal and the UWB signal are alternately transmitted and received in different time periods, avoiding interference between the two.

[0107] The model design and specific formula of the time-division multiplexing method are described as follows:

[0108] The waveform modulation and generation module 21 is used to generate a multiplexed radio frequency signal according to the signal multiplexing model, specifically including:

[0109] The waveform modulation and generation module 21 is used to generate a multiplexed radio frequency signal according to the time-division multiplexing signal model of formula (1):

[0110]

[0111] where R(t) represents the radio frequency signal of the radar, UWB(t) represents the radio frequency signal of the UWB system; n represents the number of complete cycle periods of the system, K represents the cycle of the radar system; t represents the local time, and P represents the waveform generation (radio frequency) duration of the radar system.

[0112] Optionally, the waveform modulation and generation module 21 is configured to obtain the RF signal of the radar according to Equation (2):

[0113]

[0114] where A R is the amplitude of the radar RF signal, f R is the carrier frequency of the radar RF signal, S R is the frequency modulation slope of the radar RF signal; w k is the phase modulation component of the multi-transmit antenna;

[0115] The waveform modulation and generation module 21 is configured to obtain the RF signal of the UWB system according to Equation (3):

[0116]

[0117] where A U is the amplitude of the RF signal of the UWB system, f U is the carrier frequency of the RF signal of the UWB system, S U is the frequency modulation slope of the RF signal of the UWB system, w k is the phase modulation component of the multi-transmit antenna;

[0118] Calculate the phase modulation component w of the multi-transmit antenna according to Equation (4) k :

[0119]

[0120] where N t is the number of transmit antennas.

[0121] In the implementation process of the orthogonal time division multiplexing method in the non-shared frequency band of this solution, the waveform modulation and generation module 21 can determine which system's RF transmission and reception cycle a specific moment belongs to according to the time division design parameters, such as the signal modulation parameters t, P, K, etc. in Equation (1), so as to decouple the multiplexed echo signal and obtain the echo signals of the radar system and the UWB system respectively. Or directly obtain the R(t) signal frequency band value of the radar's RF signal and the UWB(t) signal frequency band value of the UWB system from the multiplexed echo signal to distinguish the millimeter wave radar frequency band and the UWB system frequency band, and the decoupling can also be achieved.

[0122] In another optional solution, frequency division multiplexing is performed in the case of a shared large bandwidth frequency band to achieve the far and near field function coverage of the two systems. The signal multiplexing model includes: a frequency division multiplexing signal model.

[0123] The design principle of the orthogonal frequency division multiplexing method for the shared frequency band is briefly described as follows:

[0124] Assume that the shared frequency band is f a and f b , which is divided into several sub - frequency bands through the orthogonal frequency - division multiplexing method as follows:

[0125] f a , f m , …, f n , f b ;

[0126] For components with multiple radio - frequency transceiver antennas (especially transmitting antennas), the frequency - band usage allocation can be carried out according to the scheme requirements of the millimeter - wave radar and the UWB system. For example, x sub - frequency bands in the above - mentioned shared - frequency - band example are allocated to A radio - frequency components (i.e., transmitting antennas), and y sub - frequency bands in the above - mentioned shared - frequency - band example are allocated to B radio - frequency components to configure and implement the UWB - system function. The sum of the numbers of x segments and y segments is the total number of the previously divided sub - frequency bands. The total number of A and B radio - frequency components is the total number of radio - frequency hardware components described in this invention example.

[0127] The model design and specific formula of the frequency - division multiplexing method are described as follows:

[0128] The waveform modulation and generation module 21 is used to generate a multiplexed radio - frequency signal according to the signal multiplexing model, specifically including: The waveform modulation and generation module 21 is used to generate a multiplexed radio - frequency signal according to the frequency - division multiplexing signal model of Equation (5):

[0129]

[0130] where R′(t) represents the radio - frequency signal of the radar, and UWB′(t) represents the radio - frequency signal of the UWB system.

[0131] Optionally, the waveform modulation and generation module 21 is used to obtain the radio - frequency signal of the radar according to Equation (6):

[0132]

[0133] The waveform modulation and generation module 21 is used to obtain the radio - frequency signal of the UWB system according to Equation (7):

[0134]

[0135] where A R‘ and A U‘ are the amplitudes of the radio - frequency signal of the radar and the radio - frequency signal of the UWB system respectively, f R′ and f U′ are the carrier frequencies of the radio - frequency signal of the radar and the radio - frequency signal of the UWB system respectively, S R′ and S U′are the frequency modulation slopes of the RF signal of the radar and the RF signal of the UWB system, respectively.

