CN113009426A - Anti-interference method for vehicle-mounted radar and vehicle-mounted radar system - Google Patents
Anti-interference method for vehicle-mounted radar and vehicle-mounted radar systemDownload PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/36—Means for anti-jamming, e.g. ECCM, i.e. electronic counter-counter measures
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/023—Interference mitigation, e.g. reducing or avoiding non-intentional interference with other HF-transmitters, base station transmitters for mobile communication or other radar systems, e.g. using electro-magnetic interference [EMI] reduction techniques
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9318—Controlling the steering
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9322—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using additional data, e.g. driver condition, road state or weather data
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
Description
Technical Field
The invention relates to the field of vehicle-mounted detection, in particular to a vehicle-mounted radar anti-interference method and a vehicle-mounted radar system.
Background
Vehicle-mounted radars have become the eye of vehicles and have a variety of uses during vehicle travel, such as finding obstacles, predicting collisions, adaptive cruise control, and the like. In particular, for autonomous vehicles, on-board radar has become the dominant detection tool for supporting normal vehicle travel. Therefore, the detection accuracy of the vehicle-mounted radar directly affects the safety performance of the vehicle.
The accuracy of vehicle radar detection is influenced by many factors, for example, in rainy days, the detection effect of the vehicle radar is deteriorated due to the influence of water on radar detection signals, and even misjudgment or misjudgment and other conditions occur. The penetrability of the millimeter wave radar in heavy rain weather is poor, and under the heavy rain weather condition, the target cannot be effectively detected, so that the early warning signal and the control signal acquired by the radar cannot accurately reflect the current scene. For example, when the vehicle changes lanes or turns, the vehicle needs to acquire the road condition environment around the vehicle in advance, and the existing radar detection can detect the road condition environment through the radar at a specific position under the condition of not being influenced by the weather environment, but in rainy days or in the environment with poor road conditions, the detection accuracy of the radar is greatly reduced under the influence of rainwater. Therefore, the result of radar detection in a rainy weather environment affects the safety of vehicle travel, and the larger the precipitation amount, the more the vehicle-mounted radar is affected by rainwater.
Disclosure of Invention
One of the main advantages of the present invention is to provide an anti-jamming method for a vehicle-mounted radar and a vehicle-mounted radar system, wherein the vehicle-mounted radar system includes at least one radar and at least one rainfall sensor, and the vehicle-mounted radar system sets a working mode of the radar according to a rainfall value detected by the rainfall sensor, which is beneficial to improving detection accuracy of the vehicle-mounted radar.
Another advantage of the present invention is to provide an anti-jamming method for a vehicle-mounted radar and a vehicle-mounted radar system, wherein the vehicle-mounted radar system sets a rainfall jamming threshold for the radar according to the rainfall value detected by the rainfall sensor, compares the rainfall jamming threshold with the rainfall jamming threshold, and starts a jamming mode when the rainfall value is greater than the set rainfall jamming threshold; if the rainfall interference is smaller than the set rainfall interference threshold, the radar is not started, the rainfall sensor is favorable for identifying weather, and the detection accuracy of the radar is improved.
Another advantage of the present invention is to provide an anti-jamming method for a vehicle-mounted radar and a vehicle-mounted radar system, wherein the vehicle-mounted radar system sets a working mode of the radar according to a rainfall value detected by the rainfall sensor, which is beneficial to improve a detection result of the vehicle-mounted radar system and improve safety of vehicle driving.
Another advantage of the present invention is to provide an anti-interference method for a vehicle-mounted radar and a vehicle-mounted radar system, wherein the vehicle-mounted radar system filters interference waves received by the radar through a filter in a rainy environment, thereby improving the anti-interference performance of the radar.
Another advantage of the present invention is to provide an anti-jamming method for a vehicle-mounted radar and a vehicle-mounted radar system, wherein the radar of the vehicle-mounted radar system includes a primary radar and at least one secondary radar, and wherein a detection result of the secondary radar is used to correct a detection result of the primary radar, so as to improve detection accuracy of the radar.
Another advantage of the present invention is to provide an anti-jamming method for a vehicle-mounted radar and a vehicle-mounted radar system, wherein the vehicle-mounted radar system sets the primary radar and the secondary radar according to a driving strategy, for example, when a vehicle turns left, the radar on the left side of the vehicle is set as the primary radar, and the radar on the right side of the vehicle is set as the secondary radar, thereby facilitating improvement of vehicle safety when the vehicle turns left.
In accordance with one aspect of the present invention, the foregoing and other objects and advantages are achieved by an on-vehicle radar jamming prevention method, comprising:
(1) setting a rainfall interference threshold H0; and
(2) detecting a rainfall value, obtaining a corresponding rainfall interference value H according to the current rainfall value, and controlling a vehicle-mounted radar to enter a rainy day working mode when the rainfall interference value H is not less than H0; and otherwise, controlling the vehicle-mounted radar to work in the non-rainy working mode.
According to one embodiment of the invention, in the step (1), a plurality of rainfall disturbance threshold intervals (H0, H1), (H1, H2), (H2, H3), (H3, H4) … are set, wherein H0 < H1 < H2 < H3 < H4, and the vehicle-mounted radar is controlled to work in a specific rainy day working mode according to the fact that the rainfall disturbance value H is in the corresponding rainfall disturbance threshold interval.
According to one embodiment of the invention, the step (2) further comprises a step (2.1) of setting a signal compensation of the rainfall clutter corresponding to the current rainfall based on the rainfall interference value and presetting an interference rejection value for the vehicle radar in such a way that the rainfall clutter signal compensation is input to the vehicle radar.
