基于TMS320VC5402的汽车防撞警示雷达研究
摘要
汽车雷达的研制已有四十余年的历史，但由于器件水平和设备结构太复杂等原因导致其成本高、体积大，研究成果一直未能市场化。近年来，随着军用毫米波技术的发展，单片微波集成电路(MMIC)和毫米波固态器件技术已经趋于成熟，数字信号处理器性能在大幅度提高的同时价格却不断下降，二者的结合极大地推动了汽车雷达研究的进展。本文在借鉴了国内外关于汽车防撞雷达的理论研究与成果的基础上，研究出一种性价比很高的汽车防撞警示雷达，有力地推动了我国在汽车雷达方面的研究工作。
本文提出了一种基于TMS320VC5402的汽车防撞警示雷达采用连续波体制和零中频混频处理方式的方案，确定了系统的带宽、采样数率、数字信号处理的主要参数，并在电源方案、系统可靠性设计等方面做了详细深入的讨论，对其工程上的硬件设计包括多普勒通道抗混叠滤波器、A／D变换器、CPLD技术及软件关键算法包括杂波滤除、时域加窗、FFT、功率谱估计、谱峰搜索等实现做了大量细致有益的工作。本设计方案的独到之处在于引入的是本车速度作为目标危险程度的判决参考依据，而不象一般汽车防撞雷达那样采用的是距离信息。因此本方案大大简化了系统的前端射频结构，降低了整个系统的成本。
本文研究的这种低成本汽车防撞雷达性能优良，工作稳定可靠，可以在能见度很差的气象环境(如夜、雨、雪、雾、沙尘等天气)下对道路前方的目标进行准确地探测、跟踪，并在发现危险目标后进行报警，从而确保机动车辆的安全行驶，降低交通事故发生率。因此，该雷达完全可以应用于各种机动车上。总的来说，该雷达在设计上是成功的，在应用上是可行的，对于提高汽车行驶安全系数具有重要的意义。
Works on automotive Radar have been going on for more than 40 years, but the earlier works didn't lead to practical products because of huge sizes and costs. Presently, the evolution of radar technology has afforded us the opportunity to create advanced automotive products by use of monolithic-millimeter integrated circuits (MMIC) and high performance digital signal processor at a price that consumers are willing to pay. On the basis of earlier researches, this paper put forward a solution of practical automotive collision warning radar with high-performance and low-cost.
In this paper, based on the requirement of automotive collision warning radar, bandwidth and sampling frequency of this system and main parameter of digital signal processing are determined, the system power solution is described in some details. Reliability design of overall system are discussed, also both hardware and software design are provided. This paper introduces some new idea that radar platform velocity is used as criterion of dangerous degree of obstacles instead of distance. So we can adopt continuous wave (CW) and homodyne signal processing scheme, providing reductions in size, weight, and production costs.
The automotive collision warning radar proposed in this paper can provide robust performance. It is capable of acquiring and tracking obstacles in its field of view to greater than 200m relative range during inclement weather environments. Once a dangerous obstacle is detected the radar can warn the driver of possible hazards. In a word, the solution of this paper is successful for highway application, not only making driving safer, but contributing to the driver's peace of mind.
本文提出了一种基于TMS320VC5402的汽车防撞警示雷达采用连续波体制和零中频混频处理方式的方案，确定了系统的带宽、采样数率、数字信号处理的主要参数，并在电源方案、系统可靠性设计等方面做了详细深入的讨论，对其工程上的硬件设计包括多普勒通道抗混叠滤波器、A／D变换器、CPLD技术及软件关键算法包括杂波滤除、时域加窗、FFT、功率谱估计、谱峰搜索等实现做了大量细致有益的工作。本设计方案的独到之处在于引入的是本车速度作为目标危险程度的判决参考依据，而不象一般汽车防撞雷达那样采用的是距离信息。因此本方案大大简化了系统的前端射频结构，降低了整个系统的成本。
本文研究的这种低成本汽车防撞雷达性能优良，工作稳定可靠，可以在能见度很差的气象环境(如夜、雨、雪、雾、沙尘等天气)下对道路前方的目标进行准确地探测、跟踪，并在发现危险目标后进行报警，从而确保机动车辆的安全行驶，降低交通事故发生率。因此，该雷达完全可以应用于各种机动车上。总的来说，该雷达在设计上是成功的，在应用上是可行的，对于提高汽车行驶安全系数具有重要的意义。
Works on automotive Radar have been going on for more than 40 years, but the earlier works didn't lead to practical products because of huge sizes and costs. Presently, the evolution of radar technology has afforded us the opportunity to create advanced automotive products by use of monolithic-millimeter integrated circuits (MMIC) and high performance digital signal processor at a price that consumers are willing to pay. On the basis of earlier researches, this paper put forward a solution of practical automotive collision warning radar with high-performance and low-cost.
