DETECTION OF INTERFERENCE-INDUCED PERTURBATIONS IN FMCW RADAR SYSTEMS
The description below relates to a method for a radar system that can be used to detect perturbations in the received radar signal. According to an example implementation, the method comprises providing a digital radar signal using a radar receiver, wherein the digital radar signal comprises a multiplicity of segments; calculating an envelope signal that represents the envelope of a segment of the digital radar signal; and ascertaining a time of the onset of an interference signal contained in the considered segment of the digital radar signal by using at least one statistical parameter of the envelope signal.
This application is a continuation of U.S. patent application Ser. No. 15/930,173, filed May 12, 2020 (now U.S. Pat. No. 11,681,011), which claims priority to Germany Patent Application No. 102019114551.1, filed on May 29, 2019, the contents of which are incorporated herein by reference in their entireties.
TECHNICAL FIELDThe present description relates to the field of radar sensors, for example processing methods used in radar sensors, that allow detection of perturbing interference.
BACKGROUNDRadar sensors are used in a multiplicity of applications for detecting objects, wherein the detection usually comprises measuring distances and velocities of the detected objects. In particular in the automotive sector, radar sensors can be used inter alia in driving assistance systems (advanced driver assistance systems, ADAS) such as e.g. in adaptive cruise control (ACC, or radar cruise control) systems. Such systems can automatically adapt the velocity of an automobile so as to keep a safe distance from other automobiles traveling ahead (and also from other objects and from pedestrians). Further applications in the automotive sector are e. g. blind spot detection, lane change assist and the like. In the field of autonomous driving, radar sensors and systems having multiple sensors will play an important part for the control of autonomous vehicles.
Since automobiles are increasingly equipped with radar sensors, the likelihood of interference increases. That is to say that a radar signal transmitted by a first radar sensor (installed in a first vehicle) can be injected into the receiving antenna of a second radar sensor (installed in a second vehicle). In the second radar sensor, the first radar signal can interfere with an echo of the second radar signal and in this way adversely affect the operation of the second radar sensor.
SUMMARYThe description below relates to a method for a radar system that can be used to detect perturbations in the received radar signal. According to an example implementation, the method comprises providing a digital radar signal using a radar receiver, wherein the digital radar signal comprises a multiplicity of segments; calculating an envelope signal that represents the envelope of a segment of the digital radar signal; and ascertaining a time of the onset of an interference signal contained in the considered segment of the digital radar signal by using at least one statistical parameter of the envelope signal.
In addition, a radar system is described. According to an example implementation, the system has a radar receiver designed to provide a digital radar signal that comprises a multiplicity of segments. The system also has a computing unit designed to calculate an envelope signal that represents the envelope of a segment of the digital radar signal. The computing unit is also designed to ascertain a time of an onset of an interference signal contained in the segment of the digital radar signal by using at least one statistical parameter of the envelope signal.
Example implementations are explained in more detail below on the basis of figures. The depictions are not necessarily to scale and the example implementations are not limited just to the depicted aspects. Rather, importance is attached to presenting the principles on which the example implementations are based. In the figures:
The depicted example shows a bistatic (or pseudo-monostatic) radar system having separate RX and TX antennas. In the case of a monostatic radar system, the same antenna would be used both to transmit and to receive the electromagnetic (radar) signals. In this case, for example a directional coupler (e.g. a circulator) can be used to separate the RF signals to be transmitted from the received RF signals (radar echo signals). As mentioned, radar systems in practice usually have multiple transmission and reception channels having multiple transmitting and receiving antennas (antenna arrays), which allows, among other things, measurement of the direction (DoA) from which the radar echoes are received. In such MIMO (Multiple-Input Multiple-Output) systems, the individual TX channels and RX channels are usually each of the same or a similar design and can be distributed over multiple integrated circuits (MMICs).