According to one embodiment of the invention, the signal compensation value is a positive compensation value or a negative compensation value.
According to one embodiment of the present invention, the amount of rain in the environment is detected by a rain sensor disposed on a wiper.
According to one embodiment of the invention, the step (2) further comprises the step (2.2) of filtering a rain clutter signal corresponding to the rain magnitude value based on the location of the rain magnitude value.
According to an embodiment of the invention, the anti-jamming method for the vehicle-mounted radar further comprises the step (3) of setting at least one main radar and at least one auxiliary radar, so that the auxiliary radar corrects the detection result of the main radar.
According to an embodiment of the present invention, the step (3) further comprises the steps of: when the vehicle runs straight, a left radar unit and/or a right radar unit is set as a main radar, and the right radar unit and/or the left radar unit is set as an auxiliary radar to assist in correcting the detection result of the main radar.
According to an embodiment of the present invention, the step (3) further comprises the steps of: and when the vehicle runs leftwards, changes lanes leftwards or turns leftwards, setting a left radar unit as the main radar, setting a right radar unit as the auxiliary radar, and correcting the detection result of the left radar unit by the right radar unit.
According to an embodiment of the present invention, the step (3) further comprises the steps of: and when the vehicle runs rightwards, changes lanes rightwards or turns rightwards, setting a right radar unit as the main radar, setting a left radar unit as the auxiliary radar, and correcting the detection result of the right radar unit by the left radar unit.
According to an embodiment of the present invention, the step (3) further comprises the steps of: and setting a middle radar unit as the main radar, setting a left radar unit and a right radar unit as the auxiliary radar, and correcting the detection result of the main radar by the auxiliary radar.
According to an embodiment of the present invention, the step (3) further comprises the steps of: when the vehicle runs straight, setting a middle radar unit as the main radar and setting a left radar unit and a right radar unit as the auxiliary radar; when the vehicle turns left, setting the left radar unit as the main radar, and setting the middle radar unit and the right radar unit as the auxiliary radar; when the vehicle turns right, the right radar unit is set as the main radar, the middle radar unit and the left radar unit are set as the auxiliary radar, and the auxiliary radar is used for correcting the detection result of the main radar.
According to another aspect of the present invention, there is further provided an in-vehicle radar system, comprising:
at least one vehicle-mounted radar;
a system controller, wherein the vehicle radar is communicatively coupled to the system controller, the system controller controlling the vehicle radar to switch between a rainy mode of operation and a non-rainy mode of operation; and
at least one rainfall sensor, wherein the vehicle-mounted radar is communicatively connected to the system controller, the system controller presets a rainfall interference threshold H0, obtains a rainfall interference value H according to a rainfall value detected by the rainfall sensor, and controls the vehicle-mounted radar to work in the rainy day working mode when the rainfall interference value H obtained by the system controller is larger than or equal to H0; otherwise, the system controller controls the vehicle-mounted radar to enter the non-rainy working mode.
According to one embodiment of the invention, the rain sensor is a wiper sensor.
According to an embodiment of the present invention, the system controller 30 sets a plurality of rainfall disturbance threshold intervals (H0, H1), (H1, H2), (H2, H3), (H3, H4), wherein H0 < H1 < H2 < H3 < H4, and sets a signal compensation corresponding to a current rainfall by the system controller when the rainfall disturbance value H obtained by the system controller is in the corresponding rainfall disturbance threshold interval.
According to one embodiment of the invention, the vehicle-mounted radar comprises a radar host, a radar controller and a signal processor, wherein the radar controller is electrically connected with the radar host, wherein the radar controller is communicatively connected with the system controller, the system controller sends a control signal to the radar controller, and the radar controller controls the working mode of the radar host based on the control signal in a manner of inputting rainfall clutter signal compensation to the radar host.
According to one embodiment of the invention, the signal processor is communicatively connected with the system controller, and the signal processor filters the rainfall clutter signals obtained by the radar host based on control instructions of the system controller.
According to one embodiment of the invention, the vehicle-mounted radar comprises at least one left radar and at least one right radar, wherein the system controller sets the left radar unit and/or the right radar unit as a main radar, and sets the right radar unit and/or the left radar unit as a secondary radar for assisting in rectifying the detection result of the main radar.
According to an embodiment of the present invention, the vehicle-mounted radar includes at least one left radar unit, at least one right radar unit, and at least one middle radar unit, and the system controller sets the middle radar unit as the main radar, sets the left radar unit and the right radar unit as the secondary radar, and corrects the detection result of the main radar by the secondary radar.
According to one embodiment of the invention, the vehicle-mounted radar comprises at least one left radar unit, at least one right radar unit and at least one middle radar unit, when the vehicle runs straight, the middle radar unit is set as the main radar by the system controller, and the left radar unit and the right radar unit are set as the auxiliary radar; when the vehicle turns left, the system controller sets the left radar unit as the main radar and sets the middle radar unit and the right radar unit as the auxiliary radar; when the vehicle turns right, the system controller sets the right radar unit as the main radar, sets the middle radar unit and the left radar unit as the auxiliary radar, and the auxiliary radar is used for correcting the detection result of the main radar.
Further objects and advantages of the invention will be fully apparent from the ensuing description and drawings.
Drawings
Fig. 1A is a block diagram of a method for resisting jamming of an onboard radar according to a first preferred embodiment of the present invention.
Fig. 1B is a system block diagram of the vehicle-mounted radar system according to the first preferred embodiment of the present invention.
