汽车防撞雷达的虚警问题分析及信号波形设计
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摘要
汽车防撞雷达作为主动避撞工具,在应用中遇到的主要问题是频繁的虚警,这是由汽车运行的交通环境复杂造成的。从国际研究来看,采用具有良好性能的雷达信号是解决这个问题的主流方法。论文正是围绕虚警问题的解决来开展研究工作的,主要内容如下:
⑴分析虚警问题的产生原因及其对雷达性能破坏的特点。
⑵分析了传统雷达信号的不足,将具有良好自相关特性的Costas编码应用于汽车防撞雷达信号中。给出了这种信号的结构及模糊函数,并给出确定信号参数的准则,通过仿真实验证明这种形式的信号具有良好的模糊函数。
⑶研究传统信号的目标分辨情况并指出其中存在的问题,在介绍一维距离成像基础上,分析了论文所采用信号的目标成像过程,并通过仿真实验证明了该信号在静止、运动目标分辨中的优越性。
⑷分析了汽车防撞雷达工作中存在的交叉干扰问题,提出在雷达信号中采用Costas码组,利用码间良好的非循环互相关函数特性来达到抑制交叉干扰的目的,并通过仿真实验验证了此想法的可行性。
As a safety technology, collision avoidance system for road vehicle collects the information of the edge of roadway and measures range, velocity by detecting vehicles, passerby and roadblocks in the front of the car, then it can give an alarm, apply the brake or change the way to ensure road safety. Comparing with classical safety technology equipments (bumper, life belt, safety ballonet), wireless electronics are more initiative. Such a system in practical transportation applications can not only ensure traffic safety, but also reduce the loss. Therefore, study of collision avoidance system in vehicle is very significant.
Radar at millimeter-wave band is the preferred sensor in collision avoidance system for vehicle; because it has good performance in bad weather condition and such complicated transportation circumstance. However, comparing with the other civilian radars, such as weather probe, ground penetrating radar etc, and false alarm has to be a critical issue. From international researches, there has long been an interest in signal waveform selection to enhance radar performance. This thesis does some research in transmit signal waveform design in radar to deal with the problem about false alarm.
Ⅰ. Analysis of Traditional Signal Waveform
Frequency modulation continuous wave (FMCW) has been well developed and are widely applied, which is the main type of radar signal now. However, the mono-oriented FMCW has range-velocity decoupling. If it is changed to be bi-oriented, there will be not exact result while the single target is detected, because only one part of frequency modulated segments is effective. Moreover this signal is inability to distinguish multiple targets. It is showed that FMCW is not fit to collision avoidance radar in vehicle.
There has also been significant amount of attention focused on stepped frequency pulses (SFP) for lessening requests for signal processing equipment. Currently this signal is preferred in synthetic aperture radar (SAR). However, data utilized is low due to one result be given after a clutter of impulses processed. Another problem is that in the situation where the target and radar moves at a certain speed, the impact of this relative motion on system design should be considered. SFP is sensitive to moving target relative to radar, which results in target imaging not exactly. Although it can be solved by complex velocity compensating, in fact, it is not fit to collision avoidance radar in vehicle which needs lower cost and simpler structure.
Ⅱ. Costas Coded Signal
Ambiguity feature of frequency coded signal is related to the code, so costas sequence is selected, which has excellent ambiguity characteristic. Narrow mainlobe and lower sidelobes make signal have good range and velocity measurement resolution. Furthermore, ability of anti-jamming is improved. These features are favorable to collision avoidance radar in vehicle. Combining costas code and SFP not only deal with the problems of SFP, but also keep on the merits of this type of signal.
Linear frequency modulated pulse deals with the problem of lower utilized data owning to rectangle subpulse. Costas code adopted among the pulses can decrease range-velocity decoupling. The rules about how to choose parameters ofsignal given in the thesis are summarized. Based on these rules, parameters of signal chosen in reason reduce the sidelobes of range, which make ambiguity function approximate to optimal signal.
Ⅲ. Target Discrimination
Anti-collision radar in vehicle which can avoid vehicle collision relies heavily on target discrimination. Traditional radar signals have disadvantage in discrimina- ting targets, and signals improved on are not enough to achieve good impact. The signal used in this thesis belongs to high resolution radar, so its target imaging is based on one dimension range imaging. Rearranging the order of Costas sequence makes the signal have excellent feature in target discrimination. The thesis analyzes statistical and moving target resolution toward (or away) radar on theory, then the validity of the method is shown using simulation results.
Ⅳ. Anti-Cross Interference
Radar used in vehicle is prone to be affected by cross interference owning to transportation circumstance. This thesis analyzes cross interference, and we know that classical radar signals can not restrain cross interference. Costas codes group adopted in signal makes costas waveform patterns with small cross- ambiguities, so cross interference is restrained depending on non-circle cross correlation among the codes. The simulation results show that the signal is superior to the traditional signals in radar in restraining cross interference capability, because target imaging is well and target can be discriminated.
