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研究生:施亮宇
研究生(外文):Shih, Liang-Yu
論文名稱:汽車防撞雷達與複合式波形設計
論文名稱(外文):A Vehicle Warning System with Multi-Waveform Design
指導教授:鍾世忠鍾世忠引用關係
指導教授(外文):Chung, Shyh-Jong
口試委員:苗育本洪耀山
口試委員(外文):Miao, Yu-BenHong, Yao-Shan
口試日期:2015-09-07
學位類別:碩士
校院名稱:國立交通大學
系所名稱:電信工程研究所
學門:工程學門
學類:電資工程學類
論文種類:學術論文
論文出版年:2015
畢業學年度:104
語文別:中文
論文頁數:53
中文關鍵詞:雷達複合式波形防撞雷達
外文關鍵詞:Multi-WaveformWaveform
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本論文針對汽車防撞雷達中,頻率調變連續波雷達(Frequency Modulation Continue Wave, FMCW)提出複合式波形設計,並透過觀察速度與距離二維變相,整合出碰撞反應時間的預警機制,再配合演算法過濾多目標資訊,找出危險程度高的物體,據此給予使用者警示。
複合式波形雷達結合了都普勒雷達的連續波形與傳統FMCW雷達中的三角波形,第一部分連續段因為收發訊號雜訊互相抵銷,使得雜訊比能夠比連續頻率調變雷達更好,頻率上還有目標與雜波分離的優點,而連續段偵測上只能獲得速度與角度資訊,缺乏距離資訊。FMCW雷達三角波段,其頻率成分包含速度與距離,可以偵測出距離、速度與角度資訊,但因為頻率包含距離成分,因此受到雜波干擾嚴重,而複合式波段結合兩種波形的優點並改善原有的缺點。
本論文在雷達提供目標物資訊前,透過去雷達演算法預先對資訊做處理,找出對使用者威脅程度高的目標,讓使用者在處理資訊上注意力更加集中,使得思考速度更加迅速。對於目標物的威脅程度,本論文提出同時根據距離與速度二維變相,整合出車輛發生碰撞時間(Time To Collision, TTC)的概念作為危險評估標準,並配合後視雷達的實際應用,藉由模擬實際道路雜波模型與目標物資訊來驗證雷達演算法的功能。

Abstract
In the thesis, we designed a multi-waveform for vehicle avoidance collision radar. By using Time To Collision (TTC) alarm system and paring radar algorithm, dangerous targets could be found and alarmed the driver .
The multi-waveform is composed of Doppler radar's waveform and general Frequency Modulation Continue Wave (FMCW) triangle waveform. The first part is Continue wave (CW) chirp. In the CW chirp, the intermediate frequency (IF) signal is always worked in same frequency so that the transmit signal's noise and receiver's noise may cancel each other, resulted in the better Signal to Noise Ratio (SNR) could also achieved due to the separation of the target's frequency from clutter. However, we can only get distance and angle information in the CW chirp. By triangle chirp, we can more information, like distance , velocity, and angle information. Combined two waveforms, multi-waveform radar has both of their advantages.
Before radar send targets' messages to the user, we prior to find the dangerous targets and remove the unnecessary information by radar algorithm so that the user can think easily and concentrate on process the targets' messages .At last, in order to verify the radar algorithm work well, we simulate the target's signal model, clutter model, and noise in real lane environment .

第一章 導論 1
1.1 背景及動機 1
1.2研究方法與工具 5
1.3 章節概要 6
第二章 雷達基本原理與演算法介紹 7
2.1 雷達基本原理 7
2.2 FMCW雷達訊號模型 9
2.3多目標物偵測率演算法 11
第三章 複合式波形設計與配對演算法 14
3.1 頻率調變連續波雷達配對演算法 14
3.2 複合式波形設計 18
3.3 反應時間雷達警示機制 21
3.4 複合式波形配對演算法 22
第四章 演算法模擬結果與分析 27
4.1 雷達訊號模型模擬 27
4.2 雜波模型模擬與分析 30
4.3複合式配對演算法模擬 40
第五章 總結 51
5.1結論 51
5.2未來工作 51
參考文獻 53



參考文獻

[1]. Dept. of Electr. Eng,“ Evaluation of ACC vehicles in mixed traffic: lane change effects and sensitivity analysis, ” IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS, VOL. 6, NO. 1, MARCH 2005.
[2]. Denver Humphrey,“Planar Antenna Design for Long Range Radar Applications,” Wireless and Microwave Technology Conference, WAMICON '09. IEEE 10th Annual, 2009.

[3]. Jiann-Der Lee, and Kuo-Fang Huang, “A Warning System for Obstacle Detection at Vehicle Lateral Blind Spot Area, ”Modeling Symposium, 2014.

[4]. Ioan Nicolaescu, and Teofil Oroian, “Radar cross section,” Telecommunications in Modern Satellite, Cable and Broadcasting Service, 2001. TELSIKS 2001. 5th International Conference on, 19 Sep 2001-21 Sep 2001, 65 - 68 vol.1.

[5]. William Buller, and Brian Wilson, “ Radar Measurements of NHTSA’s Surrogate Vehicle “SS_V”, ” National Highway Traffic Safety Administration Vehicle Research and Test Center, August 2013.

[6]. Robert Bosch GmbH, “Human RCS Measurements and Dummy Requirements for the Assessment of Radar Based Active Pedestrian Safety Systems, ” Radar Symposium, 2013 .

[7]. Poor, V.H.,“An introduction to signal detection and estimation,” Springer Verlag, 1994.

[8]. Van Trees, H.L. ,“Detection, estimation, and modulation theory,” vol. I, Ch. 2 Wiley, 2001.

[9]. Finn, H.M. and R.S. , Johnson, “Adaptive detection mode with threshold control as a function of spatially sampled clutter-level estimates ,” RCA Review, 29, pp.414-464,September, 1968.

[10]. Eugin Hyun, Jong-Hun Lee,“A New OS-CFAR Detector Design, ” First ACIS/JNU International Conference on Computers, Networks, Systems, and Industrial Engineering,2011.

[11]. Rohling, H., Meinecke, M.-M. ,“Waveform design principles for automotive radar systems, ” , CIE International Conference , Proceedings , 2001

[12]. Vorlker Gross,Steffens,“FMCW RADAR Sensor And Method for frequency matching,” United States Patent ,Patent No.: US8,823,580 B2 ,Sep.2, 2014

[13] Dae-Bong Kim ,and Sun-Mog Hong, “Multiple-target tracking and track
management for an FMCW radar network”, EURASIP Journal on Advances in Signal Processing, 2013.

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