汽车防撞雷达信号处理研究
|
摘要
目前，汽车越来越普及，它给人们带来便利的同时其危害也越来越明显，这就是交通事故。因此，如何让汽车变得更安全就成了人们追求的目标，于是在这种需要下，便出现了自适应巡航控制技术，它使驾驶更加轻松、安全。本文研究的目的就是力图实现这种技术。
本文所论述的车载防撞毫米波雷达系统可以自动测量本车与前方车辆之间的相对距离和相对速度，然后据其计算出的安全距离，进行危险程度判断，由单片机系统根据危险程度作出减速或刹车动作。这可以减轻驾驶者的负担。
本文重点论述了高速公路上汽车防撞雷达系统：雷达参数选定、数据处理算法设计及防撞雷达数据处理系统的软硬件设计。此外论述了防撞雷达的工作原理。
本文限定以高速公路和轿车作为汽车防撞雷达系统的使用环境，采用毫米波雷达，其体制为线性调频连续波(LFMCW)，从而系统结构简单、发射频谱窄、对接收处理简单、系统成本低，几乎不存在距离和速度的模糊。
详细论述并比较了几种不同的数据处理方法，然后提出了一种新的自适应算法——基于FFT的的变步长LMS自适应滤波算法(VSFLMS)进行数据处理。采用性能卓越价格低廉的DSP芯片(TMS320VC5410)来设计数据处理系统，既可以提高系统的实时信号处理速度和准确度又可以节约成本。主系统采用AT89C51实现报警。软件采用汇编程序编写，运算速度快。
Now,the automobile becomes more and mote all-pervading,it favors the people with adva-ntage,while,which fatalness gets obvious,it is the traffic accident. So,the people are seeking a w-ay to make the automobile safely,with this condition,the adaptive cruise control(ACC) comes truth,it makes the driver more comfortabler and safely. The aim of the paper is to realize the technology.
The Automobile Collision-aviding Millimeter-wave Radar that the thesid studies can automatically measure relative distance and relative speed between your car and the front car,then it draw a conclusion based on the computed safty distance,Sigal Chip Microcomputer (SCM) can do decelerate and brake based on the danger extent. This can relieve the fatigue extent of driver.
This paper limits the using conditions of Vehicle Collision-Radar in cars while running on highway. It adopts millimeter wave and LFMCW radar,so this way makes system structure simple; the sending spectrum is narrow;system cost is lower,and the effect is very good.
This thesis discusses several different methods of data processing,then a novel adaptive algorithm—Variable Step Size LMS adaptive filter based on FFT(VSFLMS) is presented. The signal processing system is designed using DSP(TMS320VC5410),so it not only can improve the speed and precision of signal processing,but also save cost. The main system adopts AT89C51 to realize warning. The programe is written in Assembly Language that operating speed highly.
本文所论述的车载防撞毫米波雷达系统可以自动测量本车与前方车辆之间的相对距离和相对速度，然后据其计算出的安全距离，进行危险程度判断，由单片机系统根据危险程度作出减速或刹车动作。这可以减轻驾驶者的负担。
本文重点论述了高速公路上汽车防撞雷达系统：雷达参数选定、数据处理算法设计及防撞雷达数据处理系统的软硬件设计。此外论述了防撞雷达的工作原理。
本文限定以高速公路和轿车作为汽车防撞雷达系统的使用环境，采用毫米波雷达，其体制为线性调频连续波(LFMCW)，从而系统结构简单、发射频谱窄、对接收处理简单、系统成本低，几乎不存在距离和速度的模糊。
详细论述并比较了几种不同的数据处理方法，然后提出了一种新的自适应算法——基于FFT的的变步长LMS自适应滤波算法(VSFLMS)进行数据处理。采用性能卓越价格低廉的DSP芯片(TMS320VC5410)来设计数据处理系统，既可以提高系统的实时信号处理速度和准确度又可以节约成本。主系统采用AT89C51实现报警。软件采用汇编程序编写，运算速度快。
Now,the automobile becomes more and mote all-pervading,it favors the people with adva-ntage,while,which fatalness gets obvious,it is the traffic accident. So,the people are seeking a w-ay to make the automobile safely,with this condition,the adaptive cruise control(ACC) comes truth,it makes the driver more comfortabler and safely. The aim of the paper is to realize the technology.