Fig. 2 is a flowchart of the anti-jamming method for the vehicle-mounted radar according to the first preferred embodiment of the present invention.
Fig. 3 is a scene schematic diagram of the anti-jamming method for the vehicle-mounted radar according to the first preferred embodiment of the invention, which shows the use strategy of the vehicle-mounted radar when the vehicle turns left.
Fig. 4 is a scene diagram of the anti-jamming method for the vehicle-mounted radar according to the first preferred embodiment of the invention, which shows the use strategy of the vehicle-mounted radar when the vehicle turns right.
Detailed Description
The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art. The basic principles of the invention, as defined in the following description, may be applied to other embodiments, variations, modifications, equivalents, and other technical solutions without departing from the spirit and scope of the invention.
It will be understood by those skilled in the art that in the present disclosure, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for ease of description and simplicity of description, and do not indicate or imply that the referenced devices or components must be in a particular orientation, constructed and operated in a particular orientation, and thus the above terms are not to be construed as limiting the present invention.
It is understood that the terms "a" and "an" should be interpreted as meaning that a number of one element or element is one in one embodiment, while a number of other elements is one in another embodiment, and the terms "a" and "an" should not be interpreted as limiting the number.
Referring to fig. 1A to 4 of the drawings of the present specification, an on-vehicle radar anti-jamming method and an on-vehicle radar system according to a first preferred embodiment of the present invention are explained in the following description. The vehicle-mounted radar is suitable for being arranged on a vehicle, and obstacles near the vehicle are detected by the vehicle-mounted radar. The vehicle-mounted radar system includes at least one vehicle-mounted radar 10, at least one rain sensor 20, and a system controller 30, wherein the vehicle-mounted radar 10 and the rain sensor 20 are mounted to the vehicle, and the rain sensor 20 is communicatively connected to the system controller 30. The rainfall sensor 20 is used to detect a rainfall value outside the vehicle and transmit the detected data result to the system controller 30, and the vehicle-mounted radar 10 is controlled by the system controller 30 based on the rainfall value. The in-vehicle radar 10 is electrically connected to the system controller 30, wherein the in-vehicle radar 10 has a rainy operation mode and a non-rainy operation mode in operation, and the operation mode of the in-vehicle radar 10 is controlled by the system controller 30 based on the detection result of the rainfall sensor 20.
When the system controller 30 starts the rainy day operation mode, the system controller 30 controls the vehicle-mounted radar 10 to detect obstacle information around the vehicle in a manner of excluding rain interference, or the detection information of the vehicle-mounted radar is corrected by the system controller 30.
In detail, the system controller 30 is provided with a rainfall disturbance threshold H0, and the system controller 30 obtains a rainfall disturbance value H corresponding to the current rainfall value based on the rainfall value detected by the rainfall sensor 20, and when the rainfall disturbance value H obtained by the system controller 30 is greater than or equal to H0, the system controller 30 controls the vehicle-mounted radar 10 to operate in the rainy day operation mode; on the contrary, when the rainfall disturbance value H obtained by the system controller 30 is less than H0, the system controller 30 controls the vehicle-mounted radar 10 to operate in the non-rainy day operation mode. Preferably, in the preferred embodiment of the present invention, the rainfall sensor 20 is provided to a wiper of the vehicle. In other words, the rainfall sensor 20 acts as a wiper sensor of the vehicle, whereby the rainfall sensor 20 detects the rainfall value of the environment in which the vehicle is currently located.
It is worth mentioning that the rainfall value detected by the rainfall sensor 20 is related to the rainfall disturbance value H of the system controller 30, i.e. the system controller 30 derives the rainfall disturbance value H corresponding to the current vehicle based on the rainfall value detected by the rainfall sensor 20. It is understood that the larger the rainfall value detected by the rainfall sensor 20, the larger the rainfall disturbance value obtained by the system controller 30.
And the vehicle-mounted radar system sets an anti-interference working mode corresponding to the current rainfall value according to different rainfall sizes of the vehicle running environment. Preferably, in the preferred embodiment of the present invention, the system controller 30 sets a plurality of rainfall disturbance threshold intervals (H0, H1), (H1, H2), (H2, H3), (H3, H4) …, wherein H0 < H1 < H2 < H3 < H4. When the rainfall interference value H obtained by the system controller 30 is within the corresponding rainfall interference threshold interval, the system controller 30 controls the vehicle-mounted radar 10 to work in a specific rainy day working mode. For example, when H2 < H3, the system controller 30 starts the anti-jamming operation mode and sets a corresponding anti-jamming value for the in-vehicle radar 10, so as to eliminate the interference of the current rainfall on the operation of the in-vehicle radar 10 or to correct the detection result of the in-vehicle radar 10. In short, the system controller 30 sets a corresponding operation mode according to the currently detected rainfall value to eliminate the operation interference of the rain on the vehicle-mounted radar 10, or to correct the detection result of the vehicle-mounted radar 10.
It should be noted that, in the preferred embodiment of the present invention, the anti-interference value set by the system controller 30 is signal compensation of the rainfall clutter corresponding to the current rainfall, that is, the system controller 30 sets signal compensation for the vehicle-mounted radar 10 based on the section where the current rainfall value is located. In other words, the system controller 30 sets the anti-interference value for the vehicle-mounted radar 10 in a manner of inputting the rainfall clutter signal compensation to the vehicle-mounted radar 10 based on the rainfall value of the current environment detected by the rainfall sensor 20, so as to improve the anti-interference performance of the vehicle-mounted radar 10 with respect to the rainfall.
