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    一种车载雷达发射信号控制方法、装置及相关车载雷达[ZH]

    专利编号： ZL202606290023

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    交易价格：面议

    专利类型：发明专利

    法律状态：授权

    技术领域：智能网联汽车

    发布日期：2026-06-29

    发布有效期： 2026-06-29 至 2042-09-20

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    申请号 CN202211147005.8 公开号 CN115494454A
    申请日 2022-09-20 公开日 2022-12-20
    申请人 上海九鹿领驾科技有限公司 专利授权日期 2026-01-30
    发明人 马跃华 专利权期限届满日 2042-09-20
    申请人地址 201800 上海市嘉定区工业区叶城路912号J 最新法律状态 授权
    技术领域 智能网联汽车 分类号 G01S7/02
    技术效果 可靠性 有效性 有效(授权、部分无效)
    专利代理机构 上海剑秋知识产权代理有限公司 31382 代理人 徐海兵
    专利技术详情
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    01

    专利摘要

    本发明提供了一种车载雷达发射信号控制方法、装置及相关车载雷达，涉及自动驾驶环境感知领域，该车载雷达发射信号控制方法，包括：预先根据车辆行驶方向和或车辆所在车道信息划分N种状态，并设置与N种状态一一对应的N组发射信号波形参数；根据车辆行驶方向、所处位置判断车辆所属的预设状态种类；选定雷达发射信号波形参数；生成雷达发射信号波形控制指令，控制雷达发射满足相应参数的信号。本发明不需要增加额外的干扰监测硬件设备，设备成本低，有效避免了车载雷达之间的互相干扰，为车载雷达的普及使用提供了一条合理可行、更易实现的途径。
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    02

    专利详情

    技术领域

    本发明属于自动驾驶环境感知领域，适用于载有车载雷达的车辆，尤其涉及一种车载雷达发射信号控制方法、装置及相关车载雷达。

    背景技术

    车载雷达是实现自动驾驶不可或缺的一类传感器，具备可以测速、全天时、全天候的优点。车载雷达同时也面临一些技术难题，其中规避干扰就是之一。随着载有车载雷达的车辆增多，道路上的电磁频谱环境也更加拥挤，雷达作为主动辐射传感器，彼此之间的互相干扰，会产生虚警、漏警、探测距离变短等问题，严重时甚至引起交通事故。降低车载雷达之间的互相干扰是实现其工程化和大量普及的重要前提。

    被动抗干扰是指在雷达接收机内部通过时、空、频等多域信号处理算法，抑制或消除干扰信号对有用信号的不良影响。公开日为2019年06月07日的中国专利CN109856600A公开了一种毫米波防撞雷达抗干扰的方法就属于被动抗干扰方法，该发明中将雷达接收信号进行解调，并将解调的结果进行二维FFT处理，根据二维FFT处理结果进行CFAR检测处理，从而实现对干扰信号的滤除，可以一定程度上降低干扰的影响。虽然被动抗干扰方法能取得到一定的效果，但目前诸如此类的抗干扰方法都存在一定的局限性。一方面，许多方法在抑制干扰信号的同时，会导致有用信号的丢失，使整体信号质量下降，这极大地影响了系统的检测性能，给自动驾驶带来严重的安全隐患；另一方面，这类方法都比较复杂，对系统的信号处理能力有较高的要求，增加了大量的信号处理负担和成本。

    主动抗干扰是指通过发射信号波形参数调整、天线方向图自适应调整等方法，积极主动规避干扰，避免干扰信号进入到接收机，从源头上降低车载雷达之间的互相干扰。公开日为2020年12月18日的中国专利CN112099013A公开了一种波形自适应调整的车载雷达抗干扰方法就属于主动抗干扰方法，该专利首先检测干扰信号频率和调频斜率，根据干扰信息自适应调整自身发射信号波形参数，尽可能地避免干扰或降低干扰对自身雷达系统的影响。公开日为2021年10月29日的中国专利CN113567937A公开了一种车载雷达防干扰方法、装置、设备及系统，该车载雷达防干扰方法首先获取至少两部车辆的位置信息和雷达频率；然后对车辆的雷达频率进行比较；如果多部雷达频率存在相同或数值差值小于设定阈值的情况下，将所述设定区域内的车辆的雷达频率调整为不同或数值差值大于所述设定阈值，避免雷达之间的互相干扰。公开日为2017年2月22日的中国专利CN106461771B公开了车载雷达装置，利用干扰判断单元来判断雷达信号之间有无干扰，然后根据干扰情况变更雷达信号的中心频率。上述几种发射信号调整方法依赖对环境信号的检测或雷达之间的通信，需要额外的信号测量流程和硬件设备，提高了产品的成本。另外对于复杂时变环境，会导致雷达发射信号波形参数调整频繁，降低了雷达的稳定性。

    一些毫米波雷达厂商也提出了多雷达之间互相干扰的解决方案。加特兰微电子发表的文章(https://www.elecfans.com/d/1311187.html)中提出了frequency hopping模式、chirpshifting模式、phase scrambling模式来动态调整各雷达的发射信号，从而降低雷达之间互相干扰的概率。这些方法基于频率、相位的随机变化，只能降低干扰的概率，并不能规避互相干扰带来的风险。西安电子科技大学发表的文章(https://zhuanlan.zhihu.com/p/487977364)介绍了TI毫米波雷达采取的避免干扰的方案，除了传统的跳频模式外，还提出一种基于时隙同步的发射信号控制方法来规避干扰，该方法将所有雷达同步到一个时钟，然后不同雷达分配不同的工作时隙，这样可以避免雷达之间的干扰。基于时隙划分的方法目前还存在一些实现上的难题，一方面各车辆雷达时钟的同步精度难以保证，另一方面时隙的切分降低了车载雷达的可用时间，对行驶安全带来了不确定因素。

    发明内容

    本发明的目的在于提供一种车载雷达发射信号控制方法、装置及相关车载雷达，以解决上述背景技术中提出的问题。

    为了解决上述技术问题，本发明提供如下技术方案：一种车载雷达发射信号控制方法，包括以下步骤：

    步骤1：预先根据车辆行驶方向和或车辆所在车道信息划分N种状态，并设置N组发射信号波形参数，N种状态不存在交集，N组发射信号波形之间互不干扰，N组发射信号波形与N种状态一一对应；

    步骤2：根据车辆行驶方向、所处位置判断车辆所属的预设状态种类；

    步骤3：根据步骤2判定的车辆状态种类和步骤1中预设的对应关系选定雷达发射信号波形参数；

    步骤4：根据步骤3中选定的雷达发射信号波形参数，生成雷达发射信号波形控制指令，控制雷达发射与步骤3中选定的雷达发射信号波形参数相对应的信号。

    进一步地，步骤1中，预先划分N种状态的依据是车辆行驶方向，具体方法为，将水平方向360°划分为N个互不重叠的角度范围，N个角度范围对应N种状态；

    预先划分N种状态的依据是车辆所在车道信息，具体方法为，车辆行驶道路的每一条车道对应一种状态；

    预先划分N种状态的依据是车辆行驶方向和车辆所在车道信息，具体方法为，先将水平方向360°划分为L个互不重叠的角度范围，每个方向再划分M种状态对应不同的车道，一共N种状态，N＝L*M。

    进一步地，步骤1中，设置的N组发射信号波形参数为频分正交波形信号的频率参数或码分正交波形信号的调制参数。

    进一步地，步骤2中，车辆行驶方向、所处位置信息通过车载导航设备、GPS接收机、MEMS微电机系统陀螺仪、摄像头传感器获得。

    进一步地，步骤4中，生成的雷达发射信号波形控制指令为雷达发射信号波形频率控制指令或雷达发射信号波形选择指令；

    频分正交波形信号通过控制频率互不重叠实现正交，对于频分正交波形信号雷达需要生成的是雷达发射信号波形频率控制指令；

    码分正交波形信号通过编码实现正交，预先通过编码产出并保存正交的波形，使用时根据需要调取，对于码分正交波形信号雷达需要生成的是雷达发射信号波形选择指令；

    雷达发射信号波形频率控制指令或雷达发射信号波形选择指令通过车载雷达FPGA芯片或DSP芯片实现。

    本发明中涉及的互不干扰的波形有两类，一类是频分正交，另一类是码分正交。正交即互不干扰。频分正交是通过控制频率互不重叠实现正交的，所以对于这种雷达需要生成的是频率控制指令，具体根据现有车载毫米波雷达芯片的不同可以分为两类，一类是通过调节VCO(压控振荡器)的输入电压实现的(输入不同电压就会产生不同的频率信号)，另一类是直接在参数配置中配置产生的。码分正交信号是通过编码实现正交的，本发明中是预先存好的，使用时根据需要调取，所以需要生成发射信号波形选择指令，即选择哪一个波形。

    这些指令的生成都是在车载雷达FPGA或DSP芯片中实现的，不同电压是FPGA输出电压值的数字，经过DAC后转换为电压信号。

    步骤3确定雷达需要发射频分正交信号或者选择某个码分正交信号波形发射，步骤4进行具体的实施和执行，通过相应的毫米波芯片的配置参数或VCO控制电压或发射信号波形选择指令，控制毫米波雷达芯片实现频分正交信号或某个码分正交信号波形的发射。

    进一步地，步骤4中，所述雷达发射信号波形频率控制指令为电压信息，电压信息控制雷达压控振荡器产生相应频率的信号。

    进一步地，步骤4中，所述雷达发射信号波形频率控制指令包括信号起始频率、调频率、终止频率。

    本发明提供一种车载雷达发射信号控制装置，包括预设信息存储模块、状态判断模块、发射信号波形参数生成模块和雷达发射信号控制模块；

    所述预设信息存储模块，用于存储预设的车辆N种状态及划分依据、设置的N组发射信号波形参数以及N组发射信号波形与N种状态的对应关系；N种状态不存在交集，N组发射信号波形之间互不干扰，N组发射信号波形与N种状态一一对应；

    所述状态判断模块，用于根据车辆行驶方向、所处位置判断车辆所属的预设状态种类；

    所述发射信号波形参数生成模块，用于根据所述状态判断模块判断的车辆所属的预设状态种类和所述预设信息存储模块中存储的对应关系，选定预设的雷达发射信号波形参数；

    所述雷达发射信号控制模块，用于根据所述发射信号波形参数生成模块选定的雷达发射信号波形参数，生成雷达发射信号波形控制指令，控制雷达发射与所述发射信号波形参数生成模块选定的雷达发射信号波形参数相对应的信号。

    预设信息存储模块、状态判断模块、发射信号波形参数生成模块和雷达发射信号控制模块是FPGA或DSP芯片中的功能模块。

    进一步地，所述预设信息存储模块中存储的N种状态的划分依据是车辆行驶方向，具体方法为，将水平方向360°划分为N个互不重叠的角度范围，N个角度范围对应N种状态；

    所述预设信息存储模块中存储的N种状态的划分依据是车辆所在车道信息，具体方法为，车辆行驶道路的每一条车道对应一种状态；

    所述预设信息存储模块中存储的N种状态的划分依据是车辆行驶方向和车辆所在车道信息，具体方法为，先将水平方向360°划分为L个互不重叠的角度范围，每个方向再划分M种状态对应不同的车道，一共N种状态，N＝L*M。