Ⅴ. Conclusion
Based on the analysis of theory and simulation test about ambiguity, distinguishing target and cross interference of signal, the conclusion is given:
ⅰCostas waveform adopted in collision avoidance radar in vehicle gives a good approximation to the ideal thumbtack-like ambiguity function desired for high resolution delay-doppler imaging and measurement, although the ambiguity function of signal is not the optimal thumbtack pattern.
ⅱThe effects of velocity on signal which adopted costas code are less thanSFP. The signal used in the thesis meets the need of collision avoidance radar in vehicle, while velocity compensating is not adopted. It is because that there is no fixed phase between pulses.
ⅲUtilizing costas code can satisfy the need to restrain cross interference. If costas code are selected at will, cross interference can be restrained at a certain extent. However, costas code group is nicer than costas code chosen at will on targets resolution when all frequencies of signal are destroyed.
Signal waveform design is just one part of collision avoidance radar in vehicle. In the future, the whole system will be finished and run way will be given, and then there will be a test in practice. The great efforts will be made with this orientation.
⑴分析虚警问题的产生原因及其对雷达性能破坏的特点。
⑵分析了传统雷达信号的不足,将具有良好自相关特性的Costas编码应用于汽车防撞雷达信号中。给出了这种信号的结构及模糊函数,并给出确定信号参数的准则,通过仿真实验证明这种形式的信号具有良好的模糊函数。
⑶研究传统信号的目标分辨情况并指出其中存在的问题,在介绍一维距离成像基础上,分析了论文所采用信号的目标成像过程,并通过仿真实验证明了该信号在静止、运动目标分辨中的优越性。
⑷分析了汽车防撞雷达工作中存在的交叉干扰问题,提出在雷达信号中采用Costas码组,利用码间良好的非循环互相关函数特性来达到抑制交叉干扰的目的,并通过仿真实验验证了此想法的可行性。
As a safety technology, collision avoidance system for road vehicle collects the information of the edge of roadway and measures range, velocity by detecting vehicles, passerby and roadblocks in the front of the car, then it can give an alarm, apply the brake or change the way to ensure road safety. Comparing with classical safety technology equipments (bumper, life belt, safety ballonet), wireless electronics are more initiative. Such a system in practical transportation applications can not only ensure traffic safety, but also reduce the loss. Therefore, study of collision avoidance system in vehicle is very significant.
Radar at millimeter-wave band is the preferred sensor in collision avoidance system for vehicle; because it has good performance in bad weather condition and such complicated transportation circumstance. However, comparing with the other civilian radars, such as weather probe, ground penetrating radar etc, and false alarm has to be a critical issue. From international researches, there has long been an interest in signal waveform selection to enhance radar performance. This thesis does some research in transmit signal waveform design in radar to deal with the problem about false alarm.
Ⅰ. Analysis of Traditional Signal Waveform
Frequency modulation continuous wave (FMCW) has been well developed and are widely applied, which is the main type of radar signal now. However, the mono-oriented FMCW has range-velocity decoupling. If it is changed to be bi-oriented, there will be not exact result while the single target is detected, because only one part of frequency modulated segments is effective. Moreover this signal is inability to distinguish multiple targets. It is showed that FMCW is not fit to collision avoidance radar in vehicle.
There has also been significant amount of attention focused on stepped frequency pulses (SFP) for lessening requests for signal processing equipment. Currently this signal is preferred in synthetic aperture radar (SAR). However, data utilized is low due to one result be given after a clutter of impulses processed. Another problem is that in the situation where the target and radar moves at a certain speed, the impact of this relative motion on system design should be considered. SFP is sensitive to moving target relative to radar, which results in target imaging not exactly. Although it can be solved by complex velocity compensating, in fact, it is not fit to collision avoidance radar in vehicle which needs lower cost and simpler structure.
Ⅱ. Costas Coded Signal
Ambiguity feature of frequency coded signal is related to the code, so costas sequence is selected, which has excellent ambiguity characteristic. Narrow mainlobe and lower sidelobes make signal have good range and velocity measurement resolution. Furthermore, ability of anti-jamming is improved. These features are favorable to collision avoidance radar in vehicle. Combining costas code and SFP not only deal with the problems of SFP, but also keep on the merits of this type of signal.
Linear frequency modulated pulse deals with the problem of lower utilized data owning to rectangle subpulse. Costas code adopted among the pulses can decrease range-velocity decoupling. The rules about how to choose parameters ofsignal given in the thesis are summarized. Based on these rules, parameters of signal chosen in reason reduce the sidelobes of range, which make ambiguity function approximate to optimal signal.
Ⅲ. Target Discrimination
Anti-collision radar in vehicle which can avoid vehicle collision relies heavily on target discrimination. Traditional radar signals have disadvantage in discrimina- ting targets, and signals improved on are not enough to achieve good impact. The signal used in this thesis belongs to high resolution radar, so its target imaging is based on one dimension range imaging. Rearranging the order of Costas sequence makes the signal have excellent feature in target discrimination. The thesis analyzes statistical and moving target resolution toward (or away) radar on theory, then the validity of the method is shown using simulation results.
