CN107561537B - Radar system, vehicle, unmanned aerial vehicle and detection method - Google Patents
Radar system, vehicle, unmanned aerial vehicle and detection method Download PDFInfo
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- CN107561537B CN107561537B CN201610506999.6A CN201610506999A CN107561537B CN 107561537 B CN107561537 B CN 107561537B CN 201610506999 A CN201610506999 A CN 201610506999A CN 107561537 B CN107561537 B CN 107561537B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
- G01S13/90—Radar or analogous systems specially adapted for specific applications for mapping or imaging using synthetic aperture techniques, e.g. synthetic aperture radar [SAR] techniques
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/91—Radar or analogous systems specially adapted for specific applications for traffic control
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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Abstract
本申请公开了雷达系统、交通工具、无人机以及探测方法，该雷达系统包括：防撞雷达天线系统、合成孔径雷达天线系统、射频前端，耦合至防撞雷达天线系统和合成孔径雷达天线系统，用于生成用于防撞雷达天线系统和合成孔径雷达天线系统发射的信号，以及将通过防撞雷达天线系统和合成孔径雷达天线系统接收到的反射信号形成回波数据；处理器，用于通过来自防撞雷达天线系统的回波数据进行目标的探测；和/或，用于通过来自合成孔径雷达天线系统的回波数据生成的图像。解决了现有技术中的交通工具使用防撞雷达无法给用户提供更多帮助的问题，提高了雷达目标探测和识别的效果。
The present application discloses a radar system, a vehicle, an unmanned aerial vehicle and a detection method. The radar system includes: an anti-collision radar antenna system, a synthetic aperture radar antenna system, a radio frequency front end coupled to the anti-collision radar antenna system and the synthetic aperture radar antenna system, used to generate signals for transmission by the anti-collision radar antenna system and the synthetic aperture radar antenna system, and to form echo data from the reflected signals received by the anti-collision radar antenna system and the synthetic aperture radar antenna system; a processor, used to detect targets through the echo data from the anti-collision radar antenna system; and/or, used to generate images through the echo data from the synthetic aperture radar antenna system. The problem that the anti-collision radar used by vehicles in the prior art cannot provide more help to users is solved, and the effect of radar target detection and identification is improved.
Description
技术领域Technical Field
本申请涉及雷达领域，具体而言，涉及雷达系统、交通工具、无人机以及探测方法。The present application relates to the field of radar, and more specifically, to radar systems, vehicles, drones, and detection methods.
背景技术Background technique
目前，在交通工具上一般安装有防撞雷达，一般的车载雷达提供汽车前向碰撞报警系统(Forward Collision Warning Systems，简称为FCWS)、前向主动避撞系统(ForwardCollision Avoidance Systems，简称为FCAS)、自适应巡航控制系统(Adaptive CruiseControl，简称为ACC)等功能。At present, anti-collision radars are generally installed on vehicles. General vehicle-mounted radars provide functions such as forward collision warning systems (FCWS), forward active collision avoidance systems (FCAS), and adaptive cruise control systems (ACC).
其中，碰撞报警系统就是在司机驾驶时无法观察到车后面的东西，车载雷达可以起到提醒司机后面存在物体以及物体和汽车之间的距离。前向主动避撞系统是一种主动的强制汽车安全系统。自适应巡航控制系统是利用雷达系统主动控制汽车的行驶速度，从而可以实现驾驶的汽车以设定的速度行驶。Among them, the collision warning system is that when the driver cannot see what is behind the car while driving, the on-board radar can remind the driver that there is an object behind and the distance between the object and the car. The forward active collision avoidance system is an active mandatory car safety system. The adaptive cruise control system uses the radar system to actively control the speed of the car, so that the car can be driven at the set speed.
在现有技术中，防撞雷达由于口径和成本的限制，目标的方位分辨率有限，防撞雷达在交通工具、无人机的使用无法给用户(如交通工具的驾驶者和无人机的操控者等)更多的帮助。In the prior art, due to the limitations of caliber and cost, the azimuth resolution of the target is limited. The use of anti-collision radar in vehicles and drones cannot provide more help to users (such as vehicle drivers and drone operators, etc.).
针对现有技术中的交通工具使用防撞雷达无法给用户提供更多帮助的问题，尚未提出解决方案。There is no solution yet for the problem that collision avoidance radar used in vehicles in the prior art cannot provide more help to users.
