Signal processing method and device

Abstract

A signal processing method and device can be applied to the field of autonomous driving or intelligent driving, and in particular to target detection of millimeter wave radar. The method includes: a detection device receives at least one first signal corresponding to a first transmitting antenna, and performs beamforming processing on at least one first signal to generate a first beam; according to the first beam and the phase of the second beam corresponding to at least one second signal, the information of the first target is determined. Through this scheme, a detection device, such as a single-receive multi-transmit SIMO radar, a multi-receive multi-transmit MIMO radar or a cooperative radar, can determine the Doppler phase difference according to the phase of the first beam and the second beam, and then determine the information of the first target according to the Doppler phase difference. Thereby, the influence of the Doppler phase difference on the detection of the target by the detection device can be reduced, and the accuracy of the detection of the target by the detection device can be improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of autonomous driving technology or assisted driving technology, and in particular, to a signal processing method and device. Background Art

[0002] With the development of society, smart cars are gradually entering people's daily lives. Sensors play a very important role in the assisted driving and automatic driving of smart cars. Various sensors installed on the car can sense the surrounding environment and collect data at any time during the driving process, identify and track moving objects, and identify static scenes such as lane lines and signs, and plan routes in combination with navigation and map data. Sensors can detect possible dangers in advance and help drivers in time or even take necessary evasive measures autonomously, effectively increasing the safety and comfort of car driving.

[0003] In the field of autonomous driving or assisted driving, sensors may include detection devices such as millimeter wave radar, laser radar, camera and ultrasonic radar. Safety is a very important factor in the driving process, which puts forward requirements for the detection of road environment and target objects. How to detect relevant information of target objects for detection devices, especially radar devices, is a problem to be solved by the embodiments of this application. Summary of the invention

[0004] The embodiments of the present application provide a signal processing method and device to enable a detection device to detect relevant information of a target object.

[0005] In a first aspect, a signal processing method is provided, which is applied to a detection device, wherein the detection device includes at least a first transmitting antenna. The detection device can receive at least one first signal corresponding to the first transmitting antenna, and perform beamforming processing on the at least one first signal to generate a first beam. The detection device can determine information of a first target based on a phase of the first beam and a phase of a second beam. The second beam corresponds to the detection device receiving at least one second signal, and there is a first time difference between the first beam and the second beam.

[0006] Among them, the beamforming can be implemented by Fourier transform, adaptive beamforming or minimum variance distortionless response (MVDR) and other methods without limitation. For example, taking the use of Fourier transform to implement beamforming as an example, the beamforming processing is performed on at least one first signal to generate a first beam, including: the detection device can perform Fourier transform on at least one first signal to obtain multiple beams; and determine the first beam among the multiple beams. For example, among the multiple beams, the beam with the strongest energy can be selected as the first beam, etc. In one possible implementation, the at least one first signal may include at least two first signals, and the at least one second signal may include at least two second signals.

[0007] Through the above method, the detection device determines the information of the first target according to the phase of the first beam and the phase of the second beam, thereby realizing the detection of the target object. Further, the detection device can determine the Doppler phase difference according to the phase of the first beam and the phase of the second beam, and can resolve the velocity ambiguity according to the Doppler phase difference, thereby further improving the accuracy of the detection device in detecting the target.

[0008] The so-called speed ambiguity refers to the phenomenon that when the target object's moving speed exceeds the detection speed range of the detection device, the speed detected by the detection device is wrong. For example, if the detection speed range of the detection device is [-6, 6] km / h. If the actual moving speed of the target object relative to the detection device is 8 km / h, but 8 km / h exceeds the detection range of the detection device, the moving speed of the target object detected by the detection device relative to the detection device is likely to be 2 km / h.

[0009] In order to solve the above-mentioned problem of velocity ambiguity, in one solution: when designing the antenna array of the detection device, the virtual sub-arrays corresponding to the two groups of different transmitting antennas have overlapping array elements. Since the phase difference of the overlapping virtual sub-arrays is only caused by the Doppler phase difference. Therefore, by measuring the phase difference of the overlapping virtual sub-arrays, the Doppler phase difference can be determined. And according to the Doppler phase difference, the velocity ambiguity can be resolved. However, for the above-mentioned method of designing overlapping virtual sub-arrays, there are the following problems: the array aperture becomes smaller, which is not conducive to system design, and is easily affected by array errors. In the design of the first aspect, the detection beam can be beamformed to at least one first signal and at least one second signal respectively to obtain a first beam and a second beam. According to the phases of the first beam and the second beam, the Doppler phase difference can be determined, and then the velocity ambiguity can be resolved. It can be seen that in the design of the first aspect, it is not necessary to set the virtual sub-arrays of the detection device to overlap. Thereby, the above-mentioned problems such as the array aperture becoming smaller, being not conducive to system design, and being easily affected by array errors caused by the above-mentioned overlapping virtual sub-arrays can be solved.

