Signal sending method, signal processing method and radar device

Abstract

The present application relates to a signal sending method, a signal processing method and a radar device, and belongs to the field of sensor technology. The radar device includes at least three transmitting antennas, wherein the signal sending method includes: determining at least two transmitting antenna groups of the radar device, wherein each transmitting antenna group includes at least one transmitting antenna; sending signals through at least two transmitting antenna groups, wherein at least two transmitting antenna groups use TDM to send signals, and each transmitting antenna group including multiple transmitting antennas in at least two transmitting antenna groups includes multiple transmitting antennas that use CDM to send signals. The embodiments of the present application can be applied to related fields such as autonomous driving, assisted driving, intelligent driving, intelligent networked vehicles, smart cars, electric vehicles / electric vehicles, etc., such as target detection and tracking in assisted driving and autonomous driving, which can improve the performance of speed and angle decoupling, thereby more accurately determining the angle information of the target.

Description

Technical Field

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

[0002] With the development of science and technology, smart cars have gradually entered our daily lives. Among them, the advanced driving assistant system (ADAS) plays a very important role in smart cars. The system uses various sensors installed on the car to sense the surrounding environment, collect data, identify, detect and track objects during driving, so as to make the driver aware of possible dangers in advance, effectively increasing the comfort and safety of car driving.

[0003] In unmanned driving technology, the sensing layer includes visual sensors such as vehicle-mounted cameras and radar sensors such as vehicle-mounted radars. Millimeter-wave radar is a type of vehicle-mounted radar. Due to its low cost and mature technology, it is widely used in unmanned driving systems. Unmanned driving technology requires millimeter-wave radars to have higher resolutions, and the lateral high resolution of radars can be achieved by increasing the antenna aperture. Multiple-input-multiple-output (MIMO) is a technical means to increase the antenna aperture, making MIMO radar a development direction for vehicle-mounted millimeter-wave radars.

[0004] MIMO radars are mainly implemented in several specific forms: frequency division multiplexing (FDM), code division multiplexing (CDM) and time division multiplexing (TDM). Considering the complexity of implementation and the cost limit of semiconductor devices, most vehicle-mounted millimeter-wave radars use TDM technology. However, in actual use, the phase change caused by the Doppler frequency of the moving target during the switching time of different transmitting antennas will be coupled to each receiving antenna, and TDM MIMO itself reduces the sampling rate at slow times, which reduces the unambiguous speed measurement range. When calculating the speed of the target object, it is more likely to cause speed aliasing, that is, speed ambiguity occurs, and the speed of the target object obtained is not the true speed.

[0005] At present, a scheme for speed deambiguation is to use the fast Fourier transform (FFT) in the angle domain, that is, to perform FFT on the echo signal received by the radar, that is, the signal after the electric signal sent by the radar's transmitting antenna is reflected by the target object, and to traverse all speed ambiguity multiples, and to perform FFT coherent accumulation in the angle domain, so as to determine the correct speed ambiguity multiple, and then determine the true speed of the target object according to the correct speed ambiguity multiple. When the radar includes more transmitting antennas, the phase jump between two adjacent transmitting antennas caused by speed ambiguity is small, and the result of FFT is easily affected by phase noise, and it is not easy to determine the speed ambiguity multiple, that is, the performance of speed deambiguation is low. Summary of the invention

[0006] The present application provides a signal sending method, a signal processing method and a radar device, which are used to improve the performance of speed deambiguation, thereby more accurately determining the actual speed of a target.

[0007] In a first aspect, an embodiment of the present application provides a signal sending method, which can be applied to a radar device, wherein the radar device includes at least three transmitting antennas, and the method includes:

[0008] Determine at least two transmit antenna groups of the radar device, wherein each of the transmit antenna groups includes at least one transmit antenna;

[0009] Signals are sent through the at least two transmitting antenna groups, wherein the at least two transmitting antenna groups use TDM to send signals, and each transmitting antenna group of the at least two transmitting antenna groups includes multiple transmitting antennas, and the multiple transmitting antennas included in the transmitting antenna group use CDM to send signals.

[0010] In an embodiment of the present application, the method can be executed by a detection device, such as a radar device, which can be a radar or a communication device connected to the radar. In this scheme, when the radar device sends a signal, the transmitting antennas included can be grouped first, for example, the N transmitting antennas included are divided into at least two transmitting antenna groups, such as K transmitting antenna groups, wherein the K transmitting antenna groups use TDM to send signals, and the transmitting antennas included in each transmitting antenna group send signals at the same time, for example, the transmitting antennas included in each transmitting antenna group use CDM to send signals. Since the number of transmitting antenna groups sent by the radar device in TDM mode is reduced, the phase jump between each virtual antenna array element of the radar device can be increased. Through the signal sending method of the embodiment of the present application, the radar device only needs to perform K FFTs when resolving speed ambiguity, which reduces the amount of calculation compared to N FFTs in the prior art. And the transmitting antennas included in each transmitting antenna group send signals at the same time, and the signal-to-noise ratio of the signal that can be accumulated per unit time is large, which is more conducive to detecting targets from the FFT results corresponding to each transmitting antenna group.

[0011] In one possible design, determining at least two transmitting antenna groups of the radar device includes:

[0012] The at least two transmit antenna groups are randomly determined according to the at least three transmit antennas.

[0013] A method for determining at least two transmitting antenna groups is that before the radar device sends a signal each time, the transmitting antenna included in the radar device can be randomly divided into at least two transmitting antenna groups, so that the phase jump rule between adjacent virtual antenna array elements according to the antenna arrangement order is random, so as to reduce the possibility of speed and angle coupling and improve the performance of speed angle decoupling.

[0014] In one possible design, the radar device includes transmitting antennas that are numbered from 1 to N, where N is greater than or equal to 3, and in each transmitting antenna group, there are at least two transmitting antennas that are not numbered consecutively; or, in each transmitting antenna group, any two transmitting antennas are not numbered consecutively.

[0015] In another possible design, in each transmitting antenna group, there are at least two transmitting antennas with adjacent numbers whose number interval is greater than 1, or, the number interval of any two transmitting antennas with adjacent numbers is greater than 1.

[0016] In practical applications, the numbers of the transmitting antennas included in each transmitting antenna group divided by the radar device are randomly selected, for example, there are at least two transmitting antennas whose numbers are discontinuous; or, the numbers of any two transmitting antennas are discontinuous, or, there are at least two transmitting antennas with adjacent numbers whose interval is greater than 1, or, the interval between the numbers of any two transmitting antennas with adjacent numbers is greater than 1. In this way, before the radar device sends a signal each time, it can ensure that the interval between the numbers of the transmitting antennas included in each transmitting antenna group is as large as possible, so that the phase jump rule between adjacent virtual antenna array elements is more random, so as to minimize the possibility of speed and angle coupling and improve the performance of speed and angle decoupling.

[0017] In one possible design, determining at least two transmitting antenna groups of the radar device includes:

[0018] A first grouping method among multiple grouping methods is determined, based on the fact that performance parameters of the at least two transmitting antenna groups indicated by the first grouping method are optimal, where the performance parameters are used to indicate speed resolution performance.

[0019] In one possible design, the multiple grouping modes include all possible grouping modes of the at least three transmitting antennas.

[0020] Another way to determine at least two transmitting antenna groups is that in actual use, the radar device can compare the performance of resolving speed ambiguity corresponding to multiple grouping methods. One grouping method can be considered as at least two transmitting antenna groups randomly divided by the radar device at one time, so that the radar device determines at least two transmitting antenna groups based on the grouping method with the best performance of resolving speed ambiguity, that is, the first grouping method. In this way, the subsequent radar device can use the at least two transmitting antenna groups to send signals without having to re-determine the at least two transmitting antenna groups each time, which can both ensure the subsequent performance of resolving speed ambiguity as much as possible and reduce the burden on the radar device.

[0021] In one possible design, the at least two transmitting antenna groups include different or the same number of transmitting antennas.

[0022] In an embodiment of the present application, the number of transmitting antennas included in at least two transmitting antenna groups can be the same or different. This can be applicable to both the case where the number of transmitting antennas is a prime number and the case where the number of transmitting antennas is not a prime number, and has a wider scope of applicability.

[0023] In a second aspect, a signal processing method is provided, the method being applied to a radar device, the radar device comprising at least three transmitting antennas and at least one receiving antenna, the method comprising:

[0024] Determine at least two groups of detection information according to the signal received by the at least one receiving antenna, the at least two groups of detection information corresponding to at least two transmitting antenna groups composed of the at least three transmitting antennas, each of the transmitting antenna groups including at least one transmitting antenna, wherein the at least two transmitting antenna groups send signals in a TDM manner, and each transmitting antenna group including multiple transmitting antennas in the at least two transmitting antenna groups includes multiple transmitting antennas that send signals in a CDM manner;

[0025] Determine at least three detection information according to the at least two sets of detection information, wherein the at least three detection information are used to determine a velocity estimate of the target, wherein the at least three detection information correspond to the at least three transmitting antennas;

[0026] The real speed of the target is determined according to a first speed ambiguity factor and a speed estimation value of the target, wherein the first speed ambiguity factor is one of at least two speed ambiguity factors corresponding to the at least two sets of detection information.

[0027] In an embodiment of the present application, when the radar device resolves speed ambiguity, the signal received by the radar device can be divided into at least two groups of signals according to the at least two transmitting antenna groups into which the radar device sends the signal, thereby determining a group of detection information based on each group of signals. Compared with the prior art, in which the received signal is divided into signals corresponding to each transmitting antenna and then the detection information is determined, the number of groups of detection information determined is reduced, thereby reducing the amount of calculation.

[0028] In one possible design, determining at least two sets of detection information according to the signal received by the at least one receiving antenna includes:

[0029] Converting the at least two groups of signals into range-Doppler domains respectively to obtain the at least two groups of detection information;

[0030] The at least two groups of signals are signals in the received signals corresponding to the at least two transmitting antenna groups.

[0031] In one possible design, the speed blur multiplier is determined, including:

[0032] Determine multiple phases of multiple virtual antenna array elements included in the radar device, wherein the virtual antenna array element corresponds to one transmitting antenna and one receiving antenna, and one virtual antenna array element corresponds to one phase;

[0033] Performing Doppler phase compensation on the multiple phases respectively;

[0034] In the angle domain, the at least two pieces of detection information are superimposed, and the velocity blur multiple is determined according to the superposition result.

[0035] In a possible design, determining the velocity blur multiple according to the superposition result includes:

[0036] The speed blur multiple corresponding to the maximum peak value in the superposition result is determined as the speed blur multiple.

[0037] Regarding the technical effects brought about by the second aspect or various possible implementations of the second aspect, reference may be made to the introduction to the technical effects of the first aspect or various possible implementations of the first aspect.

[0038] In a third aspect, a method is provided. The execution subject of the method may be a chip set in a detection device. The method includes:

[0039] Determining at least two transmit antenna groups of the radar device, wherein each of the transmit antenna groups includes at least one transmit antenna;

[0040] The at least two transmitting antenna groups are controlled to send signals in a time division multiplexing TDM manner, and the multiple transmitting antennas included in each transmitting antenna group including multiple transmitting antennas in the at least two transmitting antenna groups are controlled to send signals in a code division multiplexing CDM manner.

[0041] In one possible design, determining at least two transmitting antenna groups of the radar device includes:

[0042] The at least two transmit antenna groups are randomly determined according to the at least three transmit antennas.

[0043] In one possible design, the radar device includes transmitting antennas that are numbered from 1 to N, where N is greater than or equal to 3, and in each transmitting antenna group, there are at least two transmitting antennas that are not numbered consecutively; or, in each transmitting antenna group, any two transmitting antennas are not numbered consecutively.

[0044] In another possible design, in each transmitting antenna group, there are at least two transmitting antennas with adjacent numbers whose number interval is greater than 1, or, the number interval of any two transmitting antennas with adjacent numbers is greater than 1.

[0045] In one possible design, determining at least two transmitting antenna groups of the radar device includes:

[0046] A first grouping method among multiple grouping methods is determined, based on the fact that performance parameters of the at least two transmitting antenna groups indicated by the first grouping method are optimal, where the performance parameters are used to indicate speed resolution performance.

[0047] In one possible design, the multiple grouping modes include all possible grouping modes of the at least three transmitting antennas.

[0048] In one possible design, the at least two transmitting antenna groups include different or the same number of transmitting antennas.

[0049] According to a fourth aspect, a device is provided, the device comprising:

[0050] at least one processor configured to determine at least two transmit antenna groups of the apparatus, wherein each of the transmit antenna groups comprises at least one transmit antenna; and

[0051] The at least two transmitting antenna groups are used to send signals, wherein the at least two transmitting antenna groups use time division multiplexing (TDM) to send signals, and each transmitting antenna group of the at least two transmitting antenna groups includes multiple transmitting antennas, and the multiple transmitting antennas included in the transmitting antenna groups use code division multiplexing (CDM) to send signals.

