Target detection method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention provides a target detection method and device, electronic equipment and a storage medium, and relates to the technical field of radar signal processing. The method comprises the following steps: acquiring a plurality of transmitted echo signals of the millimeter wave radar; performing one-dimensional fast Fourier transform, two-dimensional fast Fourier transform and non-coherent accumulation on the echo signal to obtain RD data, and performing target detection on the RD data to obtain target RD data of each target; for each target, according to a position rule between an empty sub-band corresponding to a preset binary modulation mode and a spectral peak sub-band corresponding to each transmitted signal, determining a spectral peak parameter of each transmitted signal corresponding to the target RD data of the target as a signal demodulation result of the target; and for each target, determining a detection result of the target based on the signal demodulation result of the target. Therefore, a better radar detection effect can be achieved under the condition that the equipment cost is not increased.

Description

Technical Field

[0001] The present application relates to the field of radar signal processing technology, and in particular to a target detection method, device, electronic device and storage medium. Background Art

[0002] With the development of intelligent technologies such as autonomous driving and assisted driving, intelligent vehicles equipped with these technologies are emerging. These vehicles rely on a variety of sensors to implement their intelligent functions. For example, intelligent vehicles can use millimeter-wave radar for target detection. This allows them to detect nearby objects while driving, enabling route planning and avoidance.

[0003] In order to improve the angular resolution and angular accuracy of radar detection, MIMO (Multiple Input Multiple Output) technology is usually used. By making multiple transmitting and receiving antennas work simultaneously to form a virtual antenna array, the equivalent larger-scale virtual receiving array can be formed with fewer transmitting channels and receiving channels.

[0004] DDM (Doppler Division Modulation) MIMO is a commonly used MIMO format in millimeter-wave radar. It uses DDM phase shifters to modulate each transmitted signal into a different phase sequence. Doppler-dimensional demodulation is then performed at the receiver to separate the echo signals corresponding to the different transmitted signals. DDM radar signal processing can improve the maximum signal-to-noise ratio, achieving better radar detection results.

[0005] However, DDM radar signal processing places high demands on the phase shifter, while the phase shifters of low-cost automotive millimeter-wave radars only support binary phase modulation of 0 and π. Therefore, how to improve radar detection effectiveness using low-cost hardware equipment is a technical problem that needs to be solved urgently. Summary of the Invention

[0006] The purpose of the embodiments of the present application is to provide a target detection method, device, electronic device, and storage medium to improve radar detection performance. The specific technical solutions are as follows:

[0007] In a first aspect, an embodiment of the present application provides a target detection method, the method comprising:

[0008] Acquire echo signals of multiple transmission signals of the millimeter-wave radar, wherein the phases of the multiple transmission signals are modulated according to a preset binary modulation method so that RD data of the echo signals includes a null subband and a spectrum peak subband corresponding to each transmission signal;

[0009] Performing one-dimensional fast Fourier transform, two-dimensional fast Fourier transform and non-coherent accumulation on the echo signal to obtain RD data, and performing target detection on the RD data to obtain target RD data of each target;

[0010] For each target, according to the position rule between the empty subband corresponding to the preset binary modulation mode and the spectrum peak subband corresponding to each transmitted signal, determine the spectrum peak parameters of each transmitted signal corresponding to the target RD data of the target as the signal demodulation result of the target;

[0011] For each target, a detection result of the target is determined based on the signal demodulation result of the target.

[0012] Optionally, the position rule includes that the number of Doppler points corresponding to each sub-band is equal, and the arrangement order of the spectrum peak sub-bands and the empty sub-bands corresponding to each transmitted signal;

[0013] The step of determining, for each target, a spectrum peak parameter of each transmitted signal corresponding to the target RD data of the target according to a position rule between an empty subband corresponding to the preset binary modulation mode and a spectrum peak subband corresponding to each transmitted signal, includes:

[0014] For each target, the position of each sub-band in the target RD data of the target is determined based on the equality of the number of Doppler points corresponding to each sub-band and the number of Doppler points corresponding to the target RD data of the target;

[0015] Perform target detection on the target RD data corresponding to each sub-band to determine the position of the empty sub-band in the target RD data of the target and the position of each spectrum peak sub-band;

[0016] Determining the position of the spectrum peak subband corresponding to each transmitted signal according to the position of the empty subband, the position of each spectrum peak subband, and the arrangement order;

[0017] For each transmit signal, a spectrum peak parameter of the transmit signal is determined based on target RD data of a position of a spectrum peak sub-band corresponding to the transmit signal.

[0018] Optionally, the step of performing target detection on the target RD data corresponding to each sub-band to determine the position of the empty sub-band and the position of each spectrum peak sub-band in the target RD data of the target includes:

[0019] Performing constant false alarm rate detection on the target RD data corresponding to each sub-band, and determining the sub-band as a spectrum peak sub-band when the echo signal strength of the target RD data corresponding to the sub-band is greater than a preset detection threshold;

[0020] When the echo signal strength of the target RD data corresponding to the sub-band is not greater than the preset detection threshold, the sub-band is determined to be a null sub-band.

[0021] Optionally, the preset binary modulation mode is such that the modulation phase of the target transmission signal among the multiple transmission signals is the initial phase, and the phases of the other transmission signals are modulated so that the millimeter-wave radar signal formed by the multiple transmission signals is composed of two consecutive sum beams and two consecutive difference beams arranged alternately; the arrangement order is such that the empty sub-band is adjacent to at least one spectrum peak sub-band corresponding to the other transmission signals, the spectrum peak sub-band corresponding to the target transmission signal is adjacent to at least one spectrum peak sub-band corresponding to the other transmission signals, and the spectrum peak sub-band corresponding to the target transmission signal is not adjacent to the empty sub-band;

[0022] The step of determining the position of the spectrum peak subband corresponding to each transmitted signal according to the position of the empty subband, the position of each spectrum peak subband, and the arrangement order includes:

[0023] The position of the spectrum peak subband corresponding to the target transmit signal and the positions of the spectrum peak subbands corresponding to the other transmit signals are determined according to the positional relationship between the position of the empty subband and the position of each spectrum peak subband and the arrangement order.

[0024] Optionally, the detection result includes a velocity and an azimuth; and the step of determining, for each transmitted signal, the spectrum peak parameter of the transmitted signal based on the target RD data of the position of the spectrum peak subband corresponding to the transmitted signal comprises:

[0025] Using the spectrum peak parameters corresponding to the target RD data of the position of the spectrum peak sub-band corresponding to the target transmit signal as the spectrum peak parameters of the target transmit signal;

[0026] Merging the spectrum peak parameters corresponding to the target RD data of the positions of the spectrum peak sub-bands corresponding to the other transmission signals as the spectrum peak parameters of the other transmission signals;

[0027] The step of determining, for each target, a detection result of the target based on a signal demodulation result of the target, comprises:

[0028] For each target, calculating the speed of the target based on the spectrum peak parameters of the target's transmission signal;

[0029] The azimuth angle of the target is calculated based on the spectrum peak parameters of each transmitted signal and the arrangement order of multiple receiving antenna arrays.

[0030] Optionally, the spectrum peak parameter includes spectrum peak amplitude;

[0031] The step of determining, according to a position rule between an empty subband corresponding to the preset binary modulation mode and a spectrum peak subband corresponding to each transmitted signal, a spectrum peak parameter of each transmitted signal corresponding to the target RD data of the target as a signal demodulation result of the target includes:

[0032] According to the position rule between the empty subband corresponding to the preset binary modulation mode and the spectrum peak subband corresponding to each transmitted signal, the spectrum peak parameters of each transmitted signal corresponding to the target RD data of the target are determined, and when the spectrum peak amplitudes of the transmitted signals are the same, the signal demodulation result of the target is obtained.

[0033] In a second aspect, an embodiment of the present application provides a target detection device, the device comprising:

[0034] a signal acquisition module, configured to acquire echo signals of multiple transmission signals of the millimeter-wave radar, wherein the phases of the multiple transmission signals are modulated according to a preset binary modulation method so that the RD data of the echo signal includes a null subband and a spectral peak subband corresponding to each transmission signal;

[0035] a detection module, configured to perform one-dimensional fast Fourier transform, two-dimensional fast Fourier transform, and non-coherent accumulation on the echo signal to obtain RD data, and perform target detection on the RD data to obtain target RD data of each target;

[0036] a demodulation module configured to determine, for each target, a spectrum peak parameter of each transmitted signal corresponding to the target RD data of the target according to a position rule between an empty subband corresponding to the preset binary modulation mode and a spectrum peak subband corresponding to each transmitted signal, as a signal demodulation result of the target;

[0037] The result determination module is used to determine the detection result of each target based on the signal demodulation result of the target.

[0038] Optionally, the position rule includes that the number of Doppler points corresponding to each sub-band is equal, and the arrangement order of the spectrum peak sub-bands and the empty sub-bands corresponding to each transmitted signal;

[0039] The demodulation module includes:

[0040] a first position determining unit, configured to determine, for each target, a position of each subband in the target RD data of the target based on the equality of the number of Doppler points corresponding to each subband and the number of Doppler points corresponding to the target RD data of the target;

[0041] a detection unit, configured to perform target detection on the target RD data corresponding to each sub-band, and determine the position of the empty sub-band in the target RD data of the target and the position of each spectrum peak sub-band;

[0042] a second position determining unit, configured to determine the position of the spectrum peak subband corresponding to each transmitted signal according to the position of the empty subband, the position of each spectrum peak subband, and the arrangement order;

[0043] The parameter determination unit is configured to determine, for each transmit signal, a spectrum peak parameter of the transmit signal based on target RD data of a position of a spectrum peak subband corresponding to the transmit signal.

[0044] Optionally, the detection unit includes:

[0045] The detection subunit is configured to perform constant false alarm rate detection on the target RD data corresponding to each subband. When the echo signal strength of the target RD data corresponding to the subband is greater than a preset detection threshold, the subband is determined to be a spectrum peak subband; when the echo signal strength of the target RD data corresponding to the subband is not greater than the preset detection threshold, the subband is determined to be a null subband.