    进一步地，所述预设信息存储模块中存储的N组发射信号波形参数为频分正交波形信号的频率参数或码分正交波形信号的调制参数。

    进一步地，车载雷达发射信号控制装置，还包括通讯模块，所述通讯模块用于接收车辆行驶方向、所处位置信息，并将这些信息发送至所述状态判断模块。

    进一步地，所述雷达发射信号控制模块生成的雷达发射信号波形控制指令为雷达发射信号波形频率控制指令或雷达发射信号波形选择指令；

    频分正交波形信号通过控制频率互不重叠实现正交，对于频分正交波形信号雷达需要生成的是雷达发射信号波形频率控制指令；

    码分正交波形信号通过编码实现正交，预先通过编码产出并保存正交的波形，使用时根据需要调取，对于码分正交波形信号雷达需要生成的是雷达发射信号波形选择指令；

    雷达发射信号波形频率控制指令或雷达发射信号波形选择指令通过车载雷达FPGA芯片或DSP芯片实现。

    进一步地，所述雷达发射信号控制模块生成的所述雷达发射信号波形频率控制指令为电压信息，电压信息控制雷达压控振荡器产生相应频率的信号。

    进一步地，所述雷达发射信号控制模块生成的所述雷达发射信号波形频率控制指令包括信号起始频率、调频率、终止频率。

    本发明提供一种车载雷达，采用上述车载雷达发射信号控制方法。

    本发明提供一种车载雷达，设置上述车载雷达发射信号控制装置。

    本发明提供一种计算机可读存取介质，计算机可读存取介质上存储计算机程序，计算机程序被处理器执行时实现上述车载雷达发射信号控制方法。

    车载雷达通过射频前端产生信号并经发射天线发射出去，经目标反射回来后被接收天线接收，通过对接收信号的处理、分析可以得到目标的距离、角度、速度等信息。车载雷达是一种自带辐射源的传感器，随着车载雷达应用的推广，道路上车载雷达越来越多，彼此辐射信号互相影响，相互之间的干扰日益严重。最严重的有如下两种场景：

    1)相向而行。两辆车相向而行，我们这里分别称为干扰雷达和被干扰雷达。被干扰雷达的目标回波信号功率如下雷达方程所示，

    式(1)中，Pt为被干扰雷达发射功率，Gt为被干扰雷达发射天线增益，Gr为被干扰雷达接收天线增益，R为目标距离，σ为目标雷达后向散射截面积，λ为雷达信号波长。

    而干扰雷达进入被干扰雷达的信号功率如以下干扰方程所示，

    式(2)中，P′t为干扰雷达发射功率，G′t为干扰雷达发射天线增益，G′r为被干扰雷达相对干扰雷达方向的天线增益。考虑两部雷达发射功率相同、相向而行干扰雷达位于被干扰雷达主瓣时，Pt＝P′t，Pt＝P′t，Gr＝G′r。式(2)可以写为

    比较式(1)和式(3)，可以看出两部雷达相向而行时，干扰雷达进入被干扰雷达的功率与距离成二次方的关系，而被干扰雷达目标回波功率和距离成四次方关系。在大部分距离段内，干扰信号功率远大于目标回波信号功率，会对本雷达产生了严重的干扰。

    2)同向前后行驶。两辆车前后间距一定距离行驶，，我们这里分别称为干扰雷达和被干扰雷达。干扰雷达照射目标后的反射信号会进入被干扰雷达的接收天线。被干扰雷达收到干扰雷达照射产生的回波信号功率如下双基雷达方程所示，

    式(2)中，P′t为干扰雷达发射功率，G′t为干扰雷达发射天线增益，Gr为被干扰雷达相对目标方向的天线增益，σ′为目标双站散射截面积，对于车辆、行人等目标在双站角度不大的情况下可以认为σ′＝σ，R为目标距离被干扰雷达距离，R1为目标距离干扰雷达的距离。

    考虑两部雷达发射功率相同、目标双站散射截面积与后向散射截面积相同，比较式(1)和式(3)可以看出，当目标与干扰雷达的距离小于目标与被干扰雷达距离时，干扰雷达照射产生的回波信号比被干扰雷达目标回波功率大，相当于会形成一个虚假的大目标；当目标与干扰雷达的距离大于目标与被干扰雷达距离时，干扰雷达照射产生的回波信号比被干扰雷达目标回波功率小，相当于会形成一个虚假的小目标。并且由于两部雷达的双程延时也会导致雷达测得目标距离畸变，导致在错误的位置产生虚假点迹，对行驶产生影响。

    为更好的规避车载雷达之间的互相干扰，尤其是有效应对车辆相向而行和同向前后行驶两种场景下的干扰问题，本发明提出一种根据车辆行驶方向、车道信息控制雷达发射信号波形参数的方法。该方法将行驶方向、车道信息和雷达发射波形参数联系在一起，车辆行驶在不同方向角度范围、不同车道时采用相互的正交发射波形，正交波形满足如下条件：

    ∫s1(t)s2(t+τ)≈0 (5)

    式(5)中，s1(t)为第一个正交波形，s2(t)为第二个正交波形，τ为延时。

    这样两部雷达互相照射或照射产生的回波信号都不会产生干扰，有效规避了互相干扰。

    与现有技术相比，本发明所达到的有益效果是：

    (1)本发明提供一种车载雷达发射信号控制方法、装置及相关车载雷达，将发射信号波形控制和车辆状态相结合，根据车辆状态划分选择互不干扰的信号，尤其是容易干扰的相向行驶和同向前后行驶状态，划分了不同状态，不同状态下采用相互正交的信号，有效的降低了这些干扰严重场景下雷达相互之间的干扰。

    (2)本发明不需要增加额外的干扰监测硬件设备，有效避免了车载雷达工作过程互相干扰，设备成本低，为车载雷达的普及使用提供了一条合理可行、更易实现的途径。

    附图对本发明的构思、具体结构及产生的技术效果作进一步说明，以充分地了解本发明的目的、特征和效果。

    附图说明

    图1为本发明提供的一种车载雷达发射信号控制方法的步骤流程图；

    图2为实施例一中种车辆行驶示意图；

    图3为实施例一中车载雷达互相干扰分析图；

    图4为实施例二中种车辆行驶示意图；

    图5为实施例二中车载雷达互相干扰分析图；

    图6为实施例三中种车辆行驶示意图；

    图7为实施例三中车载雷达互相干扰分析图。

    具体实施方式

    下面结合具体实施方式，进一步阐述本发明。应理解，这些实施例仅用于说明本发明而不用于限制本发明的范围。此外应理解，在阅读了本发明讲授的内容之后，本领域技术人员可以对本发明作各种改动或修改，这些等价形式同样落于本申请所附权利要求书所限定的范围。

    在附图中，结构相同的部件以相同数字标号表示，各处结构或功能相似的组件以相似数字标号表示。附图所示的每一组件的尺寸和厚度是任意示出的，本发明并没有限定每个组件的尺寸和厚度。为了使图示更清晰，附图中有些地方适当夸大了部件的厚度。

    如图1所示为本发明提供的一种车载雷达发射信号控制方法的步骤流程图，本发明提供的实施例均按照图1所示的步骤流程进行。

    实施例一

    如图2～3所示，本实施例提供一种车载雷达，采用如下的车载雷达发射信号控制方法并设置包含预设信息存储模块、状态判断模块、发射信号波形参数生成模块、雷达发射信号控制模块和通讯模块的车载雷达发射信号控制装置，具体如下：

    步骤1：

    车载雷达发射信号控制装置中的预设信息存储模块采用FPGA自带的块RAM，预先存储根据车辆行驶方向划分的4种不同状态及划分依据，具体如下：将水平360°划分为4个角度范围，以正北方向为0°，行驶方向处于315°～45°之内(含315°，不含45°)为第1状态，行驶方向处于135°～225°之内(含135°，不含225°)为第2状态，行驶方向处于45°～135°之内(含45°，不含135°)为第3状态，行驶方向处于225°～315°(含45°，不含135°)为第4状态。

    车载雷达发射信号控制装置中的预设信息存储模块存储预先设置4个互不干扰的发射信号波形参数，具体如下：信号1的频率范围为起始频率77.0GHz，终止频率77.2GHz，调频率10MHz/us，信号类型线性调频信号；信号2的频率范围为起始频率77.3GHz，终止频率77.5GHz，调频率10MHz/us，信号类型线性调频信号；信号3的频率范围为其实频率77.6GHz，终止频率77.8GHz，调频率10MHz/us，信号类型线性调频信号，信号4的频率范围为起始频率77.9GHz，终止频率78.1GHz，调频率10MHz/us，信号类型线性调频信号。

    车载雷达发射信号控制装置中的预设信息存储模块存储预先设置的状态类型与波形的对应关系为：车辆第1状态对应信号1参数；车辆第2状态对应信号2参数；车辆第3状态对应信号3参数；车辆第4状态对应信号2参数。

    步骤2：

    车辆如附图2所示行驶时，车辆A的车载雷达发射信号控制装置中的通讯模块通过汽车总线接收车载导航、GPS的行驶方向为0°。

    车辆A的车载雷达发射信号控制装置中的状态判断模块，将接收到的车辆行驶方向与预设类型判决条件比对，确定车辆A处于第1状态。

    步骤3：

    车辆A的车载雷达发射信号控制装置中的发射信号波形参数生成模块，根据车辆状态和预设信息存储模块中预设的对应关系，选定预设的雷达发射信号波形参数为信号1参数，起始频率77.0GHz，终止频率77.2GHz，调频率10MHz/us，信号类型线性调频信号。

    步骤4：

    车辆A的车载雷达发射信号控制装置中的雷达发射信号控制模块，根据雷达波形信号1的参数，完成对车载雷达毫米波芯片AWR1243的Chirp RAM和Chirp Profiles的配置，配置的开始频率为77.0GHz，频率的斜率为10MHz/us，斜坡结束时间为20us，控制车载雷达辐射信号1。

    同理可知，车辆B的车载雷达发射信号控制装置控制车载雷达辐射信号2，车辆C的车载雷达发射信号控制装置控制车载雷达辐射信号3，车辆D的车载雷达发射信号控制装置控制车载雷达辐射信号4。

    附图3以车辆A雷达为例给出了车辆雷达之间互相干扰的情况。为简化分析，设定车辆A雷达的混频本振信号为77GHz的定频信号，车辆A雷达自己的回波信号经过混频接收后中频信号频率为0～200MHz，而其它三部雷达的信号在车辆A雷达中混频后频率分别为300～500MHz、600～800MHz、900～1100MHz。考虑雷达中频接收机带宽范围较窄，只有车辆A雷达的信号可以进入车辆A雷达的接收机，车辆B雷达、车辆C雷达、车辆D雷达的信号混频后都落在中频接收机带外，有效地避免互相干扰。

    需要说明的是，行驶方向区域的划分可以是任意的，并且各个方向区域划分不一定需要是平均的，可以根据实际道路情况划分。除了根据实际空间方向划分区域外，一种可选的划分方式是道路方向，例如从道路起点(A点)到终点(B点)的行驶方向定义为状态1，而从道路终点(B点)到起点(A点)的行驶方向定义为状态2。

    实施例二

    如图4～5所示，本实施例提供一种车载雷达，采用如下的车载雷达发射信号控制方法并设置包含预设信息存储模块、状态判断模块、发射信号波形参数生成模块、雷达发射信号控制模块和通讯模块的车载雷达发射信号控制装置，具体如下：

    步骤1：

    车载雷达发射信号控制装置中的预设信息存储模块采用FPGA自带的块RAM，存储预先根据车辆所在车道划分的3种不同状态及划分依据，具体如下：车辆位于最快速车道(最左侧车道)为第1状态，车辆位于从左向右数第二条车道为第2状态，车辆位于从左向右第三条车道为第3状态。

    车载雷达发射信号控制装置中的预设信息存储模块存储预先设置3个互不干扰的发射信号波形参数，具体如下：信号1是频率范围为24.0～24.08GHz、调频率10MHz/us的线性调频信号，信号2是频率范围为24.1～24.18GHz、调频率10MHz/us的线性调频信号，信号3是频率范围为24.2～24.28GHz、调频率10MHz/us的线性调频信号。

    车载雷达发射信号控制装置中的预设信息存储模块存储预先设置的状态类型与波形的对应关系为：车辆第1状态对应信号1参数；车辆第2状态对应信号2参数；车辆第3状态对应信号3参数。

    步骤2：

    车辆如附图4所示行驶时，车辆A的车载雷达发射信号控制装置中的通讯模块通过汽车总线接收车载导航、GPS的位置信息和摄像头判定的车道信息，得到车辆A位于最快速车道。

    车辆A的车载雷达发射信号控制装置中的状态判断模块，将接收到的车辆位置、车道信息与预设类型判决条件比对，确定车辆A处于第1状态。

    步骤3：

    车辆A的车载雷达发射信号控制装置中的发射信号波形参数生成模块，根据车辆状态和预设信息存储模块中预设的对应关系，选定预设的雷达发射信号波形参数为信号1参数，频率范围为24.0～24.08GHz、调频率为10MHz/us的线性调频信号。