Ⅳ. Anti-Cross Interference
Radar used in vehicle is prone to be affected by cross interference owning to transportation circumstance. This thesis analyzes cross interference, and we know that classical radar signals can not restrain cross interference. Costas codes group adopted in signal makes costas waveform patterns with small cross- ambiguities, so cross interference is restrained depending on non-circle cross correlation among the codes. The simulation results show that the signal is superior to the traditional signals in radar in restraining cross interference capability, because target imaging is well and target can be discriminated.
Ⅴ. Conclusion
Based on the analysis of theory and simulation test about ambiguity, distinguishing target and cross interference of signal, the conclusion is given:
ⅰCostas waveform adopted in collision avoidance radar in vehicle gives a good approximation to the ideal thumbtack-like ambiguity function desired for high resolution delay-doppler imaging and measurement, although the ambiguity function of signal is not the optimal thumbtack pattern.
ⅱThe effects of velocity on signal which adopted costas code are less thanSFP. The signal used in the thesis meets the need of collision avoidance radar in vehicle, while velocity compensating is not adopted. It is because that there is no fixed phase between pulses.
ⅲUtilizing costas code can satisfy the need to restrain cross interference. If costas code are selected at will, cross interference can be restrained at a certain extent. However, costas code group is nicer than costas code chosen at will on targets resolution when all frequencies of signal are destroyed.
Signal waveform design is just one part of collision avoidance radar in vehicle. In the future, the whole system will be finished and run way will be given, and then there will be a test in practice. The great efforts will be made with this orientation.
引文
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[2] 贺乐厅. 智能运输系统-基于毫米波雷达的车辆防撞技术与实验研究(博士学位论文), 东南大学, 2003 年 4 月: 7-12, 26-29.
[3] 徐涛. 毫米波汽车防撞雷达实用化研究(博士学位论文), 中国科学院上海微系统与信息研究所, 2003 年 6 月: 13-20.
[4] 黎滨洪, 周希朗. 毫米波技术及应用, 上海交通大学出版社, 1990年9月第一版: 1-5.
[5] Merrill Skolnik, Role of Radar in Microwave. IEEE Transaction on Microwave Theory and Techniques, March. 2002: 625-632.
[6] Richard Bishop. Intelligent vehicle application worldwide. Intelligent Systems, January/ February 2000: 78-81.
[7] Paul Griffiths, Dirk langer. Sensor-Friendly Vehicle and Roadway Systems, IEEE Instrumentation and Measurement Technology Conference, May. 2001: 1036-1040.
[8] Roliling, Meinecke, Klotz, Lubbert. Research activities in automotive radar, MSMW’ 2001 Symposium Proceedings, Kharkov, Ukraine, Jun.2001: 4-9.
[9] R. Abou-Jaoude, ACC Radar Sensor Technology, Test Requirements, and Test Solutions. IEEE Trans. On Intelligent Transportation Systems, Sept. 2003, Vol. 4, No.3.
[10] www.XINHUANET.com, 我国首个汽车防撞雷达芯片研制成功, 2005 年 6 月 2 日.
[11] James P.Bliss, Sarah A. Acton, Alarm mistrust in automobiles: how collision alarm reliability affects driving, Applied Ergonomics , 2003, No.34: 499-509.
[12] 林茂庸, 柯有安. 雷达信号理论, 国防工业出版社, 1981 年 1 月第一版.
[13] 张直中. 雷达信号的选择与处理, 国防工业出版社, 1979 年第一版.
[14] A.W.里海捷克 著, 董士嘉 译. 雷达分辨理论, 北京科学出版社, 1973 年第一版.
[15] Mahafza, Bassem R. Matlab Simulations for Radar Systems Design, Chapman and Hall/CRC CRC Press LLC, 2004.
[16] 中华人民共和国道路交通安全法, 2004 年 5 月 1 日.
[17] 高速公路交通管理办法, 1994 年 12 月 22 日.
[18] 刘国岁, 顾红, 等. 随机信号雷达, 国防工业出版社, 2005 年 4 月第一版: 158-200.
[19] 刘艳, FMCW 汽车防撞雷达的多目标信号处理方法研究(硕士论文), 南京理工大学, 20040909: 14-19.
[20] Hermann Rohling, Smart FM/CW Radar Systems for Automotive Applications, A Global Perspective of Affordable Systems for the New Millennium, IEEE 2005 International Radar Conference, May 9-12, 2005.
[21] 张容权, 杨建宇, 等. 对称三角线性调频连续波信号模糊函数分析, 电子学报, 2004年 3 月, 3(32): 353-356.
[22] Du Yuming, Yang Jianyu, Xiong Jintao. Novel method for ambiguity elimination in the LFMCW radar, Journal of Systems Engineering and ELectronics, 2006, 17(1): 91-95.
[23] 王一丁, 李兴国, 等. 步进频率雷达信号的模糊函数, 现代雷达, 1997 年 12 月, 19(6): 6-11.
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