[0052] In one possible design, the at least one processor is specifically configured to:

[0053] The at least two transmit antenna groups are randomly determined according to the at least three transmit antennas.

[0054] In one possible design, the transmitting antennas included in the device are numbered from 1 to N, where N is greater than or equal to 3, and in each transmitting antenna group, there are at least two transmitting antennas with discontinuous numbers; or, in each transmitting antenna group, any two transmitting antennas are discontinuously numbered.

[0055] In one possible design, in each transmitting antenna group, there are at least two transmitting antennas with adjacent numbers whose number interval is greater than 1, or, the number interval of any two transmitting antennas with adjacent numbers is greater than 1.

[0056] In one possible design, the at least one processor is specifically configured to:

[0057] A first grouping method among multiple grouping methods is determined, based on the fact that performance parameters of the at least two transmitting antenna groups indicated by the first grouping method are optimal, where the performance parameters are used to indicate speed resolution performance.

[0058] In one possible design, the multiple grouping modes include all possible grouping modes of the at least three transmitting antennas.

[0059] In one possible design, the at least two transmitting antenna groups include different or the same number of transmitting antennas.

[0060] In a fifth aspect, a device is provided, which is, for example, the aforementioned radar device, and includes at least one processing unit and a communication interface, and the at least one processing unit and the communication interface are coupled to each other to implement the method described in the above first aspect or various possible designs of the first aspect. Exemplarily, the device is a radar. The communication interface may be implemented, for example, by an antenna, a feeder, and a codec in the device, or, if the device is a chip provided in a detection device, the communication interface may be, for example, a communication interface in the chip, and the communication interface is connected to a radio frequency transceiver component in the detection device to implement information reception and transmission through the radio frequency transceiver component. In which,

[0061] The at least one processing unit is configured to determine at least two transmit antenna groups of the radar device, wherein each of the transmit antenna groups includes at least one transmit antenna;

[0062] The communication interface is used to control the at least two transmitting antenna groups to send signals using time division multiplexing TDM, and each transmitting antenna group in the at least two transmitting antenna groups includes multiple transmitting antennas, and the multiple transmitting antennas included in the transmitting antenna group include multiple transmitting antennas to send signals using code division multiplexing CDM.

[0063] In one possible design, the at least one processing unit is specifically configured to:

[0064] The at least two transmit antenna groups are randomly determined according to the at least three transmit antennas.

[0065] In one possible design, the transmitting antennas included in the device are numbered from 1 to N, where N is greater than or equal to 3, and in each transmitting antenna group, there are at least two transmitting antennas with discontinuous numbers; or, in each transmitting antenna group, any two transmitting antennas are discontinuously numbered.

[0066] In one possible design, in each transmitting antenna group, there are at least two transmitting antennas with adjacent numbers whose number interval is greater than 1, or, the number interval of any two transmitting antennas with adjacent numbers is greater than 1.

[0067] In one possible design, the at least one processing unit is specifically configured to:

[0068] A first grouping method among multiple grouping methods is determined, based on the fact that performance parameters of the at least two transmitting antenna groups indicated by the first grouping method are optimal, where the performance parameters are used to indicate speed resolution performance.

[0069] In one possible design, the multiple grouping modes include all possible grouping modes of the at least three transmitting antennas.

[0070] In one possible design, the at least two transmitting antenna groups include different or the same number of transmitting antennas.

[0071] In a sixth aspect, a device is provided, which is a chip set in a detection device. The device includes at least one processor and a communication interface, and the communication interface is used to provide program instructions to the at least one processor. When the at least one processor executes the program instructions, the following steps are implemented:

[0072] Determining at least two transmit antenna groups of the radar device, wherein each of the transmit antenna groups includes at least one transmit antenna;

[0073] The at least two transmitting antenna groups are controlled to send signals in a time division multiplexing TDM manner, and the multiple transmitting antennas included in each transmitting antenna group including multiple transmitting antennas in the at least two transmitting antenna groups are controlled to send signals in a code division multiplexing CDM manner.

[0074] In one possible design, the at least one processor is specifically configured to:

[0075] The at least two transmit antenna groups are randomly determined according to the at least three transmit antennas.

[0076] In one possible design, the radar device includes transmitting antennas that are numbered from 1 to N, where N is greater than or equal to 3, and in each transmitting antenna group, there are at least two transmitting antennas that are not numbered consecutively; or, in each transmitting antenna group, any two transmitting antennas are not numbered consecutively.

[0077] In another possible design, in each transmitting antenna group, there are at least two transmitting antennas with adjacent numbers whose number interval is greater than 1, or, the number interval of any two transmitting antennas with adjacent numbers is greater than 1.

[0078] In one possible design, the at least one processor is specifically configured to:

[0079] A first grouping method among multiple grouping methods is determined, based on the fact that performance parameters of the at least two transmitting antenna groups indicated by the first grouping method are optimal, where the performance parameters are used to indicate speed resolution performance.

[0080] In one possible design, the multiple grouping modes include all possible grouping modes of the at least three transmitting antennas.

[0081] In one possible design, the at least two transmitting antenna groups include different or the same number of transmitting antennas.

[0082] In a seventh aspect, a device is provided, the device comprising:

[0083] A communication interface, configured to receive at least one signal;

[0084] At least one processing unit, configured to determine at least two groups of detection information according to a signal received by the communication interface, wherein the at least two groups of detection information correspond to at least two transmitting antenna groups consisting of at least three transmitting antennas included in the device, each of the transmitting antenna groups including at least one transmitting antenna, wherein the at least two transmitting antenna groups transmit signals in a TDM manner, and the multiple transmitting antennas included in each transmitting antenna group including multiple transmitting antennas in the at least two transmitting antenna groups transmit signals in a CDM manner;

[0085] Determine at least three detection information according to the at least two sets of detection information, wherein the at least three detection information are used to determine a velocity estimate of the target, wherein the at least three detection information correspond to the at least three transmitting antennas;

[0086] The real speed of the target is determined according to a first speed ambiguity factor and a speed estimation value of the target, wherein the first speed ambiguity factor is one of at least two speed ambiguity factors corresponding to the at least two sets of detection information.

[0087] In one possible design, the at least one processing unit is specifically configured to:

[0088] Converting the at least two groups of signals into range-Doppler domains respectively to obtain the at least two groups of detection information;

[0089] The at least two groups of signals are signals in the received signals corresponding to the at least two transmitting antenna groups.

[0090] In one possible design, the at least one processing unit is specifically configured to:

[0091] Determine multiple phases of multiple virtual antenna array elements included in the radar device, wherein the virtual antenna array element corresponds to one transmitting antenna and one receiving antenna, and one virtual antenna array element corresponds to one phase;

[0092] Performing Doppler phase compensation on the multiple phases respectively;

[0093] In the angle domain, the at least two pieces of detection information are superimposed, and the velocity blur multiple is determined according to the superposition result.

[0094] In one possible design, the at least one processing unit is specifically configured to:

[0095] The speed blur multiple corresponding to the maximum peak value in the superposition result is determined as the speed blur multiple.

[0096] In an eighth aspect, a device is provided, which is, for example, the aforementioned radar device, and includes at least one receiving antenna and at least one processor, which are coupled to each other and are used to implement the method described in the second aspect or various possible designs of the second aspect. Exemplarily, the radar device is a radar. The transceiver is implemented, for example, by an antenna, a feeder, and a codec in a communication device, or, if the radar device is a chip provided in a detection device, the transceiver is, for example, a communication interface in the chip, which is connected to a radio frequency transceiver component in the detection device to implement information reception and transmission through the radio frequency transceiver component. In which,

[0097] The at least one receiving antenna is used to receive at least one signal;

[0098] The at least one processor is configured to determine at least two groups of detection information according to a signal received by the at least one receiving antenna, wherein the at least two groups of detection information correspond to at least two transmitting antenna groups composed of the at least three transmitting antennas, each of the transmitting antenna groups includes at least one transmitting antenna, wherein the at least two transmitting antenna groups send signals in a TDM manner, and each transmitting antenna group including multiple transmitting antennas in the at least two transmitting antenna groups includes multiple transmitting antennas that send signals in a CDM manner;

[0099] Determine at least three detection information according to the at least two sets of detection information, wherein the at least three detection information are used to determine a velocity estimate of the target, wherein the at least three detection information correspond to the at least three transmitting antennas;

[0100] The real speed of the target is determined according to a first speed ambiguity factor and a speed estimation value of the target, wherein the first speed ambiguity factor is one of at least two speed ambiguity factors corresponding to the at least two sets of detection information.

[0101] In one possible design, the at least one processor is specifically configured to:

[0102] Converting the at least two groups of signals into range-Doppler domains respectively to obtain the at least two groups of detection information;

[0103] The at least two groups of signals are signals in the received signals corresponding to the at least two transmitting antenna groups.

[0104] In one possible design, the at least one processor is specifically configured to:

[0105] Determine multiple phases of multiple virtual antenna array elements included in the radar device, wherein the virtual antenna array element corresponds to one transmitting antenna and one receiving antenna, and one virtual antenna array element corresponds to one phase;

[0106] Performing Doppler phase compensation on the multiple phases respectively;

[0107] In the angle domain, the at least two pieces of detection information are superimposed, and the velocity blur multiple is determined according to the superposition result.

[0108] In one possible design, the at least one processor is specifically configured to:

[0109] The speed blur multiple corresponding to the maximum peak value in the superposition result is determined as the speed blur multiple.

[0110] In the ninth aspect, another device is provided. The device may be a radar device in the above method design. Exemplarily, the device is a chip set in a detection device. Exemplarily, the detection device is a radar. The device includes: a memory for storing computer executable program code; and a processor, the processor is coupled to the memory. The program code stored in the memory includes instructions, and when the processor executes the instructions, the device or a device equipped with the device executes the method in the above first aspect or any possible implementation of the first aspect, or the device or a device equipped with the device executes the above second aspect or any possible implementation of the second aspect.

[0111] The device may also include a communication interface, which may be a transceiver in the detection device, for example, implemented by an antenna, a feeder, and a codec in the radar device, or, if the device is a chip set in the detection device, the communication interface may be an input / output interface of the chip, such as an input / output pin, etc.

[0112] In the tenth aspect, a communication system is provided, which may, for example, include one or more of the devices described in the fourth aspect or the fifth aspect or the sixth aspect or the seventh aspect or the eighth aspect, or the communication system may also include other communication devices, such as a central node, or may also include a target object.

[0113] In the eleventh aspect, a computer storage medium is provided, wherein the computer-readable storage medium stores instructions, which, when executed on a computer, enables the computer to execute the method described in the first aspect or any possible design of the first aspect; or, enables the computer to execute the method described in the second aspect or any possible design of the second aspect.

[0114] In a twelfth aspect, a computer program product comprising instructions is provided, wherein the computer program product stores instructions that, when executed on a computer, cause the computer to execute the method described in the first aspect or any possible design of the first aspect; or, cause the computer to execute the method described in the second aspect or any possible design of the second aspect.

[0115] The beneficial effects of the above-mentioned third to twelfth aspects and their implementations can refer to the description of the beneficial effects of the method of the first aspect and its implementation or the method of the second aspect and its implementation. BRIEF DESCRIPTION OF THE DRAWINGS

[0116] Figure 1 This is the working principle diagram of millimeter wave radar;

[0117] Figure 2 It is a schematic diagram of a transmission signal, an echo signal and an intermediate frequency signal;

[0118] Figure 3 This is a schematic diagram of the SIMO radar angle measurement principle;

[0119] Figure 4 This is a schematic diagram of the principle of MIMO radar virtual antenna array element;

[0120] Figure 5 This is a schematic diagram of MIMO radar using TDM to send signals;

[0121] Figure 6 A directional diagram corresponding to a speed ambiguity coefficient provided in an embodiment of the present application;

[0122] Figure 7 Another direction diagram corresponding to the speed ambiguity coefficient provided in an embodiment of the present application;

[0123] Figure 8 A schematic diagram of a flow chart of a signal sending method provided in an embodiment of the present application;

[0124] Fig. 9 This is a schematic diagram of a radar device sending signals using the CDM method;

[0125] Fig.10 A schematic diagram of at least two transmitting antenna groups of a radar device sending signals provided by an embodiment of the present application;

[0126] Fig.11 A schematic diagram of the result of an angle domain FFT corresponding to a transmitting antenna group provided in an embodiment of the present application;

[0127] Fig.12 A schematic diagram of the results of an angle domain FFT corresponding to another transmitting antenna group provided in an embodiment of the present application;

[0128] Fig.13 A flowchart of a signal processing method provided in an embodiment of the present application;

[0129] Fig.14 is a schematic diagram of the structure of a radar device provided in an embodiment of the present application;

[0130] Fig.15 is another structural schematic diagram of a radar device provided in an embodiment of the present application;

[0131] Fig.16 is another structural schematic diagram of a radar device provided in an embodiment of the present application;

[0132] Fig.17 It is a structural schematic diagram of a device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0133] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the embodiments of the present application will be further described in detail below with reference to the accompanying drawings.

