阅读说明：本技术 一种扫描控制方法、毫米波雷达、可移动平台及存储介质 (Scanning control method, millimeter wave radar, movable platform and storage medium ) 是由 陈雷 陆新飞 李怡强 于 2019-12-31 设计创作，主要内容包括：一种扫描控制方法、毫米波雷达、可移动平台及存储介质,该方法应用于毫米波雷达,毫米波雷达包括第一发射天线(11)、第二发射天线(12)、以及与第一发射天线(11)以及第二发射天线(12)电连接的射频前端电路(13),该方法包括：控制射频前端电路(13)驱动第一发射天线(11),以使第一发射天线(11)发射第一微波信号；控制射频前端电路(13)驱动第二发射天线(12),以使第二发射天线(12)发射第二微波信号,其中,第一微波信号探测的距离以及宽度范围与第二微波信号探测的距离以及宽度范围不同。在一套雷达系统中实现了不同探测距离及宽度范围的覆盖,从而可以减少雷达系统的设计成本,并优化雷达系统的性能。(A scanning control method, a millimeter wave radar, a movable platform, and a storage medium, the method being applied to a millimeter wave radar including a first transmission antenna (11), a second transmission antenna (12), and a radio frequency front end circuit (13) electrically connected to the first transmission antenna (11) and the second transmission antenna (12), the method comprising: controlling a radio frequency front-end circuit (13) to drive a first transmitting antenna (11) so that the first transmitting antenna (11) transmits a first microwave signal; and controlling the radio frequency front-end circuit (13) to drive the second transmitting antenna (12) so that the second transmitting antenna (12) transmits a second microwave signal, wherein the detection distance and the detection width range of the first microwave signal are different from those of the second microwave signal. The coverage of different detection distances and width ranges is realized in one set of radar system, so that the design cost of the radar system can be reduced, and the performance of the radar system is optimized.)

A scanning control method is applied to a millimeter wave radar which comprises a first transmitting antenna, a second transmitting antenna and a radio frequency front end circuit electrically connected with the first transmitting antenna and the second transmitting antenna, and the method comprises the following steps:

controlling the radio frequency front-end circuit to drive the first transmitting antenna so that the first transmitting antenna transmits a first microwave signal;

and controlling the radio frequency front-end circuit to drive the second transmitting antenna so as to enable the second transmitting antenna to transmit a second microwave signal, wherein the detection distance and the width range of the first microwave signal are different from those of the second microwave signal.

The method of claim 1, further comprising:

generating a radar scan signal, the radar scan signal including the first microwave signal and the second microwave signal;

and controlling the radio frequency front-end circuit to drive the first transmitting antenna and the second transmitting antenna to alternately transmit the first microwave signal and the second microwave signal.

The method of claim 2, wherein the first microwave signal is a chirp of a first scanning mode and the second microwave signal is a chirp of a second scanning mode, and wherein controlling the rf front-end circuit to drive the first transmit antenna and the second transmit antenna to alternately transmit the first microwave signal and the second microwave signal comprises:

and controlling the radio frequency front-end circuit to drive the first transmitting antenna to transmit the linear frequency modulation signal of the first scanning mode according to an alternate transmission mode, and controlling the second transmitting antenna to transmit the linear frequency modulation signal of the second scanning mode.

The method of claim 3, wherein the first scanning mode chirp signals comprise a first type of chirp signal and a second type of chirp signal, the second scanning pattern of chirp signals comprises a third type of chirp signal and a fourth type of chirp signal, the bandwidth of the first type of chirp signal is the same as the bandwidth of the second type of chirp signal, the pulse repetition period of the first type of chirp signal is different from the pulse repetition period of the second type of chirp signal, the bandwidth of the third type of chirp signal is the same as the bandwidth of the fourth type of chirp signal, the third type of chirp signal has a pulse repetition period that is different from a pulse repetition period of the fourth type of chirp signal.

The method of claim 4, wherein the bandwidth of the first type of chirp signal and the bandwidth of the second type of chirp signal are both a first bandwidth, and wherein the bandwidth of the third type of chirp signal and the bandwidth of the fourth type of chirp signal are both a second bandwidth, wherein the first bandwidth is less than the second bandwidth.