    步骤4：

    车辆A的车载雷达发射信号控制装置中的雷达发射信号控制模块，根据雷达波形信号1的参数，由DAC生成毫米波雷达芯片BGT24MTR12的COARSE与FINE管脚的调谐电压输入，控制车载雷达辐射信号1。

    同理，车辆B的车载雷达发射信号控制装置控制车载雷达辐射信号2，车辆C的车载雷达发射信号控制装置控制车载雷达辐射信号3。

    附图5以车辆A雷达为例给出了三个不同车道行驶的车辆雷达互相干扰的情况。为简化分析，设定车辆A雷达的混频本振信号为24GHz的定频信号。可以看出车辆A雷达自己的回波信号经过混频接收后中频信号频率为0～80MHz，而其它两部雷达的信号在车辆A雷达中混频后频率分别为100～180MHz、200～280MHz。考虑雷达中频接收机带宽范围，只有车辆A雷达的信号可以进入车辆A雷达的接收机，车辆B雷达、车辆C雷达的信号混频后都落在中频接收机带外，有效地避免互相干扰。

    实施例三

    如图6～7所示，本实施例提供一种车载雷达，采用如下的车载雷达发射信号控制方法并设置包含预设信息存储模块、状态判断模块、发射信号波形参数生成模块、雷达发射信号控制模块和通讯模块的车载雷达发射信号控制装置，具体如下：

    步骤1：

    车载雷达发射信号控制装置中的预设信息存储模块采用FPGA自带的块RAM，存储预先根据车辆行驶方向和所在车道划分的8种不同状态及划分依据。其中四个不同的行驶方向划分依据为：将水平360°划分为4个角度范围，以正北方向为0°，行驶方向处于315°～45°之内(含315°，不含45°)为第1方向，行驶方向处于135°～225°之内(含135°，不含225°)为第2方向，行驶方向处于45°～135°之内(含45°，不含135°)为第3方向，行驶方向处于225°～315°(含45°，不含135°)为第4方向。车辆位于最快速车道(最左侧车道)为第a车道，车辆位于从左向右数第二条车道为第b车道。将车辆行驶方向和所在车道组成形成8种互不重叠的状态。具体如下：车辆行驶方向处于第1方向且位于第a车道为第1a状态，车辆行驶方向处于第1方向且位于第b车道为第1b状态，车辆行驶方向处于第2方向且位于第a车道为第2a状态，车辆行驶方向处于第2方向且位于第b车道为第2b状态，车辆行驶方向处于第3方向且位于第a车道为第3a状态，车辆行驶方向处于第3方向且位于第b车道为第3b状态，车辆行驶方向处于第4方向且位于第a车道为第4a状态，车辆行驶方向处于第4方向且位于第b车道为第4b状态。

    车载雷达发射信号控制装置中的预设信息存储模块存储预先设置8个互不干扰的发射信号波形参数，具体如下：信号1是频率范围为77.0～77.4GHz、调频率10MHz/us的线性调频信号，信号2是频率范围为77.5～77.9GHz、调频率10MHz/us的线性调频信号，信号3是频率范围为78.0～78.4GHz、调频率10MHz/us的线性调频信号，信号4是频率范围为78.5～78.9GHz、调频率10MHz/us的线性调频信号，信号5是频率范围为79.0～79.4GHz、调频率10MHz/us的线性调频信号，信号6是频率范围为79.5～79.9GHz、调频率10MHz/us的线性调频信号，信号7是频率范围为80.0～80.4GHz、调频率10MHz/us的线性调频信号，信号8是频率范围为80.5～80.9GHz、调频率10MHz/us的线性调频信号。

    车载雷达发射信号控制装置中的预设信息存储模块预先设置的状态类型与波形的对应关系为：车辆第1a状态对应信号1参数；车辆第1b状态对应信号2参数；车辆第2a状态对应信号3参数，车辆第2b状态对应信号4参数；车辆第3a状态对应信号5参数；车辆第3b状态对应信号6参数，车辆第4a状态对应信号7参数；车辆第4b状态对应信号8参数。

    步骤2：

    车辆如附图6所示行驶时，车辆A的车载雷达发射信号控制装置中的通讯模块通过汽车总线接收车载导航的行驶方向、GPS的位置信息和摄像头判定的方向和车道信息，得到车辆A的行驶方向为0°，且位于最快速车道。

    车辆A的车载雷达发射信号控制装置中的状态判断模块，将接收到的车辆行驶方向、位置、车道信息与预设类型判决条件比对，确定车辆A处于第1a状态。

    步骤3：

    车辆A的车载雷达发射信号控制装置中的发射信号波形参数生成模块，根据车辆状态和预设信息存储模块中预设的对应关系，选定预设的雷达发射信号波形参数为信号1参数，频率范围为77.0～77.4GHz、调频率为10MHz/us的线性调频信号。

    步骤4：

    车辆A的车载雷达发射信号控制装置中的雷达发射信号控制模块，根据雷达波形信号1的参数，完成对车载雷达毫米波芯片AWR1243的Chirp RAM和Chirp Profiles的配置，配置的开始频率为77.0GHz，频率的斜率为10MHz/us，斜坡结束时间为40us，控制车载雷达辐射信号1。

    同理，车辆B、车辆C、车辆D、车辆E、车辆F、车辆G、车辆H的车载雷达发射信号控制装置分别控制车载雷达辐射信号2、信号3、信号4、信号5、信号6、信号7、信号8。

    附图7以车辆A雷达为例给出了不同方向和车道行驶的车辆雷达互相干扰的情况。为简化分析，设定车辆A雷达的混频本振信号为77GHz的定频信号。可以看出只有车辆A雷达的信号可以进入雷达A的接收机，其它雷达的信号混频后都落在中频接收机带外，有效地避免互相干扰。

    实施例中雷达都是固定在汽车上的，以前向雷达为例，车辆行驶方向认为和雷达天线的法线方向是一致的。后面如果出现雷达天线法向转动的情况，只需将所述的行驶方向叠加天线转动角度，进一步判断所处状态即可，仍然认为属于本专利保护范围。

    本发明中互不干扰的信号可以是频分正交信号，也可以是码分正交信号。这些信号可以是预先存好使用时调用，也可以是通过实时调频或调相生成的。

    以上所述实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对本发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。

     一种车载雷达发射信号控制方法、装置及相关车载雷达

    Technical field

    The present invention belongs to the field of autonomous driving environment perception, suitable for vehicles carrying vehicle-mounted radar, in particular relates to a vehicle-mounted radar emission signal control method, apparatus and related vehicle-mounted radar.

    Background technology

    Automotive radar is an indispensable type of sensor for the realization of autonomous driving, and has the advantages of speed measurement, all-day, and all-weather. Automotive radar also faces some technical problems, of which avoiding interference is one of them. With the increase of vehicles carrying vehicle radars, the electromagnetic spectrum environment on the road is also more crowded, radars as active radiation sensors, mutual interference with each other, will produce false alarms, missed alarms, detection distance shortening and other problems, and even cause traffic accidents in serious cases. Reducing mutual interference between vehicle radars is an important prerequisite for its engineering and mass popularization.

    Passive anti-jamming refers to the use of time, space, frequency and other multi-domain signal processing algorithms inside the radar receiver to suppress or eliminate the adverse effects of interference signals on useful signals. The Chinese patent CN109856600A disclosed a millimeter wave anti-collision radar anti-jamming method is a passive anti-jamming method, the invention demodulates the radar received signal, and the demodulation results are processed with two-dimensional FFT, and CFAR detection is processed according to the two-dimensional FFT processing results, so as to realize the filtering of interference signals, which can reduce the impact of interference to a certain extent. Although passive anti-interference methods can achieve certain results, current anti-interference methods such as these have certain limitations. On the one hand, many methods will cause the loss of useful signals while suppressing interference signals, so that the overall signal quality will deteriorate, which greatly affects the detection performance of the system and brings serious safety hazards to automatic driving. On the other hand, such methods are more complex, which has high requirements for the signal processing capacity of the system, which increases the burden and cost of signal processing.

    Active anti-interference refers to actively avoiding interference through methods such as adjusting the waveform parameters of the transmitted signal and adjusting the antenna pattern, so as to avoid the interference signal entering the receiver and reduce the mutual interference between vehicle radars from the source. The Chinese patent CN112099013A with a publication date of December 18, 2020 discloses an on-board radar anti-jamming method with adaptive adjustment of waveform is an active anti-jamming method, the patent first detects the frequency and frequency modulation slope of the interference signal, adaptively adjusts the waveform parameters of its own transmitted signal according to the interference information, and avoids interference or reduces the impact of interference on its own radar system as much as possible. Chinese patent CN113567937A published on October 29, 2021 discloses an vehicle-mounted radar anti-jamming method, device, equipment and system, which first obtains the position information and radar frequency of at least two vehicles; The vehicle's radar frequency is then compared; If the frequency of multiple radars is the same or the value difference is less than the set threshold, the radar frequency of the vehicles in the set area is adjusted to different or the value difference is greater than the set threshold to avoid mutual interference between radars. The Chinese patent CN106461771B, published on February 22, 2017, discloses the vehicle-mounted radar device, which uses the interference judgment unit to determine whether there is interference between the radar signals, and then changes the center frequency of the radar signal according to the interference situation. Several of the above emission signal adjustment methods rely on the detection of environmental signals or communication between radars, requiring additional signal measurement processes and hardware equipment, increasing the cost of the product. In addition, for complex time-varying environments, the waveform parameters of the radar transmission signal will be adjusted frequently, which will reduce the stability of the radar.

    Some millimeter-wave radar manufacturers have also proposed solutions for mutual interference between multiple radars. In the article (https://www.elecfans.com/d/1311187.html) published by Gatland Microelectronics, the frequency hopping mode, the chirpshifting mode, and the phase scrambling mode are proposed to dynamically adjust the transmitted signals of each radar, thereby reducing the probability of interference between radars. These methods are based on random changes in frequency and phase, which can only reduce the probability of interference, and cannot avoid the risk caused by mutual interference. Articles published by Xidian University (https:// zhuanlan.zhihu.com/p/487977364 In addition to the traditional frequency hopping mode, a transmission signal control method based on time slot synchronization is proposed to avoid interference, which synchronizes all radars to a clock, and then different radars assign different working time slots, which can avoid interference between radars. On the one hand, it is difficult to ensure the synchronization accuracy of the radar clock of each vehicle, and on the other hand, the time slot segmentation reduces the available time of the vehicle radar, which brings uncertainties to driving safety.

    Invention content

    Object of the present invention is to provide a vehicle-mounted radar transmitting signal control method, apparatus and related vehicle-mounted radar to solve the problems raised in the above background technology.

    In order to solve the above technical problems, the present invention provides the following technical solution: a vehicle-mounted radar transmission signal control method, comprising the following steps:

    Step 1: Divide N states in advance according to the driving direction of the vehicle and or the lane information where the vehicle is located, and set the waveform parameters of N groups of transmitted signals, there is no intersection of N states, no interference between N group transmitted signal waveforms, and one to one correspondence between N group transmitted signal waveforms and N states;

    Step 2: Determine the type of preset state to which the vehicle belongs according to the direction and location of the vehicle;

    Step 3: Select the radar transmission signal waveform parameters according to the type of vehicle state determined in step 2 and the correspondence preset in step 1;

    Step 4: According to the radar transmission signal waveform parameters selected in step 3, generate radar transmission signal waveform control instructions, and control the radar to transmit signals corresponding to the radar transmission signal waveform parameters selected in step 3.