[0046] Optionally, the preset binary modulation mode is such that the modulation phase of the target transmission signal among the multiple transmission signals is the initial phase, and the phases of the other transmission signals are modulated so that the millimeter-wave radar signal formed by the multiple transmission signals is composed of two consecutive sum beams and two consecutive difference beams arranged alternately; the arrangement order is such that the empty sub-band is adjacent to at least one spectrum peak sub-band corresponding to the other transmission signals, the spectrum peak sub-band corresponding to the target transmission signal is adjacent to at least one spectrum peak sub-band corresponding to the other transmission signals, and the spectrum peak sub-band corresponding to the target transmission signal is not adjacent to the empty sub-band;

[0047] The second position determining unit includes:

[0048] The position determination subunit is configured to determine the position of the spectrum peak subband corresponding to the target transmit signal and the positions of the spectrum peak subbands corresponding to the other transmit signals according to the positional relationship between the position of the empty subband and the position of each spectrum peak subband and the arrangement order.

[0049] Optionally, the detection result includes speed and azimuth; and the parameter determination unit includes:

[0050] A first parameter determination subunit is configured to use the spectrum peak parameter corresponding to the target RD data of the position of the spectrum peak sub-band corresponding to the target transmit signal as the spectrum peak parameter of the target transmit signal;

[0051] a second parameter determination subunit, configured to combine spectrum peak parameters corresponding to target RD data of positions of respective spectrum peak sub-bands corresponding to the other transmission signals as spectrum peak parameters of the other transmission signals;

[0052] The result determination module includes:

[0053] A speed calculation unit, configured to calculate the speed of each target based on the spectrum peak parameters of the target emission signal;

[0054] The azimuth angle calculation unit is used to calculate the azimuth angle of the target based on the spectrum peak parameters of each transmitted signal and the arrangement order of multiple receiving antenna arrays.

[0055] Optionally, the spectrum peak parameter includes a spectrum peak amplitude; and the demodulation module includes:

[0056] A demodulation unit is configured to determine, based on a positional rule between an empty subband corresponding to the preset binary modulation mode and a spectral peak subband corresponding to each transmitted signal, a spectral peak parameter of each transmitted signal corresponding to the target RD data of the target, and obtain a signal demodulation result of the target when the spectral peak amplitudes of the transmitted signals are the same.

[0057] In a third aspect, an embodiment of the present application provides an electronic device, including:

[0058] Memory for storing computer programs;

[0059] The processor is configured to implement any of the methods described in the first aspect when executing a program stored in the memory.

[0060] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, any of the methods described in the first aspect is implemented.

[0061] In a fifth aspect, an embodiment of the present application further provides a computer program product comprising instructions, which, when executed on a computer, enables the computer to execute any of the methods described in the first aspect.

[0062] Beneficial effects of the embodiments of the present application:

[0063] The technical solution provided by the embodiment of the present application is that the electronic device can obtain the echo signals of multiple transmission signals of the millimeter-wave radar, wherein the millimeter-wave radar signal is formed in space by the multiple transmission signals, and the phases of the multiple transmission signals are modulated according to a preset binary modulation method, so that the RD data of the echo signal includes an empty subband and a spectral peak subband corresponding to each transmission signal; the echo signal is subjected to a one-dimensional fast Fourier transform, a two-dimensional fast Fourier transform, and non-coherent accumulation to obtain RD data, and the RD data is subjected to target detection to obtain target RD data of each target; for each target, according to the position rule between the empty subband corresponding to the preset binary modulation method and the spectral peak subband corresponding to each transmission signal, the spectral peak parameters of each transmission signal corresponding to the target RD data of the target are determined as the signal demodulation result of the target; for each target, based on the signal demodulation result of the target, the detection result of the target is determined.

[0064] Based on the low-cost millimeter-wave radar hardware equipment, a specific binary modulation method is used to phase modulate each transmission signal. Without using the high-precision phase shifter of the DDM radar, the phase of each transmission signal can be modulated into a different phase sequence, and at the receiving end, the spectrum peak parameters of different transmitting antennas are separated according to the position rule between the empty sub-band corresponding to the specific binary modulation method and the spectrum peak sub-band corresponding to each transmission signal, thereby realizing the DDM radar signal processing method. In this way, without changing the hardware equipment of the millimeter-wave radar and increasing the equipment cost, the gain advantage of the DDM radar signal processing method can be obtained and the maximum signal-to-noise ratio can be improved, thereby achieving better radar detection effect. Of course, implementing any product or method of the present application does not necessarily require achieving all the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other embodiments can also be obtained based on these drawings.

[0066] Figure 1 A flow chart of the target detection method provided in an embodiment of the present application;

[0067] FIG2( a ) is a schematic diagram of a signal phase according to an embodiment of the present application;

[0068] FIG2( b ) is another flow chart of the target detection method provided in an embodiment of the present application;

[0069] FIG2( c ) is another flow chart of the target detection method provided in an embodiment of the present application;

[0070] Figure 2(d) is a target detection flow chart based on the traditional BPM radar signal processing method;

[0071] Figure 2(e) is a schematic diagram of another target detection process based on the traditional BPM radar signal processing method;

[0072] FIG2( f ) is a schematic diagram of the signal-to-noise ratio simulation results of the BPM and DDM methods provided in an embodiment of the present application;

[0073] FIG2( g ) is a schematic diagram of the difference in signal-to-noise ratio between the BPM and DDM methods provided in an embodiment of the present application;

[0074] Figure 3 for Figure 1 A flowchart of a specific implementation of step S103;

[0075] FIG4( a ) is a schematic diagram of multiple sub-band positions in target RD data provided by an embodiment of the present application;

[0076] FIG4( b ) is a schematic diagram of the positions of the empty sub-bands and the peak sub-bands in the target RD data provided by an embodiment of the present application;

[0077] FIG4( c ) is a schematic diagram of the position of the empty sub-band in the target RD data and the position of the spectrum peak sub-band corresponding to each transmitted signal provided by an embodiment of the present application;

[0078] Figure 5 A schematic diagram of a slow-time dimension time domain signal of an echo signal and a corresponding 2DFFT spectrum provided by an embodiment of the present application;

[0079] FIG6( a ) is a schematic diagram of spectrum peak parameters corresponding to Tx1 and Tx2 provided in an embodiment of the present application;

[0080] FIG6( b ) is another schematic diagram of the spectrum peak parameters corresponding to Tx1 and Tx2 provided in an embodiment of the present application;

[0081] Figure 7 A schematic diagram of the structure of a target detection device provided in an embodiment of the present application;

[0082] Figure 8 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0083] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field based on this application are within the scope of protection of this application.

[0084] To facilitate understanding, the following first explains the professional terms involved in the embodiments of this application:

[0085] FMCW (Frequency-Modulated Continuous Wave): A waveform adjustment technology commonly used in millimeter-wave radar, in which the frequency of the transmitted signal changes linearly with time.

[0086] BPM (Binary Phase Modulation): Similar to TDM, DDM, and CDM, BPM is a common MIMO method commonly used in radar or communication systems. It modulates the transmitted signal with two different phases, 0 and π, to reduce interference between radars or implement beamforming. Because this modulation method only requires two phases, it has low hardware requirements and is suitable for low-cost radar signal processing solutions.

[0087] MIMO (Multiple Input Multiple Output): Commonly used in communications or radar systems, it enables multiple transmitting and receiving antennas to operate simultaneously to form a virtual antenna array. This allows the use of fewer transmitting and receiving channels to form an equivalent larger virtual receiving array, thereby improving angular resolution and accuracy.

[0088] FOV (Field of View): Describes the effective detection coverage of a radar in space. It is typically divided into horizontal and vertical FOVs, and is measured in degrees. FOV is a key indicator of radar performance; the larger the FOV, the smaller the radar's blind spot.

[0089] Chirp: In radar technology, chirp refers to a signal whose frequency changes with time. Specifically, a chirp signal is a linear frequency modulation signal whose frequency increases or decreases linearly with time.

[0090] RD (Range-Doppler), FMCW millimeter-wave radar performs one-dimensional (range dimension) fast FFT processing and two-dimensional fast (Doppler dimension) fast FFT processing on the echo data to obtain a Range-Doppler map, also known as the RD map. This RD map contains target and environmental information and is the basis for radar target detection.

[0091] CFAR (Constant False Alarm Rate): A detection technique commonly used in radar signal processing that ensures a constant false alarm probability under varying background noise levels.

[0092] DDM (Doppler Division Modulation): Another implementation of MIMO technology, DDM uses phase shifters to modulate the transmitted signals from different antennas into different phase sequences, ultimately separating the signals from different transmitting antennas at the receiving end based on the Doppler frequency shift relationship. DDM radar uses phase shifters to modulate the transmitted signals from different antennas into different phase sequences. This generally places high demands on the phase shifters, specifically on their phase reference scale and phase control accuracy. For low-cost automotive millimeter-wave radars, the available hardware platform resources are limited, and phase shifters only support phase modulation of 0 and π. Generally speaking, low-cost automotive millimeter-wave radars can only implement conventional BPM MIMO solutions.

[0093] In order to use low-cost hardware equipment to implement the DDM radar signal processing method to improve radar detection effects, the embodiments of the present application provide a target detection method, device, electronic device, computer-readable storage medium and computer program product. The following first introduces a target detection provided by the embodiments of the present application.

[0094] The target detection method provided in the embodiments of the present application can be applied to any electronic device that needs to detect a target, such as an on-board radar, a traffic radar, or the background server of the above radar, etc., without specific limitation here. For example, in the field of intelligent transportation, the traffic radar in the vehicle-road cooperative system can be used to detect the operation of traffic. For the sake of ease of description, the technical solution of this specification is described below using an on-board radar as an example, and the solution applied to the traffic radar is similar.

[0095] like Figure 1 As shown, a target detection method includes:

[0096] S101: Acquire echo signals of multiple transmission signals of a millimeter-wave radar.

[0097] The phases of the multiple transmission signals are modulated according to a preset binary modulation method, so that the RD data of the echo signal includes a null sub-band and a spectrum peak sub-band corresponding to each transmission signal.

[0098] S102: performing one-dimensional fast Fourier transform, two-dimensional fast Fourier transform and non-coherent accumulation on the echo signal to obtain RD data, and performing target detection on the RD data to obtain target RD data of each target.

[0099] S103: For each target, according to the position rule between the empty sub-band corresponding to the preset binary modulation mode and the spectrum peak sub-band corresponding to each transmitted signal, determine the spectrum peak parameters of each transmitted signal corresponding to the target RD data of the target as the signal demodulation result of the target.

[0100] S104: For each target, determine a detection result of the target based on the signal demodulation result of the target.