[0136] In the implementation process of the orthogonal frequency division multiplexing method in the non-shared frequency band of this solution, the waveform modulation and generation module 21 is decoupled according to the frequency band allocation, so as to decouple the multiplexed echo signal to obtain the echo signals of the radar system and the UWB system respectively.

[0137] Through the above two solutions, the two systems can be integrated. When in the non-shared frequency band, the time division multiplexing method is adopted to realize the far and near field function coverage of the two systems by multiplexing the hardware. Or when in the shared large bandwidth frequency band, the frequency division multiplexing can be carried out to realize the far and near field function coverage of the two systems.

[0138] In the technical solution provided by the present invention, the multiplexing model design and decoupling function of the waveform modulation and generation module not only realize the distinction between the radar and the ultra-wideband UWB system, but also the signal acquisition and processing module can decouple the echo signals of different systems only according to the relevant design parameters, realizing the integration of the independent detection system; it does not strongly rely on the software processing function of the central operation processor, but can be distinguished according to the actual application parameters of the system solution. It only needs to have an ECU processing unit, which is a major breakthrough in the field of multi-sensor systems.

[0139] The present invention also provides a target detection method for an in-vehicle radar and ultra-wideband UWB integrated system. Figure 5 shows a schematic flow chart of a target detection method for an in-vehicle radar and ultra-wideband UWB integrated system according to an embodiment of the present invention. Refer to Figure 5 , the target detection method for the in-vehicle radar and ultra-wideband UWB integrated system includes:

[0140] S1: The waveform modulation and generation module generates a multiplexed RF signal according to the pre-stored signal multiplexing model, and controls the antenna module to transmit the multiplexed RF signal; the multiplexed RF signal includes the RF signal of the radar and the RF signal of the UWB system;

[0141] S2: The antenna module transmits the multiplexed RF signal, and receives the multiplexed echo signal after the multiplexed RF signal is reflected by the obstacle, and feeds it back to the waveform modulation and generation module; the multiplexed echo signal includes the UWB system echo signal and the radar echo signal;

[0142] S3: After receiving the multiplexed echo signal, the waveform modulation and generation module performs decoupling to form the UWB system echo signal and the radar echo signal, and sends them to the signal acquisition and processing module respectively;

[0143] S4: The signal acquisition and processing module processes the decoupled UWB system echo signal and the radar echo signal respectively, and obtains the position detection information of the target object by the UWB system and the radar respectively.

[0144] In an optional solution, the signal multiplexing model is: a time-division multiplexing signal model; the waveform modulation and generation module generates a multiplexed RF signal according to the signal multiplexing model, specifically including:

[0145] The waveform modulation and generation module generates a multiplexed RF signal according to the time-division multiplexing signal model of Equation (1):

[0146]

[0147] where R(t) represents the RF signal of the radar, UWB(t) represents the RF signal of the UWB system; n represents the number of complete cycle periods of the system, K represents the period of the radar system; t represents the local time, and P represents the waveform generation (RF) duration of the radar system.

[0148] Optionally, the waveform modulation and generation module obtains the RF signal of the radar according to Equation (2):

[0149]

[0150] where A R is the amplitude of the radar RF signal, f R is the carrier frequency of the radar RF signal, S R is the frequency modulation slope of the radar RF signal; w k is the phase modulation component of the multi-transmit antenna;

[0151] The waveform modulation and generation module is used to obtain the RF signal of the UWB system according to Equation (3):

[0152]

[0153] where A U is the amplitude of the RF signal of the UWB system, f U is the carrier frequency of the RF signal of the UWB system, S U is the frequency modulation slope of the RF signal of the UWB system, w k is the phase modulation component of the multi-transmit antenna;

[0154] Calculate the phase modulation component w of the multi-transmit antenna according to Equation (4) k :

[0155]

[0156] where N t is the number of transmit antennas.

[0157] In another alternative solution, the signal multiplexing model includes: a frequency-division multiplexing signal model; the waveform modulation and generation module generates a multiplexed radio frequency signal according to the signal multiplexing model, specifically including:

[0158] The waveform modulation and generation module generates a multiplexed radio frequency signal according to the frequency-division multiplexing signal model of Equation (5):

[0159]

[0160] where R′(t) represents the radio frequency signal of the radar, and UWB′(t) represents the radio frequency signal of the UWB system.