    Further, in step 1, the basis for pre-dividing N states is the direction of vehicle travel, the specific method is to divide the horizontal direction 360° into N non-overlapping angle ranges, and N angle ranges correspond to N states;

    The pre-division of N states is based on the lane information where the vehicle is located, and the specific method is that each lane of the vehicle road corresponds to a state;

    The basis for pre-dividing N states is the direction of vehicle travel and the lane information where the vehicle is located, the specific method is to first divide the horizontal direction 360° into L non-overlapping angle ranges, and then divide M states in each direction corresponding to different lanes, a total of N states, N=L*M.

    Further, in step 1, the N group transmitted signal waveform parameters set are frequency parameters of frequency division quadrature waveform signals or code division quadrature waveform signal modulation parameters.

    Further, in step 2, the vehicle's driving direction and location information are obtained through the vehicle navigation device, GPS receiver, MEMS micromotor system gyroscope, and camera sensor.

    Further, in step 4, the generated radar transmission signal waveform control instruction is the radar transmission signal waveform frequency control instruction or the radar transmission signal waveform selection instruction;

    The frequency division quadrature waveform signal realizes orthogonality by controlling the frequency without overlapping, and the radar needs to generate the waveform frequency control command of the radar transmitted signal for the frequency division quadrature waveform signal signal;

    Code division quadrature waveform signal through coding to achieve quadrature, pre-encoding output and save quadrature waveform, use as needed, for code division quadrature waveform signal radar needs to generate is radar transmission signal waveform selection instruction;

    The radar transmit signal waveform frequency control command or the radar transmit signal waveform selection command is implemented by the vehicle-mounted radar FPGA chip or DSP chip.

    There are two types of waveforms involved in the present invention that do not interfere with each other, one is frequency division orthogonal, and the other is code division orthogonal. Orthogonal means that they do not interfere with each other. Frequency division quadrature is achieved by controlling frequencies that do not overlap each other, so for this radar need to generate frequency control instructions, specifically according to the existing vehicle millimeter wave radar chip can be divided into two categories, one is achieved by adjusting the input voltage of VCO (voltage controlled oscillator) (input different voltages will produce different frequency signals), the other is directly configured in the parameter configuration. Code division quadrature signal is achieved quadrature by coding, the present invention is pre-stored, use as needed, so it is necessary to generate the transmitted signal waveform selection instruction, that is, which waveform to select.

    These instructions are generated in the automotive radar FPGA or DSP chip, and the different voltages are the digits of the FPGA's output voltage value, which are converted into voltage signals after being passed through the DAC.

    Step 3 determines that the radar needs to send a radio frequency division quadrature signal or select a code division quadrature signal waveform transmission, step 4 for specific implementation and implementation, through the corresponding millimeter wave chip configuration parameters or VCO control voltage or transmit signal waveform selection instructions, control the millimeter wave radar chip to achieve frequency division quadrature signal or a certain code division quadrature signal waveform transmission.

    Further, in step 4, the radar transmits signal waveform frequency control instructions for voltage information, voltage information controls the radar voltage controlled oscillator to generate a corresponding frequency signal.

    Further, in step 4, the radar transmission signal waveform frequency control instruction includes a signal start frequency, a frequency adjustment, a termination frequency.

    The present invention provides a vehicle-mounted radar transmission signal control device, including a preset information storage module, a status judgment module, a transmission signal waveform parameter generation module and a radar transmission signal control module;

    The preset information storage module is configured to store the preset N states of the vehicle and the division basis, the set N group of transmitted signal waveform parameters and the correspondence between N group of transmitted signal waveform and N states; There is no intersection of N states, there is no interference between N group transmitted signal waveforms, and N group transmitted signal waveforms correspond to N states one-to-one;

    the state judgment module, for judging the preset state type to which the vehicle belongs according to the direction and location of the vehicle;

    The transmission signal waveform parameter generation module is used to select the preset radar transmission signal waveform parameters according to the type of preset state to which the vehicle belongs and the correspondence stored in the preset information storage module according to the state judgment module;

    The radar transmission signal control module is configured to generate the radar transmission signal waveform parameters selected by the module according to the transmitted signal waveform parameters, generate radar transmission signal waveform control instructions, and control the radar to transmit signals corresponding to the radar transmission signal waveform parameters selected by the transmission signal waveform parameters generation module.

    Preset information storage module, status judgment module, transmission signal waveform parameter generation module and radar transmission signal control module are the functional modules in FPGA or DSP chips.

    Further, the division of N states stored in the preset information storage module is based on the direction of vehicle driving, the specific method is to divide the horizontal direction 360° into N non-overlapping angle ranges, N angle ranges correspond to N states;

    The division of N states stored in the preset information storage module is based on the lane information where the vehicle is located, and the specific method is that each lane of the vehicle road corresponds to a state;

    The division of N states stored in the preset information storage module is based on the vehicle driving direction and the vehicle lane information, the specific method is to first divide the horizontal direction 360° into L non-overlapping angle ranges, and then divide M states in each direction corresponding to different lanes, a total of N states, N = L * M.

    Further, the preset information storage block stored N group of transmitted signal waveform parameters are frequency parameters of frequency division quadrature waveform signal or code division quadrature waveform signal modulation parameters.

    Further, the vehicle radar transmission signal control device, further comprising a communication module, the communication module is used to receive the vehicle driving direction, location information, and send this information to the state judgment module.

    Further, the radar transmit signal waveform control instruction generated by the radar transmit signal control module is a radar transmit signal waveform frequency control instruction or a radar transmit signal waveform selection instruction;

    The frequency division quadrature waveform signal realizes orthogonality by controlling the frequency without overlapping, and the radar needs to generate the waveform frequency control command of the radar transmitted signal for the frequency division quadrature waveform signal signal;

    Code division quadrature waveform signal through coding to achieve quadrature, pre-encoding output and save quadrature waveform, use as needed, for code division quadrature waveform signal radar needs to generate is radar transmission signal waveform selection instruction;

    The radar transmit signal waveform frequency control command or the radar transmit signal waveform selection command is implemented by the vehicle-mounted radar FPGA chip or DSP chip.

    Further, the radar transmit signal waveform frequency control instruction generated by the radar transmit signal control module is voltage information, and the voltage information controls the radar voltage controlled oscillator to generate a signal of the corresponding frequency.

    Further, the radar transmission signal waveform frequency control instruction generated by the radar transmitting signal control module comprises a signal start frequency, a tuning frequency, and a termination frequency.

    The present invention provides a vehicle-mounted radar using the above-mentioned vehicle-mounted radar transmission signal control method.

    The present invention provides a vehicle-mounted radar provided with the above-mentioned vehicle-mounted radar transmitting signal control device.

    The present invention provides a computer-readable access medium, a computer-readable access medium is stored on a computer program, and the computer program is executed by the processor to implement the vehicle radar transmission signal control method.

    The vehicle-mounted radar generates a signal through the RF front end and transmits it through the transmitting antenna, and is reflected back by the target and received by the receiving antenna, and the distance, angle, speed and other information of the target can be obtained through the processing and analysis of the received signal. Vehicle radar is a kind of sensor with its own radiation source, with the promotion of vehicle radar application, there are more and more vehicle radars on the road, mutual radiation signals affect each other, mutual interference is increasingly serious. The most serious scenarios are as follows:

    1) Walk in the same direction. The two vehicles are moving towards each other, which we call jamming radar and jammed radar respectively. The target echo signal power of the jammed radar is shown in the radar equation below,

    In equation (1), P t is the transmitted power of the jammed radar, Gt is the gain of the transmitted antenna of the jammed radar, Gr is the gain of the received antenna of the jammed radar, R is the target distance, σ is the backscatter cross-sectional area of the target radar, and λ is the wavelength of the radar signal.

    The signal power of the jamming radar entering the jammed radar is shown in the following jamming equation,

    In Equation (2), P′t is the transmitting power of the jamming radar, G′t is the gain of the transmitting antenna of the jamming radar, and G′r is the antenna gain of the jammed radar relative to the direction of the jamming radar. Considering that the two radars with the same transmitting power and traveling in the opposite direction are located in the main lobe of the jammed radar, P t=P′t, Pt=P′t, Gr=G′r. Equation (2) can be written as

    Comparing equations (1) and (3), it can be seen that when the two radars are moving in opposite directions, the power of the jamming radar entering the jammed radar is quadratic to the distance, and the echo power and distance of the target of the jammed radar are in a quadrilateral relationship. In most distance segments, the power of the jamming signal is much greater than the power of the target echo signal, which will cause serious interference to the radar.

    2) Drive forward and backward together. The two vehicles drive a certain distance between the front and rear, which we call jamming radar and jammed radar respectively. The reflected signal after the jamming radar illuminates the target enters the receiving antenna of the jammed radar. The echo signal power generated by the interference radar irradiation by the jammed radar is shown in the following dual-base radar equation.

    In equation (2), P′t is the transmitting power of the jamming radar, G′t is the gain of the transmitting antenna of the jamming radar, Gr is the antenna gain of the jammed radar relative to the target direction, and σ′ is the target dual-station scattering cross-section, for vehicles, pedestrians and other targets in the case of a small dual-station angle, it can be considered that σ′=σ, R is the target distance from the jammed radar distance, R1 is the distance of the target from the jamming radar.

    Considering that the transmission power of the two radars is the same, and the target bistation scattering cross-sectional area and backscatter cross-sectional area are the same, it can be seen that when the distance between the target and the jamming radar is less than the distance between the target and the jammed radar, the echo signal generated by the interference radar irradiation is greater than the echo power of the target of the jammed radar, which is equivalent to forming a false large target; When the distance between the target and the jamming radar is greater than the distance between the target and the jammed radar, the echo signal generated by the interference radar irradiation is smaller than the echo power of the jammed radar target, which is equivalent to forming a false small target. And because the two-range delay of the two radars will also cause the radar to measure the target range distortion, resulting in false dots in the wrong position, which will have an impact on driving.

    In order to better avoid the mutual interference between vehicle radars, especially to effectively deal with the interference problems in the scenarios of vehicles traveling in the opposite direction and driving forward and backward, the present invention proposes a method for controlling the waveform parameters of radar transmission signals according to the direction of vehicle travel and lane information. This method links the driving direction, lane information and radar emission waveform parameters, and adopts mutual quadrature emission waveforms when the vehicle is driving in different direction angle ranges and different lanes, and the orthogonal waveforms meet the following conditions:

    ∫s1(t)s2(t+τ)≈0 (5)

    In Equation (5), s1(t) is the first orthogonal waveform, s2(t) is the second orthogonal waveform, and τ is the delay.

    In this way, the echo signal generated by the two radars irradiating each other or irradiating will not cause interference, which effectively avoids mutual interference.

    Compared with the prior art, the beneficial effects achieved by the present invention are:

    (1) The present invention provides a vehicle-mounted radar transmission signal control method, apparatus and related vehicle-mounted radar, combining the transmitted signal waveform control and vehicle state, and selecting signals that do not interfere with each other according to the vehicle state, especially the opposite driving and the same forward and backward driving state that is easy to interfere, and divide different states, and adopt mutually orthogonal signals in different states, effectively reducing the interference between radars in these serious interference scenarios.

    (2) The present invention does not need to add additional interference monitoring hardware equipment, effectively avoids mutual interference in the working process of vehicle radar, and the equipment cost is low, providing a reasonable and feasible and easier way to achieve the popularization and use of vehicle radar.

    The accompanying drawings further describe the conception, specific structure and technical effects of the present invention to fully understand the object, characteristics and effects of the present invention.

    Description of the drawings

    FIG 1 is a step-by-step flow chart of a vehicle-mounted radar emission signal control method provided by the present invention;

    FIG 2 is a schematic diagram of the driving of a vehicle in Example 1;

    FIG. 3 is an analysis diagram of vehicle-mounted radar mutual interference in Example 1;

    FIG 4 is a schematic diagram of the driving of the vehicle in Example 2;

    FIG. 5 is an analysis diagram of vehicle-mounted radar mutual interference in Example 2;

    FIG. 6 is a schematic diagram of the driving of the vehicle in the third embodiment;

    FIG. 7 is an analysis diagram of vehicle-mounted radar mutual interference in Example 3.