In the case of an FMCW radar system, the RF signals transmitted via the TX antenna 5 can be e.g. in the range from approximately 20 GHz to 100 GHz (e.g. in the range from approximately 76-81 GHz in a good many applications). As mentioned, the RF signal received by the RX antenna 6 contains the radar echoes (chirp echo signals), e.g. those signal components that are scattered back from one or more radar targets. The received RF signal yRF(t) is down-converted to baseband and processed further in baseband using analog signal processing (see
In the examples described here, “computing unit” means any structure or group of functional entities that are designed to perform the functions (calculations). A computing unit can comprise one or more processors designed to execute software/firmware instructions. The computing unit can (additionally or alternatively) also have hardwired hardware units, however, that are designed especially to quickly perform specific calculations (e.g. a CFAR algorithm or a fast Fourier transformation, etc.). The computing unit is not necessarily integrated in one chip but rather can also be distributed over multiple chips.
The system controller 50 can be integrated in a separate chip and designed to communicate with the MMIC 100 (or multiple MMICs) via one or more communication connections. Suitable communication connections are e.g. a serial peripheral interface (SPI) bus or low-voltage differential signalling (LVDS) in accordance with the TIA/EIA-644 standard. Parts of the aforementioned computing unit can be integrated in the system controller 50. The computing unit or parts thereof can also be integrated in the radar MMIC.
Besides echo signals, the received radar signal yRF(t) (cf.
UVyRF(t)yRF(t)=yRF,T(t)+yRF,I(t)yRF,T(t)=Σi=0U-1AT,i·sRF(t−ΔtT,i)yRF,I(t)=Σk=0V-1AI,k·s′RF,k(t)−ΔtI,k)yRF,T(t)yRF,I(t)yRF,I(t)yRF(t)Ti, UTiΔT,iTiV AI,ks′RF,k(t)ΔtI,kk=0, 1, . . . , V−1sRF(t)sRF,0′(t)k=0yRF,I(t)yRF,T(t) In the case of radar targets and interferers, the signal received by the radar sensor of the vehicle V1 can be written as follows:
UVyRF(t)yRF(t)=yRF,T(t)+yRF,I(t)yRF,T(t)=Σi=0U-1AT,isRF(t−ΔtT,i)yRF,I(t)=Σk+0V-1AI,k·s′RF,k(t−ΔtI,k)yRF,T(t)yRF,I(t)yRF(t)Ti,UTiAT,isRF(t)ΔtT,iTiVAI,ks′RF,k(t)ΔtI,kk=0,1, . . . ,V−1sRF(t)sRF,0′(t)k=0yRF,I(t)yRF,T(t)
UVyRF(t)yRF(t)=yRF,T(t)+yRF,I(t)yRF,T(t)=Σi=0U-1AT,i·sRF(t)−ΔtT,i)yRF,I(t)=Σk=0V-1AI,k·s′RF,k(t−ΔtI,k)yRF,T(t)yRF,I(t)yRF(t)Ti,UTiAT,isRF(ΔtT,iTiVAI,ks′RF,k(t)ΔtI,kk=0,1, . . . ,V−1sRF(t)sRF,0′(t)k=0yRF,I(t)yRF,T(t), where (1)
UVyRF(t)yRF(t)=yRF,T(t)+yRF,I(t)yRF,T(t)=Σi=0U-1AT,i·sRF(t−ΔtT,i)yRF,I(t)=Σk=0V-1AI,k·s′RF,k(t−ΔtI,k)yRF,T(t)yRF,I(t)yRF(t)Ti,UTiAT,isRF(t)ΔtT,iTiVAI,ks′RF,k(t)ΔtI,kk=0,1, . . . ,V−1sRF(t)sRF,0′(t)k=0yRF,I(t)yRF,T(t) and (2)
UVyRF(t)yRF(t)=yRF,T(t)+yRF,I(t)yRF,T(t)=Σi=0U-1AT,i·sRF(t−ΔtT,i)yRF,I(t)=Σk=0V-1AI,k·s′RF,k(t−ΔtI,k)yRF,T(t)yRF,I(t)yRF(t)Ti,UTiAT,isRF(t)ΔtT,iTiVAI,ks′RF,k(t)ΔtI,kk=0,1, . . . ,V−1sRF(t)sRF,0′(t)k=0yRF,I(t)yRF,T(t). (3)
UVyRF(t)yRF(t)=yRF,T(t)+yRF,I(t)yRF,T(t)=Σi=0U-1AT,i·sRF(t−ΔtT,i)yRF,I(t)=Σk=0V-1AI,k·s′RF,k(t−ΔtI,k)yRF,T(t)yRF,I(t)yRF(t)Ti,UTiAT,isRF(t)ΔtT,iTiVAI,ks′RF,k(t)ΔtI,kk=0,1, . . . ,V−1sRF(t)sRF,0′(t)k=0yRF,I(t)yRF,T(t)