It is understood that, when the detected rainfall value is larger, the signal compensation value preset by the system controller 30 for the vehicle-mounted radar 10 is larger, wherein the signal compensation value preset by the system controller 30 may be a positive compensation value or may be implemented as a negative compensation value, that is, when the system controller 30 sets a positive compensation of the corresponding rainfall value for the vehicle-mounted radar 10, the vehicle-mounted radar 10 can remove the corresponding rainfall clutter signal through the positive compensation; when the system controller 30 sets the vehicle-mounted radar 10 with negative compensation corresponding to the rainfall value, the vehicle-mounted radar 10 can neutralize the corresponding rainfall clutter signal through the negative compensation.
Each of the vehicle-mounted radars 10 includes a radar main body 11, a radar controller 12, and a signal processor 13, wherein the radar controller 12 is electrically connected to the radar main body 11, and wherein the radar controller 12 is communicatively connected to the system controller 30. The system controller 30 sends a control signal to the radar controller 12, and the radar controller 12 controls the working mode of the radar host 11 to the radar host 11 in a manner of compensating the input rainfall clutter signal based on the control signal. It is understood that the radar controller 12 is electrically connected to an input terminal of the radar main body 11. The signal processor 13 is electrically connected to the radar host 11, and the signal processor 13 is communicatively connected to the system controller 30, wherein the signal processor 13 processes detection information detected by the radar host 11 based on a control signal of the system controller 30, and eliminates a clutter signal corresponding to a rainfall detected by the radar host 11 to obtain corresponding detected object information.
It is worth mentioning that, in the preferred embodiment of the present invention, the vehicle-mounted radar 10 may be, but is not limited to, a millimeter wave radar.
Preferably, in the wired embodiment of the present invention, the signal processor 13 of the vehicle-mounted radar 10 processes the detection signal derived by the radar host 11 based on the control instruction of the system controller 30. When the system controller 30 starts the anti-interference operation mode based on the rainfall value detected by the rainfall sensor 20, the system controller 30 sends a control command to the signal processor 13 based on the interval position where the rainfall value is located, so that the signal processor 13 filters the corresponding rainfall clutter signal. Preferably, in this preferred embodiment of the invention, the signal processor 13 is implemented as a filter. Alternatively, in the preferred embodiment of the present invention, the signal processor 13 may also be implemented as a filter circuit provided in the signal processing circuit, or as a filter processing software module.
In short, in the preferred embodiment of the present invention, when the rainfall value detected by the rainfall sensor 20 exceeds the set rainfall interference threshold, the system controller 30 controls the vehicle-mounted radar 10 to enter the anti-interference mode (rain operation mode), wherein the system controller 30 sends a control signal to the signal processor 13 of the vehicle-mounted radar 10, and the signal processor 13 filters out the interference signal corresponding to the rainfall noise to obtain the normal detection signal in the rain operation mode.
It will be appreciated by those skilled in the art that the system controller 30 may be implemented separately or simultaneously in the manner of inputting the compensation signal and the manner of processing the detection signal by the signal processor 13 to improve interference rejection performance. Preferably, in the preferred embodiment of the present invention, the system controller 30 sets a compensation interference signal of the rainfall interference signal in advance based on the rainfall value detected by the rainfall sensor 20, transmits the compensation interference signal to the radar controller 12 of the vehicle-mounted radar 10, and controls the radar host 11 to transmit and receive radar detection signals in a compensation signal operation mode based on the compensation interference signal by the radar controller 12. When the radar host 11 receives a radar detection signal, the detection signal is transmitted to the signal processor 13, and the signal processor 13 receives the detection signal in a specific frequency range based on the control signal sent by the system controller 30 to filter an interference signal corresponding to the rainfall value.
It should be noted that the intensity of the rainfall interference signal detected by the vehicle-mounted radar 10 corresponds to the current rainfall value, that is, the larger the rainfall value is, the stronger the rainfall clutter signal detected by the vehicle-mounted radar 10 due to rainfall interference is, and the stronger the rainfall interference signal detected by the radar host 11 of the vehicle-mounted radar 10 is. It should be noted that the rainfall interference signal detected by the vehicle-mounted radar 10 due to rainfall interference is an uninterrupted continuous detection signal in a specific signal band, and the signal strength detected by the vehicle-mounted radar 10 is smaller due to the vehicle speed image. In other words, the rainfall clutter signal detected by the vehicle radar 10 due to the rainfall disturbance is a continuous clutter signal corresponding to the current rainfall value. Therefore, when the signal processor 13 of the in-vehicle radar 10 filters the clutter based on the control signal of the system controller 30, the signal processor 13 may filter the rainfall clutter signal corresponding to the current rainfall value to improve the detection performance of the in-vehicle radar.
As shown in fig. 3 and 4, in the preferred embodiment of the present invention, the vehicle-mounted radar 10 of the vehicle-mounted radar system is provided to the vehicle, wherein the vehicle-mounted radar 10 may be provided to a front end, a rear end, an upper end, or both side surfaces of the vehicle, wherein the vehicle-mounted radar may be implemented as a traveling radar, a reversing radar, or the like of the vehicle according to an installation position of the vehicle-mounted radar 10.
