Research On Key Technologies Of Scene Perception For 77GHz FM Continuous Wave Radar

In unmanned and autonomous navigation of the robot,the surrounding scene perception plays an important role in the system's real-time decision and control.The millimeter-wave radar has the advantages of wide bandwidth,high resolution,and all-weather work,and has good development prospects in scene sensing applications.This paper studies the scene sensing technology of 77 GHz FMCW radar system based on AWR1642 and ZYNQ7010.First,the working principle of the FMCW radar,the method of calculating the target distance,speed,and angle and the process of the target signal are introduced.The radar parameters are designed based on the millimeter wave radar system index.Secondly,the 77 GHz FMCW radar RF front-end circuit and the back-end signal processing circuit are designed,and the FMCW radar signal processing algorithm is implemented.The 77 GHz FMCW radar system is tested,and the output results of the various processes of the algorithm are analyzed.Thirdly,in order to solve the problem of dense multi-target " Masking effect" in millimeterwave radar target detection,an improved CFAR detection algorithm based on truncation statistics was introduced and introduced into the range-Doppler two-dimensional spectrum to search for targets.Simulation results show that the detection method improves the multi-target "Masking effect" better than the commonly used CA-CFAR and OS-CFAR,and effectively improves the target detection probability.Finally,the scene reconstruction algorithm based on 77 GHz FMCW radar is studied.The principle of mechanical scanning 77 GHz FMCW radar scene perception is expounded,and algorithms such as vehicle motion correction,scan correlation and scene information update are designed.Reconstruction of the radar-aware scene on a mobile platform is realized.Experimental results show that the designed millimeter-wave radar can reconstruct the twodimensional information of the scene with high accuracy.