    Specific embodiment

    The present invention is further elaborated below in conjunction with specific embodiments. It should be understood that these embodiments are intended only to illustrate the present invention and are not intended to limit the scope of the present invention. Further, it should be understood that after reading the content of the present invention, those skilled in the art may make various modifications or modifications to the present invention, and these equivalent forms also fall within the scope of the claims appended to the present application.

    In the drawings, structurally identical components are indicated by identical numerical designators, and components with similar structures or functions everywhere are indicated by similar numerical designators. The size and thickness of each component shown in the drawings are shown arbitrarily, and the present invention does not limit the size and thickness of each component. In order to make the illustration clearer, the thickness of the part is appropriately exaggerated in some places in the drawings.

    As shown in FIG. 1 is a step-by-step flow chart of a vehicle-mounted radar emission signal control method provided by the present invention, embodiments provided by the present invention are carried out in accordance with the step-by-step flow shown in FIG. 1.

    Example 1

    As shown in FIG. 2~3, the present embodiment provides a vehicle-mounted radar, using the following vehicle-mounted radar transmission signal control method and providing a vehicle radar transmitting signal control device comprising a preset information storage module, a status judgment module, a transmit signal waveform parameter generation module, a radar transmission signal control module and a communication module, as follows:

    Step 1:

    The preset information storage module in the vehicle radar transmission signal control device adopts the block RAM that comes with the FPGA to pre-store four different states and division basis according to the driving direction of the vehicle, as follows: the horizontal 360° is divided into 4 angle ranges, with the due north direction as 0°, the driving direction is within 315°~45° (including 315°, excluding 45°) is the first state, and the driving direction is within 135°~225° (including 135°, excluding 225°) is the second state. The driving direction is within 45°~135° (including 45°, excluding 135°) is the third state, and the driving direction is 225°~315° (including 45°, excluding 135°) is the fourth state.

    The preset information storage module in the vehicle radar transmission signal control device stores four pre-set non-interfering transmission signal waveform parameters, as follows: the frequency range of signal 1 is the starting frequency 77.0GHz, the termination frequency is 77.2GHz, the frequency modulation is 10MHz/us, and the signal type is chirp signal; The frequency range of signal 2 is 77.3GHz, the termination frequency is 77.5GHz, the frequency modulation is 10MHz/us, and the signal type is chirp signal; The frequency range of signal 3 is the actual frequency 77.6GHz, the termination frequency is 77.8GHz, the frequency modulation is 10MHz/us, the signal type is chirp signal, the frequency range of signal 4 is the starting frequency 77.9GHz, the termination frequency is 78.1GHz, the frequency modulation is 10MHz/us, and the signal type chirp signal.

    The preset information storage module in the vehicle radar transmission signal control device stores the correspondence between the pre-set state type and the waveform as follows: the corresponding signal 1 parameter of the vehicle state 1; The second state of the vehicle corresponds to the signal 2 parameters; The third state of the vehicle corresponds to the signal 3 parameters; The fourth state of the vehicle corresponds to the signal 2 parameter.

    Step 2:

    When the vehicle is driven as shown in Figure 2, the communication module in the vehicle A's vehicle-mounted radar transmitter signal control device receives the on-board navigation through the car bus, and the driving direction of GPS is 0°.

    The status judgment module in vehicle A's vehicle-mounted radar transmitter signal control device compares the received vehicle driving direction with the preset type judgment conditions to determine that vehicle A is in the first state.

    Step 3:

    The transmission signal waveform parameter generation module in the vehicle A vehicle radar transmission signal control device, according to the vehicle status and the preset information storage module in the preset correspondence, select the preset radar transmission signal waveform parameter as signal 1 parameter, starting frequency 77.0GHz, termination frequency 77.2GHz, frequency modulation 10MHz/us, signal type chirp signal.

    Step 4:

    The radar transmission signal control module in the vehicle A vehicle radar transmission signal control device completes the configuration of Chirp RAM and Chirp Profiles of the vehicle radar millimeter wave chip AWR1243 according to the parameters of the radar waveform signal 1, and the configuration starts at 77.0GHz, the slope of the frequency is 10MHz/us, and the ramp end time is 20us, controlling the vehicle radar radiation signal 1.

    Similarly, the vehicle-mounted radar emission signal control device of vehicle B controls the vehicle-mounted radar radiation signal 2, the vehicle-mounted radar emission signal control device of vehicle C controls the vehicle-mounted radar radiation signal 3, and the vehicle-mounted radar transmitting signal control device of vehicle D controls the vehicle-mounted radar radiation signal 4.

    Figure 3 shows the mutual interference between vehicle radars using vehicle A radar as an example. In order to simplify the analysis, the mixed frequency local oscillator signal of vehicle A radar is set to 77GHz fixed frequency signal, and the frequency of the intermediate frequency signal after the echo signal of vehicle A radar is received by mixing, while the frequency of the other three radars is 300~500MHz, 600~800MHz, 900~1100MHz after mixing in vehicle A radar. Considering the narrow bandwidth range of the radar IF receiver, only the signal of the vehicle A radar can enter the receiver of the vehicle A radar, and the signals of the vehicle B radar, vehicle C radar, and vehicle D radar are all mixed outside the band of the intermediate frequency receiver to effectively avoid mutual interference.

    It should be noted that the division of the driving direction area can be arbitrary, and the division of each direction area does not necessarily need to be average, and can be divided according to the actual road conditions. In addition to dividing the area according to the actual spatial orientation, an alternative division is the road direction, for example, the direction of travel from the start of the road (point A) to the end point (point B) is defined as state 1, and the direction of travel from the end of the road (point B) to the start point (point A) is defined as state 2.

    Example 2

    As shown in FIG. 4~5, the present embodiment provides a vehicle-mounted radar, using the following vehicle-mounted radar transmission signal control method and providing a vehicle radar transmitting signal control device comprising a preset information storage module, a status judgment module, a transmission signal waveform parameter generation module, a radar transmission signal control module and a communication module, as follows:

    Step 1:

    The preset information storage module in the vehicle radar transmission signal control device adopts the block RAM that comes with the FPGA to store three different states and division bases according to the lane where the vehicle is located, as follows: the vehicle is located in the fastest lane (leftmost lane) is the first state, the vehicle is located in the second lane from left to right is the second state, and the vehicle is located in the third lane from left to right is the third state.

    The preset information storage module in the vehicle radar transmission signal control device stores three pre-set non-interfering transmission signal waveform parameters, as follows: signal 1 is a chirp signal with a frequency range of 24.0~24.08GHz and a frequency modulation of 10MHz/us, signal 2 is a chirp signal with a frequency range of 24.1~24.18GHz and a frequency modulation of 10MHz/us, and signal 3 is a chirp signal with a frequency range of 24.2~24.28GHz and a frequency modulation of 10MHz/ Chirp signal for us.

    The preset information storage module in the vehicle radar transmission signal control device stores the correspondence between the pre-set state type and the waveform as follows: the corresponding signal 1 parameter of the vehicle state 1; The second state of the vehicle corresponds to the signal 2 parameters; The third state of the vehicle corresponds to the signal 3 parameters.

    Step 2:

    When the vehicle is driven as shown in Figure 4, the communication module in the vehicle A's vehicle-mounted radar transmitter signal control device receives the on-board navigation, GPS position information, and the lane information determined by the camera through the car bus, and obtains that vehicle A is located in the fastest lane.

    The status judgment module in the vehicle A's vehicle-mounted radar signal control device compares the received vehicle position and lane information with the preset type judgment conditions to determine that vehicle A is in the first state.

    Step 3:

    The transmission signal waveform parameter generation module in the vehicle A vehicle radar transmission signal control device selects the preset radar transmission signal waveform parameter as signal 1 parameter, the frequency range is 24.0~24.08GHz, and the frequency modulation is 10MHz/us chirp signal according to the correspondence between the vehicle status and the preset information storage module.

    Step 4:

    According to the parameters of radar waveform signal 1, the radar transmission signal control module in vehicle A's vehicle radar signal control device generates the tuning voltage input of COARSE and FINE pins of the millimeter-wave radar chip BGT24MTR12 from the DAC to control the vehicle radar radiation signal 1.

    Similarly, the vehicle-mounted radar emission signal control device of vehicle B controls the vehicle-mounted radar radiation signal 2, and the vehicle-mounted radar emission signal control device of vehicle C controls the vehicle-mounted radar radiation signal 3.

    Figure 5 shows the interference between vehicle radars traveling in three different lanes using vehicle A radar as an example. To simplify the analysis, the mixed local oscillator signal of the vehicle A radar is set to a fixed frequency signal of 24GHz. It can be seen that the frequency of the intermediate frequency signal of vehicle A radar is 0~80MHz after mixing, while the signals of the other two radars are 100~180MHz and 200~280MHz after mixing in vehicle A radar. Considering the bandwidth range of the radar intermediate frequency receiver, only the signal of the vehicle A radar can enter the receiver of the vehicle A radar, and the signals of the vehicle B radar and vehicle C radar are mixed and fall outside the band of the intermediate frequency receiver, effectively avoiding mutual interference.

    Example three

    As shown in FIG. 6~7, the present embodiment provides a vehicle-mounted radar, using the following vehicle-mounted radar transmission signal control method and providing a vehicle radar transmitting signal control device comprising a preset information storage module, a status judgment module, a transmission signal waveform parameter generation module, a radar transmission signal control module and a communication module, as follows:

    Step 1:

    The preset information storage module in the vehicle radar transmission signal control device adopts the block RAM that comes with the FPGA to store eight different states and division bases according to the direction of vehicle travel and the lane in which it is located. Among them, the four different driving directions are divided according to: the horizontal 360° is divided into 4 angle ranges, with the due north direction being 0°, the driving direction is within 315°~45° (including 315°, excluding 45°) is the first direction, the driving direction is within 135°~225° (including 135°, excluding 225°) is the second direction, the driving direction is within 45°~135° (including 45°, excluding 135°) is the third direction, and the driving direction is within 225°~315° ( 45° with, 135° excluded) is the 4th direction. Vehicles are located in the fastest lane (leftmost lane) is lane A, and vehicles are located in lane B in the second lane from left to right. The direction of travel and the lane of the vehicle are composed into eight states that do not overlap each other. The details are as follows: the vehicle driving direction is in the 1st direction and is located in the A lane is the 1a state, the vehicle driving direction is in the 1st direction and is located in the B lane is the 1b state, the vehicle driving direction is in the 2nd direction and located in the A lane is the 2a state, the vehicle driving direction is in the 2nd direction and located in the B lane is the 2b state, the vehicle driving direction is in the 3rd direction and located in the A lane is the 3a state, the vehicle driving direction is in the 3rd direction and is located in the B lane is the 3b state, The vehicle is in the 4th direction and is located in the A lane is the 4A state, and the vehicle is in the 4th direction and is in the B lane is the 4b state.

    The preset information storage module in the vehicle-mounted radar transmission signal control device stores 8 pre-set non-interfering transmission signal waveform parameters, as follows: signal 1 is a chirp signal with a frequency range of 77.0~77.4GHz and a frequency modulation of 10MHz/us, signal 2 is a chirp signal with a frequency range of 77.5~77.9GHz and a frequency modulation of 10MHz/us, and signal 3 is a chirp signal with a frequency range of 78.0~78.4GHz and a frequency modulation of 10MHz / Signal 4 is a chirp signal with a frequency range of 78.5~78.9GHz and a frequency modulation of 10MHz/us, signal 5 is a chirp signal with a frequency range of 79.0~79.4GHz and a frequency modulation of 10MHz/us, signal 6 is a chirp signal with a frequency range of 79.5~79.9GHz and a frequency modulation of 10MHz/us, signal 7 is a chirp signal with a frequency range of 80.0~80.4GHz and a frequency modulation of 10MHz / US chirp signal, signal 8 is a chirp signal with a frequency range of 80.5~80.9GHz and a frequency modulation of 10MHz/us.