发明内容Summary of the invention
本申请提供了一种雷达系统、交通工具、无人机以及探测方法，以至少解决现有技术中的交通工具使用防撞雷达无法给驾驶者提供更多帮助的问题。The present application provides a radar system, a vehicle, a drone and a detection method to at least solve the problem in the prior art that vehicles using anti-collision radars cannot provide more help to drivers.
根据本申请的一个方面，提供了一种雷达系统，包括：防撞雷达天线系统，包括：至少一个发射天线，用于发射射频前端生成的信号；至少一个接收天线，用于接收被交通工具周围的目标对发射天线发射的信号反射形成的反射信号；合成孔径雷达天线系统，包括：至少一个发射天线，用于发射上述射频前端生成的信号；至少一个接收天线，用于接收被交通工具周围的目标对发射天线发射的信号反射形成的反射信号；上述射频前端，耦合至上述防撞雷达天线系统和上述合成孔径雷达天线系统，用于生成用于上述防撞雷达天线系统和上述合成孔径雷达天线系统发射的信号，以及将通过上述防撞雷达天线系统和上述合成孔径雷达天线系统接收到的反射信号形成回波数据；上述处理器，用于通过来自上述防撞雷达天线系统的回波数据进行上述目标的探测；和/或，用于通过来自上述合成孔径雷达天线系统的回波数据生成的图像。According to one aspect of the present application, a radar system is provided, comprising: an anti-collision radar antenna system, comprising: at least one transmitting antenna for transmitting a signal generated by a radio frequency front end; at least one receiving antenna for receiving a reflected signal formed by reflection of a signal transmitted by the transmitting antenna by targets around a vehicle; a synthetic aperture radar antenna system, comprising: at least one transmitting antenna for transmitting a signal generated by the radio frequency front end; at least one receiving antenna for receiving a reflected signal formed by reflection of a signal transmitted by the transmitting antenna by targets around the vehicle; the radio frequency front end is coupled to the anti-collision radar antenna system and the synthetic aperture radar antenna system, and is used to generate a signal for transmission by the anti-collision radar antenna system and the synthetic aperture radar antenna system, and to form echo data from the reflected signal received by the anti-collision radar antenna system and the synthetic aperture radar antenna system; the processor is used to detect the target through the echo data from the anti-collision radar antenna system; and/or, to generate an image through the echo data from the synthetic aperture radar antenna system.
进一步地，上述的雷达系统还包括：报警模块，用于根据上述防撞雷达天线系统的回波数据得到的探测结果，和/或根据上述合成孔径雷达天线系统的回波数据生成的图像进行判断，并在需要进行报警的情况，进行报警。Furthermore, the above-mentioned radar system also includes: an alarm module, which is used to make judgments based on the detection results obtained based on the echo data of the above-mentioned anti-collision radar antenna system, and/or the images generated based on the echo data of the above-mentioned synthetic aperture radar antenna system, and to issue an alarm when an alarm is required.
进一步地，上述处理器，用于判断来自上述合成孔径雷达天线系统的回波数据是否满足生成图像的条件，在满足的情况下，生成上述图像。Furthermore, the processor is used to determine whether the echo data from the synthetic aperture radar antenna system meets the conditions for generating an image, and if so, to generate the image.
进一步地，上述处理器，用于控制上述防撞雷达天线系统和上述合成孔径雷达天线系统在时域上同时或交替工作。Furthermore, the processor is used to control the anti-collision radar antenna system and the synthetic aperture radar antenna system to work simultaneously or alternately in the time domain.
进一步地，上述处理器，用于控制上述防撞雷达天线系统和上述合成孔径雷达天线系统在经过多个脉冲重复周期之后，对上述回波信号进行检测和/或根据上述回波信号进行成像。Furthermore, the processor is used to control the anti-collision radar antenna system and the synthetic aperture radar antenna system to detect the echo signal and/or perform imaging based on the echo signal after a plurality of pulse repetition cycles.
进一步地，上述射频前端用于生成毫米波作为发射的上述信号。Furthermore, the RF front end is used to generate millimeter waves as the signal for transmission.
进一步地，上述防撞雷达天线系统和上述合成孔径雷达天线系统为同一个天线系统。Furthermore, the anti-collision radar antenna system and the synthetic aperture radar antenna system are the same antenna system.