In the preferred embodiment of the present invention, the number of the vehicle-mounted radars 10 of the vehicle-mounted radar system is two or more, and during the running of the vehicle, one vehicle-mounted radar 10 is set as amain radar 10a and at least another vehicle-mounted radar is set as asub radar 10b by the system controller 30 based on a driving instruction of the current vehicle, wherein the detection of thesub radar 10b is data information used to correct the detection information of themain radar 10b, so that the detection result of the vehicle-mounted radar system is more accurate. Accordingly, the system controller 30 is communicably connected to the vehicle, and the system controller 30 can acquire driving information of the current vehicle, such as steering information of the vehicle, lane change information, and the like. The system controller 30 can obtain the driving condition of the current vehicle based on the control information of the vehicle, for example, when the vehicle changes lane to the left, the system controller 30 obtains the control information of the current vehicle changing lane to the left, and sets the vehicle-mounted radar to detect the obstacle existing in the left direction of the vehicle.
In short, in this preferred embodiment of the present invention, the system controller 30 is able to set the on-vehicle radar control adapted to the current vehicle driving situation according to the current vehicle driving situation. It is understood that theprimary radar 10a and thesecondary radar 10b of the vehicle radar 10 are defined as a function of the driving conditions of the vehicle, i.e., theprimary radar 10a and thesecondary radar 10b are defined by the system controller 30 as a function of the driving conditions.
Preferably, when the vehicle runs in a rainy environment, that is, the rainfall sensor 20 detects that the rainfall value of the vehicle exceeds a set interference threshold, the system controller 30 controls themain radar 10a and/or theauxiliary radar 10b to operate in an interference-free mode (a rainy operation mode), so as to further improve the detection accuracy of the vehicle-mounted radar system.
As shown in fig. 3, the vehicle-mounted radar 10 includes at least oneleft radar unit 10A and at least oneright radar unit 10B, wherein theleft radar unit 10A is disposed on the left side of the vehicle, and theright radar unit 10B is disposed on the right side of the vehicle, wherein theleft radar unit 10A is adapted to detect target detection areas on the left side and the left front (left rear) of the vehicle, and theright radar unit 10B is adapted to detect target detection areas on the right side and the right front (right rear) of the vehicle.
When a vehicle is running in a rainy environment, the system controller 30 sets theleft radar unit 10A and/or theright radar unit 10B as themain radar 10A of the in-vehicle radar system based on a driving signal of the vehicle.
In detail, when the vehicle travels straight, the system controller 30 sets theleft radar unit 10A and/or theright radar unit 10B as aprimary radar 10A, and sets theright radar unit 10B and/or theleft radar unit 10A as asecondary radar 10B, so as to assist in rectifying the detection result of theprimary radar 10A. In detail, when the vehicle travels straight, the system controller 30 sets theleft radar unit 10A as themain radar 10A, wherein theright radar unit 10B is set as thesub radar 10B, wherein thesub radar 10B is used to correct the detection result of themain radar 10A, i.e., theleft radar unit 10A. It is worth mentioning that the system controller 30 controls themain radar 10a or theauxiliary radar 10b to operate in the rainy operation mode when the vehicle travels straight. Preferably, the system controller 30 sets theauxiliary radar 10b to operate in the rainy operation mode, and themain radar 10a to operate in a normal operation mode.
Alternatively, when the vehicle travels straight, the system controller 30 sets theright radar unit 10B as themain radar 10A, wherein theleft radar unit 10A is set as thesub radar 10B by the system controller 30, wherein the detection result of thesub radar 10B is used to correct the detection result of themain radar 10A, i.e., theright radar unit 10A. Alternatively, when the vehicle travels straight, the system controller 30 sets theleft radar unit 10A and theright radar unit 10B as themain radar 10A and theauxiliary radar 10B, and uses the detection result of theleft radar unit 10A to correct the detection result of theright radar unit 10B, and uses the detection result of theright radar unit 10B to correct the detection result of theleft radar unit 10A. It should be noted that, in the preferred embodiment of the present invention, the system controller 30 may randomly set any one of the vehicle-mounted radars 10 as themain radar 10a when the vehicle travels straight, and set any one of the vehicle-mounted radars 10 other than themain radar 10a as the auxiliary radar to correct the detection result of themain radar 10 a. In other words, theauxiliary radar 10b corrects the detection result thereof on the basis of themain radar 10a to further eliminate the interference of the rainfall to the vehicle-mounted radar.
Alternatively, in other optional embodiments of the present invention, the system controller 30 controls themain radar 10a and/or theauxiliary radar 10b of the in-vehicle radar 10 to enter the rainy day operation mode (interference-free operation mode). As an example, in the preferred embodiment of the present invention, when themain radar 10a is controlled to enter the rainy operation mode, thesub radar 10b may operate in a normal operation mode; when theauxiliary radar 10b is controlled to enter the rainy day operation mode, themain radar 10a may operate in a normal operation mode; or the system controller 30 controls themain radar 10a and theauxiliary radar 10b to be in the rainy operation mode together.
It can be understood by those skilled in the art that when the vehicle-mounted radar operates in the normal operation mode, the vehicle-mounted radar is interfered by rainfall to generate a rainfall interference wave, and a part of clutter signals in the rainfall are inevitably regarded as obstacle signals, so that the detection accuracy of the vehicle-mounted radar is affected. When the vehicle-mounted radar works in the rainy day working mode, the detection result of the vehicle-mounted radar system is corrected by combining with a normal signal because the vehicle-mounted radar 10 removes the rainfall value interference signal of a specific wave band.