[0010] In one possible design, the second beam is generated after beamforming is performed on at least one second signal. For example, the detection device may perform beamforming on at least one second signal to generate the second beam. In addition to the first transmitting antenna, the detection device may also include a second transmitting antenna, and the at least one second signal may be a signal corresponding to the first transmitting antenna, or a signal corresponding to the second transmitting antenna, etc., without limitation.

[0011] In one possible design, the detection device determines the information of the first target based on the phase of the first beam and the phase of the second beam. Specifically, the detection device determines the Doppler phase difference based on the phase of the first beam and the phase of the second beam; the detection device determines the information of the first target based on the Doppler phase difference.

[0012] For example, the detection device can determine the velocity ambiguity coefficient based on the Doppler phase difference. Then, the real Doppler frequency shift can be determined based on the velocity ambiguity coefficient. Further, the velocity, angle and / or distance of the target object can be determined based on the real Doppler frequency shift, thereby reducing the impact of velocity ambiguity on the detection device.

[0013] In one possible design, the at least one second signal corresponds to the second transmitting antenna, and the detection device determines the Doppler phase difference according to the phase of the first beam and the phase of the second beam, specifically: the detection device determines the first phase difference according to the phase of the first beam and the phase of the second beam; the detection device determines the second phase difference according to the phase of the first transmitting antenna and the phase of the second transmitting antenna; the detection device determines the Doppler phase difference according to the first phase difference and the second phase difference. For example, the Doppler phase difference may be specifically the difference between the first phase difference and the second phase difference. For example, if the first phase difference is 91 degrees and the second phase difference is 90 degrees, the Doppler phase difference may be 1 degree.

[0014] Through the above method, the detection device may include a first transmitting antenna and a second transmitting antenna, and the first transmitting antenna transmits a signal, which is reflected by the target object to form the at least one first signal. The receiving subarray of the detection device may receive the at least one first signal. Beamforming processing is performed on the at least one first signal to generate a first beam. Similarly, the second transmitting antenna may transmit a signal, which is reflected by the target object to form the at least one second signal. The receiving subarray of the detection device may receive the at least one second signal. Beamforming processing is performed on the at least one second signal to generate a second beam. Since the first transmitting antenna and the second transmitting antenna are different antennas, there is a spatial position difference. Therefore, the phase difference between the first beam and the second beam, in addition to the Doppler phase difference, also includes the spatial phase difference of the two transmissions. That is, the sum of the spatial phase difference between the two transmitting antennas and the Doppler phase difference is equal to the phase difference between the first beam and the second beam. Therefore, the detection device can calculate the phase difference between the first beam and the second beam, and the spatial phase difference between the first transmitting antenna and the second transmitting antenna can determine the Doppler phase difference. For example, if the phase difference between the first beam and the second beam is 90.5 degrees, and the spatial phase difference between the first transmitting antenna and the second transmitting antenna is 90 degrees, then the Doppler phase difference can be determined to be 0.5 degrees. Further, the influence of the Doppler phase difference on the detection device can be eliminated or reduced.

[0015] In a possible design, at least one first signal corresponds to a first virtual sub-array, and at least one second signal corresponds to a second virtual sub-array.

[0016] Through the above method, the subarray in the detection device that receives the above first signal can be called the first virtual subarray, and the subarray that receives the above second signal can be called the second virtual subarray. It can also be described as: the first transmitting antenna corresponds to the first virtual subarray, the second transmitting antenna corresponds to the second virtual subarray, etc.

[0017] In one possible design, at least one second signal corresponds to the first transmitting antenna, and the detection device determines the Doppler phase difference based on the phase of the first beam and the phase of the second beam. Specifically: the detection device determines the first phase difference based on the phase of the first beam and the phase of the second beam; the detection device determines the Doppler phase difference based on the first phase difference.

[0018] Through the above method, the detection device includes a first transmitting antenna, and the first transmitting antenna can belong to different TDM groups at the same time. For example, the first transmitting antenna belongs to the first TDM group and the second TDM group at the same time. Then the first transmitting antenna can transmit a signal in the time period corresponding to the first TDM group, and the signal can be reflected by the target object to form the at least one first signal. The virtual subarray of the detection device can receive the at least one first signal, perform beamforming on the at least one first signal, and generate a first beam. At the same time, the first transmitting antenna can transmit a signal in the time period corresponding to the second TDM group, and the signal can be reflected by the target object to form the at least one second signal. The detection device can perform beamforming on the at least one second signal to generate a second beam. Since the first signal and the second signal are transmitted by the same first transmitting antenna. Therefore, the phase difference between the first beam and the second beam only includes the Doppler phase difference, and does not include the spatial phase difference between different transmitting antennas. That is, the phase difference between the first beam and the second beam is equal to the Doppler phase difference. In this design, the two TDM groups are transmitted by the same antenna, which can effectively reduce the influence of array and antenna errors on Doppler phase difference measurement.