[0161] Optionally, the radio frequency signal of the radar is obtained according to Equation (6):

[0162] The waveform modulation and generation module is used to obtain the radio frequency signal of the radar according to Equation (6):

[0163]

[0164] The waveform modulation and generation module is used to obtain the radio frequency signal of the UWB system according to Equation (7):

[0165]

[0166] where A R‘ and A U‘ are the amplitudes of the radio frequency signal of the radar and the radio frequency signal of the UWB system respectively, f R′ and f U′ are the carrier frequencies of the radio frequency signal of the radar and the radio frequency signal of the UWB system respectively, and S R′ and S U′ are the frequency modulation slopes of the radio frequency signal of the radar and the radio frequency signal of the UWB system respectively.

[0167] In summary, the integration and multiplexing of the system hardware achieves lightweight, and at the same time, corresponding waveform designs are carried out according to whether the frequency bands of the two sets of sensor systems are cross-shared or not. At the software level, according to whether there is a cross-shared spectrum range or not, the orthogonal multiplexing waveform design of the shared frequency band and the time-division multiplexing waveform design of the non-crossed frequency band are carried out respectively to realize an integrated integration scheme. The combination of the UWB system and the radar system with overlapping sensing functions helps the vehicle-mounted system to better understand and perceive the surrounding environment. While realizing the basic functions of the two systems existing independently, the integrated system designed by the multiplexing signal model of the present invention also leaves room for further optimization of the positioning accuracy.

[0168] It should be noted that the embodiments of the present invention have better implementability and do not impose any form of limitation on the present invention. Any person skilled in the art may use the technical content disclosed above to change or modify it into equivalent effective embodiments. However, as long as it does not depart from the technical solution of the present invention, any modification, equivalent change or modification made to the above embodiments based on the technical essence of the present invention still falls within the scope of the technical solution of the present invention.

Claims

1. A radar and ultra-wideband UWB integrated system, characterized in that, Comprising: An antenna module, a waveform modulation and generation module, and a signal acquisition and processing module; Said antenna module; For transmitting a multiplexed RF signal, and receiving the multiplexed echo signal after the multiplexed RF signal is reflected by an obstacle, and feeding it back to the waveform modulation and generation module; the multiplexed RF signal includes the RF signal of the radar and the RF signal of the UWB system; the multiplexed echo signal includes the UWB system echo signal and the radar echo signal; Said waveform modulation and generation module, for generating the multiplexed RF signal according to a pre-stored signal multiplexing model, and controlling the antenna module to transmit the multiplexed RF signal; And For decoupling after receiving the multiplexed echo signal to form a UWB system echo signal and a radar echo signal, and respectively sending them to the signal acquisition and processing module; Said signal acquisition and processing module, for respectively processing the decoupled UWB system echo signal and radar echo signal, and obtaining the position detection information of the target object by the UWB system and the radar respectively.

2. The integrated system of radar and ultra-wideband UWB according to claim 1, characterized in that Said signal multiplexing model is: a time-division multiplexing signal model; Said waveform modulation and generation module, for generating a multiplexed RF signal according to the signal multiplexing model, specifically including: Said waveform modulation and generation module, for generating a multiplexed RF signal according to the time-division multiplexing signal model of formula (1): Wherein, R(t) represents the RF signal of the radar, UWB(t) represents the RF signal of the UWB system; n represents the number of complete cycle periods of the system, K represents the period of the radar system; t represents the local time, and P represents the waveform generation (RF) duration of the radar system.

3. The integrated system of radar and ultra-wideband UWB according to claim 2, characterized in that Said waveform modulation and generation module is used to obtain the RF signal of the radar according to formula (2): Among them, A R is the amplitude of the radar RF signal, f R is the carrier frequency of the radar RF signal, s R is the frequency modulation slope of the radar RF signal; w k is the phase modulation component of the multiple transmit antennas; Said waveform modulation and generation module is used to obtain the RF signal of the UWB system according to formula (3): Among them, A U is the amplitude of the RF signal of the UWB system, f U is the carrier frequency of the RF signal of the UWB system, S U is the frequency modulation slope of the RF signal of the UWB system, w k is the phase modulation component of the multi-transmit antenna; Calculate the multi-transmit antenna phase modulation component w according to Equation (4) k :[[-END]] Among them, N t is the number of transmitting antennas.

4. The radar and ultra-wideband UWB integrated system according to any one of claims 1-3, characterized in that The signal multiplexing model includes: a frequency-division multiplexing signal model; Said waveform modulation and generation module, for generating a multiplexed RF signal according to the signal multiplexing model, specifically including: said waveform modulation and generation module, for generating a multiplexed RF signal according to the frequency-division multiplexing signal model of formula (5): Wherein, R′(t) represents the RF signal of the radar, UWB′(t) represents the RF signal of the UWB system.