根据本申请的另一个方面，还提供了一种交通工具，包括：权利要求1至5中任一项上述雷达系统。According to another aspect of the present application, there is also provided a vehicle, comprising: the radar system according to any one of claims 1 to 5.
进一步地，上述雷达系统设置于上述交通工具位移方向的左侧、右侧、左前侧、右前侧、左后侧或者右后侧。Furthermore, the radar system is arranged on the left side, right side, left front side, right front side, left rear side or right rear side of the displacement direction of the vehicle.
进一步地，上述雷达系统，设置在距离上述车辆的后轮和/或上述车辆的前轮预定距离的上述车辆的侧面。Furthermore, the radar system is arranged on the side of the vehicle at a predetermined distance from the rear wheels of the vehicle and/or the front wheels of the vehicle.
进一步地，上述雷达系统，设置在距离上述车辆的前灯和/或上述车辆的后灯预定距离的上述车辆的侧面。Furthermore, the radar system is arranged on the side of the vehicle at a predetermined distance from the headlights of the vehicle and/or the taillights of the vehicle.
进一步地，上述交通工具为车辆或者飞行器。Furthermore, the above-mentioned means of transportation is a vehicle or an aircraft.
根据本申请的另一个方面，还提供了一种无人机，包括：任一项上述雷达系统。According to another aspect of the present application, there is also provided an unmanned aerial vehicle, comprising: any one of the above-mentioned radar systems.
根据本申请的另一个方面，还提供了一种探测方法，包括：分别接收防撞雷达天线系统和合成孔径雷达天线系统的被交通工具周围的目标对发射天线发射的信号反射形成的反射信号；将通过上述防撞雷达天线系统和上述合成孔径雷达天线系统接收到的反射信号形成回波数据；通过来自上述防撞雷达天线系统的回波数据进行上述目标的探测；和/或，通过来自上述合成孔径雷达天线系统的回波数据生成的图像。According to another aspect of the present application, a detection method is also provided, comprising: respectively receiving reflection signals formed by reflections of signals transmitted by transmitting antennas of an anti-collision radar antenna system and a synthetic aperture radar antenna system by targets around a vehicle; forming echo data from the reflection signals received by the above-mentioned anti-collision radar antenna system and the above-mentioned synthetic aperture radar antenna system; detecting the above-mentioned targets through the echo data from the above-mentioned anti-collision radar antenna system; and/or generating an image through the echo data from the above-mentioned synthetic aperture radar antenna system.
进一步地，上述的方法还包括：根据上述防撞雷达天线系统的回波数据得到的探测结果，和/或根据上述合成孔径雷达天线系统的回波数据生成的图像进行判断，并在需要进行报警的情况，进行报警。Furthermore, the above method also includes: making judgments based on detection results obtained based on the echo data of the above anti-collision radar antenna system, and/or based on images generated based on the echo data of the above synthetic aperture radar antenna system, and issuing an alarm when an alarm is required.
进一步地，上述的方法还包括：判断来自上述合成孔径雷达天线系统的回波数据是否满足生成图像的条件，在满足的情况下，生成上述图像。Furthermore, the above method also includes: determining whether the echo data from the above synthetic aperture radar antenna system meets the conditions for generating an image, and if so, generating the above image.
进一步地，控制上述防撞雷达天线系统和上述合成孔径雷达天线系统在时域上同时或交替工作。Furthermore, the anti-collision radar antenna system and the synthetic aperture radar antenna system are controlled to work simultaneously or alternately in the time domain.
进一步地，控制上述防撞雷达天线系统和上述合成孔径雷达天线系统在经过多个脉冲重复周期之后，对上述回波信号进行检测和/或根据上述回波信号进行成像。Furthermore, the anti-collision radar antenna system and the synthetic aperture radar antenna system are controlled to detect the echo signal and/or perform imaging according to the echo signal after a plurality of pulse repetition periods.