In this paper, based on the requirement of automotive collision warning radar, bandwidth and sampling frequency of this system and main parameter of digital signal processing are determined, the system power solution is described in some details. Reliability design of overall system are discussed, also both hardware and software design are provided. This paper introduces some new idea that radar platform velocity is used as criterion of dangerous degree of obstacles instead of distance. So we can adopt continuous wave (CW) and homodyne signal processing scheme, providing reductions in size, weight, and production costs.
The automotive collision warning radar proposed in this paper can provide robust performance. It is capable of acquiring and tracking obstacles in its field of view to greater than 200m relative range during inclement weather environments. Once a dangerous obstacle is detected the radar can warn the driver of possible hazards. In a word, the solution of this paper is successful for highway application, not only making driving safer, but contributing to the driver's peace of mind.
引文
1. A.G.Stove, Obstacle detection Radar for cars, Electronics & Communication Engineering Journal, pp.232-240, October, 1991
2. H.H.Meinel, Automotive Millimeter-wave Radar-History and present Status, 28th European Microwave Conference, pp.619-624, Amsterdam, 1998
3. W.Holpp, Automotive Radars for Advanced Road Traffic Safety, Microwaves Conference Proceedings, pp.231-238, 1994
4. P.M.Relph, A.G.Stove, 24 GHz Automotive Radar Applications, Microwaves Conference Proceedings, pp.239-242, 1994
5. W.Weidmann, D.Steinbuch, A High Resolution Radar for Short Range Automotive Applications, 28th European Microwave Conference, pp.590-594, Amsterdam, 1998
6. A.G.Stove, Linear FMCW Radar Techniques, IEE Proceedings-F, Vol.139, No.5, October, 1992
7. F. Wohlgemuth, et al, Automotive System Design: Today and Tomorrow, IEEE MTT-S International Microwave Symposium Digest, 112-1-7, 1998
8. E.H.Jocoy, Adapting Radar and Tracking Technology to an On-Board Automotive Collision Warning System, 1998 IEEE MTT-S International Microwave Symposium, 124-1-8, 1998
9. K.W.Chang, Hui Wang, Forward_Looking Automotive Radar Using a W-band Single-Chip Transceiver, IEEE Trans on Microwave Theory an Techniques, pp.1659-1667, Vol.43, No.7, July, 1995
10. Zhang Jian-Hui, Liu Guo-Sui, Signal Processing of Automotive Collision Radar, Proceedings of ICSP 2000, pp.1943-1946, 2000
11. R.H.Rasshofer, E.M.biebl, A Low Cost W-band Multi-Beam Doppler Radar for Automotive Application, 1997 IEEE MTT-S Digest, pp.971-974, 1997
12. L.Raffaelli, Autonomous Intelligent Cruise Control System Design and Component Technology, Microwaves Conference Proceedings, pp.2-4, 1994
13. Mark E. Russell, Millimeter-Wave Radar Sensor for Automotive Intelligent Cruise Control (AICC), IEEE Trans on Microwave Theory an Techniques, pp.2444-2453, Vol.45, No. 12, Dec, 1997
14. TMS320VC4502 Fix-Point Digital Signal Processor (Literature number SPRS079), from http://www.ti.com。
15．王世一，《数字信号处理》，北京理工大学出版社，北京，1997。
16．张雄伟，DSP芯片的原理与开发应用，电子工业出版社，北京，1997。
17. TMS320C54X DSP Reference Set, Volume 1: CPU and Peripherals, Texas Instruments Incorporated, 1998
18. TMS320C54X DSP Reference Set, Volume 2: Mnemonic Instruction Set, Texas Instruments Incorporated, 1998
19. TMS320C54X DSP Reference Set, Volume 4: Applications Guide, Texas Instruments Incorporated, 1998