    The preset information storage module in the vehicle radar transmission signal control device preset the state type and waveform correspondence relationship is: the vehicle 1a state corresponds to the signal 1 parameter; The vehicle state 1b corresponds to signal 2 parameters; The vehicle 2a state corresponds to signal 3 parameters, and the vehicle 2b state corresponds to signal 4 parameters; The 3a state of the vehicle corresponds to signal 5 parameters; The vehicle 3b state corresponds to signal 6 parameters, and the vehicle 4a state corresponds to signal 7 parameters; The 4b state of the vehicle corresponds to the signal 8 parameters.

    Step 2:

    When the vehicle is driven as shown in Figure 6, the communication module in the vehicle A's vehicle-mounted radar transmitter signal control device receives the driving direction of the vehicle navigation, GPS location information, and the direction and lane information determined by the camera through the car bus, and obtains that the driving direction of vehicle A is 0° and is located in the fastest lane.

    The status judgment module in the vehicle-mounted radar transmission signal control device of vehicle A compares the received vehicle driving direction, position, and lane information with the preset type judgment conditions to determine that vehicle A is in the 1a state.

    Step 3:

    The transmission signal waveform parameter generation module in the vehicle radar transmission signal control device of vehicle A selects the preset radar transmission signal waveform parameter as signal 1 parameter according to the correspondence between the vehicle status and the preset information storage module, with a frequency range of 77.0~77.4GHz and a chirp frequency modulation signal with a frequency modulation of 10MHz/us.

    Step 4:

    The radar transmission signal control module in the vehicle A vehicle radar transmission signal control device completes the configuration of Chirp RAM and Chirp Profiles of the vehicle radar millimeter wave chip AWR1243 according to the parameters of the radar waveform signal 1, and the configuration starts at 77.0GHz, the slope of the frequency is 10MHz/us, and the slope end time is 40us, controlling the vehicle radar radiation signal 1.

    Similarly, the vehicle-mounted radar transmission signal control device of vehicle B, vehicle C, vehicle D, vehicle E, vehicle F, vehicle G, and vehicle H respectively controls the vehicle radar radiation signal 2, signal 3, signal 4, signal 5, signal 6, signal 7, signal 8.

    Figure 7 shows the interference between vehicle radars traveling in different directions and lanes using vehicle A radar as an example. To simplify the analysis, the mixed frequency local oscillator signal of vehicle A radar is set to a fixed frequency signal of 77GHz. It can be seen that only the signal of vehicle A radar can enter the receiver of radar A, and the signals of other radars are mixed and fall outside the band of the intermediate frequency receiver, effectively avoiding mutual interference.

    In the embodiment, the radar is fixed on the car, and the previous direction of the radar is considered to be consistent with the normal direction of the radar antenna. Later, if the normal rotation of the radar antenna occurs, it is only necessary to superimpose the driving direction on the antenna rotation angle to further judge the state, and it is still considered to be within the scope of protection of this patent.

    The signals in the present invention that do not interfere with each other may be frequency-division quadrature signals or code-division quadrature signals. These signals can be pre-stored and called when used, or they can be generated by real-time frequency modulation or phase modulation.

    The above embodiments only express several embodiments of the present invention, and their description is more specific and detailed, but it cannot be understood as a limitation on the scope of the patent of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the idea of the present invention, a number of deformations and improvements may also be made, which fall within the scope of protection of the present invention. Therefore, the scope of protection of the invention patent shall be subject to the attached claims.

     Vehicle-mounted radar emission signal control method and device and related vehicle-mounted radar

    Technical field

    The present invention belongs to the field of autonomous driving environment perception, suitable for vehicles carrying vehicle-mounted radar, in particular relates to a vehicle-mounted radar emission signal control method, apparatus and related vehicle-mounted radar.

    Background technology

    Automotive radar is an indispensable type of sensor for the realization of autonomous driving, and has the advantages of speed measurement, all-day, and all-weather. Automotive radar also faces some technical problems, of which avoiding interference is one of them. With the increase of vehicles carrying vehicle radars, the electromagnetic spectrum environment on the road is also more crowded, radars as active radiation sensors, mutual interference with each other, will produce false alarms, missed alarms, detection distance shortening and other problems, and even cause traffic accidents in serious cases. Reducing mutual interference between vehicle radars is an important prerequisite for its engineering and mass popularization.

    Passive anti-jamming refers to the use of time, space, frequency and other multi-domain signal processing algorithms inside the radar receiver to suppress or eliminate the adverse effects of interference signals on useful signals. The Chinese patent CN109856600A disclosed a millimeter wave anti-collision radar anti-jamming method is a passive anti-jamming method, the invention demodulates the radar received signal, and the demodulation results are processed with two-dimensional FFT, and CFAR detection is processed according to the two-dimensional FFT processing results, so as to realize the filtering of interference signals, which can reduce the impact of interference to a certain extent. Although passive anti-interference methods can achieve certain results, current anti-interference methods such as these have certain limitations. On the one hand, many methods will cause the loss of useful signals while suppressing interference signals, so that the overall signal quality will deteriorate, which greatly affects the detection performance of the system and brings serious safety hazards to automatic driving. On the other hand, such methods are more complex, which has high requirements for the signal processing capacity of the system, which increases the burden and cost of signal processing.

    Active anti-interference refers to actively avoiding interference through methods such as adjusting the waveform parameters of the transmitted signal and adjusting the antenna pattern, so as to avoid the interference signal entering the receiver and reduce the mutual interference between vehicle radars from the source. The Chinese patent CN112099013A with a publication date of December 18, 2020 discloses an on-board radar anti-jamming method with adaptive adjustment of waveform is an active anti-jamming method, the patent first detects the frequency and frequency modulation slope of the interference signal, adaptively adjusts the waveform parameters of its own transmitted signal according to the interference information, and avoids interference or reduces the impact of interference on its own radar system as much as possible. Chinese patent CN113567937A published on October 29, 2021 discloses an vehicle-mounted radar anti-jamming method, device, equipment and system, which first obtains the position information and radar frequency of at least two vehicles; The vehicle's radar frequency is then compared; If the frequency of multiple radars is the same or the value difference is less than the set threshold, the radar frequency of the vehicles in the set area is adjusted to different or the value difference is greater than the set threshold to avoid mutual interference between radars. The Chinese patent CN106461771B, published on February 22, 2017, discloses the vehicle-mounted radar device, which uses the interference judgment unit to determine whether there is interference between the radar signals, and then changes the center frequency of the radar signal according to the interference situation. Several of the above emission signal adjustment methods rely on the detection of environmental signals or communication between radars, requiring additional signal measurement processes and hardware equipment, increasing the cost of the product. In addition, for complex time-varying environments, the waveform parameters of the radar transmission signal will be adjusted frequently, which will reduce the stability of the radar.

    Some millimeter-wave radar manufacturers have also proposed solutions for mutual interference between multiple radars. In the article (https://www.elecfans.com/d/1311187.html) published by Gatland Microelectronics, the frequency hopping mode, the chirpshifting mode, and the phase scrambling mode are proposed to dynamically adjust the transmitted signals of each radar, thereby reducing the probability of interference between radars. These methods are based on random changes in frequency and phase, which can only reduce the probability of interference, and cannot avoid the risk caused by mutual interference. Articles published by Xidian University (https:// zhuanlan.zhihu.com/p/487977364 In addition to the traditional frequency hopping mode, a transmission signal control method based on time slot synchronization is proposed to avoid interference, which synchronizes all radars to a clock, and then different radars assign different working time slots, which can avoid interference between radars. On the one hand, it is difficult to ensure the synchronization accuracy of the radar clock of each vehicle, and on the other hand, the time slot segmentation reduces the available time of the vehicle radar, which brings uncertainties to driving safety.

    Invention content

    Object of the present invention is to provide a vehicle-mounted radar transmitting signal control method, apparatus and related vehicle-mounted radar to solve the problems raised in the above background technology.

    In order to solve the above technical problems, the present invention provides the following technical solution: a vehicle-mounted radar transmission signal control method, comprising the following steps:

    Step 1: Divide N states in advance according to the driving direction of the vehicle and or the lane information where the vehicle is located, and set the waveform parameters of N groups of transmitted signals, there is no intersection of N states, no interference between N group transmitted signal waveforms, and one to one correspondence between N group transmitted signal waveforms and N states;

    Step 2: Determine the type of preset state to which the vehicle belongs according to the direction and location of the vehicle;

    Step 3: Select the radar transmission signal waveform parameters according to the type of vehicle state determined in step 2 and the correspondence preset in step 1;

    Step 4: According to the radar transmission signal waveform parameters selected in step 3, generate radar transmission signal waveform control instructions, and control the radar to transmit signals corresponding to the radar transmission signal waveform parameters selected in step 3.

    Further, in step 1, the basis for pre-dividing N states is the direction of vehicle travel, the specific method is to divide the horizontal direction 360° into N non-overlapping angle ranges, and N angle ranges correspond to N states;

    The pre-division of N states is based on the lane information where the vehicle is located, and the specific method is that each lane of the vehicle road corresponds to a state;

    The basis for pre-dividing N states is the direction of vehicle travel and the lane information where the vehicle is located, the specific method is to first divide the horizontal direction 360° into L non-overlapping angle ranges, and then divide M states in each direction corresponding to different lanes, a total of N states, N=L*M.

    Further, in step 1, the N group transmitted signal waveform parameters set are frequency parameters of frequency division quadrature waveform signals or code division quadrature waveform signal modulation parameters.

    Further, in step 2, the vehicle's driving direction and location information are obtained through the vehicle navigation device, GPS receiver, MEMS micromotor system gyroscope, and camera sensor.

    Further, in step 4, the generated radar transmission signal waveform control instruction is the radar transmission signal waveform frequency control instruction or the radar transmission signal waveform selection instruction;

    The frequency division quadrature waveform signal realizes orthogonality by controlling the frequency without overlapping, and the radar needs to generate the waveform frequency control command of the radar transmitted signal for the frequency division quadrature waveform signal signal;

    Code division quadrature waveform signal through coding to achieve quadrature, pre-encoding output and save quadrature waveform, use as needed, for code division quadrature waveform signal radar needs to generate is radar transmission signal waveform selection instruction;

    The radar transmit signal waveform frequency control command or the radar transmit signal waveform selection command is implemented by the vehicle-mounted radar FPGA chip or DSP chip.

    There are two types of waveforms involved in the present invention that do not interfere with each other, one is frequency division orthogonal, and the other is code division orthogonal. Orthogonal means that they do not interfere with each other. Frequency division quadrature is achieved by controlling frequencies that do not overlap each other, so for this radar need to generate frequency control instructions, specifically according to the existing vehicle millimeter wave radar chip can be divided into two categories, one is achieved by adjusting the input voltage of VCO (voltage controlled oscillator) (input different voltages will produce different frequency signals), the other is directly configured in the parameter configuration. Code division quadrature signal is achieved quadrature by coding, the present invention is pre-stored, use as needed, so it is necessary to generate the transmitted signal waveform selection instruction, that is, which waveform to select.

    These instructions are generated in the automotive radar FPGA or DSP chip, and the different voltages are the digits of the FPGA's output voltage value, which are converted into voltage signals after being passed through the DAC.

    Step 3 determines that the radar needs to send a radio frequency division quadrature signal or select a code division quadrature signal waveform transmission, step 4 for specific implementation and implementation, through the corresponding millimeter wave chip configuration parameters or VCO control voltage or transmit signal waveform selection instructions, control the millimeter wave radar chip to achieve frequency division quadrature signal or a certain code division quadrature signal waveform transmission.

    Further, in step 4, the radar transmits signal waveform frequency control instructions for voltage information, voltage information controls the radar voltage controlled oscillator to generate a corresponding frequency signal.

    Further, in step 4, the radar transmission signal waveform frequency control instruction includes a signal start frequency, a frequency adjustment, a termination frequency.