[0134] Before introducing the present application, some terms in the embodiments of the present application are briefly explained first to facilitate understanding by those skilled in the art.

[0135] 1) A radar detection device, such as a radar, or other devices for detection (eg, ranging).

[0136] 2) Radar, or radar device, can also be called a detector, radar detection device or radar signal sending device. Its working principle is to detect the corresponding target object by sending a signal (or detection signal) and receiving the reflected signal reflected by the target object. The signal emitted by the radar can be a radar signal, and correspondingly, the received reflected signal reflected by the target object can also be a radar signal.

[0137] 3) The transmission cycle of the radar detection device (or the sweep cycle, sweep time or sweep duration of the radar detection device) refers to the period of the radar detection device transmitting a complete waveform radar signal. The radar detection device generally transmits radar signals for multiple sweep cycles within a continuous period of time.

[0138] 4) Frequency modulated continuous wave (FMCW), an electromagnetic wave whose frequency varies with time. In the following introduction, FMCW radar is taken as an example. It should be noted that the present application can also be applied to radars of other mechanisms, and the present application does not limit the type of radar.

[0139] 5) Linear frequency modulated continuous wave, an electromagnetic wave whose frequency changes linearly with time. The linear change here generally refers to a linear change within a transmission cycle. Specifically, the waveform of the linear frequency modulated continuous wave is generally a sawtooth wave or a triangle wave, or there may be other possible waveforms, such as a stepped frequency waveform.

[0140] 6) The maximum speed measurement range of the radar detection device, or the maximum detection speed of the radar detection device, is a parameter related to the configuration of the radar detection device (for example, related to the factory setting parameters of the radar detection device). For example, the radar detection device is a radar, and the time interval between the signals sent by two adjacent transmitting antennas of the radar in the time domain is T, and the maximum detection speed of the radar is ±λ / 4T.

[0141] 7) Intermediate frequency (IF) signal. Taking the radar detection device as an example, the radar local oscillator signal and the reflected signal received by the radar (the signal after the radar's transmission signal is reflected by the target object) are processed by the mixer, which is the intermediate frequency signal. Specifically, a part of the frequency modulated continuous wave signal generated by the oscillator is used as the local oscillator signal, and a part is used as the transmission signal to be transmitted through the transmitting antenna, and the reflected signal of the transmission signal received by the receiving antenna will be mixed with the local oscillator signal to obtain the "intermediate frequency signal". Through the intermediate frequency signal, one or more of the distance information, speed information or angle information of the target object can be obtained. Among them, the distance information can be the distance information of the target object relative to the current radar, the speed information can be the projection of the speed of the target object relative to the current radar in the direction of the line connecting the target object and the radar, and the angle information can be the angle information of the target object relative to the current radar. Further, the frequency of the intermediate frequency signal is called the intermediate frequency frequency.

[0142] 8) Speed ​​ambiguity refers to the phenomenon that when the pulse Doppler radar is working at a medium or low repetition frequency, the speed of the measured target object is confused due to the spectrum overlap phenomenon, making it difficult to distinguish the true speed of the target. The radar sends a signal through the transmitting antenna. If the signal hits the target object, it will be reflected by the target object to form an echo signal, and the radar receives the echo signal through the receiving antenna. The radar can determine the radial speed of the target object relative to the radar based on the frequency shift of the echo signal relative to the signal transmitted by the radar transmitting antenna, that is, vt = λ*fd / 2, where λ is the transmission wavelength, vt is the speed of the target object, and fd is the frequency shift of the echo signal relative to the signal transmitted by the radar transmitting antenna. When fd>fr / 2, where fr is the repetition frequency of the radar transmitting signal, vt will be confused with the target speed of λ*(fd-nfr) / 2 (n is a positive integer). If the user cannot distinguish the true Doppler frequency shift of the target object and the overlap caused by the frequency interval of the repetition frequency of the signal transmitted by the radar transmitting antenna, speed ambiguity occurs.

[0143] 9) Unambiguous velocity refers to the radial velocity value of the target object corresponding to the phase shift from one pulse to the next pulse that the Doppler radar can measure.

[0144] 10) The maximum unambiguous speed can be the maximum detection speed of the radar, which means that the maximum pulse phase shift from one pulse to the next that the Doppler radar can measure is 360°, and the radial speed value of the target object corresponding to the 360° pulse phase shift. From this perspective, the above speed ambiguity can also be considered as: if a target object moves too far in the time interval between two pulses, its actual phase shift exceeds 360°, but in fact a phase shift value less than 360° will be configured, and the speed value corresponding to the phase shift will also be less than the maximum unambiguous speed, and the measured speed value is not the real speed value, that is, speed ambiguity occurs.

[0145] 11) "At least one" means one or more, and "more than one" means two or more. "And / or" describes the association relationship of related objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the objects before and after are in an "or" relationship. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, ab, ac, bc or abc, where a, b, c can be single or plural.

[0146] Furthermore, unless otherwise specified, ordinal numbers such as "first" and "second" mentioned in the embodiments of the present application are used to distinguish between multiple objects and are not used to limit the order, timing, priority or importance of the multiple objects.

[0147] As described above, some concepts involved in the embodiments of the present application are introduced. The following describes the technical features of the embodiments of the present application.

[0148] Millimeter waves refer to electromagnetic waves with a wavelength between 1 and 10 mm, corresponding to a frequency range of 30 to 300 GHz. In this frequency band, the characteristics of millimeter waves make them very suitable for use in the automotive field. Large bandwidth: rich frequency domain resources and low antenna side lobes are conducive to imaging or quasi-imaging; short wavelength: the size of radar equipment and antenna aperture can be reduced, and the weight can be reduced; narrow beam: the beam of millimeter waves is much narrower than that of microwaves at the same antenna size, and the radar resolution is high; strong penetration: compared with lidar and optical systems, it has the ability to penetrate smoke, dust and fog and can work all day long.

[0149] The vehicle-mounted millimeter-wave radar system generally includes an oscillator, a transmitting antenna, a receiving antenna, a mixer, a coupler, a processor, a controller and other devices. Figure 1 As shown in the figure, it is the working principle diagram of millimeter wave radar. The oscillator will generate a radar signal whose frequency increases linearly with time. The radar signal is generally a frequency modulated continuous wave. Part of the radar signal is output to the mixer through the directional coupler as the local oscillator signal, and part of it is transmitted through the transmitting antenna. The receiving antenna receives the radar signal reflected by the object in front of the vehicle after the transmitted radar signal encounters it. The mixer mixes the received radar signal with the local oscillator signal to obtain the intermediate frequency signal. The intermediate frequency signal contains information such as the relative distance, speed, and angle between the target object and the radar system. The intermediate frequency signal is transmitted to the processor after passing through the low-pass filter and amplification. The processor processes the received signal, generally performing fast Fourier transform and spectrum analysis on the received signal to obtain signals such as the distance and speed of the target object relative to the radar system, and can also obtain information such as the angle of the target object relative to the radar system. Finally, the processor can output the obtained information to the controller to control the behavior of the vehicle.

[0150] For example, Figure 2 The figure shows the schematic diagram of FMCW radar sending signals. The radar signal generated by the oscillator is a frequency modulated continuous wave, that is, the radar system transmits a set of linear frequency modulated signals with the same waveform and different time starting points through the transmitting antenna. The linear frequency modulated signal can also be called a chirp signal. The interval of transmitting the chirp signal ( Figure 2 The pulse repetition time (T) is called the pulse repetition time (PRT). The radar transmits a chirp signal in one PRT, and the duration of the chirp signal is less than or equal to one PRT. Usually, the duration of the chirp signal is less than one PRT. Figure 2 As shown in the figure, the radar's transmitting antenna sends a signal, and the echo signal received by the radar's receiving antenna refers to the signal emitted by the transmitting antenna after encountering an object. The mixer mixes the received echo signal with the local oscillator signal to obtain an intermediate frequency signal. Based on the intermediate frequency signal, the relative distance and speed of the target object and the radar system can be determined.

[0151] Exemplarily, when determining the relative distance and speed of the target object and the radar system based on the intermediate frequency signal, it can be: the part of the intermediate frequency signal used for radar signal processing in each PRT, that is, the data sequence after sampling and quantization, is formed into a two-dimensional array, one dimension of this two-dimensional array corresponds to the sampling point number in the PRT, and the other dimension corresponds to the PRT number; then the two-dimensional array is Fourier transformed to obtain the radar receiving signal represented in the range-Doppler domain. When the echo component of each target object is represented in the range-Doppler domain, it corresponds to a two-dimensional sinc function, that is, each target object corresponds to a local peak in the range-Doppler domain. The radar receiving signal represented in the range-Doppler domain is actually a complex two-dimensional array, and the complex two-dimensional array is modulo point by point, and the modulus value obtained corresponds to the local peak. The local peak corresponds to the serial number of two dimensions, and the frequency of the single-frequency sine wave corresponding to the target object and the phase difference of the intermediate frequency signal in different PRTs can be obtained, and then the distance and speed information of the target object can be obtained.

[0152] The following is an example of a radar consisting of one transmitting antenna and two receiving antennas to introduce the radar angle measurement principle. Figure 3 As shown in the figure, it is a schematic diagram of the radar angle measurement principle. Figure 3 In the example, the signal emitted by the transmitting antenna is reflected by the target object and then received by two receiving antennas. The phase difference between the two receiving antennas is According to the phase difference and wavelength, the distance difference between the two receiving antennas and the target object is calculated, that is, Figure 3 d in Rx sinθ, where d Rx is the distance between the two receiving antennas, and θ is the angle between the target object and the normal line of the receiving antenna, so that the value of θ, that is, the angle of the target object relative to the radar, can be calculated. Specifically, the angle of the target object relative to the radar can be calculated using formula (1).

[0153]

[0154] in, Figure 3 The radar angle measurement principle is explained by taking the radar including one transmitting antenna and two receiving antennas as an example. If it is a MIMO radar, that is, including M transmitting antennas and N receiving antennas, you can refer to Figure 3 As shown, the angle of the target object relative to the radar under M*N virtual antenna array elements is detected, which will not be repeated here.

[0155] For MIMO radar, that is, a radar including multiple transmitting antennas and multiple receiving antennas, such as Figure 4 As shown, it is a schematic diagram of the principle of MIMO radar virtual antenna array element. Figure 4Take the MIMO radar including three transmitting antennas (Tx1, Tx2 and Tx3) and four receiving antennas (Rx1, Rx2, Rx3 and Rx4) as an example. An array element consisting of one transmitting antenna and multiple receiving antennas can be called a virtual antenna array element, such as Figure 4 As shown, 3 transmitting antennas and 4 receiving antennas can be understood as 12 virtual antenna array elements, for example, including virtual antenna array elements (M, N), where M is the number of the receiving antenna and N is the number of the transmitting antenna. The signal received by each receiving antenna is a signal superimposed after the signals transmitted by all transmitting antennas are transmitted by the target object. Each receiving antenna can extract signals from different transmitting antennas and reflected by the target object from the received signals according to the transmission parameters of the signals transmitted by multiple transmitting antennas, such as the transmission time of the transmitted signals, as the received signals of the virtual antenna array element.

[0156] Assume that the time interval between the signals sent by two adjacent transmitting antennas of the radar is T r Here, two adjacent transmitting antennas refer to the two transmitting antennas whose signal transmission start time is adjacent in the time domain. The maximum detection speed of the radar is defined as v max , then the maximum speed measurement range of the radar is [-v max , +v max ]. The maximum detection speed of the radar can be calculated by the following formula (2).

[0157] v max =λ / 4T r (2)

[0158] For example, in some embodiments, the MIMO radar may use TDM to send signals, that is, different transmitting antennas start sending signals at different times, and the time ranges of each transmitting antenna sending signals do not overlap, that is, within the time range of each transmitting antenna sending signals, there are no other transmitting antennas sending signals. Figure 5 As shown, it is a schematic diagram of MIMO radar sending signals using TDM method. Figure 5 The horizontal axis t represents the time domain, and the vertical axis f represents the frequency domain. Figure 5 For example, a MIMO radar includes N transmitting antennas, and the N transmitting antennas are transmitting antenna Tx1, transmitting antenna Tx2, and transmitting antenna TxN. Figure 5 It can be seen that the starting time for transmitting antenna Tx1 to send a signal is t1, the starting time for transmitting antenna Tx2 to send a signal is t2, and the starting time for transmitting antenna Tx3 to send a signal is tn, that is, different transmitting antennas use different starting times to send signals.