[0101] According to the technical solution provided by the embodiments of the present application, an electronic device can obtain echo signals of multiple transmission signals of a millimeter-wave radar, wherein the phases of the multiple transmission signals are modulated according to a preset binary modulation method so that the RD data of the echo signal includes an empty subband and a spectral peak subband corresponding to each transmission signal; the echo signal is subjected to a one-dimensional fast Fourier transform, a two-dimensional fast Fourier transform, and non-coherent accumulation to obtain RD data, and target detection is performed on the RD data to obtain target RD data of each target; for each target, according to the position rule between the empty subband corresponding to the preset binary modulation method and the spectral peak subband corresponding to each transmission signal, the spectral peak parameters of each transmission signal corresponding to the target RD data of the target are determined as the signal demodulation result of the target; for each target, the detection result of the target is determined based on the signal demodulation result of the target.

[0102] Based on low-cost millimeter-wave radar hardware, a specific binary modulation scheme is used to phase-modulate each transmit signal. This eliminates the need for the high-precision phase shifters typically found in DDM radars, allowing the phases of each transmit signal to be modulated into distinct phase sequences. At the receiving end, the spectral peak parameters of different transmit antennas are separated based on the positional relationships between the empty subbands corresponding to the specific binary modulation scheme and the spectral peak subbands corresponding to each transmit signal, thus implementing DDM radar signal processing. This approach achieves the gain advantages of DDM radar signal processing and improves the maximum signal-to-noise ratio, without changing the millimeter-wave radar hardware or increasing equipment costs, resulting in better radar detection results.

[0103] Millimeter-wave radar is a type of FMCW radar that can continuously transmit millimeter-wave signals to the surrounding environment. The millimeter-wave signals are reflected by objects in the surrounding environment to generate echo signals. The millimeter-wave radar can receive the echo signals and use the received echo signals to detect targets in the surrounding environment.

[0104] Both BPM radar and DDM radar are commonly used millimeter-wave radar MIMO implementations. BPM radar performs binary phase modulation on each transmit signal to alternately transmit sum and difference beams of multiple transmit signals. The received sum and difference beam echoes are Fourier transformed, and the Fourier transform results of the sum and difference beams in each virtual receive channel are non-coherently accumulated to obtain RD data for target detection. DDM radar, on the other hand, modulates each transmit signal with a different phase sequence to separate the receive channel data corresponding to different transmit signals at the receiving end based on the Doppler frequency shift relationship, and uses the separation results for target detection.

[0105] Compared with the BPM radar signal processing method used by the BPM radar, the DDM radar signal processing method used by the above-mentioned DDM radar can improve the maximum signal-to-noise ratio and expand the radar's effective range and FOV.

[0106] However, the DDM radar signal processing method mentioned above modulates different phase sequences for each transmitted signal, placing high demands on the phase step scale and phase accuracy of the phase shift. Low-cost automotive millimeter-wave radars are usually BPM radars with limited hardware resources. The phase shifter only supports two phase modulations, 0 and π, and can usually only implement BPM radar signal processing.

[0107] In order to obtain the gain advantages and speed deambiguation advantages of the DDM radar signal processing method without updating the hardware equipment of the on-board millimeter-wave radar, this application first determines the position rules between the empty sub-bands of the RD data of the echo signals of different transmitted signals and the spectral peak sub-bands corresponding to each transmitted signal based on the technology of low-cost on-board millimeter-wave radar hardware equipment based on the number of transmitted signals of the on-board millimeter-wave radar, and then determines the special preset binary modulation method for modulating each transmitted signal into different phase sequences based on the sub-band rules of the RD data.

[0108] In this way, based on the hardware of the on-board millimeter-wave radar, the electronic device can perform special phase modulation on the multiple transmitted signals according to a preset binary modulation method, without using the high-precision phase shifters of the DDM radar, and can modulate the phases of the multiple transmitted signals into different phase sequences. The millimeter-wave radar signal formed by the spatial combination of the multiple transmitted signals is reflected by objects in the surrounding environment to form an echo signal, which is received by the on-board millimeter-wave radar. The electronic device can then obtain the echo signals of the multiple transmitted signals of the millimeter-wave radar, that is, execute the above-mentioned step S101.

[0109] In one implementation, when the electronic device is a vehicle-mounted millimeter-wave radar itself, the vehicle-mounted millimeter-wave radar may determine that echo signals of multiple transmitted signals are obtained when echo signals of multiple signals of the millimeter-wave radar are received.

[0110] In one implementation, when the electronic device is a background server of a vehicle-mounted millimeter-wave radar, the vehicle-mounted millimeter-wave radar can send the echo signals of the received multiple transmission signals to the background server when receiving the echo signals of multiple transmission signals of the millimeter-wave radar. The background server can receive the echo signals of the multiple transmission signals sent by the vehicle-mounted millimeter-wave radar and determine that the echo signals of the multiple transmission signals of the millimeter-wave radar are obtained.

[0111] Because the phases of the multiple transmitted signals are modulated according to a preset binary modulation scheme, the RD data of the echo signals of the multiple transmitted signals include a null subband and a spectral subband corresponding to each transmitted signal, and the position between the null subband and the spectral peak subband corresponding to each transmitted signal satisfies the positional rule between the null subband corresponding to the preset binary modulation scheme and the spectral peak subband corresponding to each transmitted signal. The spectral peak subband corresponding to each transmitted signal is the subband where the spectral peak of the transmitted signal is located. Depending on the modulation phase of each transmitted signal, each transmitted signal may correspond to one spectral peak subband or multiple spectral peak subbands. Accordingly, a null subband is a subband where no spectral peak of the transmitted signal exists.

[0112] For example, an on-board millimeter-wave radar has two transmitting antennas, which simultaneously transmit signals (Chirp) Tx1 and Tx2. When the RD data of the echo signal of the millimeter-wave radar signal formed by Tx1 and Tx2 includes one empty sub-band and three spectral peak sub-bands, the receiving channel data corresponding to the transmitting signals Tx1 and Tx2 can be separated in the RD data of the echo signal to implement the DDM radar signal processing method.

[0113] To ensure that the RD data of the echo signal includes one empty subband and three spectral peak subbands, a preset binary modulation scheme can be determined for Tx1 and Tx2. As shown in the signal frequency-time diagram of Figure 2(a), the vertical axis represents frequency, and the horizontal axis represents time. The modulation phase of Tx1 is 0, 0, 0, 0, ..., 0, 0, 0, 0; the modulation phase of Tx2 is 0, 0, π, π, ..., 0, 0, π, π. The spatial beams formed by the transmitted signals Tx1 and Tx2 are arranged in the order of (0, 0), (0, 0), (0, π), (0, π), ..., (0, 0), (0, 0), (0, π), (0, π). The RD data of the echo signal of the millimeter-wave radar signal composed of Tx1 and Tx2 includes one empty subband and three spectral peak subbands.

[0114] After receiving the echo signal, the electronic device may execute step S102 to perform one-dimensional fast Fourier transform, two-dimensional fast Fourier transform, and non-coherent accumulation on the echo signal to obtain RD data, and perform target detection on the RD data to obtain target RD data of each target.

[0115] Due to the phase differences between multiple transmitted signals, they can spatially combine to form a millimeter-wave radar signal consisting of a sum beam and a difference beam. Furthermore, in MIMO mode, the onboard radar includes multiple receiving channels, each of which can receive the echo signal of the millimeter-wave radar signal. To implement DDM radar signal processing, the electronic device processes the sum beam and difference beam of the echo signal received by each receiving channel as a single beam.

[0116] The electronic device performs a one-dimensional fast Fourier transform (1DFFT, 1-Dimension Fast Fourier Transform, also known as range-dimensional Fourier transform) on the echo signal received by each receiving antenna channel to obtain a 1DFFT result (also known as range-dimensional FFT result) for each receiving channel; performs a two-dimensional fast Fourier transform (2DFFT, 2-Dimension Fast Fourier Transform, also known as Doppler-dimensional Fourier transform) on the 1DFFT result to obtain a 2DFFT result (also known as Doppler-dimensional FFT result) for each receiving channel; in order to improve the signal-to-noise ratio of target detection through energy superposition, the 2DFFT results of multiple receiving channels can be non-coherently accumulated to obtain RD data of the echo signal.

[0117] In one implementation, the electronic device performs windowing on the echo signals received by each receiving channel to reduce spectral leakage caused by signal truncation and optimize frequency domain analysis accuracy by introducing a window function. The windowed echo signals are subjected to 1DFFT processing to obtain Radar Cube data consisting of the 1DFFT results of each receiving channel. The 1DFFT results of each receiving channel in the Radar Cube data are windowed, and 2DFFT processing is performed on the windowed 1DFFT results to obtain a 2DFFT result for each receiving channel. The 2DFFT results of multiple receiving channels are non-coherently accumulated to obtain RD data of the echo signal.

[0118] Since the surrounding environment includes moving targets and non-moving targets, the electronic device can perform target detection on the RD data of the echo signal to detect each target in the surrounding environment and determine the target RD data of each target. The target RD data of each target includes distance dimension information and speed dimension information.

[0119] Among them, the targets detected by the above-mentioned target detection on the RD data of the echo signal may include moving targets and / or non-moving targets; and the above-mentioned target detection method can be a CFAR method or other detection methods, which are not specifically limited here.

[0120] In one implementation, the electronic device may perform CFAR on the RD data of the echo signal, and by setting a preset threshold value of the echo signal strength, detect targets whose echo signal strength is greater than the preset threshold value, and obtain target RD data of each target.

[0121] The electronic device can then execute step S103, and for each target, determine the spectral peak parameters of each transmitted signal corresponding to the target RD data of the target according to the position rule between the empty sub-band corresponding to the preset binary modulation method and the spectral peak sub-band corresponding to each transmitted signal, as the signal demodulation result of the target.

[0122] Since the phases of multiple transmitted signals are modulated according to a preset binary modulation method, the positions of the empty subbands and spectral peak subbands in the RD data of the echo signals of the multiple transmitted signals conform to the position rules between the empty subbands corresponding to the preset binary modulation method and the spectral peak subbands corresponding to each transmitted signal. Correspondingly, the positions of the empty subbands and spectral peak subbands in the target RD data of each target in the RD data of the echo signal also conform to the position rules between the empty subbands corresponding to the preset binary modulation method and the spectral peak subbands corresponding to each transmitted signal.