    The present invention provides a vehicle-mounted radar transmission signal control device, including a preset information storage module, a status judgment module, a transmission signal waveform parameter generation module and a radar transmission signal control module;

    The preset information storage module is configured to store the preset N states of the vehicle and the division basis, the set N group of transmitted signal waveform parameters and the correspondence between N group of transmitted signal waveform and N states; There is no intersection of N states, there is no interference between N group transmitted signal waveforms, and N group transmitted signal waveforms correspond to N states one-to-one;

    the state judgment module, for judging the preset state type to which the vehicle belongs according to the direction and location of the vehicle;

    The transmission signal waveform parameter generation module is used to select the preset radar transmission signal waveform parameters according to the type of preset state to which the vehicle belongs and the correspondence stored in the preset information storage module according to the state judgment module;

    The radar transmission signal control module is configured to generate the radar transmission signal waveform parameters selected by the module according to the transmitted signal waveform parameters, generate radar transmission signal waveform control instructions, and control the radar to transmit signals corresponding to the radar transmission signal waveform parameters selected by the transmission signal waveform parameters generation module.

    Preset information storage module, status judgment module, transmission signal waveform parameter generation module and radar transmission signal control module are the functional modules in FPGA or DSP chips.

    Further, the division of N states stored in the preset information storage module is based on the direction of vehicle driving, the specific method is to divide the horizontal direction 360° into N non-overlapping angle ranges, N angle ranges correspond to N states;

    The division of N states stored in the preset information storage module is based on the lane information where the vehicle is located, and the specific method is that each lane of the vehicle road corresponds to a state;

    The division of N states stored in the preset information storage module is based on the vehicle driving direction and the vehicle lane information, the specific method is to first divide the horizontal direction 360° into L non-overlapping angle ranges, and then divide M states in each direction corresponding to different lanes, a total of N states, N = L * M.

    Further, the preset information storage block stored N group of transmitted signal waveform parameters are frequency parameters of frequency division quadrature waveform signal or code division quadrature waveform signal modulation parameters.

    Further, the vehicle radar transmission signal control device, further comprising a communication module, the communication module is used to receive the vehicle driving direction, location information, and send this information to the state judgment module.

    Further, the radar transmit signal waveform control instruction generated by the radar transmit signal control module is a radar transmit signal waveform frequency control instruction or a radar transmit signal waveform selection instruction;

    The frequency division quadrature waveform signal realizes orthogonality by controlling the frequency without overlapping, and the radar needs to generate the waveform frequency control command of the radar transmitted signal for the frequency division quadrature waveform signal signal;

    Code division quadrature waveform signal through coding to achieve quadrature, pre-encoding output and save quadrature waveform, use as needed, for code division quadrature waveform signal radar needs to generate is radar transmission signal waveform selection instruction;

    The radar transmit signal waveform frequency control command or the radar transmit signal waveform selection command is implemented by the vehicle-mounted radar FPGA chip or DSP chip.

    Further, the radar transmit signal waveform frequency control instruction generated by the radar transmit signal control module is voltage information, and the voltage information controls the radar voltage controlled oscillator to generate a signal of the corresponding frequency.

    Further, the radar transmission signal waveform frequency control instruction generated by the radar transmitting signal control module comprises a signal start frequency, a tuning frequency, and a termination frequency.

    The present invention provides a vehicle-mounted radar using the above-mentioned vehicle-mounted radar transmission signal control method.

    The present invention provides a vehicle-mounted radar provided with the above-mentioned vehicle-mounted radar transmitting signal control device.

    The present invention provides a computer-readable access medium, a computer-readable access medium is stored on a computer program, and the computer program is executed by the processor to implement the vehicle radar transmission signal control method.

    The vehicle-mounted radar generates a signal through the RF front end and transmits it through the transmitting antenna, and is reflected back by the target and received by the receiving antenna, and the distance, angle, speed and other information of the target can be obtained through the processing and analysis of the received signal. Vehicle radar is a kind of sensor with its own radiation source, with the promotion of vehicle radar application, there are more and more vehicle radars on the road, mutual radiation signals affect each other, mutual interference is increasingly serious. The most serious scenarios are as follows:

    1) Walk in the same direction. The two vehicles are moving towards each other, which we call jamming radar and jammed radar respectively. The target echo signal power of the jammed radar is shown in the radar equation below,

    In equation (1), P t is the transmitted power of the jammed radar, Gt is the gain of the transmitted antenna of the jammed radar, Gr is the gain of the received antenna of the jammed radar, R is the target distance, σ is the backscatter cross-sectional area of the target radar, and λ is the wavelength of the radar signal.

    The signal power of the jamming radar entering the jammed radar is shown in the following jamming equation,

    In Equation (2), P′t is the transmitting power of the jamming radar, G′t is the gain of the transmitting antenna of the jamming radar, and G′r is the antenna gain of the jammed radar relative to the direction of the jamming radar. Considering that the two radars with the same transmitting power and traveling in the opposite direction are located in the main lobe of the jammed radar, P t=P′t, Pt=P′t, Gr=G′r. Equation (2) can be written as

    Comparing equations (1) and (3), it can be seen that when the two radars are moving in opposite directions, the power of the jamming radar entering the jammed radar is quadratic to the distance, and the echo power and distance of the target of the jammed radar are in a quadrilateral relationship. In most distance segments, the power of the jamming signal is much greater than the power of the target echo signal, which will cause serious interference to the radar.

    2) Drive forward and backward together. The two vehicles drive a certain distance between the front and rear, which we call jamming radar and jammed radar respectively. The reflected signal after the jamming radar illuminates the target enters the receiving antenna of the jammed radar. The echo signal power generated by the interference radar irradiation by the jammed radar is shown in the following dual-base radar equation.

    In equation (2), P′t is the transmitting power of the jamming radar, G′t is the gain of the transmitting antenna of the jamming radar, Gr is the antenna gain of the jammed radar relative to the target direction, and σ′ is the target dual-station scattering cross-section, for vehicles, pedestrians and other targets in the case of a small dual-station angle, it can be considered that σ′=σ, R is the target distance from the jammed radar distance, R1 is the distance of the target from the jamming radar.

    Considering that the transmission power of the two radars is the same, and the target bistation scattering cross-sectional area and backscatter cross-sectional area are the same, it can be seen that when the distance between the target and the jamming radar is less than the distance between the target and the jammed radar, the echo signal generated by the interference radar irradiation is greater than the echo power of the target of the jammed radar, which is equivalent to forming a false large target; When the distance between the target and the jamming radar is greater than the distance between the target and the jammed radar, the echo signal generated by the interference radar irradiation is smaller than the echo power of the jammed radar target, which is equivalent to forming a false small target. And because the two-range delay of the two radars will also cause the radar to measure the target range distortion, resulting in false dots in the wrong position, which will have an impact on driving.

    In order to better avoid the mutual interference between vehicle radars, especially to effectively deal with the interference problems in the scenarios of vehicles traveling in the opposite direction and driving forward and backward, the present invention proposes a method for controlling the waveform parameters of radar transmission signals according to the direction of vehicle travel and lane information. This method links the driving direction, lane information and radar emission waveform parameters, and adopts mutual quadrature emission waveforms when the vehicle is driving in different direction angle ranges and different lanes, and the orthogonal waveforms meet the following conditions:

    ∫s1(t)s2(t+τ)≈0 (5)

    In Equation (5), s1(t) is the first orthogonal waveform, s2(t) is the second orthogonal waveform, and τ is the delay.

    In this way, the echo signal generated by the two radars irradiating each other or irradiating will not cause interference, which effectively avoids mutual interference.

    Compared with the prior art, the beneficial effects achieved by the present invention are:

    (1) The present invention provides a vehicle-mounted radar transmission signal control method, apparatus and related vehicle-mounted radar, combining the transmitted signal waveform control and vehicle state, and selecting signals that do not interfere with each other according to the vehicle state, especially the opposite driving and the same forward and backward driving state that is easy to interfere, and divide different states, and adopt mutually orthogonal signals in different states, effectively reducing the interference between radars in these serious interference scenarios.

    (2) The present invention does not need to add additional interference monitoring hardware equipment, effectively avoids mutual interference in the working process of vehicle radar, and the equipment cost is low, providing a reasonable and feasible and easier way to achieve the popularization and use of vehicle radar.

    The accompanying drawings further describe the conception, specific structure and technical effects of the present invention to fully understand the object, characteristics and effects of the present invention.

    Description of the drawings

    FIG 1 is a step-by-step flow chart of a vehicle-mounted radar emission signal control method provided by the present invention;

    FIG 2 is a schematic diagram of the driving of a vehicle in Example 1;

    FIG. 3 is an analysis diagram of vehicle-mounted radar mutual interference in Example 1;

    FIG 4 is a schematic diagram of the driving of the vehicle in Example 2;

    FIG. 5 is an analysis diagram of vehicle-mounted radar mutual interference in Example 2;

    FIG. 6 is a schematic diagram of the driving of the vehicle in the third embodiment;

    FIG. 7 is an analysis diagram of vehicle-mounted radar mutual interference in Example 3.

    Specific embodiment

    The present invention is further elaborated below in conjunction with specific embodiments. It should be understood that these embodiments are intended only to illustrate the present invention and are not intended to limit the scope of the present invention. Further, it should be understood that after reading the content of the present invention, those skilled in the art may make various modifications or modifications to the present invention, and these equivalent forms also fall within the scope of the claims appended to the present application.

    In the drawings, structurally identical components are indicated by identical numerical designators, and components with similar structures or functions everywhere are indicated by similar numerical designators. The size and thickness of each component shown in the drawings are shown arbitrarily, and the present invention does not limit the size and thickness of each component. In order to make the illustration clearer, the thickness of the part is appropriately exaggerated in some places in the drawings.

    As shown in FIG. 1 is a step-by-step flow chart of a vehicle-mounted radar emission signal control method provided by the present invention, embodiments provided by the present invention are carried out in accordance with the step-by-step flow shown in FIG. 1.

    Example 1

    As shown in FIG. 2~3, the present embodiment provides a vehicle-mounted radar, using the following vehicle-mounted radar transmission signal control method and providing a vehicle radar transmitting signal control device comprising a preset information storage module, a status judgment module, a transmit signal waveform parameter generation module, a radar transmission signal control module and a communication module, as follows:

    Step 1:

    The preset information storage module in the vehicle radar transmission signal control device adopts the block RAM that comes with the FPGA to pre-store four different states and division basis according to the driving direction of the vehicle, as follows: the horizontal 360° is divided into 4 angle ranges, with the due north direction as 0°, the driving direction is within 315°~45° (including 315°, excluding 45°) is the first state, and the driving direction is within 135°~225° (including 135°, excluding 225°) is the second state. The driving direction is within 45°~135° (including 45°, excluding 135°) is the third state, and the driving direction is 225°~315° (including 45°, excluding 135°) is the fourth state.

    The preset information storage module in the vehicle radar transmission signal control device stores four pre-set non-interfering transmission signal waveform parameters, as follows: the frequency range of signal 1 is the starting frequency 77.0GHz, the termination frequency is 77.2GHz, the frequency modulation is 10MHz/us, and the signal type is chirp signal; The frequency range of signal 2 is 77.3GHz, the termination frequency is 77.5GHz, the frequency modulation is 10MHz/us, and the signal type is chirp signal; The frequency range of signal 3 is the actual frequency 77.6GHz, the termination frequency is 77.8GHz, the frequency modulation is 10MHz/us, the signal type is chirp signal, the frequency range of signal 4 is the starting frequency 77.9GHz, the termination frequency is 78.1GHz, the frequency modulation is 10MHz/us, and the signal type chirp signal.

    The preset information storage module in the vehicle radar transmission signal control device stores the correspondence between the pre-set state type and the waveform as follows: the corresponding signal 1 parameter of the vehicle state 1; The second state of the vehicle corresponds to the signal 2 parameters; The third state of the vehicle corresponds to the signal 3 parameters; The fourth state of the vehicle corresponds to the signal 2 parameter.

    Step 2:

    When the vehicle is driven as shown in Figure 2, the communication module in the vehicle A's vehicle-mounted radar transmitter signal control device receives the on-board navigation through the car bus, and the driving direction of GPS is 0°.