UVyRF(t)yRF(t)=yRF,T(t)+yRF,I(t)yRF,T(t)=Σi=0U-1AT,i·sRF(t−ΔtT,i)yRF,I(t)=Σk=0V-1AI,k·s′RF,k(t−ΔtI,k)yRF,T(t)yRF,I(t)yRF(t)Ti,UTiAT,isRF(t)ΔtT,iTiVAI,ks′RF,k(t)ΔtI,kk=0,1, . . . ,V−1sRF(t)sRF,0′(t)k=0yRF,I(t)yRF,T(t) In equations (1) to (3) above, the signal components and of the received signal correspond to the radar echoes from real radar targets or to the unwanted signals. In practice, there may be multiple radar echoes and multiple interferers present. Equation (2) therefore represents the sum of the radar echoes caused by different radar targets, where denotes the attenuation of the transmitted radar signal and denotes the round trip delay time (RTDT) for a specific radar target. Equally, equation (3) represents the sum of the unwanted signals caused by interferers. In this case, denotes the attenuation of the unwanted signal transmitted by an interferer and denotes the associated signal delay time (for every interferer). It should be noted that the radar signal transmitted by the vehicle V1 and the unwanted signal transmitted by the vehicle V4 (index for vehicle V4) will normally have different chirp sequences with different chirp parameters (start/stop frequency, chirp duration, repetition rate, etc.). In addition, the amplitude of the received unwanted signal component can be significantly higher than the amplitude of the echo signal component. Normally, the unwanted signal components will have significantly higher amplitudes than the signal components of the radar echoes.
The RF front end 10 comprises a local oscillator 101 (LO) that generates an RF oscillator signal sLO(t). The RF oscillator signal sLO(t) is frequency-modulated during operation—as described above with reference to
The transmission signal sRF(t) (cf.
In the present example, the mixer 104 down-converts the pre-amplified RF received signal g·yRF(t) (e.g. the amplified antenna signal) to baseband. The conversion can take place in one stage (that is to say from the RF band directly to baseband) or via one or more intermediate stages (that is to say from the RF band to an intermediate-frequency band and on to baseband). In this case, the receiving mixer 104 effectively comprises multiple series-connected individual mixer stages. In addition, the mixer stage can contain an IQ mixer that generates two baseband signals (inphase and quadrature signals) that can be interpreted as a real part and an imaginary part of a complex baseband signal.
Various concepts for rejecting interference-induced perturbations have been proposed. Some concepts presuppose that individual signal segments of the digital radar signal y[n] that are impaired by a perturbation (which are able to be assigned to a chirp in the RF transmission signal sRF(t)) are identified as “impaired”. The impaired signal segments are normally rejected and ignored in the further signal processing. Other concepts presuppose that individual samples of the digital radar signal y[n] that are impaired by a perturbation are identified as “impaired”. In this case, the affected signal segment does not have to be rejected as a whole, but rather the affected samples can be corrected selectively (e.g. using interpolation/approximation) in order to reject the perturbation.