A method according to claim 4 or 5, wherein the pulse repetition period of the first type of chirp is a first duration, the pulse repetition period of the second type of chirp is a second duration, the pulse repetition period of the third type of chirp is the first duration and the pulse repetition period of the fourth type of chirp is the second duration.

The method according to any one of claims 4 to 6, wherein each transmission cycle of the radar scanning signal comprises four transmission time windows, the four transmission time windows comprise a first transmission time window, a second transmission time window, a third transmission time window and a fourth transmission time window which are sequenced from early to late, the controlling the radio frequency front-end circuit to drive the first transmission antenna to transmit the chirp signal of the first scanning mode and the second transmission antenna to transmit the chirp signal of the second scanning mode according to the alternate transmission comprises:

controlling the radio frequency front-end circuit to drive the first transmitting antenna to transmit the first type of chirp signals within a first transmitting time window of each transmitting period;

controlling the radio frequency front-end circuit to drive the second transmitting antenna to transmit the third type of chirp signals within a second transmitting time window of each transmitting period;

controlling the radio frequency front-end circuit to drive the first transmitting antenna to transmit the second type of chirp signals within a third transmitting time window of each transmitting period;

and controlling the radio frequency front-end circuit to drive the second transmitting antenna to transmit the fourth type of chirp signals in a fourth transmitting time window of each transmitting period.

The method of claim 7, further comprising:

controlling the radio frequency front-end circuit to drive the first transmitting antenna to transmit the first type of linear frequency modulation signals in the first transmitting time window, and then obtaining a measured first measuring speed of a first target object;

controlling the radio frequency front-end circuit to drive the first transmitting antenna to transmit the second type of chirp signals within the third transmitting time window, and then obtaining a measured second measuring speed of the first target object;

determining a true velocity of the first target object using the first measured velocity, the second measured velocity, the pulse repetition period of the first type of chirp signal, and the pulse repetition period of the second type of chirp signal.

The method of claim 7, further comprising:

controlling the radio frequency front-end circuit to drive the second transmitting antenna to transmit the third type of chirp signals in the second transmitting time window, and then obtaining a measured third measuring speed of a second target object;

controlling the radio frequency front-end circuit to drive the second transmitting antenna to transmit the fourth type of chirp signals within the fourth transmitting time window, and then acquiring a measured fourth measuring speed of the second target object;

determining a true velocity of the second target object using the third measured velocity, the fourth measured velocity, the pulse repetition period of the third type of chirp signal, and the pulse repetition period of the fourth type of chirp signal.

The method of claim 1, wherein said millimeter wave radar comprises a frequency modulated continuous wave, FMCW, millimeter wave radar.

A millimeter wave radar is characterized by comprising a first transmitting antenna, a second transmitting antenna, a radio frequency front end circuit and a processor, wherein the radio frequency front end circuit is electrically connected with the first transmitting antenna and the second transmitting antenna;

the processor is configured to control the rf front-end driving circuit to drive the first transmitting antenna so that the first transmitting antenna transmits a first microwave signal, and control the second transmitting antenna to drive the second transmitting antenna so that the second transmitting antenna transmits a second microwave signal, where a distance and a width range detected by the first microwave signal are different from a distance and a width range detected by the second microwave signal.

The millimeter-wave radar according to claim 11, further comprising a signal generator;

the signal generator is used for generating a radar scanning signal, and the radar scanning signal comprises the first microwave signal and the second microwave signal;

the processor is further configured to control the rf front-end circuit to drive the first transmitting antenna and the second transmitting antenna to alternately transmit the first microwave signal and the second microwave signal.

The millimeter wave radar of claim 12, wherein the first microwave signal is a chirp signal of a first scanning mode, the second microwave signal is a chirp signal of a second scanning mode, and the processor is configured to control the rf front-end circuit to drive the first transmitting antenna and the second transmitting antenna to alternately transmit the first microwave signal and the second microwave signal, and is specifically configured to:

and controlling the radio frequency front-end circuit to drive the first transmitting antenna to transmit the linear frequency modulation signal of the first scanning mode according to an alternate transmission mode, and controlling the second transmitting antenna to transmit the linear frequency modulation signal of the second scanning mode.