[0123] Based on this, for each target, the target RD data of the target can be demodulated using the position rule between the empty sub-band corresponding to the preset binary modulation mode and the spectrum peak sub-band corresponding to each transmitted signal.

[0124] The electronic device may determine the spectral peak subband corresponding to each transmitted signal in the target RD data of the target according to a position rule between the empty subband corresponding to the preset binary modulation mode and the spectral peak subband corresponding to each transmitted signal.

[0125] In one implementation, for each target, the electronic device can perform constant false alarm rate detection on the target RD data of the target, detect the position of the empty subband in the target RD data, and determine the position of the spectrum peak subband corresponding to each transmitted signal based on the position of the empty subband and the position rule between the empty subband corresponding to the preset binary modulation method and the spectrum peak subband corresponding to each transmitted signal.

[0126] In one implementation, a preset binary modulation scheme uses an initial modulation phase for a target transmit signal among multiple transmit signals, and phase modulates the other transmit signals. The target transmit signal then corresponds to a spectral peak subband with the largest amplitude. For each target, the electronic device may determine the spectral peak subband with the largest amplitude in the target RD data for that target as the spectral peak subband corresponding to the target transmit signal. The electronic device then determines the position of the empty subband and the positions of the spectral peak subbands corresponding to the other transmit signals based on the position of the spectral peak subband corresponding to the target transmit signal and the positional rules between the empty subbands corresponding to the preset binary modulation scheme and the spectral peak subbands corresponding to each transmit signal.

[0127] After determining the spectral peak sub-band corresponding to each transmitted signal, the electronic device can determine the spectral peak parameters of each transmitted signal corresponding to the target RD data based on the target RD data and the position of the spectral peak sub-band corresponding to each transmitted signal, wherein the spectral peak parameters of each transmitted signal include the spectral peak amplitude and the spectral peak phase.

[0128] Therefore, by performing special phase modulation on multiple transmission signals according to a preset binary modulation method, for each target, the target RD data corresponding to the target can be DDM demodulated according to the position rule between the empty sub-band corresponding to the preset binary modulation method and the spectrum peak sub-band corresponding to each transmission signal, and the RD data corresponding to each transmission signal can be separated from the target RD data to determine the spectrum peak parameters of each transmission signal as the signal demodulation result of the target.

[0129] Then, for each target, the electronic device may determine the detection result of the target based on the signal demodulation result of the target, that is, execute the above step S104.

[0130] For each target, the electronic device can calculate the detection result of the target based on the spectrum peak parameters of each transmitted signal corresponding to the target RD data of the target, thereby separating the spectrum peak parameters of each transmitted signal from the receiving channel data, wherein the detection result of the target includes speed and DOA (Direction Of Arrival).

[0131] Taking the vehicle-mounted millimeter wave radar (ie, BPM radar) with two transmitting antennas as an example, the process of the target detection method provided in this application is as follows: Figure 2(b)-Figure 2(c) As shown, the phases of the transmit signals Tx1 and Tx2 are modulated according to the preset binary modulation method shown in Figure 2(a), where the phase of Tx1 is 0, 0, 0, 0, ... 0, 0, 0, 0; the phase of Tx2 is 0, 0, π, π, ... 0, 0, π, π.

[0132] The echo signals of the sum and difference beams formed in space by the transmit signals Tx1 and Tx2 are treated as the same beam. For each of the N receive channels (Rx-channels), the electronic device performs the same beam analog-to-digital conversion (ADC) on the echo signals received by that receive channel. The echo signals (Chrip) after ADC processing are stored in the order of reception and windowed. A one-dimensional fast Fourier transform (1DFFT) is then performed on the windowed echo signals to obtain the 1DFFT results for each receive channel. The echo signals in the 1DFFT results for each receive channel are then windowed and subjected to a two-dimensional fast Fourier transform (2DFFT) to obtain the 2DFFT results for each receive channel. Non-coherent integration is then performed across the N receive channels to obtain the RD (Range-Doppler) map of the echo signals.

[0133] The RD diagram of the echo signal is subjected to CFAR (constant false alarm rate detection) to obtain the target RD data of each target. The RD data of the echo signal is then demodulated by DDM using the positional rule between the empty sub-band corresponding to the preset binary modulation method and the spectral peak sub-band corresponding to each transmitted signal to obtain the demodulation result of each target and determine the speed and DOA (direction of arrival) of the target.

[0134] The conventional BPM radar signal processing method for automotive millimeter-wave radars is shown in Figures 2(d) and 2(e). According to the FT diagram shown in Figure 2(e), the phase of Tx1 is modulated to 0, 0, 0, 0, ..., 0, 0, 0, 0; the phase of Tx2 is modulated to 0, π, 0, π, ..., 0, π, 0, π. For each of the N receive channels (Rx-channels), the sum beam (chirp) and difference beam (chirp) received by that receive channel are processed as two separate beams. This involves performing sum beam ADC (analog-to-digital conversion), sum beam 1 DFFT (one-dimensional fast Fourier transform), and sum beam 2 DFFT (two-dimensional fast Fourier transform) on the sum beam, and performing difference beam ADC (analog-to-digital conversion), difference beam 1 DFFT (one-dimensional fast Fourier transform), and difference beam 2 DFFT (two-dimensional fast Fourier transform) on the difference beam. The sum beam 2 DFFT and difference beam 2 DFFT results are obtained for each receive channel, respectively.

[0135] After that, non-coherent accumulation is performed on 2N receiving channels to obtain the RD (Range-Doppler) diagram of the echo signal. CFAR (Constant False Alarm Rate) detection is then performed on the RD diagram for velocity deambiguation and BPM demodulation. From the perspective of velocity deambiguation, the velocity deambiguation process of traditional BPM radar signal processing is similar to that of the TDM scheme. It requires an assumption about the target velocity ambiguity order and, based on the current order, compensates the difference beam for the phase difference caused by target motion. Then, demodulation is performed based on the sum beam and the difference beam to obtain the demodulation result.

[0136] A 3-Dimension Fast Fourier Transform (3DFFT, also known as the angular Fourier transform) is performed based on the demodulation results and the virtual channel arrangement. After traversing all fuzzy order hypotheses, the 3DFFT results for each order are obtained. The fuzzy order with the highest peak value is taken as the current velocity fuzzy order, and the target velocity and direction of arrival (DOA) are then obtained.

[0137] By comparison, it can be seen that the time-sharing processing of the sum and difference beams reduces the number of coherent accumulation points in the Doppler dimension. The target detection scheme provided in this application processes the sum and difference beams as the same beam through a new phase modulation sequence. Compared with the traditional BPM scheme, the number of coherent accumulation points in the Doppler dimension is increased by 2 times, and the signal-to-noise ratio is improved by about 6dB.

[0138] In the traditional BPM scheme, 2N virtual channels need to be non-coherently accumulated. In the target detection scheme provided by this application, only N channels need to be non-coherently accumulated. From the perspective of the gain of non-coherent accumulation, the non-coherent accumulation gain obtained by the BPM scheme is slightly higher by about 2dB. As shown in Figure 2(f), the signal-to-noise ratio (SNR) of BPM and DDM is simulated in the azimuth range of (-80° to 80°), where the curve is the signal-to-noise ratio (dB) of BPM and the straight line is the signal-to-noise ratio (dB) of DDM; as shown in Figure 2(g), by calculating the difference (dB) between the signal-to-noise ratio of DDM and BPM, the maximum difference between the signal-to-noise ratio of DDM and BPM in the azimuth range of (-80° to 80°) is 4dB. Therefore, in general, the signal-to-noise ratio improvement obtained in the target detection scheme provided by this application is about 4dB, which expands the radar's range and FOV.

[0139] The technical solution provided by the embodiments of this application utilizes a specific binary modulation scheme to phase-modulate each transmitted signal based on low-cost millimeter-wave radar hardware. This phase-modulates each transmitted signal into a different phase sequence without requiring the high-precision phase shifters of a DDM radar. At the receiving end, the spectral peak parameters of different transmitting antennas are separated based on the positional rules between the empty subband corresponding to the specific binary modulation scheme and the spectral peak subband corresponding to each transmitted signal, thereby implementing a DDM radar signal processing method. This achieves the gain advantages of the DDM radar signal processing method and improves the maximum signal-to-noise ratio without changing the millimeter-wave radar hardware or increasing the equipment cost, thereby achieving better radar detection results.

[0140] As an implementation of an embodiment of the present application, the location rule includes that the number of Doppler points corresponding to each sub-band is equal, and the arrangement order of the spectrum peak sub-bands and the empty sub-bands corresponding to each transmitted signal.

[0141] like Figure 3 As shown, the above-mentioned step S103, i.e., the step of determining, for each target, the spectrum peak parameter of each transmitted signal in the target RD data of the target according to the position rule between the empty sub-band corresponding to the preset binary modulation mode and the spectrum peak sub-band corresponding to each transmitted signal, may include:

[0142] S301: For each target, based on the equality of the number of Doppler points corresponding to each sub-band and the number of Doppler points corresponding to the target RD data of the target, determine the position of each sub-band in the target RD data of the target;

[0143] S302: Perform target detection on the target RD data corresponding to each sub-band to determine the position of the empty sub-band and the position of each spectrum peak sub-band in the target RD data of the target;

[0144] S303: Determine the position of the spectrum peak subband corresponding to each transmitted signal according to the position of the empty subband, the position of each spectrum peak subband, and the arrangement order;

[0145] S304: For each transmit signal, determine the spectrum peak parameters of the transmit signal based on the target RD data of the position of the spectrum peak sub-band corresponding to the transmit signal.

[0146] After phase modulating multiple transmission signals using a preset binary modulation method, the position between the empty sub-band in the echo signal of the millimeter wave signal composed of the multiple transmission signals and the spectrum peak sub-band corresponding to each transmission signal conforms to the position rule between the empty sub-band corresponding to the preset binary modulation method and the spectrum peak sub-band corresponding to each transmission signal.

[0147] Among them, the position rules between the empty subband corresponding to the preset binary modulation mode and the spectrum peak subband corresponding to each transmission signal include the equal number of Doppler points corresponding to each subband and the arrangement order of the spectrum peak subband and the empty subband corresponding to each transmission signal.

[0148] For each target, after phase modulating multiple transmission signals according to a preset binary modulation method, the number of subbands in the target RD data of the target is determined, and the number of spectrum peak subbands corresponding to each transmission signal is also determined.