The aim of the concepts described below is to reliably and robustly (e.g. regardless of the specific situation) identify samples or groups of successive samples that are potentially impaired by perturbations and therefore cannot (and are not supposed to) be taken into consideration for the object detection. As depicted in
y[n]xenv[n]y[n] xenv[n]y[n]xenv[n]xenv[n]=y[n]{y[n]}y[n]
y[n]xenv[n]y[n]xenv[n]y[n]xenv[n]xenv[n]=y[n]{y[n]}y[n]
y[n]xenv[n]y[n]xenv[n]y[n]xenv[n]xenv[n]=y[n]{y[n]}y[n], (4)
y[n]xenv[n]y[n]xenv[n]y[n]xenv[n]xenv[n]=y[n]{y[n]}y[n]
y[n]xenv[n]y[n] xenv[n]y[n]xenv[n]xenv[n]=y[n]{y[n]}y[n] where denotes the real baseband signal and denotes the associated Hilbert-transformed signal (that is to say the imaginary part belonging to).
A Hilbert transformer can be implemented e.g. as an allpass filter that has a constant phase response of π/2. The allpass filter can be implemented as a finite impulse response filter. The generation of an analytic signal using a Hilbert transformer and subsequent calculation of the envelope by forming the absolute value of the complex-value, analytic signal is known per se and is therefore not discussed further here.
Another way of calculating a signal that represents the envelope is the approximation of an RMS (root mean square) value by using a moving average of the instantaneous signalling. The result of this approach is depicted in
where represents the window length used for calculating the moving average. In one example, is used. The square root of the RMS value would also be suitable as a signal that represents the envelope.
Another way of calculating a signal that represents the envelope is to use a cell-averaging CFAR algorithm, which can also be used for other purposes in radar systems. The parameters for the CFAR algorithm can be chosen such that the envelope is delivered with the desired accuracy. The result is similar to in the case of the approximation according to equation 5, but, depending on the specific implementation in the computing units (see
It should be noted at this juncture that a segment of the digital radar signal y[n] is always considered in the examples described here. The ascertained envelope signal xenv[n] is therefore a finite signal that belongs to the considered segment of the digital radar signal y[n]. In the examples described here, the length (number of samples) of the segment of the digital radar signal y[n] and hence the length of the associated envelope signal xenv[n] is N samples, where N=1024. Depending on the method of calculation used, the envelope signal xenv[n] can also comprise fewer than N samples. The considered segment of the digital radar signal y[n] can usually be assigned to a specific chirp of the transmitted chirp sequence (e.g. of the transmitted RF transmission signal sRF(t)). For a chirp sequence having M chirps (see
It can be seen in
According to
where holds for the start index in the present example from
is evaluated, where is a constant, predetermined parameter. In other words, the envelope signal is compared with a threshold value, which is dependent on statistical parameters that characterize the envelope signal itself and are dependent thereon. Inequation 8 is evaluated for rising time indices. If in equation 8 is satisfied for a specific number of successive samples (e.g. for), then the time index of the first of these successive samples (that is to say) is defined as the time of the onset of an interference burst. The applicable sample is marked by a circle in
Another approach to detecting the onset of an interference burst on the basis of the envelope signal xenv[n] calculated beforehand is explained below on the basis of
The aforementioned standard deviation of a moving window having samples can be calculated as follows:
The window length is an even number in this example. In order to be able to calculate the standard deviation for time indices and, the considered segment of the signal can have zeros added at the edges (zero padding). Alternatively, the range of definition of can also be reduced as appropriate. The bottom waveform in
This standard deviation calculated in accordance with equation 9 is continually compared with a threshold value, which is likewise a statistical parameter, namely a scaled mean value of the standard deviation of the considered segment in the present example. The threshold value can accordingly be calculated as follows:
where is a predetermined constant scaling factor. At the onset and at the end of an interference burst, the local standard deviation calculated for the moving window will rise. For every time index, a check is performed to ascertain whether the associated value is above the threshold value, e.g. the following inequation is evaluated:
Inequation 12 is evaluated for rising time indices. If inequation 12 is satisfied for a specific number of successive samples (e.g. for), then the time index of the first of these successive samples (that is to say) is defined as the time of the onset of an interference burst (analogously to the previous example from
All time indices n between the detected time indices n1 und n2 (e.g. n1<n<n2) can be defined as belonging to the interference burst, and the digital radar signal y[n] is regarded as impaired by interference in the section n1≤n≤n2 (see
It goes without saying that if an interference burst is situated at the onset of the considered signal segment y[n] (and hence also in xenv[n]), the onset of the interference burst sometimes cannot readily be detected using the approaches described above. This also applies in equal measure to the detection of the end of the interference burst if it is situated at the end of the considered signal segment y[n]. In these cases, only the end (index n2) of the interference burst (if it is situated at the onset of the signal segment) or the onset (index n1) of the interference burst (if it is situated at the end of the signal segment) is detected. In this case, the section impaired by interference is 0≤n≤n2 or n1≤n≤N−1. The “interference burst situated at the onset of the segment” and “interference burst situated at the end of the segment” cases can be distinguished on the basis of various criteria (e.g. by comparing the envelope signal xenv[n] with a fixed, predefined threshold value). In addition, the case may also arise in which a segment is impaired by multiple interference bursts. In this case, the segment can be e.g. broken down into subsegments having a respective interference burst, and these subsegments are processed in accordance with the concepts described here. The presence of multiple interference bursts can also be detected e.g. using a fixed, predefined threshold value.
Several aspects of the method described here are summarized below on the basis of the flow diagram from
In accordance with
In accordance with one example, the ascertaining of the aforementioned (start) time (denoted by the time index n1 in the examples described earlier on) involves ascertaining the at least one statistical parameter of the envelope signal xenv[n] for a multiplicity of successive time indices of the envelope signal xenv[n], calculating a threshold value (cf. equation 8, threshold value μ[n]+λ·σ[n]) for each of the successive time indices on the basis of the associated at least one statistical parameter and detecting the time index n1 that represents the time of the onset of the interference signal (burst). The detection is based on a comparison of the envelope signal xenv[n] with the associated threshold values (cf. equation 8 and
In accordance with a further example implementation, the ascertaining of the aforementioned (start) time of the interference signal (burst) involves ascertaining a statistical parameter (e.g. standard deviation σ[n]) of the envelope signal xenv[n] for a multiplicity of successive time indices. Subsequently, a threshold value (e.g. λ·
Claims
1. A method of a frequency-modulated continuous-wave (FMCW) radar processing, the method comprising:
- transmitting, by a radar transmitter, an FMCW radar signal comprising a plurality of frequency modulated radio frequency (RF) signal segments;
- receiving a receive FMCW radar signal which is back-scattered from an object;
- down-converting the receive FMCW radar signal;
- providing, by a radar receiver, a digital baseband radar signal comprising a plurality of segments, wherein the baseband radar signal is based on the down-conversion;
- calculating an envelope signal that represents an envelope of a segment of the plurality of segments; and
- determining, by using at least one statistical parameter associated the envelope signal, a time of an onset of an interference signal contained in the segment.
2. The method of claim 1, wherein the at least one statistical parameter is a scaled mean value of a standard deviation of a moving window.
3. The method of claim 1, further comprising:
- identifying, based on determining the time of the onset of the interference signal, portions of the digital baseband radar signal affected by the interference signal.
4. The method of claim 1, wherein the segment is assigned to a specific chirp of a plurality of chirps associated with the digital baseband radar signal.
5. The method of claim 1, wherein the at least one statistical parameter includes a scaled mean value of a standard deviation of one or more samples in a moving window.