[0159] exist Figure 5 In the example, it is assumed that the time interval between two adjacent transmitting antennas sending signals in the time domain is Tr For example, the time interval between the transmitting antenna Tx1 and the transmitting antenna Tx2 sending signals is T r , if the time intervals between signals sent by two adjacent transmitting antennas are the same, then the time interval between signals sent by transmitting antenna Tx1 and transmitting antenna TxN is N*Tr. At this time, the maximum detection speed of the radar can be calculated by the following formula (3).

[0160] v max =λ / 4×N×T r (3)

[0161] It can be seen from formula (1) and formula (2) that if the MIMO radar uses TDM to send signals, the maximum detection speed of the radar will be reduced by N times.

[0162] In addition, the movement of the target object will cause the kth transmitting antenna to produce a Doppler phase difference φ1 relative to the first transmitting antenna:

[0163] φ1=2πf d T r (k-1) (4)

[0164] In formula (4), f d is the Doppler frequency shift of the echo signal received by the radar relative to the signal transmitted by the radar transmitting antenna, k = 1, ..., M, where k is the order in which the radar transmits the signal. That is, the kth transmitting antenna means that the order in which the transmitting antenna transmits the signal is k.

[0165] Thus, the phase difference φ between two adjacent transmitting antennas can be calculated by formula (2) and formula (4):

[0166] φ=2π(d Tx sinθ / λ+f d T r ) (5)

[0167] It can be seen from formula (5) that the phase difference between two adjacent transmitting antennas contains both angle information and velocity information, which results in the phenomenon of angle-velocity coupling.

[0168] If the above φ caused by the Doppler frequency shift cannot be correctly compensated, the actual angle of the determined target object relative to the radar will deviate. If the deviation is large, the vehicle-mounted radar cannot accurately locate the position of the vehicle, which may cause safety problems.

[0169] In order to obtain more accurate speed and angle, it is necessary to eliminate the influence of Doppler frequency shift on the calculated angle, which requires estimating the actual Doppler frequency shift, i.e., f d=2v / λ. In some embodiments, the radar may include multiple virtual antenna elements, such as Figure 4 The 12 virtual antenna array elements in the receiver can perform 2D-FFT (2D-FFT) on the received echo signal to obtain the radar received signal in the range-Doppler domain. The radar received signal in the range-Doppler domain is actually a complex two-dimensional array. The modulus of the complex two-dimensional array is taken point by point, and the modulus value obtained corresponds to the local peak value. According to the local peak value, the frequency of the single-frequency sine wave corresponding to the target object can be obtained, which is also called the Doppler shift. In this article, the Doppler shift is denoted as f damb .

[0170] In fact, the calculated f damb Maybe it's not real d , that is, f damb is fuzzy. If f damb As f d , then the calculated speed is also blurred. From this perspective, speed blur can also mean that if the absolute value of the target object's true speed |v|>v max When the Doppler phase |2πf d T r ×M|>π, which produces phase ambiguity and thus velocity ambiguity, that is, the calculated speed is not the actual speed of the target object.

[0171] To this end, the speed can be defuzzified, that is, the blurred speed is restored to the maximum unfuzzy speed corresponding to a single chrip, that is, v max =λ / 4T r Specifically, the phase ambiguity number can be defined as the velocity ambiguity multiple ξ, and the velocity ambiguity multiple can also be called the velocity ambiguity coefficient ξ.

[0172] When the number of transmitting antennas included in the radar is an odd number, the following formula (6) is obtained:

[0173]

[0174] When the number of transmitting antennas included in the radar is even, and f damb When >0, the following formula (7) is obtained:

[0175]

[0176] When the number of transmitting antennas included in the radar is even, and f damb When <0, the following formula (8) is obtained:

[0177]

[0178] For the real f d For , we can have formula (9):

[0179]

[0180] From formula (9), we can see that there are M possible values ​​of the velocity ambiguity coefficient ξ. Assuming M is 3, the possible values ​​of ξ are [-1, 0, 1], and the defuzzified velocity v∈[-3v max ,3v max ]. When designing a radar, it is usually required that the maximum unambiguous velocity corresponding to a single chirpp must meet the system requirements. Deambiguating the velocity is the process of determining the correct one from multiple possible values ​​of ξ.

[0181] One of the current velocity deambiguation methods is, for example, the angle domain FFT accumulation method. The specific process is: assuming that each virtual antenna array element of the radar is numbered in order of position, such as Figure 4 As shown in the figure, from left to right, the 12 virtual antenna array elements are numbered from 1 to 12. The phase of the nth virtual antenna array element is:

[0182]

[0183] In formula (10), f damb is the Doppler frequency shift, N is the number of transmitting antennas, and k is the number of the transmitting sequence corresponding to the virtual antenna array element. ξ=0,…N-1 is the ambiguity coefficient, representing N possible Doppler ambiguity phases, φ n,k (ξ) is the phase value. The echo signal received by the nth virtual antenna array element is the radar receiving signal represented in the range-Doppler domain after 2D-FFT. The target to be detected can be determined from the range-Doppler domain. The phase value corresponding to the peak value representing the target in the range-Doppler domain is φ n,k (ξ),φ n,k (ξ) can be measured directly.

[0184] Since the directly measured φ n,k (ξ) is affected by velocity ambiguity and may also be ambiguous, so it is necessary to perform possible Doppler phase compensation at each target point. The angle domain FFT accumulation method is to traverse all possible ξ, perform N FFTs in the angle domain, and find the ξ corresponding to the maximum peak.

[0185] It can be seen that the current angle domain FFT accumulation method requires N FFT processing and peak search for each target to be detected for N transmitting antennas. If the value of N is large, the amount of calculation is large. In addition, the minimum phase jump is defined as 2π / N, and the phase jump in the following text refers to the minimum phase jump. If the value of N is large, the phase jump caused by ambiguity, that is, 2π / N, is small, and the peak difference corresponding to different ξ is small, the detection difficulty increases, and the performance of resolving speed ambiguity is poor. For example, see Figure 6 and Figure 7 , Figure 6 The directional diagram corresponding to the fuzzy coefficient corresponding to N=3 is shown. Figure 7 The directional diagram corresponding to the ambiguity coefficient corresponding to N = 12 is shown. Figure 6 and Figure 7 It can be seen that when N = 12, the difference between the peaks is small, so the detection is more difficult and the performance of resolving velocity ambiguity is poor. Furthermore, since the maximum unambiguous speed is reduced by N times and the radar uses TDM to send signals, the signal-to-noise ratio of the accumulated signal per unit time is also reduced, making it difficult to determine the target.

[0186] In order to solve the above problems, an embodiment of the present application provides a signal sending method and a corresponding signal processing method, in which the radar device divides N transmitting antennas into K transmitting antenna groups, and these K transmitting antenna groups use TDM to send signals, and each transmitting antenna group in these K transmitting antenna groups includes a transmitting antenna that uses CDM to send signals. Therefore, when resolving speed ambiguity, since only K FFTs need to be performed, the amount of calculation is reduced. And the transmitting antennas included in each transmitting antenna group use CDM to send signals, so that when performing FFT, the signal-to-noise ratio that can be accumulated per unit time is relatively large, which is conducive to detecting targets.

[0187] In a possible solution, the present application embodiment provides a signal sending method, see Figure 8 , which is a flow chart of the method. Figure 8 The method provided in the illustrated embodiment may be performed by a radar device, which may be a radar chip, for example, the radar device is referred to as a radar, or the radar device may be a communication device connected to a radar communication. In addition, in the following introduction, the signals sent by the radar device may all be radar signals, and naturally, the received signals may also be radar signals. The signals received by the radar may include echo signals, and may also include reflected waves such as the ground. In this article, the signal received by the radar is an echo signal as an example.

[0188] S801. The radar device determines at least two transmitting antenna groups. Specifically, the at least two transmitting antenna groups include a first transmitting antenna group and a second transmitting antenna group. Furthermore, a third transmitting antenna group and the like may also be included. The number of transmitting antenna groups is not specifically limited here. It should be noted that any two antenna groups in the at least two transmitting antenna groups do not include the same transmitting antenna, or at least two antenna groups in the at least two transmitting antenna groups include the same transmitting antenna.

[0189] S802, the radar device sends signals through at least two transmitting antenna groups, at least two transmitting antenna groups use TDM to send signals, and each transmitting antenna group including multiple transmitting antennas in the at least two transmitting antenna groups uses CDM to send signals. This step can also be understood as that within the time range when any one of the at least two antenna groups sends a signal, no other transmitting antenna group sends a signal.

[0190] The above S802 can also be replaced by:

[0191] The radar device transmits signals within a first time range through the first transmitting antenna group and transmits signals within a second time range through the second transmitting antenna group. Furthermore, the multiple transmitting antennas included in any transmitting antenna group use different codes to transmit signals.

[0192] The first time range and the second time range do not overlap in the time domain. The non-overlapping here means that there is no overlapping time between the first time range and the second time range.

[0193] Further optionally, if the at least one transmitting antenna group further includes a third transmitting antenna group, the radar device transmits a signal within a third time range through the third transmitting antenna group. The first time range, the second time range, and the third time range do not overlap in the time domain. The non-overlapping here means that there is no overlapping time for any two time ranges among the first time range, the second time range, and the third time range.

[0194] It should be noted that the radar device of the present application may also include more transmitting antenna groups. In order to implement the solution of the present application, there is no overlap in the time ranges of any two transmitting antenna groups transmitting signals among the multiple transmitting antenna groups included in the radar device, and for any transmitting antenna group including multiple transmitting antennas among the multiple transmitting antenna groups, the multiple transmitting antennas in the group use different codewords to send signals, which will not be repeated here.

[0195] In an embodiment of the present application, the radar device may include at least three transmitting antennas and at least one receiving antenna. The radar device may divide the included transmitting antennas into at least two transmitting antenna groups, and any one of the two transmitting antenna groups includes at least one transmitting antenna. Exemplarily, the radar device includes 12 transmitting antennas, and the radar device may divide the 12 transmitting antenna groups into 3 transmitting antenna groups, or may divide the 12 transmitting antennas into 4 transmitting antennas, or may divide the 12 transmitting antennas into 6 transmitting antenna groups, and the embodiment of the present application does not limit this. It should be noted that if the radar device includes 3 transmitting antennas, there must be 1 transmitting antenna group that includes only one transmitting antenna.

[0196] In the embodiment of the present application, the number of transmit antennas included in at least two transmit antenna groups may be the same or different. The different number of transmit antennas included in at least two transmit antenna groups may mean that the transmit antenna data of at least two transmit antenna groups are different, or the number of each transmit antenna group is different. This can be applied to both the case where the number of transmit antennas is a prime number and the case where the number of transmit antennas is not a prime number, and has a wider scope of application.

[0197] For example, in some embodiments, the number of transmit antennas included in at least two transmit antenna groups may be the same. Exemplarily, the radar device includes 12 transmit antennas, and the radar device may divide the 12 transmit antenna groups into 3 transmit antenna groups, each of which includes 4 transmit antennas.

[0198] For another example, in some other embodiments, the number of transmitting antennas included in at least two transmitting antenna groups may be different. Exemplarily, the radar device includes 7 transmitting antennas, and the radar device may divide the 7 transmitting antenna groups into 3 transmitting antenna groups. The 3 transmitting antenna groups are transmitting antenna group 1, transmitting antenna group 2, and transmitting antenna group 3, wherein transmitting antenna group 1 and transmitting antenna group 2 each include 3 transmitting antennas, and transmitting antenna group 3 includes 1 transmitting antenna. Alternatively, the radar device includes 6 transmitting antennas, and the radar device may divide the 6 transmitting antenna groups into 3 transmitting antenna groups. The 3 transmitting antenna groups are transmitting antenna group 1, transmitting antenna group 2, and transmitting antenna group 3, wherein transmitting antenna group 1 includes 1 transmitting antenna, transmitting antenna group 2 includes 2 transmitting antennas, and transmitting antenna group 3 includes 3 transmitting antennas.

[0199] In the embodiment of the present application, when the radar device uses at least two transmitting antenna groups obtained after dividing the transmitting antenna to send signals, the at least two transmitting antenna groups may use TDM to send signals, and the transmitting antennas included in each transmitting antenna group may send signals at the same time. That is, the transmitting antenna groups send signals in time division, and for one transmitting antenna group, the transmitting antennas in the group send signals at the same time.