When the vehicle is traveling leftward, changing lanes leftward, or turning leftward, the system controller 30 sets theleft radar unit 10A as the main radar, sets theright radar unit 10B as the auxiliary radar, and corrects the detection result of theleft radar unit 10A with theright radar unit 10B, based on the turning information of the vehicle. Preferably, in the preferred embodiment of the present invention, the system controller 30 controls theleft radar unit 10A and/or theright radar unit 10B to operate in an anti-jamming operation mode (a rainy operation mode) when the vehicle is driven to the left, changes lane to the left, or turns left.
When the vehicle runs to the right, changes lanes to the right, or turns to the right, the system controller 30 sets theright radar unit 10B as themain radar 10A, sets theright radar unit 10A as thesub radar 10B, and corrects the detection result of theright radar unit 10B with theright radar unit 10A, based on the turning information of the vehicle. Preferably, in the preferred embodiment of the present invention, the system controller 30 controls theright radar unit 10A and/or theright radar unit 10B to operate in an anti-jamming operation mode (a rainy operation mode) when the vehicle is driven to the right, changes lane to the right, or turns right.
As shown in fig. 4, according to another aspect of the present invention, another embodiment of a vehicle radar is further provided. The vehicle-mounted radar 10 includes at least oneleft radar unit 10A, at least oneright radar unit 10B, and at least onemiddle radar unit 10C, wherein theleft radar unit 10A is disposed on the left side of the vehicle, theright radar unit 10B is disposed on the right side of the vehicle, and themiddle radar unit 10C is disposed in the middle of the vehicle. Thecenter radar unit 10C is used to detect a detected area at any position and angle around the vehicle as a center.
In the preferred embodiment of the present invention, the system controller 30 sets the radar unit of any one of the vehicle-mounted radars 10 as themain radar 10a and sets the radar unit of any one of the vehicle-mounted radars other than themain radar 10a as thesub radar 10b based on the traveling information of the vehicle.
Preferably, in the preferred embodiment of the present invention, the system controller 30 sets thecenter radar unit 10C as themain radar 10A, sets theleft radar unit 10A and theright radar unit 10B as thesub radar 10B, and corrects the detection result of themain radar 10A by thesub radar 10B.
More preferably, in the preferred embodiment of the present invention, the system controller 30 controls theprimary radar 10a and/or thesecondary radar 10b to operate in the rainy day operation mode (interference rejection mode) based on the rainfall value of the rainfall sensor 20.
As an example, when the vehicle is running straight, the system controller 30 sets theleft radar unit 10A and theright radar unit 10B as thesub radar 10B, and corrects the detection result of themiddle radar unit 10C with theleft radar unit 10A and theright radar unit 10B. When the vehicle turns left, the system controller 30 sets theleft radar unit 10A as thesecondary radar 10b, and corrects the detection result of the middle radar unit with theleft radar unit 10A. When the vehicle turns right, the system controller 30 sets theright radar unit 10B as thesecondary radar 10B, and corrects the detection result of themiddle radar unit 10C with theright radar unit 10B.
Alternatively, in the preferred embodiment of the present invention, the system controller 30 sets theprimary radar 10a and thesecondary radar 10b based on the vehicle travel information. In detail, when the vehicle travels straight, the system controller 30 sets thecenter radar unit 10C as themain radar 10A, and sets theleft radar unit 10A and theright radar unit 10B as thesub radar 10B; when the vehicle turns left, the system controller 30 sets theleft radar unit 10A as theprimary radar 10A, and sets themiddle radar unit 10C and theright radar unit 10B as thesecondary radar 10B; when the vehicle turns right, theright radar unit 10B is set as themain radar 10A, themiddle radar unit 10C and theleft radar unit 10A are set as thesub radar 10B, and thesub radar 10B is used to correct the detection result of themain radar 10A by the system controller 30.
It should be noted that, in other optional embodiments of the present invention, the system controller 30 may further set themain radar 10a and theauxiliary radar 10b according to other driving conditions, and set themain radar 10a and/or theauxiliary radar 10b to enter the rainy day operation mode based on the rainfall value detected by the rainfall sensor 20, so as to improve the detection accuracy of the vehicle-mounted radar system.
According to another aspect of the present invention, the present invention further provides an anti-jamming method for a vehicle-mounted radar, wherein the anti-jamming method for the vehicle-mounted radar comprises the following steps:
(1) setting a rainfall interference threshold H0; and
(2) detecting a rainfall value, obtaining a corresponding rainfall interference value H according to the current rainfall value, and controlling a vehicle-mounted radar 10 to enter a rainy day working mode when the rainfall interference value H is not less than H0; and otherwise, controlling the vehicle-mounted radar 10 to work in the non-rainy working mode.
In the step (1) of the anti-interference method for the vehicle-mounted radar, a plurality of rainfall interference threshold intervals (H0, H1), (H1, H2), (H2, H3), (H3, H4) … are set, wherein H0 is less than H1 and less than H2 is less than H3 and less than H4, and the vehicle-mounted radar 10 is controlled to work in a specific rainy day working mode according to the fact that the rainfall interference value H is in the corresponding rainfall interference threshold interval.
The step (2) of the anti-interference method for the vehicle-mounted radar further comprises a step (2.1) of setting a signal compensation of the rainfall clutter corresponding to the current rainfall based on the rainfall interference value, and setting an anti-interference value for the vehicle-mounted radar 10 in a manner of inputting the rainfall clutter signal compensation to the vehicle-mounted radar 10. It should be noted that the preset signal compensation value can be a positive compensation value, and can also be implemented as a negative compensation value.
It is worth mentioning that the rain amount of the environment is detected by a rain sensor 20, wherein the rain sensor 20 is disposed on a wiper of the vehicle.