通过本申请采用了雷达系统，包括：防撞雷达天线系统，包括：至少一个发射天线，用于发射射频前端生成的信号；至少一个接收天线，用于接收被交通工具周围的目标对发射天线发射的信号反射形成的反射信号；合成孔径雷达天线系统，包括：至少一个发射天线，用于发射所述射频前端生成的信号；至少一个接收天线，用于接收被交通工具周围的目标对发射天线发射的信号反射形成的反射信号；所述射频前端，耦合至所述防撞雷达天线系统和所述合成孔径雷达天线系统，用于生成用于所述防撞雷达天线系统和所述合成孔径雷达天线系统发射的信号，以及将通过所述防撞雷达天线系统和所述合成孔径雷达天线系统接收到的反射信号形成回波数据；所述处理器，用于通过来自所述防撞雷达天线系统的回波数据进行所述目标的探测；和/或，用于通过来自所述合成孔径雷达天线系统的回波数据生成的图像。解决了现有技术中的交通工具使用防撞雷达无法给驾驶者提供更多帮助的问题，提高了雷达目标探测和识别的效果。The present application adopts a radar system, including: an anti-collision radar antenna system, including: at least one transmitting antenna for transmitting a signal generated by a radio frequency front end; at least one receiving antenna for receiving a reflected signal formed by a target around a vehicle reflecting a signal transmitted by the transmitting antenna; a synthetic aperture radar antenna system, including: at least one transmitting antenna for transmitting a signal generated by the radio frequency front end; at least one receiving antenna for receiving a reflected signal formed by a target around a vehicle reflecting a signal transmitted by the transmitting antenna; the radio frequency front end is coupled to the anti-collision radar antenna system and the synthetic aperture radar antenna system, and is used to generate a signal for the anti-collision radar antenna system and the synthetic aperture radar antenna system to transmit, and to form echo data from the reflected signal received by the anti-collision radar antenna system and the synthetic aperture radar antenna system; the processor is used to detect the target through the echo data from the anti-collision radar antenna system; and/or, is used to generate an image through the echo data from the synthetic aperture radar antenna system. The problem that the anti-collision radar used by vehicles in the prior art cannot provide more help to the driver is solved, and the effect of radar target detection and recognition is improved.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
此处所说明的附图用来提供对本申请的进一步理解，构成本申请的一部分，本申请的示意性实施例及其说明用于解释本申请，并不构成对本申请的不当限定。并且，对于本领域普通技术人员而言，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。在附图中：The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. Moreover, for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings:
图1是根据本实施例的雷达系统的结构框图；FIG1 is a block diagram of a radar system according to the present embodiment;
图2是根据本实施例的探测方法的流程图；FIG2 is a flow chart of a detection method according to this embodiment;
图3是根据本实施例可选的雷达系统的示意图；FIG3 is a schematic diagram of an optional radar system according to this embodiment;
图4是根据本实施例的雷达系统的天线布局的示意图；FIG4 is a schematic diagram of an antenna layout of a radar system according to this embodiment;
图5是根据本实施例的雷达系统的工作流程示意图；FIG5 is a schematic diagram of a working process of a radar system according to this embodiment;
图6是根据本实施例的雷达系统的工作时序示意图；FIG6 is a schematic diagram of the working timing of the radar system according to this embodiment;
图7是根据本实施例的雷达系统应用到交通工具上的示意图。FIG. 7 is a schematic diagram of a radar system according to the present embodiment being applied to a vehicle.
具体实施方式Detailed ways
需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。下面将参考附图并结合实施例来详细说明本申请。It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.
需要说明的是，在附图的流程示意图示出的步骤可以在诸如一组计算机可执行指令的计算机系统中执行，并且，虽然在流程示意图中示出了逻辑顺序，但是在某些情况下，可以以不同于此处的顺序执行所示出或描述的步骤。It should be noted that the steps shown in the flowcharts in the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.
SAR成像雷达要求雷达对被测物体有横向的位移，对雷达与目标相对静止的情况无法进行SAR成像。SAR imaging radar requires that the radar has a lateral displacement with respect to the object being measured. SAR imaging cannot be performed when the radar and the target are relatively stationary.