[0200] For example, each transmitting antenna group including multiple transmitting antennas may transmit signals in a CDM manner, that is, different transmitting antennas may use different CDM codes when transmitting signals. Alternatively, it may be understood that different transmitting antennas may be numbered in each linear FMCW when transmitting signals, and the signals may be transmitted after encoding. For example, Figure 8 As shown, it is a schematic diagram of MIMO radar sending signals using CDM method. Fig. 9 The horizontal axis t represents the time when the transmitting antenna sends the signal, and the vertical axis represents the CDM code. Figure 8 For example, a MIMO radar includes three transmitting antennas, namely, transmitting antenna Tx1, transmitting antenna Tx2, and transmitting antenna Tx3. Fig. 9 It can be seen that the CDM code used by the transmitting antenna Tx1 to send the signal is code 1, the CDM code used by the transmitting antenna Tx2 to send the signal is code 2, and the CDM code used by the transmitting antenna Tx3 to send the signal is code 3, that is, different transmitting antennas use different CDM codes to send signals.

[0201] Of course, the embodiment of the present application does not limit the manner in which the transmitting antennas included in a transmitting antenna group simultaneously transmit signals. For the subsequent processing of the received echo signal by the radar device, as long as the signal corresponding to each transmitting antenna can be determined from the received signal, it is sufficient. For example, according to the difference in CDM codes, the signal corresponding to each transmitting antenna can be determined from the signal corresponding to each transmitting antenna group.

[0202] If a transmitting antenna group includes more transmitting antennas, the CDM code is more complex, which increases the complexity of decoding. In addition, considering the accuracy of the phase shifter, etc., in an embodiment of the present application, it is preferred that CDM adopts simple encoding. Exemplarily, the CDM code can adopt binary phase shift keying (BPSK). Another exemplary embodiment, the CDM code can also adopt quadrature phase shift keying (QPSK). When the number of transmitting antennas included in the radar device is large, the embodiment of the present application can determine that each transmitting antenna group includes 2 transmitting antennas, 3 transmitting antennas or 4 transmitting antennas, which can reduce the requirements for the accuracy of the phase shifter and reduce the complexity of decoding.

[0203] It can be seen that in the embodiment of the present application, the radar device divides the transmitting antenna included into at least two transmitting antenna groups. For example, the radar device divides the N transmitting antennas included into K transmitting antenna groups, that is, the K transmitting antenna groups send signals simultaneously, such as Fig.10 The waveform diagram is the signal sent by the corresponding radar device. Fig.10 The horizontal axis represents the time when the signal is transmitted, and the vertical axis represents the CDM code. Fig.10 In the example, the CDM code includes M codes. Fig.10 In the figure, the transmitting antennas included in each transmitting antenna group are only for illustration. Since the multiple transmitting antennas included in each transmitting antenna group including multiple transmitting antennas use CDM to send signals, that is, the multiple transmitting antennas included in each transmitting antenna group including multiple transmitting antennas are encoded and send signals simultaneously. Since the signals are sent simultaneously, there will be no phenomenon of speed and angle coupling. Therefore, in the embodiment of the present application, the speed and angle coupling phenomenon is generated between the transmitting antenna groups. Then, when resolving speed ambiguity, only K FFTs need to be performed, which obviously reduces the amount of calculation compared to the N FFTs required in the prior art. At the same time, the amount of data that needs to be stored is also reduced, thereby saving storage space. Furthermore, since at least two transmitting antennas included in a transmitting antenna group send signals simultaneously, when performing FFT, the signal-to-noise ratio of the signal that can be accumulated per unit time is relatively large, which is conducive to detecting targets.

[0204] In an embodiment of the present application, the radar device divides the transmitting antenna included into at least two transmitting antenna groups, which may be a random division of the transmitting antenna included into at least two transmitting antenna groups. It can be considered that the radar device randomly divides the transmitting antenna included into at least two transmitting antenna groups before sending a signal each time. If the radar device sends a signal multiple times, each random division of the transmitting antenna can be understood as a grouping method, and multiple random divisions correspond to multiple grouping methods. In an embodiment of the present application, at least two transmitting antenna groups corresponding to some grouping methods in multiple grouping methods may be the same or different. Alternatively, the radar device randomly divides the transmitting antenna included into at least two transmitting antenna groups, which can also be considered that the at least two transmitting antenna groups corresponding to the multiple grouping methods are random, that is, there is no pattern.

[0205] For ease of understanding, the following describes several possible situations in which the radar device randomly divides the transmitting antennas into at least two transmitting antenna groups. In the following, the numbering of the transmitting antennas included in the radar device refers to the numbering of the position sequence of the transmitting antennas. For example, the transmitting antennas included in the radar device are numbered 1-N; or in some embodiments, the transmitting antennas included in the radar device are numbered 0-N-1, where N is greater than or equal to 3.

[0206] In the first case, the numbering of the transmitting antennas included in each transmitting antenna group obtained after the radar device randomly divides the transmitting antennas can be continuous. Exemplarily, the radar device includes 12 transmitting antennas, and the 12 transmitting antennas are numbered in order of position as Tx1, Tx2, Tx3, Tx4, Tx5, Tx6, Tx7, Tx8, Tx9, Tx10, Tx11 and Tx12. The radar device randomly divides the 12 transmitting antennas into 3 transmitting antenna groups, and the 3 transmitting antenna groups can be {Tx1, Tx2, Tx3, Tx4}, {Tx5, Tx6, Tx7, Tx8} and {Tx9, Tx10, Tx11 and Tx12}.

[0207] In the second case, after the radar device randomly divides the transmitting antennas, the numbers of the transmitting antennas included in each transmitting antenna group obtained may be discontinuous.

[0208] For example, in each transmitting antenna group, at least two transmitting antennas have discontinuous numbers. Exemplarily, using the above example, the radar device randomly divides the 12 transmitting antennas into three transmitting antenna groups, and the three transmitting antenna groups can be {Tx1, Tx2, Tx3, Tx7}, {Tx4, Tx5, Tx6, Tx11} and {Tx8, Tx9, Tx10 and Tx12}.

[0209] For another example, in each transmitting antenna group, the numbers of any two transmitting antennas are not consecutive. For example, using the above example, the radar device randomly divides the 12 transmitting antennas into 3 transmitting antenna groups, and the 3 transmitting antenna groups can be {Tx1, Tx4, Tx7, Tx10}, {Tx2, Tx5, Tx8, Tx11} and {Tx3, Tx6, Tx9 and Tx12}.

[0210] In the third case, further, after the radar device randomly divides the transmitting antennas, among the multiple intervals between the serial numbers of the transmitting antennas included in each transmitting antenna group obtained, there is at least one interval greater than 1.

[0211] For example, in each transmitting antenna group, there are at least two transmitting antennas with adjacent numbers whose number interval is greater than 1. Exemplarily, using the above example, the radar device randomly divides the 12 transmitting antennas into 3 transmitting antenna groups, and the 3 transmitting antenna groups can be {Tx1, Tx2, Tx3, Tx7}, {Tx4, Tx5, Tx6, Tx11} and {Tx8, Tx9, Tx10 and Tx12}.

[0212] It should be noted that two transmitting antennas with adjacent numbers can be understood as, in each transmitting antenna group, if the two transmitting antenna numbers are continuous, the numbers of the two transmitting antennas can be considered to be adjacent. For example, Tx1 and Tx2 in {Tx1, Tx2, Tx3, Tx7} are two transmitting antennas with adjacent numbers, and Tx2 and Tx3 are also two transmitting antennas with adjacent numbers. Alternatively, two transmitting antennas with adjacent numbers can also be understood as, in a transmitting antenna group, if the two transmitting antenna numbers are discontinuous, but the transmitting antennas corresponding to the numbers between the two transmitting antennas do not belong to the transmitting antenna group. For example, Tx3 and Tx7 in {Tx1, Tx2, Tx3, Tx7} are two transmitting antennas with discontinuous numbers, but Tx4, Tx5, and Tx6 do not belong to {Tx1, Tx2, Tx3, Tx7}, and Tx3 and Tx7 are two transmitting antennas with adjacent numbers.

[0213] For another example, in each transmitting antenna group, the interval between the numbers of any two transmitting antennas with adjacent numbers is greater than 1. Exemplarily, using the above example, the radar device randomly divides the 12 transmitting antennas into 3 transmitting antenna groups, and the 3 transmitting antenna groups can be {Tx1, Tx6, Tx9, Tx12}, {Tx2, Tx5, Tx7, Tx11} and {Tx3, Tx8, Tx10 and Tx12}.

[0214] In an embodiment of the present application, the radar device can randomly divide at least two transmitting antenna groups each time before sending a signal. The at least two transmitting groups corresponding to different signal transmissions can be the same or different. For example, using the above example, taking the radar device sending a signal twice as an example, when the radar device sends a signal for the first time and the second time, the at least two transmitting antenna groups determined are {Tx1, Tx6, Tx9, Tx12}, {Tx2, Tx5, Tx7, Tx11} and {Tx3, Tx8, Tx10 and Tx12}. For another example, when the radar device sends a signal for the first time, the at least two transmitting antenna groups determined are {Tx1, Tx4, Tx7, Tx10}, {Tx2, Tx5, Tx8, Tx11} and {Tx3, Tx6, Tx9 and Tx12}; when the radar device sends a signal for the second time, the at least two transmitting antenna groups determined are {Tx1, Tx6, Tx9, Tx12}, {Tx2, Tx5, Tx7, Tx11} and {Tx3, Tx8, Tx10 and Tx12}.

[0215] The radar device includes randomly dividing the transmitting antenna into at least two transmitting antenna groups, which can increase the phase jump between each virtual antenna array element, thereby facilitating the distinction of the target peak represented in the range-Doppler domain and improving the performance of resolving velocity ambiguity.

[0216] For example, see Fig.11 and Fig.12 , Fig.11 The figure is a schematic diagram of the angle domain FFT results corresponding to the serial numbers of the transmitting antennas included in a transmitting antenna group. Fig.12 The figure is a schematic diagram of the angle domain FFT results corresponding to the discontinuous numbering of the transmitting antennas included in a transmitting antenna group. Fig.11 and Fig.12 It is taken as an example that the radar device includes 6 transmitting antennas. Fig.11 The six transmitting antennas use TDM to send signals. Assuming that the speed ambiguity coefficient is 1, the minimum phase jump between each virtual antenna array element is 60°, that is, the phase is [0°, 60°, 120°, 180°, 240° and 300°]. Fig.12 The six transmitting antennas are divided into two transmitting antenna groups. Assuming that the velocity ambiguity coefficient is 1 and the Doppler phase of the first transmitting antenna group is 0°, the phase of the second transmitting antenna group relative to the first transmitting antenna group jumps to 180°. For example, the two transmitting antenna groups are {transmitting antenna 1, transmitting antenna 4 and transmitting antenna 6} and {transmitting antenna 3, transmitting antenna 5 and transmitting antenna 2}. The minimum phase jump between each virtual antenna array element is 180°, that is, the phase is [180°, 0°, 0°, 180°, 0° and 180°]. Compare Fig.11 and Fig.12 , it can be seen that by randomly dividing the transmit antenna group into at least two transmit antenna groups, and Fig.12 The target peak of the FFT result shown is easier to distinguish, which is beneficial for detecting the target. By randomly dividing the transmitting antenna group into at least two transmitting antenna groups in the embodiment of the present application, the phase jump between the virtual antenna array elements can be randomly changed, and it is not easy to produce speed and angle coupling. And because the transmitting antenna is divided into at least two transmitting antenna groups, the phase jump changes from 60° to 180°, which is not easily affected by phase noise, and it is easier to distinguish the maximum peak of the FFT result in the angle domain, thereby increasing the performance of resolving speed ambiguity. At the same time, the embodiment of the present application randomly divides the transmitting antenna group into at least two transmitting antenna groups, which can reduce the amount of calculation.

[0217] In some embodiments, considering that at least two different transmitting antenna groups are used to send signals, the radar device then determines the true speed of the target object based on the signal after the transmitted signal is transmitted by the target object. In the process of determining the true speed of the target object, the process of resolving speed ambiguity is involved. The radar device, for example, sends signals by at least two transmitting antenna groups randomly divided, and different at least two transmitting antenna groups may cause the radar device to have different performances in resolving speed ambiguity. For example, if the numbers of the transmitting antennas included in the at least two transmitting antenna groups are continuous, the phenomenon of speed and angle coupling is easy to occur, and the phase jump between each virtual antenna array element of the radar device is small, and the performance of resolving speed ambiguity is poor. If the numbers of the transmitting antennas included in the at least two transmitting antenna groups are discontinuous, the phenomenon of speed and angle coupling is not easy to occur relative to the continuous numbers of the transmitting antennas included in the at least two transmitting antenna groups, and the phase jump between each virtual antenna array element of the radar device is large, and the performance of resolving speed ambiguity is better. Preferably, in each transmitting antenna group, the interval between the numbers of any two transmitting antennas with adjacent numbers can be large, so as to maximize the phase jump between each virtual antenna array element and reduce the phenomenon of speed and angle coupling.