The Automobile Collision-aviding Millimeter-wave Radar that the thesid studies can automatically measure relative distance and relative speed between your car and the front car,then it draw a conclusion based on the computed safty distance,Sigal Chip Microcomputer (SCM) can do decelerate and brake based on the danger extent. This can relieve the fatigue extent of driver.
This paper limits the using conditions of Vehicle Collision-Radar in cars while running on highway. It adopts millimeter wave and LFMCW radar,so this way makes system structure simple; the sending spectrum is narrow;system cost is lower,and the effect is very good.
This thesis discusses several different methods of data processing,then a novel adaptive algorithm—Variable Step Size LMS adaptive filter based on FFT(VSFLMS) is presented. The signal processing system is designed using DSP(TMS320VC5410),so it not only can improve the speed and precision of signal processing,but also save cost. The main system adopts AT89C51 to realize warning. The programe is written in Assembly Language that operating speed highly.
引文
[1] 汽车主动安全．http://TV.xjtu.edu.cn/research％20background.htm
[2] 李晓霞，江宗法，李百川，边浩毅．车用探测技术比较[J]．长安大学学报2002(22)：73-75
[3] Markus Weinberger,Hermann winner,Heiner Bubb.Adaptive cruise control field operation-al test learning phase JSAE Review[J] .2001(22): 487-494.
[4] 作者不祥．汽车防撞系统与毫米波雷达[J]．轻型汽车技术．2003(10)：80-83
[5] 孙垦．汽车用毫米波驾驶控制雷达[J]．舰船电子对抗，1994(5)
[6] 薛金良．毫米波工程基础[1]．哈尔滨工业大学出版社，2003
[7] 丁鹭飞，耿富录．雷达原理[M]．西安电子科技大学出版社，1995(2)
[8] Darid K.Barton Sergey A.Leonov.Radar Technology Encydopedia(electronic edition). [M],Artech House Boston Lendon, 1998,150-151
[9] 陈祝明，丁义元，向敬成．线性调频连续波雷达的噪声性能分析[J]．电子科技大学学报，1999(28)：29—30
[10] 戎洪军，吴凯，薛铁珍，孙晓伟．毫米波汽车防撞雷达系统中数字信号处理机的设计[J]．电子技术，2004(9)：4-6
[11] 万建伟，周良柱，皇甫堪，赵阳曦．测速雷达中的频谱分析技术[J]．弹道学报，1995(7)：71-76
[12] 李玉芳．FMCW毫米波雷达系统中频电路及信号处理研究[D]．中国科学院上海微系统与信息技术研究所，2002：58-70
[13] Simon Haykin．Adaptive Filter Theory(Fourth Edition)[M]．Prentice Hall(北京：电子工业出版社2003)
[14] J M Cioffi,T Kailath.Windowed fast transferal filter for recursive least squares adaptive filtering[J].IEEE.Trans,on ASSP, 1985,33(3):607-625
[15] G Carayannis,D G Manolakis,N Kalouptsidis.A fast sequential algorithm for least- squares filtering and prediction[J].IEEE trans,ASSP, 1983,31 (6): 1394-1402
[16] Gitlin R D,Weinstein S D.On the design of gradient algorithms for digitally implemented adaptive filters[J].IEEE Trans on CT, 1973(2): 125-136
[17] Yasukawa H,Shimada S,Furukrawa I,et al.Acousticecho canceller.with high speed quality[J].ICASSP,1987(2): 125-128
[18] Gitlin R D,Weinstein S D.The effects of large inteference on the tracking capability of digitally implemented echo cancellers[J].IEEE Trans on Com, 1987(6):833-839
[19] 叶华，吴伯修．变步长自适应滤波算法的研究[J]．电子学报，1990，18(4)：63-69
[20] 吴光弼，祝林瑜．一种变步长LMS自适应滤波算法[J]．电子学报，1994，22(1)：55-60