[0149] Since the number of Doppler points corresponding to each sub-band is equal, for each target, the electronic device can divide the target RD data of the target into multiple sub-bands according to the number of Doppler points corresponding to the target RD data of the target, thereby determining the position of each sub-band in the target RD data of the target and the target RD data of the position of each sub-band.

[0150] For example, as shown in Figure 4(a), the number of Doppler points corresponding to the target RD data of the target is 400, the number of sub-bands in the target RD data of the target is 4 and the number of Doppler points corresponding to each sub-band is equal. The target RD data of the target is evenly divided into sub-band A, sub-band B, sub-band C and sub-band D, and the positions of the 4 sub-bands in the target RD data of the target are obtained.

[0151] The RD data of echo data includes multiple subbands. However, due to the influence of the target's speed, the positions of the subbands in the target RD data of different targets may vary. When the target speed crosses the boundary between adjacent subbands, its signal energy distribution will also shift to the adjacent subband interval. Therefore, for each target, the positions of the empty subbands and spectral peak subbands in the target RD data are unknown.

[0152] The electronic device may perform target detection on the target RD data corresponding to each subband to determine whether each subband is a blank subband or a spectrum peak subband, thereby determining the position of the blank subband and the position of each spectrum peak subband in the target RD data of the target.

[0153] Exemplarily, based on FIG4(a), target detection is performed on the target RD data corresponding to each sub-band to obtain the position of the empty sub-band and the positions of multiple spectrum peak sub-bands as shown in FIG4(b).

[0154] Since the position between the empty subband in the echo signal of the millimeter wave signal and the spectrum peak subband corresponding to each transmitted signal conforms to the arrangement order of the spectrum peak subbands and empty subbands corresponding to each transmitted signal corresponding to the preset binary modulation method, the position between the empty subband in the target RD data of each target and the spectrum peak subband corresponding to each transmitted signal also conforms to the arrangement order of the spectrum peak subbands and empty subbands corresponding to each transmitted signal.

[0155] Therefore, the electronic device can determine the position of the spectral peak subband corresponding to each transmit signal based on the position of the empty subband, the position of each spectral peak subband, and the order in which the spectral peak subbands and the empty subbands corresponding to each transmit signal are arranged. In other words, if the order in which the spectral peak subbands and the empty subbands corresponding to each transmit signal are arranged is known, after the position of the empty subband is determined, the position of the spectral peak subband corresponding to each transmit signal can be determined based on the position of the empty subband and the order in which the spectral peak subbands are arranged.

[0156] For example, based on FIG4(b), according to the position of the empty sub-band, the position of the spectrum peak sub-band, and the arrangement order of the spectrum peak sub-bands and the empty sub-bands corresponding to each transmitted signal, the position of the spectrum peak sub-band corresponding to the transmitted signal Tx1 and the position of the spectrum peak sub-band corresponding to the transmitted signal Tx2 are obtained as shown in FIG4(c).

[0157] Furthermore, for each transmission signal, when the position of the spectrum peak subband corresponding to the transmission signal is determined, the electronic device can determine the spectrum peak parameter of the transmission signal based on the target RD data of the position of the spectrum peak subband corresponding to the transmission signal.

[0158] In this embodiment, for each target, the position of each subband in the target RD data corresponding to the target is determined based on the equality of the number of Doppler points corresponding to each subband and the number of Doppler points corresponding to the target RD data corresponding to the target. Target detection is performed on the target RD data corresponding to each subband to determine the position of the empty subband and the position of each spectral peak subband in the target RD data corresponding to the target. The position of the spectral peak subband corresponding to each transmitted signal is determined based on the position of the empty subband, the position of each spectral peak subband, and their arrangement order. For each transmitted signal, the spectral peak parameters corresponding to the transmitted signal are determined based on the target RD data corresponding to the position of the spectral peak subband corresponding to the transmitted signal. In this way, by presetting the positional rules between the empty subbands corresponding to the binary modulation scheme and the spectral peak subbands corresponding to each transmitted signal, the position of the empty subband and the position of each spectral peak subband in the target RD data of each target and, furthermore, the spectral peak parameters corresponding to each transmitted signal can be determined. Demodulation of signals from different transmit channels is then performed, and a DDM signal processing method is implemented on a low-cost vehicle-mounted millimeter-wave radar. The demodulation results corresponding to each target are then used to determine the detection result corresponding to the target, thereby improving radar detection performance.

[0159] As an implementation of an embodiment of the present application, the above step S302, i.e., the step of performing target detection on the target RD data corresponding to each sub-band and determining the position of the empty sub-band and the position of each spectrum peak sub-band in the target RD data of the target, may include:

[0160] A constant false alarm rate (CFAR) test is performed on the target RD data corresponding to each sub-band. If the echo signal strength of the target RD data corresponding to the sub-band is greater than a preset detection threshold, the sub-band is determined to be a spectrum peak sub-band. If the echo signal strength of the target RD data corresponding to the sub-band is not greater than the preset detection threshold, the sub-band is determined to be a null sub-band.

[0161] Because an empty subband does not include any spectral peak corresponding to a transmitted signal, while a spectral peak subband includes a spectral peak corresponding to a transmitted signal, the echo signal strength of the target RD data corresponding to the empty subband is significantly lower than the echo signal strength of the target RD data corresponding to the spectral peak subband. By detecting whether the echo signal strength of the target RD data corresponding to each subband is greater than a preset detection threshold, it is possible to detect whether the subband is an empty subband or a spectral peak subband. The preset detection threshold can be set based on actual needs and is not specifically limited here.

[0162] Then, a preset detection threshold is set as a threshold value for constant false alarm rate detection, and constant false alarm rate detection is performed on the target RD data corresponding to each sub-band. When the echo signal strength of the target RD data corresponding to the sub-band is greater than the preset detection threshold, the sub-band is determined to be a spectrum peak sub-band; when the echo signal strength of the target RD data corresponding to the sub-band is not greater than the preset detection threshold, the sub-band is determined to be a null sub-band.

[0163] Exemplarily, for each target, the target RD data for that target has four subbands, and constant false alarm rate (CFAR) detection is performed on the target RD data corresponding to each subband. If a subband passes the CFAR detection, that is, the echo signal strength of the target RD data corresponding to the subband is greater than a preset detection threshold, the subband is determined to be a spectrum peak subband, and a flag for the subband is set to 1. Conversely, if a subband fails the CFAR detection, that is, the echo signal strength of the target RD data corresponding to the subband is not greater than the preset detection threshold, the subband is determined to be a null subband, and a flag for the subband is set to 0.

[0164] In this embodiment, the electronic device performs constant false alarm rate detection on the target RD data corresponding to each sub-band, and determines that the sub-band is a spectrum peak sub-band when the echo signal strength of the target RD data corresponding to the sub-band is greater than a preset detection threshold; and determines that the sub-band is an empty sub-band when the echo signal strength of the target RD data corresponding to the sub-band is not greater than the preset detection threshold, so as to determine the position of the empty sub-band and the position of each spectrum peak sub-band in the target RD data of the target, and then determine the spectrum peak sub-band corresponding to each transmitted signal, and demodulate the RD data corresponding to each transmitted signal according to the spectrum peak sub-band corresponding to each transmitted signal, thereby implementing the DDM scheme on a low-cost hardware platform and obtaining the gain advantage and speed deambiguation advantage of the DDM scheme.

[0165] As an implementation method of an embodiment of the present application, the preset binary modulation method is that the modulation phase of the target transmission signal among multiple transmission signals is the initial phase, and the phases of other transmission signals are modulated so that the millimeter-wave radar signal formed by the multiple transmission signals is composed of two consecutive sum beams and two consecutive difference beams arranged alternately; the arrangement order is that the empty sub-band is adjacent to at least one spectral peak sub-band corresponding to the other transmission signals, the spectral peak sub-band corresponding to the target transmission signal is adjacent to at least one spectral peak sub-band corresponding to the other transmission signals, and the spectral peak sub-band corresponding to the target transmission signal is not adjacent to the empty sub-band.

[0166] The above-mentioned step S303, i.e., the step of determining the position of the spectrum peak subband corresponding to each transmitted signal according to the position of the empty subband, the position of each spectrum peak subband, and the arrangement order, may include:

[0167] The position of the spectrum peak subband corresponding to the target transmit signal and the positions of the spectrum peak subbands corresponding to the other transmit signals are determined according to the positional relationship between the position of the empty subband and the position of each spectrum peak subband and the arrangement order.

[0168] The preset binary modulation method is that the modulation phase of the target transmission signal among multiple transmission signals is the initial phase, and the phases of other transmission signals are modulated. Then the millimeter-wave radar signal formed by the multiple transmission signals is composed of two consecutive sum beams and two consecutive difference beams arranged alternately.

[0169] And the arrangement order of the spectrum peak subbands and empty subbands corresponding to each transmission signal corresponding to the preset binary modulation mode is that the empty subband is adjacent to at least one spectrum peak subband corresponding to other transmission signals, the spectrum peak subband corresponding to the target transmission signal is adjacent to at least one spectrum peak subband corresponding to other transmission signals, and the spectrum peak subband corresponding to the target transmission signal is not adjacent to the empty subband.

[0170] Exemplarily, the vehicle-mounted millimeter-wave radar has two transmitting antennas, which transmit chirpTx1 and Tx2 simultaneously, as shown in Figure 2(a). The phases of Tx1 and Tx2 are modulated according to a preset binary modulation method, where the target transmitting signal Tx1 has no phase modulation, that is, the phase of Tx1 is 0, 0, 0, 0, ... 0, 0, 0, 0; the other transmitting signal Tx2 is periodically modulated according to the phase sequence of 0, 0, π, π, ... 0, 0, π, π.

[0171] The target transmission signal Tx1 and the other transmission signal Tx2 form a millimeter-wave radar signal in space. The millimeter-wave radar signal is arranged alternately according to two consecutive sum beams and two consecutive difference beams to form (0, 0), (0, 0), (0, π), (0, π), ... (0, 0), (0, 0), (0, π), (0, π).

[0172] Assuming that the two transmitting antennas transmit 384 Chirps respectively, the slow time dimension of the simulated echo signal and the corresponding 2DFFT spectrum of the RD (range-Doppler) diagram are as follows Figure 5 shown.

[0173] When only Tx1 is transmitted, the time domain signal of the slow time dimension of Tx1 (slow time@Tx1) and the corresponding 2DFFT spectrum are as follows: Figure 5 As shown in the two figures in the first row, the 2DFFT spectrum corresponding to Tx1 has only one peak, and the amplitude of Tx1 is in the range of (-1, 1).