[0218] It should be noted that the true speed here does not necessarily refer to the actual speed of the target object, but may refer to a speed that does not affect the measurement of the angle of the target object relative to the radar.

[0219] Furthermore, in actual use, the radar device can compare the performance of resolving speed ambiguity corresponding to multiple grouping methods. A grouping method can be considered as at least two transmitting antenna groups randomly divided by the radar device at one time, so that the radar device determines at least two transmitting antenna groups based on the grouping method with the best performance of resolving speed ambiguity, that is, the first grouping method. The radar device randomly divides the transmitting antenna multiple times within a preset time range, and the at least two transmitting antenna groups determined by each division correspond to a grouping method. The at least two transmitting antenna groups corresponding to the multiple grouping methods may be the same or different. For example, within a preset time range, the radar device randomly divides the transmitting antenna 5 times, then there are a first grouping method, a second grouping method, a third grouping method, a fourth grouping method and a fifth grouping method, wherein the at least two transmitting antenna groups corresponding to these 5 grouping methods may be the same or different. Assuming that the grouping method with the best performance in terms of deambiguation speed is the first grouping method, it can be considered that the radar device selects the first grouping method, and the radar device determines the speed deambiguation performance corresponding to at least two transmitting antenna groups corresponding to the five grouping methods, thereby selecting at least two transmitting antenna groups with the best speed deambiguation performance. In this way, the subsequent radar device can use the at least two transmitting antenna groups to send signals without having to redetermine the at least two transmitting antenna groups each time, which can both ensure the subsequent speed deambiguation performance as good as possible and reduce the burden on the radar device.

[0220] The performance of speed deambiguation can be characterized by a performance parameter corresponding to the grouping method, for example, the performance parameter can be the angle estimation accuracy, or the success rate of speed deambiguation. The radar device can determine the performance of speed deambiguation according to the value of the performance parameter. For example, the performance parameter is the angle estimation accuracy or the success rate of speed deambiguation, then the larger the value of the performance parameter, the better the performance of speed deambiguation. Among the performance parameters corresponding to multiple grouping methods, the value of the performance parameter is the largest, indicating that the performance parameter is optimal and the performance of speed deambiguation is optimal.

[0221] In some embodiments, the radar device may determine a first grouping method among multiple grouping methods within a preset time range. The preset time range may be obtained based on experience of the radar device during actual use, and the embodiment of the present application does not limit this.

[0222] In an embodiment of the present application, the radar device divides N transmitting antennas into K transmitting antenna groups, and the K transmitting antenna groups use TDM to send signals, and each transmitting antenna group containing multiple transmitting antennas in the K transmitting antenna groups includes multiple transmitting antennas that use CDM to send signals. Therefore, when resolving velocity ambiguity, since only K FFTs need to be performed, the amount of calculation is reduced. And the transmitting antennas included in each transmitting antenna group use CDM to send signals, so that when performing FFT, the signal-to-noise ratio that can be accumulated per unit time is relatively large, which is conducive to detecting targets.

[0223] The above embodiment introduces how to send a signal to reduce the amount of calculation involved in resolving speed ambiguity in the subsequent process of determining the speed of the target object. Correspondingly, the embodiment of the present application also provides a signal processing method, which can be considered as a method for resolving speed ambiguity. The method can be performed by a radar detection device, which can be a radar chip or a communication device that communicates with a radar, such as a vehicle-mounted communication device. For the convenience of explanation, the embodiments of the present application are explained and illustrated below by taking the radar detection device as a radar device, such as a millimeter-wave radar. However, the embodiments of the present application do not limit the detection device to only a radar detection device, nor do they limit the radar detection device to only a millimeter-wave radar or a radar. In addition, the signal sent by the detection device can be a radio signal. If the detection device is a radar detection device as an example, then it can be considered that the signal sent by the detection device is a radar signal. The embodiment of the present application takes the detection device as a radar detection device and the signal sent by the detection device as a radar signal as an example.

[0224] See also Fig.13 , is a flow chart of a signal processing method provided in an embodiment of the present application. In the following introduction, the method is applied to a radar device, wherein the radar device includes at least three transmitting antennas and at least one receiving antenna. The specific process of the method is as follows:

[0225] S1301. The radar device determines at least two groups of detection information according to a signal received by at least one receiving antenna.

[0226] When it is necessary to detect surrounding target objects, such as determining the relative distance, angle, or speed of surrounding target objects from the radar device, the radar device can transmit radar signals through the included transmitting antenna. If there are multiple target objects around the radar device, and these multiple target objects are within the maximum ranging range of the radar device, then the radar signals transmitted by the radar device will be reflected by these multiple target objects and reflected to the radar device, so that the radar device receives at least one signal from the target object.

[0227] The radar device receives at least one signal and can process the at least one signal to detect a target object around the radar device.

[0228] Since the transmitting antenna of the radar device is divided into two transmitting antenna groups that use TDM to send signals, each transmitting antenna group including multiple transmitting antennas includes multiple transmitting antennas that use, for example, CDM to send signals. That is, different transmitting antenna groups have different starting times for sending signals, so the characteristics of signals sent by different transmitting antenna groups are also different. The radar device can extract signals corresponding to different transmitting antenna groups from at least one received signal based on the differences in radar signals sent by different transmitting antenna groups. Among them, the radar device extracts signals corresponding to different transmitting antenna groups from at least one received signal, which can also be understood as the radar device dividing the at least one received signal into at least two groups of signals according to at least two transmitting antenna groups, and one transmitting antenna group corresponds to one group of signals.

[0229] For ease of explanation, in the following introduction, it is taken as an example that the radar device includes two transmitting antenna groups, which are respectively a first transmitting antenna group and a second transmitting antenna group, wherein the signal corresponding to the first transmitting antenna group extracted from at least one signal by the radar device is a first group of signals, and the signal corresponding to the second transmitting antenna group extracted from at least one signal by the radar device is a second group of signals.

[0230] After the radar device extracts the first group of signals and the second group of signals, it processes the first group of signals and the second group of signals respectively to obtain two groups of detection information for detecting the target object. For example, the radar device converts the first group of signals and the second group of signals into the range-Doppler domain respectively to obtain two groups of detection information, such as the first group of detection information and the second group of detection information. Among them, the first signal corresponds to the first group of detection information, and the second signal corresponds to the second group of detection information. It should be noted that if the radar device includes at least three transmitting antenna groups, the radar device can determine at least three groups of detection information based on at least one signal, wherein the transmitting antenna groups correspond to the detection information groups one by one. For example, the radar device includes transmitting antenna group 1, transmitting antenna group 2, and transmitting antenna group 3, and the determined detection information includes detection information group 1 corresponding to transmitting antenna group 1, detection information group 2 corresponding to transmitting antenna group 2, and detection information group 3 corresponding to transmitting antenna group 3.

[0231] It should be noted that the detection information here can also be referred to as a detection signal. The detection information included in at least two groups of detection information can be understood as information used to determine the characteristics of the target object. For example, the detection information can be information such as the distance, speed or radar cross-section (RCS) of the target object relative to the radar device. For example, the detection information can be the distance, speed or RCS of the target relative to the radar device; or, the detection information can also be the grid point or sampling point number in the two-dimensional data formed after the signal is sampled and quantized, and the grid point or sampling point number can characterize the distance of the target object relative to the radar device. There are many forms of expression of detection information, and examples are not given here one by one. Of course, if the radar device includes at least two receiving antennas, the detection information can also include information characterizing the angle of the target object relative to the radar device.

[0232] Specifically, in a possible solution, the radar device processes the first group of signals or the second group of signals to obtain the corresponding two groups of detection information. The method can refer to the method in which the radar device determines the relative distance and speed of the target object and the radar device based on the intermediate frequency signal, that is, the first group of signals is mixed with the local oscillator signal to obtain the intermediate frequency signal, and then converted into the range-Doppler domain to obtain two groups of detection information.

[0233] S1302: The radar device determines at least three detection information based on at least two sets of detection information.

[0234] After the radar device obtains at least two groups of detection information, it can continue to separate the at least two groups of detection information according to the difference in CDM codes corresponding to the transmitting antennas included in each transmitting antenna group, and obtain at least three detection information, one detection information corresponding to one transmitting antenna. Among them, the at least three detection information are used to determine the speed estimation value of the target object, that is, to detect the speed of the target object. Since the speed of the detected target object may be fuzzy, it is called the speed estimation value of the target object here. Of course, before obtaining at least three detection information, the radar device can perform incoherent accumulation and constant false-alarm rate (CFAR) detection on the at least two groups of detection information after separation according to each transmitting antenna.

[0235] At least three detection information can be used to determine the position and speed of the target object, but due to the phase jump caused by Doppler frequency shift between the various transmitting antennas, the determined speed may be ambiguous. Therefore, in order to obtain the true speed of the target object, the radar device can resolve the speed ambiguity. For the sake of distinction, in the following, the speed of the target object determined by at least four detection information is referred to as the estimated speed value of the target object, and the speed of the target object determined after resolving the speed ambiguity is referred to as the true speed of the target object. It should be noted that the true speed here refers to the speed that does not affect the angle measurement of the target object.

[0236] S1303: The radar device determines a true speed of the target according to the first speed ambiguity factor and the estimated speed value of the target.

[0237] There can be multiple speed ambiguity multiples, and the number of speed ambiguity multiples is the same as the number of at least two transmitting antenna groups. Some of the multiple speed ambiguity multiples are wrong, and some are correct. The correct speed ambiguity multiple is referred to as the first speed ambiguity multiple below. The process of the radar device resolving speed ambiguity can be understood as the process of the radar device determining the first speed ambiguity multiple, that is, the process of determining the correct value of the aforementioned ξ.

[0238] Exemplarily, the radar device may determine multiple phases of multiple virtual antenna array elements. The virtual antenna array element here refers to a virtual antenna array element composed of a transmitting antenna and a receiving antenna included in the radar device, such as the aforementioned Figure 3 If the radar device includes 3 transmitting antennas and 4 receiving antennas, then the radar device includes 12 virtual antenna array elements, one virtual antenna array element corresponds to one transmitting antenna and one receiving antenna. The multiple phases of these multiple virtual antenna array elements can be understood as the total phase, that is, the aforementioned φ n,k (ξ).

[0239] The radar device can then perform Doppler phase compensation on multiple phases. n,k The Doppler phase that may be ambiguous is subtracted from (ξ). Specifically, the Doppler phase compensation can be performed using the following formula (11):

[0240]

[0241] In formula (11), is the phase between each virtual antenna array element after Doppler phase compensation. is the phase value, f damb is the Doppler frequency shift, N is the number of transmitting antennas, k is the number of the transmitting sequence corresponding to the virtual antenna array element, ξ=0,…N-1 is the ambiguity coefficient, representing N possible Doppler ambiguity phases, T ris the time interval between two adjacent transmitting antenna groups sending signals in the time domain. The radar device can obtain N possible phase-compensated signals through formula (11).

[0242] The radar device uses the angle domain FFT deambiguation method to determine the velocity ambiguity multiple. Specifically, the radar device converts the compensated signal into the angle domain, that is, in the angle domain, the compensated signal is processed by FFT. It can also be understood that in the angle domain, at least three detection information are superimposed to obtain N groups of FFT results.

[0243] If the radar device selects the correct ξ, then the phase of the nth virtual antenna element is:

[0244]

[0245] It can be seen from formula (12) that if the radar device selects the correct ξ, the phase of each virtual antenna array element only contains angle information, that is, it is independent of speed, thus achieving decoupling of speed and angle, that is, speed deambiguation is successful.

[0246] The radar device performs FFT processing on the compensated signal in the angle domain, which can accumulate more beam energy, thus facilitating the detection of the maximum peak value of the FFT result, that is, the value with the highest beam energy. The speed ambiguity factor corresponding to the maximum peak value is the correct speed ambiguity factor, that is, the first speed ambiguity factor.

[0247] The radar device determines the first velocity ambiguity factor, and the Doppler frequency shift f of the echo signal received by the radar relative to the signal emitted by the radar transmitting antenna can be determined by formula (13): d :

[0248]

[0249] In formula (12), is the estimated value of the first velocity blur factor, f damb is the Doppler shift, T r is the time interval between two adjacent transmitting antenna groups sending signals in the time domain. Since the first velocity ambiguity factor is correct, f d is also close to the true value, so the radar device is based on f d The determined speed of the target object is also close to the real speed of the target object. Specifically, the radar device determines the real speed v of the target object as:

[0250] In the embodiment of the present application, the radar device divides N transmitting antennas into K transmitting antenna groups, and the K transmitting antenna groups use TDM to send signals, and the multiple transmitting antennas included in each transmitting antenna group containing multiple transmitting antennas in the K transmitting antenna groups use CDM to send signals. Therefore, when resolving speed ambiguity, since only K FFTs need to be performed, the amount of calculation is reduced. And the multiple transmitting antennas included in each transmitting antenna group containing multiple transmitting antennas use CDM to send signals, so that when performing FFT, the signal-to-noise ratio that can be accumulated per unit time is relatively large, which is conducive to detecting targets.