在本实施例中提供了一种成像雷达，图1是根据本实施例的雷达系统的结构框图，如图1所示，该雷达系统包括：In this embodiment, an imaging radar is provided. FIG. 1 is a structural block diagram of a radar system according to this embodiment. As shown in FIG. 1 , the radar system includes:
防撞雷达天线系统10，包括：至少一个发射天线，用于发射射频前端生成的信号；至少一个接收天线，用于接收被交通工具周围的目标对发射天线发射的信号反射形成的反射信号；The anti-collision radar antenna system 10 includes: at least one transmitting antenna for transmitting a signal generated by a radio frequency front end; at least one receiving antenna for receiving a reflected signal formed by a target around a vehicle reflecting the signal transmitted by the transmitting antenna;
合成孔径SAR雷达天线系统20，包括：至少一个发射天线，用于发射射频前端生成的信号；至少一个接收天线，用于接收被交通工具周围的目标对发射天线发射的信号反射形成的反射信号；The synthetic aperture SAR radar antenna system 20 includes: at least one transmitting antenna for transmitting a signal generated by a radio frequency front end; at least one receiving antenna for receiving a reflected signal formed by a target around a vehicle reflecting the signal transmitted by the transmitting antenna;
射频前端30，耦合至防撞雷达天线系统和合成孔径雷达天线系统，用于生成用于防撞雷达天线系统和合成孔径雷达天线系统发射的信号，以及将通过防撞雷达天线系统和合成孔径雷达天线系统接收到的反射信号形成回波数据；A radio frequency front end 30, coupled to the anti-collision radar antenna system and the synthetic aperture radar antenna system, for generating signals for transmission by the anti-collision radar antenna system and the synthetic aperture radar antenna system, and for forming echo data from reflected signals received by the anti-collision radar antenna system and the synthetic aperture radar antenna system;
处理器40，用于通过来自防撞雷达天线系统的回波数据进行目标的探测；和/或，用于通过来自合成孔径雷达天线系统的回波数据生成的图像。The processor 40 is used for detecting targets using echo data from the anti-collision radar antenna system; and/or for generating images using echo data from the synthetic aperture radar antenna system.
通过上述系统，利用SAR成像雷达要求雷达对被测物体有横向的位移特性，加上交通工具的移动，从而可以进行成像。解决了现有技术中的交通工具使用防撞雷达无法给驾驶者提供更多帮助的问题，提高了雷达目标探测和识别的效果。Through the above system, the SAR imaging radar requires the radar to have a lateral displacement characteristic for the object being measured, and the movement of the vehicle can be used to perform imaging. This solves the problem that the anti-collision radar used by vehicles in the prior art cannot provide more help to the driver, and improves the effect of radar target detection and recognition.
在一个可选的实施方式中，该系统还可以包括：报警模块，用于根据防撞雷达天线系统的回波数据得到的探测结果，和/或根据合成孔径雷达天线系统的回波数据生成的图像进行判断，并在需要进行报警的情况，进行报警。In an optional embodiment, the system may also include: an alarm module, which is used to make judgments based on the detection results obtained based on the echo data of the anti-collision radar antenna system, and/or the images generated based on the echo data of the synthetic aperture radar antenna system, and to issue an alarm when an alarm is required.
在有些情况下，如果不满足成像条件，那么成像的效果会被削弱。在一个可选实施方式中，可以增加对成像条件的判断。即，处理器，用于判断来自合成孔径雷达天线系统的回波数据是否满足生成图像的条件，在满足的情况下，生成图像。In some cases, if the imaging conditions are not met, the imaging effect will be weakened. In an optional embodiment, the judgment of the imaging conditions can be added. That is, the processor is used to judge whether the echo data from the synthetic aperture radar antenna system meets the conditions for generating an image, and if so, generate an image.
防撞雷达天线系统和合成孔径雷达天线系统进行工作的方式有很多种，在本实施例中，处理器，可以用于控制防撞雷达天线系统和合成孔径雷达天线系统在时域上同时或交替工作。另外，为了便于处理也可以对检测和成像的时机进行限定，例如，处理器，用于控制防撞雷达天线系统和合成孔径雷达天线系统在经过多个脉冲重复周期之后，对回波信号进行检测和/或根据回波信号进行成像。There are many ways for the anti-collision radar antenna system and the synthetic aperture radar antenna system to work. In this embodiment, the processor can be used to control the anti-collision radar antenna system and the synthetic aperture radar antenna system to work simultaneously or alternately in the time domain. In addition, in order to facilitate processing, the timing of detection and imaging can also be limited. For example, the processor is used to control the anti-collision radar antenna system and the synthetic aperture radar antenna system to detect the echo signal and/or perform imaging based on the echo signal after multiple pulse repetition cycles.
天线系统发射的信号多种，例如，分米波、厘米波等，在本实施例中采用了毫米波作为发射的信号。另外，防撞雷达天线系统和合成孔径雷达天线系统为同一个天线系统。The antenna system transmits a variety of signals, such as decimeter waves, centimeter waves, etc. In this embodiment, millimeter waves are used as the transmitted signals. In addition, the anti-collision radar antenna system and the synthetic aperture radar antenna system are the same antenna system.