[0174] When only Tx2 is transmitted, the time domain signal of the slow time dimension of Tx2 (slow time@Tx2) and the corresponding 2DFFT spectrum are as follows: Figure 5 As shown in the two figures in the second row, the 2DFFT spectrum corresponding to Tx2 includes two spectrum peaks, and the amplitude of Tx2 is in the range of (-1, 1).

[0175] When Tx1 and Tx2 are transmitted simultaneously, the time domain signal of the slow time dimension of Tx1+Tx2 (slow time@Tx1+Tx2) and the corresponding 2DFFT spectrum are as follows: Figure 5 As shown in the two figures in the third row, the 2DFFT spectrum includes one peak corresponding to Tx1 and two peaks corresponding to Tx2. The amplitude of Tx1+Tx2 is within the range of (-2, 2).

[0176] The sub-bands in the RD data corresponding to the echo signal are arranged in the order of Tx1 spectrum peak sub-band, Tx2 spectrum peak sub-band, empty sub-band and Tx2 spectrum peak sub-band.

[0177] However, due to the different target speeds, the sub-band positions in the target RD data corresponding to the target may drift. After the positions of the empty sub-bands are detected, the detection identifiers of each sub-band may have the following four situations as shown in Table 1, based on the sub-band arrangement order, the positions of the empty sub-bands, and the positions of the spectrum peak sub-bands in the target RD data corresponding to the target. In other words, the sub-band positions in the target RD data corresponding to the target may have the following four situations:

[0178] Table 1 Subband detection flag table

[0179] Tx1 / Tx2 each sub-band detection flag Tx1 corresponds to subband 1 1 1 0 1 Tx1 corresponds to subband 2 1 1 1 0 Tx1 corresponds to subband 3 0 1 1 1 Tx1 corresponds to subband 4 1 0 1 1

[0180] When Tx1 corresponds to subband 1, the subband positions in the target RD data corresponding to the target are the Tx1 spectrum peak subband, the Tx2 spectrum peak subband, the empty subband, and the Tx2 spectrum peak subband. According to the subband positions, the detection flags of each subband of Tx1 / Tx2 are 1, 1, 0, 1; when Tx1 corresponds to subband 2, the subband positions in the target RD data corresponding to the target are the Tx2 spectrum peak subband, the Tx1 spectrum peak subband, the Tx2 spectrum peak subband, and the empty subband. According to the subband positions, the detection flags of each subband of Tx1 / Tx2 are 1, 1, 1, 0; When Tx1 corresponds to subband 3, the subband positions in the target RD data corresponding to the target are the empty subband, Tx2 spectrum peak subband, Tx1 spectrum peak subband and Tx2 spectrum peak subband. According to the subband position, the detection flags of each subband of Tx1 / Tx2 are 0, 1, 1, 1; when Tx1 corresponds to subband 4, the subband positions in the target RD data corresponding to the target are the Tx2 spectrum peak subband, empty subband, Tx2 spectrum peak subband and Tx1 spectrum peak subband. According to the subband position, the detection flags of each subband of Tx1 / Tx2 are 1, 0, 1, 1.

[0181] In this embodiment, when a preset binary modulation scheme is determined, the order of arrangement of the empty subbands and at least one spectral peak subband corresponding to each transmitted signal is also determined. Based on the positional relationship between the positions of the empty subbands and the positions of each spectral peak subband, as well as their order of arrangement, the electronic device can determine the position of the spectral peak subband corresponding to each transmitted signal, thereby isolating the spectral peak parameters corresponding to each transmitted signal as the signal demodulation result for the target.

[0182] The above specific implementation method is only an example of a preset binary modulation method of a target detection method provided in this application and the position rule between the empty sub-band corresponding to the preset binary modulation method and the spectrum peak sub-band corresponding to each transmitted signal, and is not a limitation.

[0183] As an implementation method of the embodiment of the present application, the detection result includes speed and azimuth;

[0184] The above-mentioned step S304, i.e., the step of determining, for each transmitted signal, the spectrum peak parameter of the transmitted signal based on the target RD data of the position of the spectrum peak sub-band corresponding to the transmitted signal, may include:

[0185] The spectral peak parameters corresponding to the target RD data of the position of the spectral peak sub-band corresponding to the target transmission signal are used as the spectral peak parameters of the target transmission signal; the spectral peak parameters corresponding to the target RD data of the positions of each spectral peak sub-band corresponding to the other transmission signals are merged as the spectral peak parameters of the other transmission signals.

[0186] For each target, the spectrum peak parameters corresponding to each transmitted signal can be obtained according to the target RD data of the target as the signal demodulation result of the target.

[0187] As previously mentioned, the target transmit signal corresponds to a spectral peak subband. The electronic device can directly use the spectral peak parameters corresponding to the target RD data at the location of the spectral peak subband corresponding to the target transmit signal as the spectral peak parameters corresponding to the target transmit signal. The spectral peak parameters include spectral peak amplitude and spectral peak phase. The spectral peak amplitude is the target RD data at the location of the spectral peak subband corresponding to the target transmit signal. Performing a modulo operation on the spectral peak parameters yields the target RD data at the location of the spectral peak subband corresponding to the target transmit signal. The spectral peak phase is the echo phase corresponding to the target transmit signal.

[0188] For multiple spectral peak subbands corresponding to other transmit signals, the electronic device may combine the spectral peak parameters corresponding to the target RD data at the locations of the respective spectral peak subbands corresponding to the other transmit signals to serve as the spectral peak parameters corresponding to the other transmit signals. A complex sum operation is performed on the spectral peak parameters corresponding to the target RD data at the locations of the respective spectral peak subbands corresponding to the other transmit signals based on the spectral peak amplitude and spectral peak phase in the spectral peak parameters, and the result of the operation is used as the spectral peak parameter corresponding to the other transmit signals.

[0189] like Figure 5 As shown, the target transmit signal Tx1 corresponds to one spectral peak subband, while the other transmit signal Tx2 corresponds to two spectral peak subbands. The spectral peak parameters corresponding to the target RD data corresponding to the spectral peak corresponding to the target transmit signal Tx1 are used as the spectral peak parameters corresponding to the target transmit signal Tx1, and the spectral peak parameters corresponding to the target RD data corresponding to the two spectral peaks in the two spectral peak subbands corresponding to Tx2 are summed to synthesize the spectral peak parameters corresponding to the other transmit signal Tx2, thereby achieving demodulation of the receiving channel data corresponding to different transmit signals.

[0190] Accordingly, the above step S104, i.e., the step of determining the detection result of each target based on the signal demodulation result of the target, may include:

[0191] For each target, the speed of the target is calculated based on the spectrum peak parameters of the target's transmitted signal; and the azimuth of the target is calculated based on the spectrum peak parameters of each transmitted signal and the arrangement order of multiple receiving antenna arrays.

[0192] Target detection results include speed and azimuth. For each target, the electronic device can calculate the target's speed based on the spectrum peak parameters corresponding to the target's transmitted signal; and calculate the target's azimuth based on the spectrum peak parameters corresponding to each transmitted signal and the arrangement order of the multiple receiving antenna arrays.

[0193] In one implementation, the spectral peak parameters include the Doppler-dimension spectral peak index position of the spectral peak of the transmitted signal and the Doppler-dimension spectral peak index number; the electronic device can calculate the speed index corresponding to the spectral peak index position of the spectral peak of the target transmitted signal and the product of the preset radar speed resolution unit parameter to obtain the speed of the target.

[0194] In one implementation, for each target, the electronic device can use the spectrum peak parameters of each transmitted signal and the arrangement order of multiple receiving antenna arrays to rearrange the amplitude and phase of the target in each virtual channel to obtain the amplitude and phase of the rearranged multiple virtual receiving channels; and perform a one-dimensional fast Fourier transform on the amplitude and phase of the rearranged multiple virtual receiving channels to obtain the spectrum corresponding to the amplitude and phase of the rearranged multiple virtual receiving channels, and use the azimuth corresponding to the peak position in the spectrum as the azimuth of the target.

[0195] In this embodiment, the spectral peak parameters corresponding to the target RD data at the location of the spectral peak subband corresponding to the target transmitted signal are used as the spectral peak parameters corresponding to the target transmitted signal. The spectral peak parameters corresponding to the target RD data at the locations of the spectral peak subbands corresponding to other transmitted signals are combined to form the spectral peak parameters corresponding to the other transmitted signals. In this way, for different transmitted signals, the spectral peak parameters corresponding to the transmitted signal are determined based on the spectral peak parameters corresponding to the target RD data at the location of the spectral peak subband corresponding to the transmitted signal, thereby enabling demodulation of each transmitted signal. For each target, the electronic device can calculate the target's speed based on the spectral peak parameters corresponding to the target transmitted signal; and calculate the target's azimuth based on the spectral peak parameters corresponding to each transmitted signal and the arrangement order of the multiple receiving antenna arrays. In this way, compared with the cumbersome speed deambiguation processing process of the traditional BPM scheme, the target detection scheme provided in the present application only needs to calculate the target speed of the target based on the spectral peak parameters of the target transmission signal. The speed deambiguation process is relatively simple. Moreover, since the target transmission signal is not phase modulated, the offset of the spectral peak parameters corresponding to the target transmission signal in the echo signal is small, and the speed value calculated using the spectral peak parameters corresponding to the target transmission signal is more accurate. There is no need to solve the DOA separately for the sum beam and the difference beam, and the azimuth angle solution process is also relatively simple, which improves the overall processing efficiency.

[0196] As an implementation method of the embodiment of the present application, the spectrum peak parameter includes spectrum peak amplitude;

[0197] The above-mentioned step S103, i.e., the step of determining the spectrum peak parameters of each transmitted signal corresponding to the target RD data of the target as the signal demodulation result of the target according to the position rule between the empty subband corresponding to the preset binary modulation mode and the spectrum peak subband corresponding to each transmitted signal, may include:

[0198] According to the position rule between the empty subband corresponding to the preset binary modulation mode and the spectrum peak subband corresponding to each transmitted signal, the spectrum peak parameters of each transmitted signal corresponding to the target RD data of the target are determined, and when the spectrum peak amplitudes of the transmitted signals are the same, the signal demodulation result of the target is obtained.