[21] 覃景繁，欧阳景正．一种新的变步长自适应滤波算法[J]．数据采集与处理，1997，12(3)：171-194
[22] 高鹰，谢胜利．一种变步长自适应滤波算法及分析[J]．电子学报，2001(29)：1094-1096
[23] M Dentino,J Mecool,B Windrow.Adaptive filtering in the frequancy domain[J].Pro IEEE,1979(67): 1658-1659
[24] S shankar,Narayan,Allen M,P M J Narsimaha.Transform domain LMS algorithm[J].IEEE Trans ASSP,1983,31(3):609-615
[25] Francoise Baufays.Tranform domain adaptive filters:an analytical approach[J].IEEE Trans ASSP, 1995,43(2): 1-11
[26] Francoise Beaufays,Bernard Widrow.Two-large linear structure for fast adaptive filtering[J].Proc,WCNN94,1994
[27] Attauah S,Najin M.on the convergence enhancement of the wavelet transform based LMS [J].Proe.ICASSP, 1995,973-976
[28] Rao S,Pearlman W A.Analysis of linear prediction, coding and spectral estimation from subbands[J].IEEE Tram,on IT, 1996,42(4): 1160-1178
[29] Hosour S,Tewfik A H.wavelet transform domain adaptive FIR filtering[J].IEEE Trans on SP,1997,45(3):617-630
[30] Milos I D,H Fan.wavelet-based linear system modeling and adaptive filtering[J].IEEE Trans.on SP. 1996,44(5): 1156-1167
[31] Larnbrecht C,Karakehou M.wavelet packets 2 based high 2 resolution spectral estimation[J]. Signal Processing, 1996,42(2): 135 - 144
[32] Nargun E,Filiz S.wavelet transform based adaptive filter.analysis and new results[J].IEEE Trans,on SP, 1996,44(9):2163 -2168
[33] 邹艳碧，高鹰．自适应滤波算法综述[J]．广州大学学报，2002(1)：46-47
[34] 丁玉美，高西全．数字信号处理(第二版)[M]．西安电子科技大学出版社，2001 68-71，97-110
[35] 冯存前，张永顺，符永军．频域快速自适应干扰对消算法研究及仿真[J]．电子对抗技术，2003(4)24-25
[36] 王布宏，郭英．LMS算法的频域快速实现[J]．无线电通信技术，2001(27)：32-33
[37] Ferrara E R. Fast implementation of LMS adaptive filter[J].IEEE Trans.Acoust,speeeh, signal processing. 1980,28(4):474-475
[38] 党宏社，韩崇昭，赵广社．汽车毫米波FMCW雷达中频信号的采样与处理[J]．现代雷达，2002(4)：44-45
[39] Simon Haykin．Adaptive Filter Theory(Fourth Edition)[M]．Prentice Hall(郑宝玉等译．电子工业出版社，2002)
[40] 藤村契二．车辆间测量用毫米波雷达[J]．TELECOMMUNICATION ENGINEERING 1994(34)：65-67
[41] 清源科技．TMS320C54XDSP应用程序设计教程[M]．机械工业出版社，2003，1-2
[42] 刘志刚，黄峰．DSP最小应用系统设计[J]．电子工程师．2006(32)：33-35
[43] Am291v200B copyright(C) Advanced Micro Deviees[M].April 12,2002,1-7
[44] 左颢睿，李焱，马艳．TMS320VC5410分页烧写FLASH的多页程序并行自举[J]．微处理器与嵌入式系统．2006(1)：22-23
[45] 唐冰，周勇，骆云志．TMS320VC5410的DSP/BIOS扩展寻址的实现[J]．电子技术应用．2004(2)：77-78
[46] IS61LV6416/IS64LV6416L copyright(C).Integrated Silicon Solution Ine.November2005
[47] 周霖．DSP系统设计与实现tM]．国防工业出版社，2003，329-331
[48] C5000 Application team. TMS320C54X Application Code Examples.TI.July 2000,1-104
[49] 唐冰．TMS320C5410烧写Flash实现并行自举引导[J]．单片机与嵌入式系统应用，2003(1)：26-30
[50] Clay Tumer. TMS320VC5410 Bootloader[M].Application Report ,TI,March 2002 10-18
[2] 李晓霞，江宗法，李百川，边浩毅．车用探测技术比较[J]．长安大学学报2002(22)：73-75
[3] Markus Weinberger,Hermann winner,Heiner Bubb.Adaptive cruise control field operation-al test learning phase JSAE Review[J] .2001(22): 487-494.