    The status judgment module in vehicle A's vehicle-mounted radar transmitter signal control device compares the received vehicle driving direction with the preset type judgment conditions to determine that vehicle A is in the first state.

    Step 3:

    The transmission signal waveform parameter generation module in the vehicle A vehicle radar transmission signal control device, according to the vehicle status and the preset information storage module in the preset correspondence, select the preset radar transmission signal waveform parameter as signal 1 parameter, starting frequency 77.0GHz, termination frequency 77.2GHz, frequency modulation 10MHz/us, signal type chirp signal.

    Step 4:

    The radar transmission signal control module in the vehicle A vehicle radar transmission signal control device completes the configuration of Chirp RAM and Chirp Profiles of the vehicle radar millimeter wave chip AWR1243 according to the parameters of the radar waveform signal 1, and the configuration starts at 77.0GHz, the slope of the frequency is 10MHz/us, and the ramp end time is 20us, controlling the vehicle radar radiation signal 1.

    Similarly, the vehicle-mounted radar emission signal control device of vehicle B controls the vehicle-mounted radar radiation signal 2, the vehicle-mounted radar emission signal control device of vehicle C controls the vehicle-mounted radar radiation signal 3, and the vehicle-mounted radar transmitting signal control device of vehicle D controls the vehicle-mounted radar radiation signal 4.

    Figure 3 shows the mutual interference between vehicle radars using vehicle A radar as an example. In order to simplify the analysis, the mixed frequency local oscillator signal of vehicle A radar is set to 77GHz fixed frequency signal, and the frequency of the intermediate frequency signal after the echo signal of vehicle A radar is received by mixing, while the frequency of the other three radars is 300~500MHz, 600~800MHz, 900~1100MHz after mixing in vehicle A radar. Considering the narrow bandwidth range of the radar IF receiver, only the signal of the vehicle A radar can enter the receiver of the vehicle A radar, and the signals of the vehicle B radar, vehicle C radar, and vehicle D radar are all mixed outside the band of the intermediate frequency receiver to effectively avoid mutual interference.

    It should be noted that the division of the driving direction area can be arbitrary, and the division of each direction area does not necessarily need to be average, and can be divided according to the actual road conditions. In addition to dividing the area according to the actual spatial orientation, an alternative division is the road direction, for example, the direction of travel from the start of the road (point A) to the end point (point B) is defined as state 1, and the direction of travel from the end of the road (point B) to the start point (point A) is defined as state 2.

    Example 2

    As shown in FIG. 4~5, the present embodiment provides a vehicle-mounted radar, using the following vehicle-mounted radar transmission signal control method and providing a vehicle radar transmitting signal control device comprising a preset information storage module, a status judgment module, a transmission signal waveform parameter generation module, a radar transmission signal control module and a communication module, as follows:

    Step 1:

    The preset information storage module in the vehicle radar transmission signal control device adopts the block RAM that comes with the FPGA to store three different states and division bases according to the lane where the vehicle is located, as follows: the vehicle is located in the fastest lane (leftmost lane) is the first state, the vehicle is located in the second lane from left to right is the second state, and the vehicle is located in the third lane from left to right is the third state.

    The preset information storage module in the vehicle radar transmission signal control device stores three pre-set non-interfering transmission signal waveform parameters, as follows: signal 1 is a chirp signal with a frequency range of 24.0~24.08GHz and a frequency modulation of 10MHz/us, signal 2 is a chirp signal with a frequency range of 24.1~24.18GHz and a frequency modulation of 10MHz/us, and signal 3 is a chirp signal with a frequency range of 24.2~24.28GHz and a frequency modulation of 10MHz/ Chirp signal for us.

    The preset information storage module in the vehicle radar transmission signal control device stores the correspondence between the pre-set state type and the waveform as follows: the corresponding signal 1 parameter of the vehicle state 1; The second state of the vehicle corresponds to the signal 2 parameters; The third state of the vehicle corresponds to the signal 3 parameters.

    Step 2:

    When the vehicle is driven as shown in Figure 4, the communication module in the vehicle A's vehicle-mounted radar transmitter signal control device receives the on-board navigation, GPS position information, and the lane information determined by the camera through the car bus, and obtains that vehicle A is located in the fastest lane.

    The status judgment module in the vehicle A's vehicle-mounted radar signal control device compares the received vehicle position and lane information with the preset type judgment conditions to determine that vehicle A is in the first state.

    Step 3:

    The transmission signal waveform parameter generation module in the vehicle A vehicle radar transmission signal control device selects the preset radar transmission signal waveform parameter as signal 1 parameter, the frequency range is 24.0~24.08GHz, and the frequency modulation is 10MHz/us chirp signal according to the correspondence between the vehicle status and the preset information storage module.

    Step 4:

    According to the parameters of radar waveform signal 1, the radar transmission signal control module in vehicle A's vehicle radar signal control device generates the tuning voltage input of COARSE and FINE pins of the millimeter-wave radar chip BGT24MTR12 from the DAC to control the vehicle radar radiation signal 1.

    Similarly, the vehicle-mounted radar emission signal control device of vehicle B controls the vehicle-mounted radar radiation signal 2, and the vehicle-mounted radar emission signal control device of vehicle C controls the vehicle-mounted radar radiation signal 3.

    Figure 5 shows the interference between vehicle radars traveling in three different lanes using vehicle A radar as an example. To simplify the analysis, the mixed local oscillator signal of the vehicle A radar is set to a fixed frequency signal of 24GHz. It can be seen that the frequency of the intermediate frequency signal of vehicle A radar is 0~80MHz after mixing, while the signals of the other two radars are 100~180MHz and 200~280MHz after mixing in vehicle A radar. Considering the bandwidth range of the radar intermediate frequency receiver, only the signal of the vehicle A radar can enter the receiver of the vehicle A radar, and the signals of the vehicle B radar and vehicle C radar are mixed and fall outside the band of the intermediate frequency receiver, effectively avoiding mutual interference.

    Example three

    As shown in FIG. 6~7, the present embodiment provides a vehicle-mounted radar, using the following vehicle-mounted radar transmission signal control method and providing a vehicle radar transmitting signal control device comprising a preset information storage module, a status judgment module, a transmission signal waveform parameter generation module, a radar transmission signal control module and a communication module, as follows:

    Step 1:

    The preset information storage module in the vehicle radar transmission signal control device adopts the block RAM that comes with the FPGA to store eight different states and division bases according to the direction of vehicle travel and the lane in which it is located. Among them, the four different driving directions are divided according to: the horizontal 360° is divided into 4 angle ranges, with the due north direction being 0°, the driving direction is within 315°~45° (including 315°, excluding 45°) is the first direction, the driving direction is within 135°~225° (including 135°, excluding 225°) is the second direction, the driving direction is within 45°~135° (including 45°, excluding 135°) is the third direction, and the driving direction is within 225°~315° ( 45° with, 135° excluded) is the 4th direction. Vehicles are located in the fastest lane (leftmost lane) is lane A, and vehicles are located in lane B in the second lane from left to right. The direction of travel and the lane of the vehicle are composed into eight states that do not overlap each other. The details are as follows: the vehicle driving direction is in the 1st direction and is located in the A lane is the 1a state, the vehicle driving direction is in the 1st direction and is located in the B lane is the 1b state, the vehicle driving direction is in the 2nd direction and located in the A lane is the 2a state, the vehicle driving direction is in the 2nd direction and located in the B lane is the 2b state, the vehicle driving direction is in the 3rd direction and located in the A lane is the 3a state, the vehicle driving direction is in the 3rd direction and is located in the B lane is the 3b state, The vehicle is in the 4th direction and is located in the A lane is the 4A state, and the vehicle is in the 4th direction and is in the B lane is the 4b state.

    The preset information storage module in the vehicle-mounted radar transmission signal control device stores 8 pre-set non-interfering transmission signal waveform parameters, as follows: signal 1 is a chirp signal with a frequency range of 77.0~77.4GHz and a frequency modulation of 10MHz/us, signal 2 is a chirp signal with a frequency range of 77.5~77.9GHz and a frequency modulation of 10MHz/us, and signal 3 is a chirp signal with a frequency range of 78.0~78.4GHz and a frequency modulation of 10MHz / Signal 4 is a chirp signal with a frequency range of 78.5~78.9GHz and a frequency modulation of 10MHz/us, signal 5 is a chirp signal with a frequency range of 79.0~79.4GHz and a frequency modulation of 10MHz/us, signal 6 is a chirp signal with a frequency range of 79.5~79.9GHz and a frequency modulation of 10MHz/us, signal 7 is a chirp signal with a frequency range of 80.0~80.4GHz and a frequency modulation of 10MHz / US chirp signal, signal 8 is a chirp signal with a frequency range of 80.5~80.9GHz and a frequency modulation of 10MHz/us.

    The preset information storage module in the vehicle radar transmission signal control device preset the state type and waveform correspondence relationship is: the vehicle 1a state corresponds to the signal 1 parameter; The vehicle state 1b corresponds to signal 2 parameters; The vehicle 2a state corresponds to signal 3 parameters, and the vehicle 2b state corresponds to signal 4 parameters; The 3a state of the vehicle corresponds to signal 5 parameters; The vehicle 3b state corresponds to signal 6 parameters, and the vehicle 4a state corresponds to signal 7 parameters; The 4b state of the vehicle corresponds to the signal 8 parameters.

    Step 2:

    When the vehicle is driven as shown in Figure 6, the communication module in the vehicle A's vehicle-mounted radar transmitter signal control device receives the driving direction of the vehicle navigation, GPS location information, and the direction and lane information determined by the camera through the car bus, and obtains that the driving direction of vehicle A is 0° and is located in the fastest lane.

    The status judgment module in the vehicle-mounted radar transmission signal control device of vehicle A compares the received vehicle driving direction, position, and lane information with the preset type judgment conditions to determine that vehicle A is in the 1a state.

    Step 3:

    The transmission signal waveform parameter generation module in the vehicle radar transmission signal control device of vehicle A selects the preset radar transmission signal waveform parameter as signal 1 parameter according to the correspondence between the vehicle status and the preset information storage module, with a frequency range of 77.0~77.4GHz and a chirp frequency modulation signal with a frequency modulation of 10MHz/us.

    Step 4:

    The radar transmission signal control module in the vehicle A vehicle radar transmission signal control device completes the configuration of Chirp RAM and Chirp Profiles of the vehicle radar millimeter wave chip AWR1243 according to the parameters of the radar waveform signal 1, and the configuration starts at 77.0GHz, the slope of the frequency is 10MHz/us, and the slope end time is 40us, controlling the vehicle radar radiation signal 1.

    Similarly, the vehicle-mounted radar transmission signal control device of vehicle B, vehicle C, vehicle D, vehicle E, vehicle F, vehicle G, and vehicle H respectively controls the vehicle radar radiation signal 2, signal 3, signal 4, signal 5, signal 6, signal 7, signal 8.

    Figure 7 shows the interference between vehicle radars traveling in different directions and lanes using vehicle A radar as an example. To simplify the analysis, the mixed frequency local oscillator signal of vehicle A radar is set to a fixed frequency signal of 77GHz. It can be seen that only the signal of vehicle A radar can enter the receiver of radar A, and the signals of other radars are mixed and fall outside the band of the intermediate frequency receiver, effectively avoiding mutual interference.

    In the embodiment, the radar is fixed on the car, and the previous direction of the radar is considered to be consistent with the normal direction of the radar antenna. Later, if the normal rotation of the radar antenna occurs, it is only necessary to superimpose the driving direction on the antenna rotation angle to further judge the state, and it is still considered to be within the scope of protection of this patent.

    The signals in the present invention that do not interfere with each other may be frequency-division quadrature signals or code-division quadrature signals. These signals can be pre-stored and called when used, or they can be generated by real-time frequency modulation or phase modulation.

    The above embodiments only express several embodiments of the present invention, and their description is more specific and detailed, but it cannot be understood as a limitation on the scope of the patent of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the idea of the present invention, a number of deformations and improvements may also be made, which fall within the scope of protection of the present invention. Therefore, the scope of protection of the invention patent shall be subject to the attached claims.
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