阅读说明：本技术 一种基于fpga的fmcw毫米波雷达测距片上系统 (FPGA-based FMCW millimeter wave radar ranging chip system ) 是由 张润曦 周洲 甘亮羽 刘元 羊靖怡 石春琦 陈光胜 潘松 李延中 于 2020-07-17 设计创作，主要内容包括：本发明公开了一种基于FPGA的FMCW毫米波雷达测距片上系统,该片上系统包括中央处理单元、高级微控制器总线、两块静态随机存取存储模块、液晶显示模块、通用异步收发传输接口、局域网控制器、通用输入输出接口、FMCW雷达信号处理模块、FMCW雷达射频前端模块及12位模拟数字转换模块,所述片上系统在FPGA上实现。该片上系统通过高级微控制器总线将各模块连接在一起；所述FMCW雷达射频前端模块与FMCW雷达信号处理模块通过12位模拟数字转换模块相连,通过高级高性能总线接口与高级微控制器总线连接。本发明可实时获取并处理FMCW雷达射频前端信息,并将处理后所得的的测距信息显示在液晶屏上,在无人机避障,汽车自动驾驶障碍物检测等,拥有广泛的应用前景。(The invention discloses an FMCW millimeter wave radar ranging system-on-chip based on FPGA, which comprises a central processing unit, a high-level microcontroller bus, two static random access memory modules, a liquid crystal display module, a universal asynchronous receiving and transmitting interface, a local area network controller, a universal input and output interface, an FMCW radar signal processing module, an FMCW radar radio frequency front end module and a 12-bit analog-to-digital conversion module, wherein the system-on-chip is realized on the FPGA. The system on chip connects the modules together through a high-level microcontroller bus; the FMCW radar radio frequency front-end module is connected with the FMCW radar signal processing module through a 12-bit analog-digital conversion module and is connected with an advanced microcontroller bus through an advanced high-performance bus interface. The invention can acquire and process FMCW radar radio frequency front end information in real time, and display the processed ranging information on the liquid crystal screen, and has wide application prospect in unmanned aerial vehicle obstacle avoidance, automobile automatic driving obstacle detection and the like.)

1. The FMCW millimeter wave radar ranging system-on-chip based on the FPGA is characterized in that the system-on-chip is arranged in a Field Programmable Gate Array (FPGA), and comprises a central processing unit (CortexM 3), a high-level microcontroller bus (AMBA 3.0 bus), a first static random access memory module (SRAM module), a second static random access memory module (SRAM module), a liquid crystal display module (LCD module), a universal asynchronous transceiving transmission interface (UART interface), a local area network Controller (CAN) controller, a universal input and output interface (GPIO interface), an FMCW radar signal processing module, an FMCW radar radio frequency front-end module and a 12-bit analog-to-digital conversion module (ADC module), wherein:

the output of the FMCW radar radio frequency front-end module is connected with the input of the 12-bit ADC module;

the output of the 12-bit ADC module is connected with the input of the FMCW radar signal processing module;

the FMCW radar signal processing module consists of an ADC interface module, an FIR filter module, a cross-clock domain processing module, a fast Fourier transform module, a modulus-taking peak-searching module, a data register and an AHB interface module, wherein the ADC interface module is connected with the output of the 12-bit ADC module, the output of the ADC interface module is connected with the input of the FIR filter module, the output of the FIR filter module is connected with the input of the cross-clock domain processing module, the output of the cross-clock domain processing module is connected with the fast Fourier transform module, the output of the fast Fourier transform module is connected with the modulus-taking peak-searching module, the output of the modulus-taking peak-searching module is connected with the data register module, and the output of the data register is connected with an AMBA3.0 bus;

the LCD module consists of an 8080 interface and a TFT-LCD screen, wherein the output of the 8080 interface is connected with the input of the TFT-LCD screen, and the input of the 8080 interface is connected with an AMBA3.0 bus;

the cortex 3 is connected with an AMBA3.0 bus;

the AMBA3.0 bus is based on an AMBA3.0 bus protocol and connects cortex 3, a first SRAM, a second SRAM, an LCD module, a UART interface, a CAN controller, a GPIO interface and an FMCW radar signal processing module.

Technical Field

The invention belongs to the field of millimeter wave radars and Soc on-chip systems, and particularly relates to a frequency modulation continuous millimeter wave (FMCW) radar ranging on-chip (Soc) system based on a Field Programmable Gate Array (FPGA).

Background

In the past, few chips have been designed with internal embedded processors, other than microprocessors and microcontrollers. This situation has changed dramatically since the release of the Arm Cortex-M processor, and more devices with embedded processors have emerged with the rapid growth of the internet of things (IoT). Today, Arm processors are used for smart sensors, smart battery (e.g., for battery health monitoring) wireless communication chipsets, power electronic controllers, and the like. This trend is driven by the need for tighter system integration, additional functional features and better system reliability. SoC design is an exciting industry full of opportunities-the range of Cortex-M based applications SoC including consumer products, industrial and automotive applications, communications, agriculture, transportation, health care/medical care, etc. is increasing with the expanding internet of things device market, with the increasing demand for embedding processors in SoC designs. Cortex-M processors, such as Cortex-M0, Cortex-M0+ and Cortex-M3, have small volume power consumption and can be easily integrated into a series of SoC designs. Many small and pioneer enterprises are taking advantage of this to develop better product differentiation of their own SoC solutions, as opposed to Arm design starting a cost-reducing barrier.