[4] 作者不祥．汽车防撞系统与毫米波雷达[J]．轻型汽车技术．2003(10)：80-83
[5] 孙垦．汽车用毫米波驾驶控制雷达[J]．舰船电子对抗，1994(5)
[6] 薛金良．毫米波工程基础[1]．哈尔滨工业大学出版社，2003
[7] 丁鹭飞，耿富录．雷达原理[M]．西安电子科技大学出版社，1995(2)
[8] Darid K.Barton Sergey A.Leonov.Radar Technology Encydopedia(electronic edition). [M],Artech House Boston Lendon, 1998,150-151
[9] 陈祝明，丁义元，向敬成．线性调频连续波雷达的噪声性能分析[J]．电子科技大学学报，1999(28)：29—30
[10] 戎洪军，吴凯，薛铁珍，孙晓伟．毫米波汽车防撞雷达系统中数字信号处理机的设计[J]．电子技术，2004(9)：4-6
[11] 万建伟，周良柱，皇甫堪，赵阳曦．测速雷达中的频谱分析技术[J]．弹道学报，1995(7)：71-76
[12] 李玉芳．FMCW毫米波雷达系统中频电路及信号处理研究[D]．中国科学院上海微系统与信息技术研究所，2002：58-70
[13] Simon Haykin．Adaptive Filter Theory(Fourth Edition)[M]．Prentice Hall(北京：电子工业出版社2003)
[14] J M Cioffi,T Kailath.Windowed fast transferal filter for recursive least squares adaptive filtering[J].IEEE.Trans,on ASSP, 1985,33(3):607-625
[15] G Carayannis,D G Manolakis,N Kalouptsidis.A fast sequential algorithm for least- squares filtering and prediction[J].IEEE trans,ASSP, 1983,31 (6): 1394-1402
[16] Gitlin R D,Weinstein S D.On the design of gradient algorithms for digitally implemented adaptive filters[J].IEEE Trans on CT, 1973(2): 125-136
[17] Yasukawa H,Shimada S,Furukrawa I,et al.Acousticecho canceller.with high speed quality[J].ICASSP,1987(2): 125-128
[18] Gitlin R D,Weinstein S D.The effects of large inteference on the tracking capability of digitally implemented echo cancellers[J].IEEE Trans on Com, 1987(6):833-839
[19] 叶华，吴伯修．变步长自适应滤波算法的研究[J]．电子学报，1990，18(4)：63-69
[20] 吴光弼，祝林瑜．一种变步长LMS自适应滤波算法[J]．电子学报，1994，22(1)：55-60
[21] 覃景繁，欧阳景正．一种新的变步长自适应滤波算法[J]．数据采集与处理，1997，12(3)：171-194
[22] 高鹰，谢胜利．一种变步长自适应滤波算法及分析[J]．电子学报，2001(29)：1094-1096
[23] M Dentino,J Mecool,B Windrow.Adaptive filtering in the frequancy domain[J].Pro IEEE,1979(67): 1658-1659
[24] S shankar,Narayan,Allen M,P M J Narsimaha.Transform domain LMS algorithm[J].IEEE Trans ASSP,1983,31(3):609-615
[25] Francoise Baufays.Tranform domain adaptive filters:an analytical approach[J].IEEE Trans ASSP, 1995,43(2): 1-11
[26] Francoise Beaufays,Bernard Widrow.Two-large linear structure for fast adaptive filtering[J].Proc,WCNN94,1994