在本实施例中还提供了一种交通工具(例如，车辆或者飞行器)，包括：上述的雷达系统。雷达系统的位置可以根据需要来进行设置，例如，雷达系统可以设置于交通工具位移方向的左侧、右侧、左前侧、右前侧、左后侧或者右后侧。In this embodiment, a vehicle (e.g., a vehicle or an aircraft) is also provided, comprising: the above-mentioned radar system. The position of the radar system can be set as needed, for example, the radar system can be set on the left side, right side, left front side, right front side, left rear side or right rear side of the displacement direction of the vehicle.
又例如，雷达系统可以设置在距离车辆的后轮和/或车辆的前轮预定距离的车辆的侧面；或者，雷达系统可以设置在距离车辆的前灯和/或车辆的后灯预定距离的车辆的侧面。For another example, the radar system may be disposed on the side of the vehicle at a predetermined distance from the rear wheels of the vehicle and/or the front wheels of the vehicle; or, the radar system may be disposed on the side of the vehicle at a predetermined distance from the headlights of the vehicle and/or the taillights of the vehicle.
在本实施例中还提供了一种无人机，该无人机也可以包含上述的雷达系统，在此不再赘述。In this embodiment, a drone is also provided, which may also include the above-mentioned radar system, which will not be described in detail here.
在本实施例中还提供了一种探测方法，图2是根据本实施例的探测方法的流程图，如图2所示，该流程包括：In this embodiment, a detection method is also provided. FIG. 2 is a flow chart of the detection method according to this embodiment. As shown in FIG. 2 , the process includes:
步骤S202，分别接收防撞雷达天线系统和合成孔径雷达天线系统的被交通工具周围的目标对发射天线发射的信号反射形成的反射信号；Step S202, respectively receiving reflection signals formed by reflections of signals transmitted by transmitting antennas of the anti-collision radar antenna system and the synthetic aperture radar antenna system from targets around the vehicle;
步骤S204，将通过防撞雷达天线系统和合成孔径雷达天线系统接收到的反射信号形成回波数据；Step S204, forming echo data from the reflected signals received by the anti-collision radar antenna system and the synthetic aperture radar antenna system;
步骤S206，通过来自防撞雷达天线系统的回波数据进行目标的探测；和/或，通过来自合成孔径雷达天线系统的回波数据生成的图像。Step S206: detecting the target through the echo data from the anti-collision radar antenna system; and/or generating an image through the echo data from the synthetic aperture radar antenna system.
在上述步骤中，利用SAR成像雷达要求雷达对被测物体有横向的位移特性，加上交通工具的移动，从而可以进行成像。解决了现有技术中的交通工具使用防撞雷达无法给驾驶者提供更多帮助的问题，提高了雷达目标探测和识别的效果。In the above steps, the use of SAR imaging radar requires that the radar has a lateral displacement characteristic for the object being measured, and the movement of the vehicle can be used for imaging. This solves the problem that the anti-collision radar used by vehicles in the prior art cannot provide more help to the driver, and improves the effect of radar target detection and recognition.
作为一个可选的实施方式，该方法还可以包括：根据防撞雷达天线系统的回波数据得到的探测结果，和/或根据合成孔径雷达天线系统的回波数据生成的图像进行判断，并在需要进行报警的情况，进行报警。As an optional embodiment, the method may also include: making judgments based on detection results obtained based on echo data of the anti-collision radar antenna system, and/or generating images based on echo data of the synthetic aperture radar antenna system, and issuing an alarm when an alarm is required.
作为一个可选的实施方式，判断来自合成孔径雷达天线系统的回波数据是否满足生成图像的条件，在满足的情况下，生成图像。As an optional implementation, it is determined whether the echo data from the synthetic aperture radar antenna system meets the conditions for generating an image, and if so, an image is generated.
作为一个可选的实施方式，控制防撞雷达天线系统和合成孔径雷达天线系统在时域上同时或交替工作。As an optional implementation, the anti-collision radar antenna system and the synthetic aperture radar antenna system are controlled to work simultaneously or alternately in the time domain.
作为一个可选的实施方式，控制防撞雷达天线系统和合成孔径雷达天线系统在经过多个脉冲重复周期之后，对回波信号进行检测和/或根据回波信号进行成像。As an optional implementation, the anti-collision radar antenna system and the synthetic aperture radar antenna system are controlled to detect the echo signal and/or perform imaging according to the echo signal after a plurality of pulse repetition periods.