[0251] The above mainly introduces the solution provided by the embodiment of the present application from the perspective of the radar device sending signals and processing signals. The following is an introduction to the device used to implement the above method in the embodiment of the present application in conjunction with the accompanying drawings. Therefore, the above content can be used in subsequent embodiments, and repeated content will not be repeated.

[0252] It is understandable that, in order to realize the above functions, each device, such as a radar device, includes a hardware structure and / or software module corresponding to the execution of each function. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of each example described in the embodiments disclosed herein, the embodiments of the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the embodiments of the present application.

[0253] The embodiment of the present application can divide the radar device into functional modules. For example, each functional module can be divided according to each function, or two or more functions can be integrated into one processing module. The above integrated modules can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the division of modules in the embodiment of the present application is schematic and is only a logical functional division. There may be other division methods in actual implementation.

[0254] For example, when the various functional modules of the radar device are divided in an integrated manner, Fig.14 A possible structural diagram of the radar device involved in the above-mentioned embodiment of the present application is shown. The radar device 14 may include a processing unit 1401, a communication interface 1402 and a storage unit 1403. Among them, the communication interface 1402 may also be called an interface unit.

[0255] In the first design, the processing unit 1401 can be used to execute or control Figure 8In the embodiment shown, all operations performed by the radar device except for the transceiver operation, such as S801, and / or other processes for supporting the technology described herein. The communication interface 1402 can be used to perform Figure 8 In the embodiment shown, all the transceiver operations performed by the radar device, such as S802, and / or other processes for supporting the technology described herein. The radar device includes at least three transmitting antennas, wherein:

[0256] The processing unit 1401 is configured to determine at least two transmitting antenna groups of the radar device, wherein each transmitting antenna group includes at least one transmitting antenna;

[0257] The communication interface 1402 is used to control at least two transmitting antenna groups to send signals, wherein the at least two transmitting antenna groups use time division multiplexing TDM to send signals, and each of the at least two transmitting antenna groups includes multiple transmitting antennas, and the multiple transmitting antennas included in the transmitting antenna group use CDM to send signals.

[0258] As an optional design, the processing unit 1401 is specifically used for:

[0259] At least two transmit antenna groups are randomly determined according to the at least three transmit antennas.

[0260] As an optional design, the radar device includes transmitting antennas that are numbered from 1 to N, where N is greater than or equal to 3, and in each transmitting antenna group, there are at least two transmitting antennas that are not numbered consecutively; or, in each transmitting antenna group, any two transmitting antennas are not numbered consecutively.

[0261] As an optional design, in each transmitting antenna group, there are at least two transmitting antennas with adjacent numbers whose interval is greater than 1, or the interval between any two transmitting antennas with adjacent numbers is greater than 1.

[0262] As an optional design, the processing unit 1401 is specifically used for:

[0263] A first grouping method among multiple grouping methods is determined, and performance parameters of at least two transmitting antenna groups determined based on the first grouping method are optimal, and the performance parameters are used to indicate the performance of speed deambiguation.

[0264] As an optional design, the multiple grouping modes include all possible grouping modes of at least two transmitting antenna groups.

[0265] As an optional design, the number of transmit antennas included in at least two transmit antenna groups is different or the same.

[0266] Alternatively, in another design, the processing unit 1401 may be configured to execute Fig.13In the embodiment shown, all operations performed by the radar device except for the transceiver operation, such as S1302, S1303 and / or other processes for supporting the technology described herein. The communication interface 1402 can be used to execute or control Fig.13 All the transceiver operations performed by the radar device in the illustrated embodiment, such as S1301 and / or other processes for supporting the technology described herein.

[0267] The communication interface 1402 is used to receive at least one signal;

[0268] The processing unit 1401 is configured to determine at least two groups of detection information according to the signal received by the communication interface 1402, where the at least two groups of detection information correspond to at least two transmitting antenna groups consisting of at least three transmitting antennas, each transmitting antenna group includes at least one transmitting antenna, wherein the at least two transmitting antenna groups send signals in a TDM manner, and the multiple transmitting antennas included in each transmitting antenna group including multiple transmitting antennas in the at least two transmitting antenna groups send signals in a CDM manner;

[0269] Determine at least three pieces of detection information based on the at least two sets of detection information, wherein the at least three pieces of detection information are used to determine a velocity estimate of the target, wherein the at least three pieces of detection information correspond to at least three transmitting antennas;

[0270] The real speed of the target is determined according to a first speed ambiguity factor and a speed estimation value of the target, wherein the first speed ambiguity factor is one of at least two speed ambiguity factors corresponding to at least two sets of detection information.

[0271] As an optional design, the processing unit 1401 is specifically used for:

[0272] Converting at least two groups of signals into range-Doppler domains respectively to obtain at least two groups of detection information;

[0273] The at least two groups of signals are signals corresponding to at least two transmitting antenna groups in the received signals.

[0274] As an optional design, the processing unit 1401 is specifically used for:

[0275] Determine multiple phases of multiple virtual antenna array elements included in the radar device, wherein the virtual antenna array element corresponds to one transmitting antenna and one receiving antenna, and one virtual antenna array element corresponds to one phase;

[0276] Performing Doppler phase compensation on multiple phases respectively;

[0277] In the angle domain, at least two pieces of detection information are superimposed, and the velocity blur multiple is determined according to the superposition result.

[0278] As an optional design, the processing unit 1401 is specifically used for:

[0279] The velocity blur multiple corresponding to the maximum peak value in the superposition result is determined as the velocity blur multiple.

[0280] In another design, the optional design can be implemented independently or integrated with any of the above optional designs.

[0281] Fig.15 Another possible structural diagram of the radar device provided in the embodiment of the present application. The radar device 15 may include a processor 1501, a transmitter 1502 and a receiver 1503. The functions thereof may be respectively Fig.14 The specific functions of the processing unit 1401 and the communication interface 1402 shown correspond to each other and are not described in detail here. The communication interface 1402 can be implemented by a transmitter 1502 and a receiver 1503. Optionally, the radar device 15 may also include a memory 1504 for storing program instructions and / or data for the processor 1501 to read.

[0282] The foregoing Figure 2 A schematic diagram of the structure of a radar device is provided. Referring to the above content, another optional method is proposed. Fig.16 Another possible structural schematic diagram of a radar device is provided. Figure 14 to Figure 16 The radar device provided may be part or all of a radar device in an actual communication scenario, or may be a functional module integrated in the radar device or located outside the radar device, for example, may be a chip system. The specific implementation of the corresponding function shall prevail, and the structure and composition of the radar device are not specifically limited.

[0283] In this optional manner, the radar device 16 includes a transmitting antenna 1601, a receiving antenna 1602 and a processor 1603. Further, the radar device also includes a mixer 1604 and / or an oscillator 1605. Further, the radar device 16 may also include a low-pass filter and / or a coupler, etc. Among them, the transmitting antenna 1601 and the receiving antenna 1602 are used to support the detection device to perform radio communication, the transmitting antenna 1601 supports the transmission of radar signals, and the receiving antenna 1602 supports the reception of radar signals and / or the reception of reflected signals, so as to ultimately achieve the detection function. The processor 1603 performs some possible determination and / or processing functions. Further, the processor 1603 also controls the operation of the transmitting antenna 1601 and / or the receiving antenna 1602. Specifically, the signal to be transmitted is transmitted by the processor 1603 controlling the transmitting antenna 1601, and the signal received by the receiving antenna 1602 can be transmitted to the processor 1603 for corresponding processing. The various components included in the radar device 16 can be used to cooperate in executing Figure 8 or Fig.13The method provided by the embodiment shown. Optionally, the radar device may also include a memory for storing program instructions and / or data. The transmitting antenna 1601 and the receiving antenna 1602 may be independently configured or integrated as a transceiver antenna to perform corresponding transceiver functions.

[0284] In the first design, the processor 1603 can be used to execute Figure 8 All operations except the transceiver operation performed by the radar device in the illustrated embodiment, such as S801, and / or other processes for supporting the technology described herein. The transmitting antenna 1601 and the receiving antenna 1602 can be used to perform Figure 8 In the embodiment shown, all the transceiver operations performed by the radar device, such as S802, and / or other processes for supporting the technology described herein. The transmitting antenna 1601 includes at least three transmitting antennas, wherein:

[0285] The processor 1603 is configured to determine at least two transmit antenna groups of the radar device, wherein each transmit antenna group includes at least one transmit antenna;

[0286] The transmitting antenna 1601 is used to send signals in the form of at least two transmitting antenna groups, wherein the at least two transmitting antenna groups use time division multiplexing TDM to send signals, and each of the at least two transmitting antenna groups includes multiple transmitting antennas, and the multiple transmitting antennas included in the transmitting antenna group include multiple transmitting antennas that send signals using code division multiplexing CDM.

[0287] As an optional design, the processor 1603 is specifically used for:

[0288] At least two transmit antenna groups are randomly determined according to the at least three transmit antennas.

[0289] As an optional design, the radar device includes transmitting antennas that are numbered from 1 to N, where N is greater than or equal to 3, and in each transmitting antenna group, there are at least two transmitting antennas that are not numbered consecutively; or, in each transmitting antenna group, any two transmitting antennas are not numbered consecutively.

[0290] As an optional design, in each transmitting antenna group, there are at least two transmitting antennas with adjacent numbers whose interval is greater than 1, or the interval between any two transmitting antennas with adjacent numbers is greater than 1.

[0291] As an optional design, the processor 1603 is specifically used for:

[0292] A first grouping method among multiple grouping methods is determined, and performance parameters of at least two transmitting antenna groups determined based on the first grouping method are optimal, and the performance parameters are used to indicate the performance of speed deambiguation.

[0293] As an optional design, the multiple grouping modes include all possible grouping modes of at least two transmitting antenna groups.

[0294] As an optional design, the number of transmit antennas included in at least two transmit antenna groups is different or the same.

[0295] Alternatively, in another design, the processor 1603 may be configured to execute Fig.13 In the embodiment shown, all operations except the transceiver operations performed by the radar device, such as S1302, S1303 and / or other processes for supporting the technology described herein. The transmitting antenna 1601 and the receiving antenna 1602 can be used to perform Fig.13 In the embodiment shown, all the transceiver operations performed by the radar device, such as S1301 and / or other processes for supporting the technology described herein. The receiving antenna 1602 includes at least one receiving antenna, wherein:

[0296] The receiving antenna 1602 is used to receive at least one signal in the form of at least one receiving antenna;

[0297] The processor 1603 is configured to determine at least two groups of detection information according to the signal received by the receiving antenna 1602, where the at least two groups of detection information correspond to at least two transmitting antenna groups consisting of at least three transmitting antennas, each transmitting antenna group includes at least one transmitting antenna, wherein the at least two transmitting antenna groups send signals in a TDM manner, and each of the at least two transmitting antenna groups includes multiple transmitting antennas, and the multiple transmitting antennas included in the transmitting antenna group include multiple transmitting antennas and send signals in a CDM manner;

[0298] Determine at least three pieces of detection information based on the at least two sets of detection information, wherein the at least three pieces of detection information are used to determine a velocity estimate of the target, wherein the at least three pieces of detection information correspond to at least three transmitting antennas;

[0299] The real speed of the target is determined according to a first speed ambiguity factor and a speed estimation value of the target, wherein the first speed ambiguity factor is one of at least two speed ambiguity factors corresponding to at least two sets of detection information.

[0300] As an optional design, the processor 1603 is specifically used for:

[0301] Converting at least two groups of signals into range-Doppler domains respectively to obtain at least two groups of detection information;

[0302] The at least two groups of signals are signals corresponding to at least two transmitting antenna groups in the received signals.

[0303] As an optional design, the processor 1603 is specifically used for:

[0304] Determine multiple phases of multiple virtual antenna array elements included in the radar device, wherein the virtual antenna array element corresponds to one transmitting antenna and one receiving antenna, and one virtual antenna array element corresponds to one phase;

[0305] Performing Doppler phase compensation on multiple phases respectively;

[0306] In the angle domain, at least two pieces of detection information are superimposed, and the velocity blur multiple is determined according to the superposition result.

[0307] As an optional design, the processing unit processor 1603 is specifically used for:

[0308] The velocity blur multiple corresponding to the maximum peak value in the superposition result is determined as the velocity blur multiple.