Each of the vehicle-mounted radars 10 includes a radar main body 11, a radar controller 12, and a signal processor 13, wherein the radar controller 12 is electrically connected to the radar main body 11, and wherein the radar controller 12 is communicatively connected to the system controller 30. The system controller 30 sends a control signal to the radar controller 12, and the radar controller 12 controls the working mode of the radar host 11 to the radar host 11 in a manner of compensating the input rainfall clutter signal based on the control signal. It is understood that the radar controller 12 is electrically connected to an input terminal of the radar main body 11. The signal processor 13 is electrically connected to the radar host 11, and the signal processor 13 is communicatively connected to the system controller 30, wherein the signal processor 13 processes detection information detected by the radar host 11 based on a control signal of the system controller 30, and eliminates a clutter signal corresponding to a rainfall detected by the radar host 11 to obtain corresponding detected object information.
The system controller 30 sends the signal compensation information to the radar controller 12, and the radar controller 12 controls the radar host to send a detection signal of a specific waveband. When the system controller 30 controls the vehicle-mounted radar 10 to enter the anti-jamming mode, the radar controller 12 adds the compensation signal to the transmitting end of the radar host 11 based on the control signal of the system controller 30, so as to transmit a probe signal with compensation information.
The step (2) of the anti-interference method for the vehicle-mounted radar further comprises the step (2.2) of sending a control command to the signal processor 13 based on the interval position where the rainfall value is located, so that the signal processor 13 filters the corresponding rainfall clutter signal. Preferably, in this preferred embodiment of the invention, the signal processor 13 is implemented as a filter. Alternatively, in the preferred embodiment of the present invention, the signal processor 13 may also be implemented as a filter circuit provided in the signal processing circuit, or as a filter processing software module.
The system controller 30 sends a control signal to the signal processor 13 of the vehicle-mounted radar 10, and the signal processor 13 filters an interference signal corresponding to the rainfall noise to obtain a normal detection signal in a rainy day working mode.
The anti-interference method for the vehicle-mounted radar further comprises the step (3) of setting at least onemain radar 10a and at least oneauxiliary radar 10b, so that theauxiliary radar 10b corrects the detection result of themain radar 10 a.
The anti-interference method of the vehicle-mounted radar further comprises the following step (3.1) in the step (3): themain radar 10A and theauxiliary radar 10B are set according to the driving information of the vehicle, and when the vehicle is moving straight, the system controller 30 sets aleft radar unit 10A and/or aright radar unit 10B as themain radar 10A, and sets theright radar unit 10B and/or theleft radar unit 10A as theauxiliary radar 10B, so as to assist in correcting the detection result of themain radar 10A.
Preferably, when the vehicle travels straight, the system controller 30 sets theleft radar unit 10A as themain radar 10A, wherein theright radar unit 10B is set as thesub radar 10B, wherein thesub radar 10B is used to correct the detection result of themain radar 10A, i.e., theleft radar unit 10A. More preferably, the system controller 30 sets theauxiliary radar 10b to operate in the rainy operation mode, and themain radar 10a to operate in a normal operation mode.
Alternatively, when the vehicle is running straight, the system controller 30 sets theright radar unit 10B as themain radar 10A, wherein theleft radar unit 10A is set as thesub radar 10B by the system controller 30, wherein thesub radar 10B is used to correct themain radar 10A. Alternatively, when the vehicle travels straight, the system controller 30 sets theleft radar unit 10A and theright radar unit 10B as themain radar 10A and theauxiliary radar 10B, and uses the detection result of theleft radar unit 10A to correct the detection result of theright radar unit 10B, and uses the detection result of theright radar unit 10B to correct the detection result of theleft radar unit 10A. It should be noted that, in the preferred embodiment of the present invention, the system controller 30 may randomly set any one of the vehicle-mounted radars 10 as themain radar 10a when the vehicle travels straight, and set any one of the vehicle-mounted radars 10 other than themain radar 10a as the auxiliary radar to correct the detection result of themain radar 10 a. In other words, theauxiliary radar 10b corrects the detection result thereof on the basis of themain radar 10a to further eliminate the interference of the rainfall to the vehicle-mounted radar.
The anti-interference method of the vehicle-mounted radar further comprises the following step (3.2) in the step (3): when the vehicle is traveling leftward, changing lanes leftward, or turning leftward, the system controller 30 sets theleft radar unit 10A as the main radar, sets theright radar unit 10B as the auxiliary radar, and corrects the detection result of theleft radar unit 10A with theright radar unit 10B, based on the turning information of the vehicle. Preferably, in the preferred embodiment of the present invention, the system controller 30 controls theleft radar unit 10A and/or theright radar unit 10B to operate in an anti-jamming operation mode (a rainy operation mode) when the vehicle is driven to the left, changes lane to the left, or turns left.
The anti-interference method of the vehicle-mounted radar further comprises the following step (3) in the step (3): when the vehicle runs to the right, changes lanes to the right, or turns to the right, the system controller 30 sets theright radar unit 10B as themain radar 10A, sets theleft radar unit 10A as thesub radar 10B, and corrects the detection result of theright radar unit 10B with theleft radar unit 10A, based on the turning information of the vehicle. Preferably, in the preferred embodiment of the present invention, the system controller 30 controls theright radar unit 10A and/or theright radar unit 10B to operate in an anti-jamming operation mode (a rainy operation mode) when the vehicle is driven to the right, changes lane to the right, or turns right.