优选地，本申请还可以提供一个用于执行上述实施例的计算机程序以及保存上述计算机程序的载体，即本申请上述实施例可以通过一个合适的计算体系结构来进行符合自然规律的运行过程。另外，尽管在上述上下文中描述本申请，但上述用于实现执行步骤的计算机程序并不意味着是限制性的，所描述的动作和操作的各方面也可用硬件来实现。Preferably, the present application may also provide a computer program for executing the above-mentioned embodiment and a carrier for storing the above-mentioned computer program, that is, the above-mentioned embodiment of the present application may be operated in accordance with the laws of nature through a suitable computing architecture. In addition, although the present application is described in the above context, the above-mentioned computer program for implementing the execution steps is not meant to be restrictive, and various aspects of the described actions and operations may also be implemented by hardware.
下面将结合可选的实施例对其实现过程进行详细描述。The implementation process will be described in detail below in conjunction with optional embodiments.
在本实施例中提提供的雷达加强了对目标的探测并且还提供了高分辨率的识别，能够应用到交通工具上，特别是应用在汽车和飞行器上。在本实施例中在使用防撞雷达对目标进行探测的同时，还使用SAR成像雷达对目标进行SAR成像，从而实现目标探测和高分辨率识别。The radar provided in this embodiment enhances the detection of the target and also provides high-resolution recognition, and can be applied to vehicles, especially cars and aircraft. In this embodiment, while using the anti-collision radar to detect the target, the SAR imaging radar is also used to perform SAR imaging on the target, thereby achieving target detection and high-resolution recognition.
图3是根据本实施例可选的雷达系统的示意图，如图3所示，该雷达系统包括：防撞天线和SAR天线，这两部分天线中分别包括接收天线和发射天线，天线的数量可以是一个或多个。这些天线与射频前端连接，射频前端用于生成通过发射天线发射的信号，并且，还用于通过接收天线接收该信号被交通工具周围对象反射得到的发射信号，然后再送到信息处理器进行处理。通过雷达系统将防撞雷达与SAR成像雷达结合，高度集成在一起，共用射频前端和信号处理器，从而可以很好的进行对象的识别。FIG3 is a schematic diagram of an optional radar system according to the present embodiment. As shown in FIG3 , the radar system includes: an anti-collision antenna and a SAR antenna. The two antenna parts include a receiving antenna and a transmitting antenna respectively. The number of antennas can be one or more. These antennas are connected to a radio frequency front end, which is used to generate a signal transmitted by the transmitting antenna, and is also used to receive the transmission signal obtained by the signal being reflected by the objects around the vehicle through the receiving antenna, and then send it to the information processor for processing. The anti-collision radar and the SAR imaging radar are combined through the radar system, which are highly integrated together, and share the radio frequency front end and signal processor, so that the object can be well identified.
图4是根据本实施例的雷达系统的天线布局的示意图，如图4所示，该雷达天线可以分布在口面的不同区域，防撞天线由一到几个发射天线和一到多个接收天线组成，SAR天线由一到几个发射天线和一到多个接收天线组成。防撞天线和SAR天线波束覆盖的范围可以一样，也可以防撞天线大于SAR天线波束覆盖范围，也可以防撞天线小于SAR天线波束覆盖范围，也可以防撞天线和SAR天线波束覆盖的范围相交或不同。FIG4 is a schematic diagram of the antenna layout of the radar system according to the present embodiment. As shown in FIG4, the radar antenna can be distributed in different areas of the aperture, the anti-collision antenna is composed of one to several transmitting antennas and one to several receiving antennas, and the SAR antenna is composed of one to several transmitting antennas and one to several receiving antennas. The range covered by the anti-collision antenna and the SAR antenna beam can be the same, or the anti-collision antenna can be larger than the SAR antenna beam coverage range, or the anti-collision antenna can be smaller than the SAR antenna beam coverage range, or the anti-collision antenna and the SAR antenna beam coverage range can intersect or be different.