[0199] Each spectrum peak parameter includes spectrum peak amplitude and spectrum peak phase. Since the amplitudes of the various transmission signals are the same but the phases are different, the spectrum peak amplitudes of the spectrum peak parameters of the various transmission signals obtained by demodulating the target RD data of each target should be the same.

[0200] Based on this, after determining the spectrum peak parameters of each transmitted signal corresponding to the target RD data of the target according to the position rule between the empty sub-band corresponding to the preset binary modulation mode and the spectrum peak sub-band corresponding to each transmitted signal, it is possible to check whether the spectrum peak amplitudes in the spectrum peak parameters of each transmitted signal are consistent.

[0201] When the spectrum peak amplitudes of the transmitted signals are the same, the electronic device can determine the signal demodulation result of the target; when the spectrum peak amplitudes of the transmitted signals are different, the electronic device can output a demodulation failure prompt message to remind the staff that the target signal demodulation has failed so that the staff can perform troubleshooting.

[0202] For example, as shown in Figure 6(a), the 2DFFT spectrum of the RD (range-Doppler) graph is divided into four subbands based on 384 Doppler points. Each subband corresponds to 384 / 4 = 96 Doppler points. Since the number of Doppler points corresponding to each signal is equal, the number of signals corresponding to each subband is also equal. The target transmit signal Tx1 corresponds to one spectral peak subband with a spectral peak position (X coordinate) of 71 and a spectral peak amplitude (Y coordinate) of 45.6689 dB. The other transmit signal Tx2 corresponds to two spectral peak subbands with spectral peak positions (X coordinates) of 167 and 359, respectively. The two spectral peak amplitudes are 3dB lower than the spectral peak amplitude of Tx1, at 42.6544 dB and 42.6696 dB, respectively.

[0203] M is the number of Doppler points. In the 2DFFT spectrum, Tx2 is obtained by Doppler shifting Tx1. The shift relationship is shown in Figure 6(b). The spectrum peak with an amplitude of 1 and a phase shift of 0 is the spectrum peak of the target transmission signal Tx1. The spectrum peak parameter of the target transmission signal Tx1 is 1e j0 Taking the spectrum peak of Tx1 as the reference, the two spectrum peaks of Tx2 are obtained by shifting the spectrum peak of Tx1 by M / 4 and 3M / 4 respectively, with phase shifts of -π / 4 and π / 4 respectively. The spectrum peak parameters of the two spectrum peaks of Tx2 are and M / 2 corresponds to an empty subband.

[0204] The spectrum corresponding to Tx1 has only one peak, while the spectrum corresponding to Tx2 has two peaks. The amplitudes of these two peaks are 3 dB lower than that of Tx1, and the phase shift between the two sub-bands of Tx2 has opposite polarity. A complex summation of the two peak parameters of Tx2 shows that the amplitude of the peak corresponding to Tx2 is consistent with that of Tx1.

[0205] In this embodiment, the electronic device can determine the spectral peak parameters of each transmitted signal corresponding to the target RD data of the target based on the positional rules between the empty subband corresponding to the preset binary modulation scheme and the spectral peak subband corresponding to each transmitted signal. If the spectral peak amplitudes of the transmitted signals are the same, the electronic device can obtain the signal demodulation result for the target. By verifying whether the spectral peak amplitudes of the transmitted signals are the same, the accuracy of the demodulation result can be verified, thereby improving the reliability of the radar detection results.

[0206] Corresponding to the target detection method, the present embodiment also provides a target detection device.

[0207] like Figure 7 As shown, a target detection device includes:

[0208] A signal acquisition module 701 is configured to acquire echo signals of multiple signals of a millimeter-wave radar, wherein the phases of the multiple transmit signals are modulated according to a preset binary modulation scheme so that RD data of the echo signals includes a null subband and a spectral peak subband corresponding to each transmit signal;

[0209] a detection module 702 configured to perform one-dimensional fast Fourier transform, two-dimensional fast Fourier transform, and non-coherent accumulation on the echo signal to obtain RD data, and perform target detection on the RD data to obtain target RD data of each target;

[0210] The demodulation module 703 is configured to determine, for each target, the spectrum peak parameters of each transmitted signal corresponding to the target RD data of the target according to the position rule between the empty subband corresponding to the preset binary modulation mode and the spectrum peak subband corresponding to each transmitted signal, as the signal demodulation result of the target;

[0211] The result determination module 704 is configured to determine, for each target, a detection result of the target based on the signal demodulation result of the target.

[0212] According to the technical solution provided by the embodiments of the present application, an electronic device can obtain echo signals of multiple signals of a millimeter-wave radar, wherein the phases of the multiple transmission signals are modulated according to a preset binary modulation method, so that the RD data of the echo signal includes an empty subband and a spectral peak subband corresponding to each transmission signal; the echo signal is subjected to one-dimensional fast Fourier transform, two-dimensional fast Fourier transform, and non-coherent accumulation to obtain RD data, and target detection is performed on the RD data to obtain target RD data of each target; for each target, according to the position rule between the empty subband corresponding to the preset binary modulation method and the spectral peak subband corresponding to each transmission signal, the spectral peak parameters of each transmission signal corresponding to the target RD data of the target are determined as the signal demodulation result of the target; for each target, the detection result of the target is determined based on the signal demodulation result of the target.

[0213] Based on low-cost millimeter-wave radar hardware, a specific binary modulation scheme is used to phase-modulate each transmit signal. This eliminates the need for the high-precision phase shifters typically found in DDM radars, allowing the phases of each transmit signal to be modulated into distinct phase sequences. At the receiving end, the spectral peak parameters of different transmit antennas are separated based on the positional relationships between the empty subbands corresponding to the specific binary modulation scheme and the spectral peak subbands corresponding to each transmit signal, thus implementing DDM radar signal processing. This approach achieves the gain advantages of DDM radar signal processing and improves the maximum signal-to-noise ratio, without changing the millimeter-wave radar hardware or increasing equipment costs, resulting in better radar detection results.

[0214] As an implementation of an embodiment of the present application, the position rule includes that the distance between any two adjacent sub-bands is equal, and the arrangement order of the spectrum peak sub-bands and the empty sub-bands corresponding to each transmitted signal;

[0215] The demodulation module 703 includes:

[0216] a first position determining unit, configured to determine, for each target, a position of each sub-band in the target RD data of the target based on the equality of the number of Doppler points corresponding to each sub-band and the number of Doppler points corresponding to the target RD data of the target;

[0217] a detection unit, configured to perform target detection on the target RD data corresponding to each sub-band, and determine the position of the empty sub-band in the target RD data of the target and the position of each spectrum peak sub-band;

[0218] a second position determining unit, configured to determine the position of the spectrum peak subband corresponding to each transmitted signal according to the position of the empty subband, the position of each spectrum peak subband, and the arrangement order;

[0219] The parameter determination unit is configured to determine, for each transmit signal, a spectrum peak parameter of the transmit signal based on target RD data of a position of a spectrum peak subband corresponding to the transmit signal.

[0220] As an implementation of an embodiment of the present application, the detection unit includes:

[0221] The detection subunit is configured to perform constant false alarm rate detection on the target RD data corresponding to each subband. When the echo signal strength of the target RD data corresponding to the subband is greater than a preset detection threshold, the subband is determined to be a spectrum peak subband; when the echo signal strength of the target RD data corresponding to the subband is not greater than the preset detection threshold, the subband is determined to be a null subband.

[0222] As an implementation method of an embodiment of the present application, the preset binary modulation mode is that the modulation phase of the target transmission signal among the multiple transmission signals is the initial phase, and the phases of the other transmission signals are modulated so that the millimeter-wave radar signal formed by the multiple transmission signals is composed of two consecutive sum beams and two consecutive difference beams arranged alternately; the arrangement order is that the empty sub-band is adjacent to at least one spectral peak sub-band corresponding to the other transmission signals, the spectral peak sub-band corresponding to the target transmission signal is adjacent to at least one spectral peak sub-band corresponding to the other transmission signals, and the spectral peak sub-band corresponding to the target transmission signal is not adjacent to the empty sub-band;

[0223] The second position determining unit includes:

[0224] The position determination subunit is configured to determine the position of the spectrum peak subband corresponding to the target transmit signal and the positions of the spectrum peak subbands corresponding to the other transmit signals according to the positional relationship between the position of the empty subband and the position of each spectrum peak subband and the arrangement order.

[0225] As an implementation manner of an embodiment of the present application, the detection result includes speed and azimuth; the parameter determination unit includes:

[0226] A first parameter determination subunit is configured to use the spectrum peak parameter corresponding to the target RD data of the position of the spectrum peak sub-band corresponding to the target transmit signal as the spectrum peak parameter of the target transmit signal;

[0227] a second parameter determination subunit, configured to combine spectrum peak parameters corresponding to target RD data of positions of respective spectrum peak sub-bands corresponding to the other transmission signals as spectrum peak parameters of the other transmission signals;

[0228] The result determination module includes:

[0229] A speed calculation unit, configured to calculate the speed of each target based on the spectrum peak parameters of the target emission signal;

[0230] The azimuth angle calculation unit is used to calculate the azimuth angle of the target based on the spectrum peak parameters of each transmitted signal and the arrangement order of multiple receiving antenna arrays.

[0231] As an implementation method of the embodiment of the present application, the spectrum peak parameter includes spectrum peak amplitude;

[0232] The demodulation module 703 includes:

[0233] A demodulation unit is configured to determine, based on a positional rule between an empty subband corresponding to the preset binary modulation mode and a spectral peak subband corresponding to each transmitted signal, a spectral peak parameter of each transmitted signal corresponding to the target RD data of the target, and obtain a signal demodulation result of the target when the spectral peak amplitudes of the transmitted signals are the same.

[0234] The present application also provides an electronic device, such as Figure 8 Shown, including:

[0235] Memory 801, used for storing computer programs;

[0236] The processor 802 is configured to implement the target detection method provided in the embodiment of the present application when executing the program stored in the memory 801 .

[0237] Furthermore, the electronic device may further include a communication bus and / or a communication interface, and the processor 802, the communication interface, and the memory 801 communicate with each other via the communication bus.

[0238] The communication bus mentioned in the electronic device mentioned above may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. This communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is used in the figure, but this does not mean that there is only one bus or only one type of bus.

[0239] The communication interface is used for communication between the above electronic device and other devices.

[0240] The memory may include random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage. Alternatively, the memory may be at least one storage device located away from the processor.

[0241] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, and discrete hardware components.