The anti-interference method of the vehicle-mounted radar further comprises the following step (3): amiddle radar unit 10C is set as themain radar 10A, aleft radar unit 10A and aright radar unit 10B are set as theauxiliary radar 10B, and the detection result of themain radar 10A is corrected by theauxiliary radar 10B.
More preferably, in the preferred embodiment of the present invention, the system controller 30 controls theprimary radar 10a and/or thesecondary radar 10b to operate in the rainy day operation mode (interference rejection mode) based on the rainfall value of the rainfall sensor 20.
The anti-interference method of the vehicle-mounted radar further comprises the following step (3): when the vehicle is running straight, the system controller 30 sets thecenter radar unit 10C as themain radar 10A, and sets theleft radar unit 10A and theright radar unit 10B as thesub radar 10B; when the vehicle turns left, the system controller 30 sets theleft radar unit 10A as theprimary radar 10A, and sets themiddle radar unit 10C and theright radar unit 10B as thesecondary radar 10B; when the vehicle turns right, theright radar unit 10B is set as themain radar 10A, themiddle radar unit 10C and theleft radar unit 10A are set as thesub radar 10B, and thesub radar 10B is used to correct the detection result of themain radar 10A by the system controller 30.
It should be noted that, in other optional embodiments of the present invention, the system controller 30 may further set themain radar 10a and theauxiliary radar 10b according to other driving conditions, and set themain radar 10a and/or theauxiliary radar 10b to enter the rainy day operation mode based on the rainfall value detected by the rainfall sensor 20, so as to improve the detection accuracy of the vehicle-mounted radar system.
It will be appreciated by persons skilled in the art that the embodiments of the invention described above and shown in the drawings are given by way of example only and are not limiting of the invention. The objects of the invention have been fully and effectively accomplished. The functional and structural principles of the present invention have been shown and described in the examples, and any variations or modifications of the embodiments of the present invention may be made without departing from the principles.
Claims (10)
1. An anti-interference method for a vehicle-mounted radar is characterized by comprising the following steps:
(1) setting a rainfall interference threshold H0; and
(2) detecting a rainfall value, obtaining a corresponding rainfall interference value H according to the current rainfall value, and controlling a vehicle-mounted radar to enter a rainy day working mode when the rainfall interference value H is not less than H0; and otherwise, controlling the vehicle-mounted radar to work in the non-rainy working mode.
2. The method for resisting interference to vehicle radar according to claim 1, wherein in the step (1), a plurality of rain interference threshold intervals (H0, H1), (H1, H2), (H2, H3), (H3, H4) … are set, wherein H0 < H1 < H2 < H3 < H4, and the vehicle radar is controlled to operate in a specific rain interference mode according to the fact that the rain interference value H is in the corresponding rain interference threshold interval.
3. The vehicle-mounted radar anti-jamming method according to claim 1, wherein the step (2) further comprises the step (2.1) of setting a signal compensation of a rainfall clutter corresponding to the current rainfall based on the rainfall interference value, and presetting the anti-jamming value for the vehicle-mounted radar in such a manner that the rainfall clutter signal compensation is input to the vehicle-mounted radar.
4. The vehicle-mounted radar anti-jamming method according to claim 3, wherein the signal compensation value is a positive compensation value or a negative compensation value.
5. The method according to claim 3, wherein a rain sensor is provided to a wiper to detect a rain amount of the environment.
6. The vehicle radar immunity method of claim 1 or 3, wherein the step (2) further comprises the step (2.2) of filtering a rain clutter signal corresponding to the rain magnitude value based on the location of the rain magnitude value.
7. The method for resisting interference for vehicle-mounted radar according to claim 1 or 3, further comprising the step (3) of setting at least one primary radar and at least one secondary radar, wherein the secondary radar corrects the detection result of the primary radar.
8. The method for resisting interference for vehicle-mounted radar according to claim 6, further comprising the step (3) of setting at least one primary radar and at least one secondary radar, wherein the secondary radar corrects the detection result of the primary radar.
9. The vehicle-mounted radar anti-jamming method according to claim 7, wherein the step (3) further comprises the steps of: when the vehicle runs straight, a left radar unit and/or a right radar unit is set as a main radar, and the right radar unit and/or the left radar unit is set as an auxiliary radar to assist in correcting the detection result of the main radar.
10. The vehicle-mounted radar anti-jamming method according to claim 7, wherein the step (3) further comprises the steps of: when the vehicle runs leftwards, changes lanes leftwards or turns leftwards, a left radar unit is set as the main radar, a right radar unit is set as the auxiliary radar, and the detection result of the left radar unit is corrected by the right radar unit; or
Wherein the step (3) further comprises the steps of: when the vehicle runs rightwards, changes lanes rightwards or turns rightwards, a right radar unit is set as the main radar, the left radar unit is set as the auxiliary radar, and the detection result of the right radar unit is corrected by the left radar unit; or
Wherein the step (3) further comprises the steps of: setting a middle radar unit as the main radar, setting a left radar unit and a right radar unit as the auxiliary radar, and correcting the detection result of the main radar by the auxiliary radar; or
Wherein the step (3) further comprises the steps of: when the vehicle runs straight, setting a middle radar unit as the main radar and setting a left radar unit and a right radar unit as the auxiliary radar; when the vehicle turns left, setting the left radar unit as the main radar, and setting the middle radar unit and the right radar unit as the auxiliary radar; when the vehicle turns right, the right radar unit is set as the main radar, the middle radar unit and the left radar unit are set as the auxiliary radar, and the auxiliary radar is used for correcting the detection result of the main radar.
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