In the middle of the automobile anti-collision sensor, the automobile anti-collision sensor is divided into an ultrasonic radar, an infrared radar, a laser radar and a millimeter wave radar according to different working principles and working processes. The first three radars are all compared with a transmitted signal by detecting an echo to obtain a difference value of a pulse or a phase, so that a time difference between a transmitted signal and a received signal is calculated. And calculating the distance and the relative speed between the obstacle and the obstacle according to the propagation speeds of ultrasonic waves, infrared rays and laser in the air. Although the three automobile anti-collision radars designed by adopting the acousto-optic principle have simple structure and low price, the three automobile anti-collision radars are easily interfered by severe meteorological conditions and cannot ensure the ranging precision. The millimeter wave radar shows its special advantages, compared with the optical radar and the infrared radar, the millimeter wave radar is not interfered by the shape and color of a target object, and compared with the ultrasonic radar, the millimeter wave radar is not influenced by atmospheric turbulence, so that the millimeter wave radar has stable detection performance; the environmental suitability is good. The influence of weather and external environment changes is small, and rain, snow, dust and sunlight do not interfere the weather and the external environment; the Doppler frequency shift is large, and the accuracy of measuring the relative speed is improved.

Disclosure of Invention

The invention aims to integrate FMCW radar, signal processing and human-computer interaction together to provide an FMCW millimeter wave radar ranging chip system based on FPGA, which CAN process signals detected by the FMCW radar in real time, and display the distance information, which is the processing result, on an LCD screen in real time or output the distance information to the outside through interfaces of UART, CAN and the like through a cortex 3 kernel controller. The system realizes the MCU carrying the FMCW radar, reserves a debugging interface, and can be used for personnel using the system to carry out secondary development. The invention aims to provide a millimeter wave radar ranging chip system.

The specific technical scheme for realizing the purpose of the invention is as follows:

an FMCW millimeter wave radar ranging system-on-chip based on FPGA is characterized in that the system-on-chip is arranged in a Field Programmable Gate Array (FPGA), and comprises a central processing unit (CortexM 3), a high-level microcontroller bus (AMBA 3.0 bus), a first static random access memory module (SRAM module), a second SRAM module, a liquid crystal display module (LCD module), a universal asynchronous transceiver transmitter interface (UART) interface, a local area network (CAN) controller, a general input and output interface (GPIO interface), an FMCW radar signal processing module, an FMCW radar radio frequency front-end module and a 12-bit ADC module, wherein:

the output of the FMCW radar radio frequency front-end module is connected with the input of the 12-bit ADC module;

the output of the 12-bit ADC module is connected with the input of the FMCW radar signal processing module;

the FMCW radar signal processing module consists of an ADC interface module, an FIR filter module, a cross-clock domain processing module, a fast Fourier transform module, a modulus-taking peak-searching module, a data register and an AHB interface module, wherein the ADC interface module is connected with the output of the 12-bit ADC module, the output of the ADC interface module is connected with the input of the FIR filter module, the output of the FIR filter module is connected with the input of the cross-clock domain processing module, the output of the cross-clock domain processing module is connected with the fast Fourier transform module, the output of the fast Fourier transform module is connected with the modulus-taking peak-searching module, the output of the modulus-taking peak-searching module is connected with the data register module, and the output of the data register is connected with an AMBA3.0 bus;

the LCD module consists of an 8080 interface module and a TFT-LCD screen, wherein the output of the 8080 interface module is connected with the input of the TFT-LCD screen, and the input of the 8080 interface module is connected with an AMBA3.0 bus;

the central processing unit cortex 3 is connected to an AMBA3.0 bus;

the AMBA3.0 bus is based on an AMBA3.0 bus protocol and connects cortex 3, a first SRAM, a second SRAM, an LCD module, a UART interface, a CAN controller, a GPIO interface and an FMCW radar signal processing module.

The FMCW radar radio frequency front end module uses a Position2Go radar development board produced by the England flying company, and the radio frequency chip model is BGT24MTR 12;

the 12-bit ADC is a black gold high-speed AD module AN 9238;

the TFT-LCD screen adopts a 4.3 inch 8080 screen produced by ALIENTEK company;

one of the two SRAM and LCD modules is used as an instruction memory of cortex 3, and the other one is used as a data register of cortex 3;

the FMCW radar radio frequency front end module adopts a triangular wave modulation mode;

the carrier frequency of the module is 24 GHz; the modulation period of the module is 200us, and the sweep frequency bandwidth of the sweep frequency control module is 200 MHz. The sampling frequency of the 12-bit ADC is 1.28 MHz.

The model of the FPGA is XC7A 35T.

The invention has the advantages that:

1) the invention adopts the FPGA as a building platform, saves the cost and accelerates the verification period of the design.

2) The invention can obtain the distance information of the target detected by the real-time radar, and can be connected with different systems through different interfaces to complete secondary development.

Drawings

FIG. 1 is a block diagram of the system architecture of the present invention;

FIG. 2 is a block diagram of an FMCW radar signal processing module according to the present invention;

fig. 3 is a diagram of a system actual test result in a multi-obstacle environment in embodiment 2 of the present invention.

Detailed Description

The invention is described in detail below with reference to the figures and examples.