[27] Attauah S,Najin M.on the convergence enhancement of the wavelet transform based LMS [J].Proe.ICASSP, 1995,973-976
[28] Rao S,Pearlman W A.Analysis of linear prediction, coding and spectral estimation from subbands[J].IEEE Tram,on IT, 1996,42(4): 1160-1178
[29] Hosour S,Tewfik A H.wavelet transform domain adaptive FIR filtering[J].IEEE Trans on SP,1997,45(3):617-630
[30] Milos I D,H Fan.wavelet-based linear system modeling and adaptive filtering[J].IEEE Trans.on SP. 1996,44(5): 1156-1167
[31] Larnbrecht C,Karakehou M.wavelet packets 2 based high 2 resolution spectral estimation[J]. Signal Processing, 1996,42(2): 135 - 144
[32] Nargun E,Filiz S.wavelet transform based adaptive filter.analysis and new results[J].IEEE Trans,on SP, 1996,44(9):2163 -2168
[33] 邹艳碧，高鹰．自适应滤波算法综述[J]．广州大学学报，2002(1)：46-47
[34] 丁玉美，高西全．数字信号处理(第二版)[M]．西安电子科技大学出版社，2001 68-71，97-110
[35] 冯存前，张永顺，符永军．频域快速自适应干扰对消算法研究及仿真[J]．电子对抗技术，2003(4)24-25
[36] 王布宏，郭英．LMS算法的频域快速实现[J]．无线电通信技术，2001(27)：32-33
[37] Ferrara E R. Fast implementation of LMS adaptive filter[J].IEEE Trans.Acoust,speeeh, signal processing. 1980,28(4):474-475
[38] 党宏社，韩崇昭，赵广社．汽车毫米波FMCW雷达中频信号的采样与处理[J]．现代雷达，2002(4)：44-45
[39] Simon Haykin．Adaptive Filter Theory(Fourth Edition)[M]．Prentice Hall(郑宝玉等译．电子工业出版社，2002)
[40] 藤村契二．车辆间测量用毫米波雷达[J]．TELECOMMUNICATION ENGINEERING 1994(34)：65-67
[41] 清源科技．TMS320C54XDSP应用程序设计教程[M]．机械工业出版社，2003，1-2
[42] 刘志刚，黄峰．DSP最小应用系统设计[J]．电子工程师．2006(32)：33-35
[43] Am291v200B copyright(C) Advanced Micro Deviees[M].April 12,2002,1-7
[44] 左颢睿，李焱，马艳．TMS320VC5410分页烧写FLASH的多页程序并行自举[J]．微处理器与嵌入式系统．2006(1)：22-23
[45] 唐冰，周勇，骆云志．TMS320VC5410的DSP/BIOS扩展寻址的实现[J]．电子技术应用．2004(2)：77-78
[46] IS61LV6416/IS64LV6416L copyright(C).Integrated Silicon Solution Ine.November2005
[47] 周霖．DSP系统设计与实现tM]．国防工业出版社，2003，329-331
[48] C5000 Application team. TMS320C54X Application Code Examples.TI.July 2000,1-104
[49] 唐冰．TMS320C5410烧写Flash实现并行自举引导[J]．单片机与嵌入式系统应用，2003(1)：26-30
[50] Clay Tumer. TMS320VC5410 Bootloader[M].Application Report ,TI,March 2002 10-18