The millimeter wave radar of claim 13, wherein the chirp signals of the first scan pattern comprise a first type of chirp signal and a second type of chirp signal, the second scanning pattern of chirp signals comprises a third type of chirp signal and a fourth type of chirp signal, the bandwidth of the first type of chirp signal is the same as the bandwidth of the second type of chirp signal, the pulse repetition period of the first type of chirp signal is different from the pulse repetition period of the second type of chirp signal, the bandwidth of the third type of chirp signal is the same as the bandwidth of the fourth type of chirp signal, the third type of chirp signal has a pulse repetition period that is different from a pulse repetition period of the fourth type of chirp signal.

The millimeter-wave radar of claim 14, wherein the bandwidth of the first type of chirp signal and the bandwidth of the second type of chirp signal are both a first bandwidth, and the bandwidth of the third type of chirp signal and the bandwidth of the fourth type of chirp signal are both a second bandwidth, wherein the first bandwidth is less than the second bandwidth.

A millimeter wave radar according to claim 14 or 15, wherein the pulse repetition period of the first type of chirp signal is a first duration, the pulse repetition period of the second type of chirp signal is a second duration, the pulse repetition period of the third type of chirp signal is the first duration, and the pulse repetition period of the fourth type of chirp signal is the second duration.

A millimeter wave radar according to any one of claims 14 to 16, wherein each transmission cycle of the radar scanning signal comprises four transmission time windows, the four transmission time windows comprising a first transmission time window, a second transmission time window, a third transmission time window and a fourth transmission time window, the first transmission time window, the second transmission time window and the fourth transmission time window being ordered in time from early to late, the processor being configured to control the rf front-end circuit to drive the first transmission antenna to transmit the chirp signal of the first scanning mode and the second transmission antenna to transmit the chirp signal of the second scanning mode in an alternating transmission manner, in particular to:

controlling the radio frequency front-end circuit to drive the first transmitting antenna to transmit the first type of chirp signals within a first transmitting time window of each transmitting period;

controlling the radio frequency front-end circuit to drive the second transmitting antenna to transmit the third type of chirp signals within a second transmitting time window of each transmitting period;

controlling the radio frequency front-end circuit to drive the first transmitting antenna to transmit the second type of chirp signals within a third transmitting time window of each transmitting period;

and controlling the radio frequency front-end circuit to drive the second transmitting antenna to transmit the fourth type of chirp signals in a fourth transmitting time window of each transmitting period.

The millimeter wave radar of claim 17, wherein the processor is further configured to:

controlling the radio frequency front-end circuit to drive the first transmitting antenna to transmit the first type of linear frequency modulation signals in the first transmitting time window, and then obtaining a measured first measuring speed of a first target object;

controlling the radio frequency front-end circuit to drive the first transmitting antenna to transmit the second type of chirp signals within the third transmitting time window, and then obtaining a measured second measuring speed of the first target object;

determining a true velocity of the first target object using the first measured velocity, the second measured velocity, the pulse repetition period of the first type of chirp signal, and the pulse repetition period of the second type of chirp signal.

The millimeter wave radar of claim 17, wherein the processor is further configured to:

controlling the radio frequency front-end circuit to drive the second transmitting antenna to transmit the third type of chirp signals in the second transmitting time window, and then obtaining a measured third measuring speed of a second target object;

controlling the radio frequency front-end circuit to drive the second transmitting antenna to transmit the fourth type of chirp signals within the fourth transmitting time window, and then acquiring a measured fourth measuring speed of the second target object;

determining a true velocity of the second target object using the third measured velocity, the fourth measured velocity, the pulse repetition period of the third type of chirp signal, and the pulse repetition period of the fourth type of chirp signal.

The millimeter-wave radar according to claim 11, characterized in that the millimeter-wave radar comprises a millimeter-wave radar of frequency modulated continuous wave, FMCW, system.

A movable platform comprising a millimeter wave radar according to any of claims 11 to 20.

A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program comprising program instructions that, when executed by a processor, cause the processor to carry out the scan control method according to any one of claims 1-10.