[0242] In another embodiment provided in the present application, a computer-readable storage medium is further provided, wherein a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the steps of any of the above-mentioned target detection methods are implemented.

[0243] In another embodiment provided by the present application, a computer program product including instructions is also provided, which, when executed on a computer, enables the computer to execute any target detection method in the above embodiments.

[0244] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrations. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a solid-state drive (SSD).

[0245] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0246] Each embodiment in this specification is described in a related manner. Similar portions between embodiments can be referenced to each other. Each embodiment focuses on the differences between other embodiments. In particular, the device, electronic device, computer-readable storage medium, and computer program product embodiments are generally similar to the method embodiments, so their descriptions are relatively simple. For related portions, reference can be made to the descriptions of the method embodiments.

[0247] The above description is only a preferred embodiment of the present application and is not intended to limit the scope of protection of the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application are included in the scope of protection of the present application.

Claims

1. A target detection method, characterized in that: The method comprises: Acquire echo signals of multiple transmission signals of the millimeter-wave radar, wherein the phases of the multiple transmission signals are modulated according to a preset binary modulation method so that RD data of the echo signals includes a null subband and a spectrum peak subband corresponding to each transmission signal; Performing one-dimensional fast Fourier transform, two-dimensional fast Fourier transform and non-coherent accumulation on the echo signal to obtain RD data, and performing target detection on the RD data to obtain target RD data of each target; For each target, according to the position rule between the empty subband corresponding to the preset binary modulation mode and the spectrum peak subband corresponding to each transmitted signal, determine the spectrum peak parameters of each transmitted signal corresponding to the target RD data of the target as the signal demodulation result of the target; For each target, a detection result of the target is determined based on the signal demodulation result of the target.

2. The method according to claim 1, characterized in that The position rules include that the number of Doppler points corresponding to each sub-band is equal, and the arrangement order of the spectrum peak sub-bands and the empty sub-bands corresponding to each transmitted signal; The step of determining, for each target, a spectrum peak parameter of each transmitted signal corresponding to the target RD data of the target according to a position rule between an empty subband corresponding to the preset binary modulation mode and a spectrum peak subband corresponding to each transmitted signal, includes: For each target, the position of each sub-band in the target RD data of the target is determined based on the equality of the number of Doppler points corresponding to each sub-band and the number of Doppler points corresponding to the target RD data of the target; Perform target detection on the target RD data corresponding to each sub-band to determine the position of the empty sub-band in the target RD data of the target and the position of each spectrum peak sub-band; Determining the position of the spectrum peak subband corresponding to each transmitted signal according to the position of the empty subband, the position of each spectrum peak subband, and the arrangement order; For each transmit signal, a spectrum peak parameter of the transmit signal is determined based on target RD data of a position of a spectrum peak sub-band corresponding to the transmit signal.

3. The method according to claim 2, characterized in that The step of performing target detection on the target RD data corresponding to each sub-band and determining the position of the empty sub-band and the position of each spectrum peak sub-band in the target RD data of the target includes: Performing constant false alarm rate detection on the target RD data corresponding to each sub-band, and determining the sub-band as a spectrum peak sub-band when the echo signal strength of the target RD data corresponding to the sub-band is greater than a preset detection threshold; When the echo signal strength of the target RD data corresponding to the sub-band is not greater than the preset detection threshold, the sub-band is determined to be a null sub-band.

4. The method according to claim 2, characterized in that The preset binary modulation mode is such that the modulation phase of the target transmission signal among the multiple transmission signals is the initial phase, and the phases of the other transmission signals are modulated so that the millimeter-wave radar signal formed by the multiple transmission signals is composed of two consecutive sum beams and two consecutive difference beams arranged alternately; the arrangement order is such that the empty sub-band is adjacent to at least one spectral peak sub-band corresponding to the other transmission signals, the spectral peak sub-band corresponding to the target transmission signal is adjacent to at least one spectral peak sub-band corresponding to the other transmission signals, and the spectral peak sub-band corresponding to the target transmission signal is not adjacent to the empty sub-band; The step of determining the position of the spectrum peak subband corresponding to each transmitted signal according to the position of the empty subband, the position of each spectrum peak subband, and the arrangement order includes: The position of the spectrum peak subband corresponding to the target transmit signal and the positions of the spectrum peak subbands corresponding to the other transmit signals are determined according to the positional relationship between the position of the empty subband and the position of each spectrum peak subband and the arrangement order.

5. The method according to claim 4, characterized in that The detection result includes a velocity and an azimuth; and the step of determining, for each transmitted signal, a spectrum peak parameter of the transmitted signal based on target RD data of a position of a spectrum peak subband corresponding to the transmitted signal, includes: Using the spectrum peak parameters corresponding to the target RD data of the position of the spectrum peak sub-band corresponding to the target transmit signal as the spectrum peak parameters of the target transmit signal; Merging the spectrum peak parameters corresponding to the target RD data of the positions of the spectrum peak sub-bands corresponding to the other transmission signals as the spectrum peak parameters of the other transmission signals; The step of determining, for each target, a detection result of the target based on a signal demodulation result of the target, comprises: For each target, calculating the speed of the target based on the spectrum peak parameters of the target's transmission signal; The azimuth angle of the target is calculated based on the spectrum peak parameters of each transmitted signal and the arrangement order of multiple receiving antenna arrays.

6. The method according to any one of claims 1 to 5, characterized in that The spectrum peak parameters include spectrum peak amplitude; The step of determining, according to a position rule between an empty subband corresponding to the preset binary modulation mode and a spectrum peak subband corresponding to each transmitted signal, a spectrum peak parameter of each transmitted signal corresponding to the target RD data of the target as a signal demodulation result of the target includes: According to the position rule between the empty subband corresponding to the preset binary modulation mode and the spectrum peak subband corresponding to each transmitted signal, the spectrum peak parameters of each transmitted signal corresponding to the target RD data of the target are determined, and when the spectrum peak amplitudes of the transmitted signals are the same, the signal demodulation result of the target is obtained.

7. A target detection device, characterized in that: The device comprises: a signal acquisition module, configured to acquire echo signals of multiple transmission signals of the millimeter-wave radar, wherein the phases of the multiple transmission signals are modulated according to a preset binary modulation method so that the RD data of the echo signal includes a null subband and a spectral peak subband corresponding to each transmission signal; a detection module, configured to perform one-dimensional fast Fourier transform, two-dimensional fast Fourier transform, and non-coherent accumulation on the echo signal to obtain RD data, and perform target detection on the RD data to obtain target RD data of each target; a demodulation module configured to determine, for each target, a spectrum peak parameter of each transmitted signal corresponding to the target RD data of the target according to a position rule between an empty subband corresponding to the preset binary modulation mode and a spectrum peak subband corresponding to each transmitted signal, as a signal demodulation result of the target; The result determination module is used to determine the detection result of each target based on the signal demodulation result of the target.

8. The device according to claim 7, characterized in that The position rules include that the number of Doppler points corresponding to each sub-band is equal, and the arrangement order of the spectrum peak sub-bands and the empty sub-bands corresponding to each transmitted signal; The demodulation module includes: a first position determining unit, configured to determine, for each target, a position of each subband in the target RD data of the target based on the equality of the number of Doppler points corresponding to each subband and the number of Doppler points corresponding to the target RD data of the target; a detection unit, configured to perform target detection on the target RD data corresponding to each sub-band, and determine the position of the empty sub-band and the position of each spectrum peak sub-band in the target RD data of the target; a second position determining unit, configured to determine the position of the spectrum peak subband corresponding to each transmitted signal according to the position of the empty subband, the position of each spectrum peak subband, and the arrangement order; a parameter determination unit, configured to determine, for each transmit signal, a spectrum peak parameter of the transmit signal based on target RD data of a position of a spectrum peak subband corresponding to the transmit signal; and / or, The detection unit comprises: a detection subunit, configured to perform constant false alarm rate detection on the target RD data corresponding to each subband, and determine that the subband is a spectrum peak subband if the echo signal strength of the target RD data corresponding to the subband is greater than a preset detection threshold; and determine that the subband is a null subband if the echo signal strength of the target RD data corresponding to the subband is not greater than the preset detection threshold; and / or, The preset binary modulation mode is such that the modulation phase of the target transmission signal among the multiple transmission signals is the initial phase, and the phases of the other transmission signals are modulated so that the millimeter-wave radar signal formed by the multiple transmission signals is composed of two consecutive sum beams and two consecutive difference beams arranged alternately; the arrangement order is such that the empty sub-band is adjacent to at least one spectral peak sub-band corresponding to the other transmission signals, the spectral peak sub-band corresponding to the target transmission signal is adjacent to at least one spectral peak sub-band corresponding to the other transmission signals, and the spectral peak sub-band corresponding to the target transmission signal is not adjacent to the empty sub-band; The second position determining unit includes: a position determination subunit, configured to determine the position of the spectrum peak subband corresponding to the target transmit signal and the positions of the spectrum peak subbands corresponding to the other transmit signals based on the positional relationship between the position of the empty subband and the position of each spectrum peak subband and the arrangement order; and / or, The detection result includes speed and azimuth; the parameter determination unit includes: A first parameter determination subunit is configured to use the spectrum peak parameter corresponding to the target RD data of the position of the spectrum peak sub-band corresponding to the target transmit signal as the spectrum peak parameter of the target transmit signal; a second parameter determination subunit, configured to combine spectrum peak parameters corresponding to target RD data of positions of respective spectrum peak sub-bands corresponding to the other transmission signals as spectrum peak parameters of the other transmission signals; The result determination module includes: A speed calculation unit, configured to calculate the speed of each target based on the spectrum peak parameters of the target emission signal; an azimuth angle calculation unit, configured to calculate the azimuth angle of the target based on the spectrum peak parameters of each transmitted signal and the arrangement order of the multiple receiving antenna arrays; and / or, The spectrum peak parameter includes the spectrum peak amplitude; the demodulation module includes: A demodulation unit is configured to determine, based on a positional rule between an empty subband corresponding to the preset binary modulation mode and a spectral peak subband corresponding to each transmitted signal, a spectral peak parameter of each transmitted signal corresponding to the target RD data of the target, and obtain a signal demodulation result of the target when the spectral peak amplitudes of the transmitted signals are the same.

9. An electronic device, characterized in that: include: Memory for storing computer programs; A processor, configured to implement the method according to any one of claims 1 to 6 when executing a program stored in a memory.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

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