20. TMS320C54X DSP Reference Set, Volume 5: Enhanced Peripherals, Texas Instruments Incorporated, 1998
21．丁鹭飞，《雷达原理》，西北电讯工程学院出版社，西安，1984
22．赵国庆，《雷达对抗原理》，西安电子科技大学出版社，西安，1999
23．S．M．Kay著，黄建国译，《现代谱估计原理与应用》，科学出版社，1994
24．黄文梅，熊桂林，《信号分析与处理—MATLAB语言及应用》，国防科技大学出版社，2000
25．戴明桢，《数字信号处理器TMS320C54X结构、原理及应用》，上海交通大学出版社，1997
26．张贤达，《现代信号处理》，清华大学出版社，1995
27．汪亚南，TMS320系列高速单片机原理与应用，电子科技大学出版社，1991
28．侯朝焕，《实用FFT信号处理技术》，海洋出版社，1990
29．宋万杰，罗丰，《CPLD技术及其应用》，西安电子科技大学出版社，西安2000
30．Altera公司，Data Book,1998
3I．陆坤等，《电子设计技术》，电子科技大学出版社，成都，1998
32．龙宪惠，存在奇异值时AR模型的迭代稳健建模法，四川大学学报，Vol．29，NO．2，pp．228-237，1992
33．刘炜，龙宪惠，高性能数字信号处理芯片TMS320VC5402在汽车防撞警示雷达中的应用，四川大学学报，Vol．38，NO．8，2001
2. H.H.Meinel, Automotive Millimeter-wave Radar-History and present Status, 28th European Microwave Conference, pp.619-624, Amsterdam, 1998
3. W.Holpp, Automotive Radars for Advanced Road Traffic Safety, Microwaves Conference Proceedings, pp.231-238, 1994
4. P.M.Relph, A.G.Stove, 24 GHz Automotive Radar Applications, Microwaves Conference Proceedings, pp.239-242, 1994
5. W.Weidmann, D.Steinbuch, A High Resolution Radar for Short Range Automotive Applications, 28th European Microwave Conference, pp.590-594, Amsterdam, 1998
6. A.G.Stove, Linear FMCW Radar Techniques, IEE Proceedings-F, Vol.139, No.5, October, 1992
7. F. Wohlgemuth, et al, Automotive System Design: Today and Tomorrow, IEEE MTT-S International Microwave Symposium Digest, 112-1-7, 1998
8. E.H.Jocoy, Adapting Radar and Tracking Technology to an On-Board Automotive Collision Warning System, 1998 IEEE MTT-S International Microwave Symposium, 124-1-8, 1998
9. K.W.Chang, Hui Wang, Forward_Looking Automotive Radar Using a W-band Single-Chip Transceiver, IEEE Trans on Microwave Theory an Techniques, pp.1659-1667, Vol.43, No.7, July, 1995
10. Zhang Jian-Hui, Liu Guo-Sui, Signal Processing of Automotive Collision Radar, Proceedings of ICSP 2000, pp.1943-1946, 2000
11. R.H.Rasshofer, E.M.biebl, A Low Cost W-band Multi-Beam Doppler Radar for Automotive Application, 1997 IEEE MTT-S Digest, pp.971-974, 1997
12. L.Raffaelli, Autonomous Intelligent Cruise Control System Design and Component Technology, Microwaves Conference Proceedings, pp.2-4, 1994
13. Mark E. Russell, Millimeter-Wave Radar Sensor for Automotive Intelligent Cruise Control (AICC), IEEE Trans on Microwave Theory an Techniques, pp.2444-2453, Vol.45, No. 12, Dec, 1997
14. TMS320VC4502 Fix-Point Digital Signal Processor (Literature number SPRS079), from http://www.ti.com。
15．王世一，《数字信号处理》，北京理工大学出版社，北京，1997。
16．张雄伟，DSP芯片的原理与开发应用，电子工业出版社，北京，1997。
17. TMS320C54X DSP Reference Set, Volume 1: CPU and Peripherals, Texas Instruments Incorporated, 1998
18. TMS320C54X DSP Reference Set, Volume 2: Mnemonic Instruction Set, Texas Instruments Incorporated, 1998
19. TMS320C54X DSP Reference Set, Volume 4: Applications Guide, Texas Instruments Incorporated, 1998
20. TMS320C54X DSP Reference Set, Volume 5: Enhanced Peripherals, Texas Instruments Incorporated, 1998
21．丁鹭飞，《雷达原理》，西北电讯工程学院出版社，西安，1984
22．赵国庆，《雷达对抗原理》，西安电子科技大学出版社，西安，1999
23．S．M．Kay著，黄建国译，《现代谱估计原理与应用》，科学出版社，1994
24．黄文梅，熊桂林，《信号分析与处理—MATLAB语言及应用》，国防科技大学出版社，2000
25．戴明桢，《数字信号处理器TMS320C54X结构、原理及应用》，上海交通大学出版社，1997
26．张贤达，《现代信号处理》，清华大学出版社，1995
27．汪亚南，TMS320系列高速单片机原理与应用，电子科技大学出版社，1991
28．侯朝焕，《实用FFT信号处理技术》，海洋出版社，1990
29．宋万杰，罗丰，《CPLD技术及其应用》，西安电子科技大学出版社，西安2000
30．Altera公司，Data Book,1998
3I．陆坤等，《电子设计技术》，电子科技大学出版社，成都，1998
32．龙宪惠，存在奇异值时AR模型的迭代稳健建模法，四川大学学报，Vol．29，NO．2，pp．228-237，1992
33．刘炜，龙宪惠，高性能数字信号处理芯片TMS320VC5402在汽车防撞警示雷达中的应用，四川大学学报，Vol．38，NO．8，2001