5. The integrated system of radar and ultra-wideband UWB according to claim 4, characterized in that Said waveform modulation and generation module is used to obtain the RF signal of the radar according to formula (6): Said waveform modulation and generation module is used to obtain the RF signal of the UWB system according to formula (7): Wherein, A R‘ and A U‘ are respectively the amplitudes of the radio frequency signals of the radar and the radio frequency signals of the UWB system, f R′ and f U′ are respectively the carrier frequencies of the radio frequency signals of the radar and the radio frequency signals of the UWB system, S R′ and S U′ are respectively the frequency modulation slopes of the radio frequency signals of the radar and the radio frequency signals of the UWB system.

6. A target detection method for an integrated system of vehicle-mounted radar and ultra-wideband UWB, characterized in that The waveform modulation and generation module generates a multiplexed RF signal according to a pre-stored signal multiplexing model, and controls the antenna module to transmit the multiplexed RF signal; the multiplexed RF signal includes the RF signal of the radar and the RF signal of the UWB system; The antenna module transmits the multiplexed RF signal, receives the multiplexed echo signal after the multiplexed RF signal is reflected by an obstacle, and feeds it back to the waveform modulation and generation module; the multiplexed echo signal includes the UWB system echo signal and the radar echo signal; After receiving the multiplexed echo signal, the waveform modulation and generation module performs decoupling to form the UWB system echo signal and the radar echo signal, and sends them to the signal acquisition and processing module respectively; The signal acquisition and processing module processes the decoupled UWB system echo signal and radar echo signal respectively, and obtains the position detection information of the target object by the UWB system and the radar respectively.

7. The target detection method of the vehicle-mounted radar and ultra-wideband UWB integrated system according to claim 6, It is characterized in that The signal multiplexing model is: time-division multiplexing signal model; the waveform modulation and generation module generates the multiplexed RF signal according to the signal multiplexing model, specifically including: The waveform modulation and generation module generates the multiplexed RF signal according to the time-division multiplexing signal model of Equation (1): Wherein, R(t) represents the RF signal of the radar, UWB(t) represents the RF signal of the UWB system; n represents the number of complete cycle periods of the system, K represents the period of the radar system; t represents the local time, and P represents the waveform generation (RF) duration of the radar system.

8. The target detection method of the vehicle-mounted radar and ultra-wideband UWB integrated system according to claim 7, characterized in that, The waveform modulation and generation module obtains the RF signal of the radar according to Equation (2): Among them, A R is the amplitude of the radar RF signal, f R is the carrier frequency of the radar RF signal, S R is the frequency modulation slope of the radar RF signal; w k is the phase modulation component of the multi-transmit antenna; The waveform modulation and generation module is used to obtain the RF signal of the UWB system according to Equation (3): Among them, A U is the amplitude of the RF signal of the UWB system, f U is the carrier frequency of the RF signal of the UWB system, S U is the frequency modulation slope of the RF signal of the UWB system, w k is the phase modulation component of the multi-transmit antenna; Calculate the multi-transmit antenna phase modulation component w according to Equation (4) k :[[-END]] Among them, N t is the number of transmitting antennas.

9. The target detection method of the vehicle-mounted radar and ultra-wideband UWB integrated system according to any one of claims 6-8, It is characterized in that The signal multiplexing model includes: frequency-division multiplexing signal model; the waveform modulation and generation module generates the multiplexed RF signal according to the signal multiplexing model, specifically including: The waveform modulation and generation module generates the multiplexed RF signal according to the frequency-division multiplexing signal model of Equation (5): Wherein, R′(t) represents the RF signal of the radar, and UWB′(t) represents the RF signal of the UWB system.

10. The target detection method of the vehicle-mounted radar and ultra-wideband UWB integrated system according to claim 9, characterized in that, The RF signal of the radar is obtained according to Equation (6): The waveform modulation and generation module is used to obtain the RF signal of the radar according to Equation (6): The waveform modulation and generation module is used to obtain the RF signal of the UWB system according to Equation (7): Among them, A R‘ and A U‘ are the amplitudes of the radio frequency signals of the radar and the radio frequency signals of the UWB system respectively, f R′ and f U′ are the carrier frequencies of the radio frequency signals of the radar and the radio frequency signals of the UWB system respectively, s R′ and S U′ are the frequency modulation slopes of the radio frequency signals of the radar and the radio frequency signals of the UWB system respectively.

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