6. The method of claim 1, further comprising:
- determining, based on a comparison of the envelope signal to a threshold value, whether the threshold value is satisfied for a number of consecutive segments of the plurality of segments, wherein the threshold value is determined based on the at least one statistical parameter that includes a standard deviation of one or more samples in a moving window.
7. The method of claim 1, further comprising:
- determining, by using the at least one statistical parameter associated the envelope signal, an end time associated with the interference signal.
8. An FMCW radar device, comprising:
- one or more memories; and
- one or more processors, coupled to the one or more memories, configured to: transmit a first FMCW radar signal comprising a plurality of frequency modulated RF signal segments; receive a second FMCW radar signal which is back-scattered from an object; down-convert the second FMCW radar signal; provide a digital baseband radar signal comprising a plurality of segments, wherein the baseband radar signal is based on the down-conversion; calculate an envelope signal that represents an envelope of a segment of the plurality of segments; and determine, by using at least one statistical parameter associated the envelope signal, a time of an onset of an interference signal contained in the segment.
9. The FMCW radar device of claim 8, wherein the at least one statistical parameter is a scaled mean value of a standard deviation of a moving window.
10. The FMCW radar device of claim 8, wherein the one or more processors are further configured to:
- identify, based on determining the time of the onset of the interference signal, portions of the digital baseband radar signal affected by the interference signal.
11. The FMCW radar device of claim 8, wherein the segment is assigned to a specific chirp of a plurality of chirps associated with the digital baseband radar signal.
12. The FMCW radar device of claim 8, wherein the at least one statistical parameter includes a scaled mean value of a standard deviation of one or more samples in a moving window.
13. The FMCW radar device of claim 8, wherein the one or more processors are further configured to:
- determine, based on a comparison of the envelope signal to a threshold value, whether the threshold value is satisfied for a number of consecutive segments of the plurality of segments,
- wherein the threshold value is determined based on the at least one statistical parameter that includes a standard deviation of one or more samples in a moving window.
14. The FMCW radar device of claim 8, wherein the one or more processors are further configured to:
- determine, by using the at least one statistical parameter associated the envelope signal, an end time associated with the interference signal.
15. An FMCW radar system, comprising:
- an FMCW radar transmitter configured to transmit a first FMCW radar signal comprising a plurality of frequency modulated RF signal segments;
- an FMCW radar receiver configured to: receive a second FMCW radar signal which is back-scattered from an object; down-convert the second FMCW radar signal; and provide a digital baseband radar signal comprising a plurality of segments, wherein the baseband radar signal is based on the down-conversion; and
- a computing unit configured to: calculate an envelope signal of the digital baseband radar signal that represents an envelope of a segment of the plurality of segments; and determine, by using at least one statistical parameter of the envelope signal, an onset time of an interference signal contained in the segment of the digital baseband radar signal.
16. The FMCW radar system of claim 15, wherein the at least one statistical parameter is a scaled mean value of a standard deviation of a moving window.
17. The FMCW radar system of claim 15, wherein the computing unit is further configured to:
- identify, based on determining the onset time of the interference signal, portions of the digital baseband radar signal affected by the interference signal.
18. The FMCW radar system of claim 15, wherein the segment is assigned to a specific chirp of a plurality of chirps associated with the digital baseband radar signal.
19. The FMCW radar system of claim 15, wherein the at least one statistical parameter includes a scaled mean value of a standard deviation of one or more samples in a moving window.
20. The FMCW radar system of claim 15, wherein the computing unit is further configured to:
- determine, based on a comparison of the envelope signal to a threshold value, whether the threshold value is satisfied for a number of consecutive segments of the plurality of segments, wherein the threshold value is determined based on the at least one statistical parameter that includes a standard deviation of one or more samples in a moving window.
Type: Application
Filed: Jun 13, 2023
Publication Date: Oct 26, 2023
Inventors: Paul MEISSNER (Feldkirchen bei Graz), Mate Andras TOTH (Graz)
Application Number: 18/333,856