图5是根据本实施例的雷达系统的工作流程示意图，如图5所示，在该工作流程中，防撞雷达检测到雷达回波，对回波信号进行FFT(快速傅里叶变换)和谱估计，通过恒虚警检测和目标跟踪，完成目标的检测，并把目标信息传递到报警模块处理。如果满足成像条件，SAR成像雷达结合防撞雷达的目标检测信息，对成像雷达回波进行多普勒参数估计，并完成雷达成像，将雷达图像传递到报警模块，报警模块根据相应的报警策略进行报警。FIG5 is a schematic diagram of the work flow of the radar system according to the present embodiment. As shown in FIG5, in the work flow, the anti-collision radar detects the radar echo, performs FFT (Fast Fourier Transform) and spectrum estimation on the echo signal, completes the detection of the target through constant false alarm detection and target tracking, and transmits the target information to the alarm module for processing. If the imaging condition is met, the SAR imaging radar combines the target detection information of the anti-collision radar, performs Doppler parameter estimation on the imaging radar echo, completes radar imaging, and transmits the radar image to the alarm module, which issues an alarm according to the corresponding alarm strategy.
图6是根据本实施例的雷达系统的工作时序示意图，如图6所示，防撞检测和成像雷达交替工作。经过多个PRT(脉冲重复周期)后，对回波信号进行检测或成像。Fig. 6 is a schematic diagram of the working sequence of the radar system according to this embodiment, as shown in Fig. 6, the anti-collision detection and imaging radar work alternately. After a plurality of PRTs (pulse repetition periods), the echo signal is detected or imaged.
图7是根据本实施例的雷达系统应用到交通工具上的示意图，如图7所示，对于汽车和飞行器应用，防撞与SAR成像结合雷达安装在汽车或飞行器的左、右、左前、右前、左后、右后侧，波束中心指向角偏转运动前后方向约30度到约150度，在防撞雷达探测的同时，SAR成像雷达利用汽车或飞行器位移进行SAR成像。FIG7 is a schematic diagram of the application of the radar system according to the present embodiment to a vehicle. As shown in FIG7 , for automobile and aircraft applications, the collision avoidance and SAR imaging combined radar is installed on the left, right, left front, right front, left rear, and right rear sides of the automobile or aircraft, and the beam center pointing angle is deflected by about 30 degrees to about 150 degrees in the forward and backward directions. While the collision avoidance radar is detecting, the SAR imaging radar uses the displacement of the automobile or aircraft to perform SAR imaging.
本实施例提供的雷达系统，相比于防撞雷达，防撞与SAR成像结合雷达方位分辨率更高；相比于SAR成像雷达，防撞与SAR成像结合雷达更快的进行目标探测，并且能够探测雷达与目标相对静止的目标。The radar system provided in this embodiment has a higher azimuth resolution of the collision avoidance and SAR imaging combined radar compared to the collision avoidance radar; compared to the SAR imaging radar, the collision avoidance and SAR imaging combined radar performs target detection faster and can detect targets that are relatively stationary between the radar and the target.
上述优选的实施方式是可以结合使用的。另外，如本申请所使用的，术语“模块”或“单元”可以指在上述装置上执行的软件对象或例程。此处所描述的不同模块和单元可被实现为在上述装置上执行(例如，作为单独的线程)的对象或进程，同时，上述装置使用硬件或软件和硬件的组合的实现也是可能并被构想的。The above preferred embodiments can be used in combination. In addition, as used in this application, the term "module" or "unit" can refer to a software object or routine executed on the above-mentioned device. The different modules and units described herein can be implemented as objects or processes executed on the above-mentioned device (e.g., as separate threads), and it is also possible and contemplated that the above-mentioned device is implemented using hardware or a combination of software and hardware.
显然，本领域的技术人员应该明白，上述的本申请的各模块或各步骤可以用通用的计算装置来实现，它们可以集中在单个的计算装置上，或者分布在多个计算装置所组成的网络上，可选地，它们可以用计算装置可执行的程序代码来实现，从而，可以将它们存储在存储装置中由计算装置来执行，或者将它们分别制作成各个集成电路模块，或者将它们中的多个模块或步骤制作成单个集成电路模块来实现。这样，本申请不限制于任何特定的硬件和软件结合。Obviously, those skilled in the art should understand that the above modules or steps of the present application can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, and optionally, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. In this way, the present application is not limited to any specific combination of hardware and software.
以上所述仅为本申请的优选实施例而已，并不用于限制本申请，对于本领域的技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.
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| WO2018000666A1 (en) | 2018-01-04 |
| CN107561537A (en) | 2018-01-09 |
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