[0309] Fig.17 A schematic diagram of the structure of a device 17 provided in an embodiment of the present application. Fig.17 The device 17 shown may be the radar device itself, or may be a chip or circuit capable of completing the functions of the radar device. For example, the chip or circuit may be arranged in the radar device. Fig.17 The device 17 shown may include a processor 1701 (for example, the processing unit 1401 may be implemented by the processor 1501, and the processor 1501 and the processor 1701 may be, for example, the same component) and an interface circuit 1702 (for example, the transceiver unit 1402 may be implemented by the interface circuit 1702, and the transmitter 1502 and the receiver 1503 may be, for example, the same component as the interface circuit 1702). The processor 1701 may enable the device 17 to implement Figure 8 or Fig.13 The steps performed by the radar device in the method provided in the embodiment shown. Optionally, the device 17 may also include a memory 1703, and the memory 1703 may be used to store instructions. The processor 1701 executes the instructions stored in the memory 1703, so that the device 17 implements Figure 8 or Fig.13 The illustrated embodiment provides steps performed by a radar device in the method.

[0310] Furthermore, the processor 1701, the interface circuit 1702 and the memory 1703 can communicate with each other through the internal connection path to transmit control and / or data signals. The memory 1703 is used to store computer programs. The processor 1701 can call and run the computer program from the memory 1703 to control the interface circuit 1702 to receive signals or send signals to complete Figure 8 or Fig.13The steps performed by the radar device in the method provided in the illustrated embodiment. The memory 1703 may be integrated in the processor 1701 or may be provided separately from the processor 1701 .

[0311] Optionally, if the apparatus 17 is a device, the interface circuit 1702 may include a receiver and a transmitter. The receiver and the transmitter may be the same component or different components. When the receiver and the transmitter are the same component, the component may be referred to as a transceiver.

[0312] Optionally, if the device 17 is a chip or a circuit, the interface circuit 1702 may include an input interface and an output interface, and the input interface and the output interface may be the same interface, or may be different interfaces.

[0313] Optionally, if the device 17 is a chip or a circuit, the device 17 may not include the memory 1703, and the processor 1701 may read instructions (programs or codes) in the memory outside the chip or circuit to implement Fig. 9 or Fig.13 The illustrated embodiment provides steps performed by a first radar detection device in the method.

[0314] Optionally, if the device 17 is a chip or a circuit, the device 17 may include a resistor, a capacitor or other corresponding functional components, and the processor 1701 or the interface circuit 1702 may be implemented by the corresponding functional components.

[0315] As an implementation method, the function of the interface circuit 1702 may be implemented by a transceiver circuit or a dedicated transceiver chip. The processor 1701 may be implemented by a dedicated processing chip, a processing circuit, a processor or a general-purpose chip.

[0316] As another implementation method, it is possible to use a general-purpose computer to implement the radar device provided in the embodiment of the present application. That is, the program code for implementing the functions of the processor 1701 and the interface circuit 1702 is stored in the memory 1703, and the processor 1701 implements the functions of the processor 1701 and the interface circuit 1702 by executing the program code stored in the memory 1703.

[0317] The functions and actions of the modules or units in the device 17 listed above are only exemplary. The functional units in the device 17 can be used to perform Figure 8 or Fig.13 In order to avoid redundancy, detailed descriptions of the various actions or processing processes performed by the radar device in the illustrated embodiment are omitted.

[0318] Another optional way is that when the radar device is 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 implemented in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. 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 a website site, computer, server or data center to another website site, computer, server or data center by wired (such as coaxial cable, optical fiber, digital subscriber line (digital subscriber line, DSL)) or wireless (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that includes one or more available media integrated. The available medium can be a magnetic medium (such as a floppy disk, hard disk, tape), an optical medium (such as a DVD), or a semiconductor medium (such as a solid state disk (SSD)), etc.

[0319] It should be noted that the processor included in the above-mentioned detection device for executing the detection method or signal transmission method provided in the embodiment of the present application can be a central processing unit (CPU), a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It can implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of the present application. The processor can also be a combination that realizes a computing function, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and the like.

[0320] The steps of the method or algorithm described in conjunction with the embodiments of the present application can be implemented in hardware or by executing software instructions by a processor. The software instructions can be composed of corresponding software modules, and the software modules can be stored in random access memory (RAM), flash memory, read-only memory (ROM) memory, erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), registers, hard disks, mobile hard disks, compact disc read-only memory (CD-ROM) or any other form of storage medium known in the art. An exemplary storage medium is coupled to a processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an ASIC. In addition, the ASIC can be located in a detection device. Of course, the processor and the storage medium can also be present in the detection device as discrete components.

[0321] Understandably, Figure 14 to Figure 17 Only a simplified design of the radar device is shown. In actual applications, the radar device may include any number of transmitters, receivers, processors, controllers, memories and other possible components.

[0322] The embodiment of the present application also provides a communication system, which includes a communication device such as at least one radar device and / or at least one central node mentioned in the above embodiment of the present application. The central node is used to control the driving of the vehicle and / or the processing of other radar devices according to the transmission parameters of the at least one radar device. The central node can be located in the vehicle, or other possible locations, subject to the realization of the control.

[0323] Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0324] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0325] The units described as separate components may or may not be physically separated, and the components shown as units may be one physical unit or multiple physical units, that is, they may be located in one place or distributed in multiple different places. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0326] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0327] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium, including several instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard drives, ROM, RAM, magnetic disks or optical disks.

[0328] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A signal sending method, characterized in that: Applied to a radar device, the radar device includes at least three transmitting antennas, and the method includes: Determine at least two transmit antenna groups of the radar device, wherein each of the transmit antenna groups includes at least one transmit antenna; Signals are sent through the at least two transmitting antenna groups, wherein the at least two transmitting antenna groups use time division multiplexing (TDM) to send signals, and each transmitting antenna group of the at least two transmitting antenna groups includes multiple transmitting antennas, and the multiple transmitting antennas included in the transmitting antenna groups include multiple transmitting antennas that send signals using code division multiplexing (CDM) mode.

2. The method according to claim 1, characterized in that Determining at least two transmitting antenna groups of the radar device includes: The at least two transmit antenna groups are randomly determined according to the at least three transmit antennas.

3. The method according to claim 1 or 2, characterized in that The transmitting antennas included in the radar device are numbered from 1 to N, where N is greater than or equal to 3. In each transmitting antenna group, there are at least two transmitting antennas whose numbers are discontinuous; or, in each transmitting antenna group, any two transmitting antennas are discontinuously numbered.

4. The method according to claim 1 or 2, characterized in that: In each transmitting antenna group, there are at least two transmitting antennas with adjacent numbers whose interval is greater than 1, or the interval between any two transmitting antennas with adjacent numbers is greater than 1.

5. The method according to claim 1, characterized in that The determining of at least two transmitting antenna groups of the radar device comprises: A first grouping method among multiple grouping methods is determined, wherein the performance parameters of the at least two transmitting antenna groups indicated by the first grouping method are optimal, and the performance parameters are used to indicate the performance of speed deambiguation.

6. The method according to claim 5, characterized in that The multiple grouping modes include all possible grouping modes of the at least three transmitting antennas.

7. The method according to claim 1 or 2, characterized in that: The at least two transmitting antenna groups include transmitting antennas of different or same numbers.

8. A signal processing method, characterized in that: Applied to a radar device, the radar device includes at least three transmitting antennas and at least one receiving antenna, the method includes: Determine at least two groups of detection information according to the signal received by the at least one receiving antenna, the at least two groups of detection information corresponding to at least two transmitting antenna groups composed of the at least three transmitting antennas, each of the transmitting antenna groups including at least one transmitting antenna, wherein the at least two transmitting antenna groups send signals in a TDM manner, and each transmitting antenna group including multiple transmitting antennas in the at least two transmitting antenna groups includes multiple transmitting antennas that send signals in a CDM manner; Determine at least three detection information according to the at least two sets of detection information, wherein the at least three detection information are used to determine a velocity estimate of the target, wherein the at least three detection information correspond to the at least three transmitting antennas; The real speed of the target is determined according to a first speed ambiguity factor and a speed estimation value of the target, wherein the first speed ambiguity factor is one of at least two speed ambiguity factors corresponding to the at least two sets of detection information.

9. The method according to claim 8, characterized in that The determining at least two sets of detection information according to the signal received by the at least one receiving antenna comprises: Converting the at least two groups of signals into range-Doppler domains respectively to obtain the at least two groups of detection information; The at least two groups of signals are signals in the received signals corresponding to the at least two transmitting antenna groups.

10. A device, characterized in that: The device comprises: at least one processor configured to determine at least two transmit antenna groups of the apparatus, wherein each of the transmit antenna groups includes at least one transmit antenna; and The at least two transmitting antenna groups are used to send signals, wherein the at least two transmitting antenna groups use time division multiplexing (TDM) to send signals, and each transmitting antenna group of the at least two transmitting antenna groups includes multiple transmitting antennas, and the multiple transmitting antennas included in the transmitting antenna groups use code division multiplexing (CDM) to send signals.

11. The device according to claim 10, characterized in that The at least one processor is specifically configured to: The at least two transmit antenna groups are randomly determined according to the at least three transmit antennas.

12. The device according to claim 10 or 11, characterized in that The transmitting antennas included in the device are numbered from 1 to N, where N is greater than or equal to 3. In each transmitting antenna group, there are at least two transmitting antennas whose numbers are discontinuous; or, in each transmitting antenna group, any two transmitting antennas are discontinuously numbered.

13. The device according to claim 10 or 11, characterized in that In each transmitting antenna group, there are at least two transmitting antennas with adjacent numbers whose interval is greater than 1, or the interval between any two transmitting antennas with adjacent numbers is greater than 1.

14. The device according to claim 10, characterized in that The at least one processor is specifically configured to: A first grouping method among multiple grouping methods is determined, based on the fact that performance parameters of the at least two transmitting antenna groups indicated by the first grouping method are optimal, where the performance parameters are used to indicate speed resolution performance.

15. The device according to claim 14, characterized in that The multiple grouping modes include all possible grouping modes of the at least three transmitting antennas.

16. The device according to claim 10 or 11, characterized in that The at least two transmitting antenna groups include transmitting antennas of different or same numbers.

17. A device, characterized in that: The device comprises: at least one receiving antenna for receiving at least one signal; At least one processor, configured to determine at least two groups of detection information according to a signal received by the at least one receiving antenna, wherein the at least two groups of detection information correspond to at least two transmitting antenna groups consisting of at least three transmitting antennas included in the apparatus, each of the transmitting antenna groups including at least one transmitting antenna, wherein the at least two transmitting antenna groups transmit signals in a TDM manner, and the multiple transmitting antennas included in each transmitting antenna group including multiple transmitting antennas in the at least two transmitting antenna groups transmit signals in a CDM manner; Determine at least three detection information according to the at least two sets of detection information, wherein the at least three detection information are used to determine a velocity estimate of the target, wherein the at least three detection information correspond to the at least three transmitting antennas; The real speed of the target is determined according to a first speed ambiguity factor and a speed estimation value of the target, wherein the first speed ambiguity factor is one of at least two speed ambiguity factors corresponding to the at least two sets of detection information.

18. The device according to claim 17, characterized in that The at least one processor is specifically configured to: Converting the at least two groups of signals into range-Doppler domains respectively to obtain the at least two groups of detection information; The at least two groups of signals are signals in the received signals corresponding to the at least two transmitting antenna groups.

19. A device, characterized in that: The device comprises: Memory: used to store instructions; A processor is used to call and execute the instructions from the memory, so that the device or a device equipped with the device executes the method according to any one of claims 1 to 7 or 8 to 9.

20. A method, characterized in that The method comprises: Determining at least two transmit antenna groups of the radar device, wherein each of the transmit antenna groups includes at least one transmit antenna; The at least two transmitting antenna groups are controlled to send signals in a time division multiplexing TDM manner, and the multiple transmitting antennas included in each transmitting antenna group including multiple transmitting antennas in the at least two transmitting antenna groups are controlled to send signals in a code division multiplexing CDM manner.

21. A device, characterized in that: The device includes at least one processor and a communication interface, wherein the communication interface is used to provide program instructions to the at least one processor, and when the at least one processor executes the program instructions, the following steps are implemented: Determining at least two transmit antenna groups of the radar device, wherein each of the transmit antenna groups includes at least one transmit antenna; The at least two transmitting antenna groups are controlled to send signals in a time division multiplexing TDM manner, and the multiple transmitting antennas included in each transmitting antenna group including multiple transmitting antennas in the at least two transmitting antenna groups are controlled to send signals in a code division multiplexing CDM manner.

22. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed on a computer, the computer is enabled to execute the method according to any one of claims 1 to 7 or 8 to 9.

23. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is run on a computer, the computer is caused to execute the method according to any one of claims 1 to 7 or 8 to 9.

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