[0019] In one possible design, at least one first signal and at least one second signal correspond to a first virtual sub-array.

[0020] In one possible design, a first pointing angle of the first beam and a second pointing angle of the second beam indicate a first target, and / or an angle difference between the first pointing angle of the first beam and the second pointing angle of the second beam is less than or equal to a first threshold, and / or an energy difference between the first beam and the second beam is less than or equal to a second threshold.

[0021] In one possible design, the information of the first target includes at least one of an angle, a speed or a distance of the first target.

[0022] In one possible design, the first time difference is the time difference between different time division multiplexing TDM groups.

[0023] For example, in one example, the detection device includes N TDM groups, and the N TDM groups are transmitted in time division. It is assumed that the N TDM groups include the Lth TDM group and the Kth TDM group, L and K are integers greater than or equal to 1 and less than or equal to N, the Lth TDM group includes the first transmitting antenna, and the Kth TDM group includes the second transmitting antenna. The first transmitting antenna in the detection device transmits a first signal in a time period corresponding to the Lth TDM group. The second transmitting antenna in the detection device transmits a second signal in a time period corresponding to the Kth TDM group. The above-mentioned first time difference may refer to the time difference between the Lth TDM group and the Kth TDM group. Alternatively, in another example, it is assumed that the N TDM groups of the detection device include the Mth TDM group and the Pth TDM group, and M and P are integers greater than or equal to 1 and less than or equal to N. It is assumed that the Mth TDM group includes the first transmitting antenna, and the first transmitting antenna of the detection device transmits a first signal in a time period corresponding to the Mth TDM group. The Pth TDM group also includes a first transmitting antenna, and the first transmitting antenna of the detection device transmits a second signal in the time period corresponding to the Pth TDM group. The above-mentioned first time difference may refer to the time difference between the Mth TDM group and the Pth TDM group.

[0024] In a second aspect, a device is provided. The device may be a detection device or a device in a detection device, for example, a device in a vehicle-mounted terminal or a device in a radar, etc. The device may include a processing unit and a communication unit, and the processing unit and the communication unit may perform the corresponding functions involved in any one of the above-mentioned first aspects, specifically:

[0025] A communication unit, configured to receive at least one first signal corresponding to a first transmitting antenna; a processing unit, configured to perform beamforming processing on the at least one first signal to generate a first beam; the processing unit, further configured to determine information of a first target according to a phase of the first beam and a phase of a second beam;

[0026] The second beam corresponds to at least one second signal received by the detection device, and there is a first time difference between the first beam and the second beam.

[0027] In one possible design, the second beam is generated after performing beamforming processing on the at least one second signal.

[0028] In a possible design, when the processing unit determines the information of the first target based on the phase of the first beam and the phase of the second beam, it is specifically used to: determine the Doppler phase difference based on the phase of the first beam and the phase of the second beam; and determine the information of the first target based on the Doppler phase difference.

[0029] In one possible design, the at least one second signal corresponds to a second transmitting antenna, and when the processing unit determines the Doppler phase difference based on the phase of the first beam and the phase of the second beam, it is specifically used to: determine the first phase difference based on the phase of the first beam and the phase of the second beam; determine the second phase difference based on the phase of the first transmitting antenna and the phase of the second transmitting antenna; determine the Doppler phase difference based on the first phase difference and the second phase difference.

[0030] In a possible design, the at least one first signal corresponds to a first virtual sub-array, and the at least one second signal corresponds to a second virtual sub-array.

[0031] In one possible design, the at least one second signal corresponds to the first transmitting antenna, and the processing unit, when determining the Doppler phase difference based on the phase of the first beam and the phase of the second beam, is specifically used to: determine the first phase difference based on the phase of the first beam and the phase of the second beam; determine the Doppler phase difference based on the first phase difference.

[0032] In one possible design, the at least one first signal and the at least one second signal correspond to a first virtual sub-array.

[0033] In one possible design, the first pointing angle of the first beam and the second pointing angle of the second beam indicate the first target, and / or the angular difference between the first pointing angle of the first beam and the second pointing angle of the second beam is less than or equal to a first threshold, and / or the difference between the energy of the first beam and the energy of the second beam is less than or equal to a second threshold.

[0034] In one possible design, the information of the first target includes at least one of an angle, a speed or a distance of the first target.

[0035] In one possible design, the first time difference is the time difference between different time division multiplexing TDM groups.

[0036] In a third aspect, a device is provided, the device comprising a processor for implementing the method described in the first aspect above. The device may also include a memory for storing instructions and data. The memory is coupled to the processor, and the processor executes program instructions stored in the memory to implement the method described in the first aspect above. The device may also include a communication interface, which is used for the device to communicate with other devices. Exemplarily, the communication interface may be a transceiver, a circuit, a bus, an antenna (particularly suitable for radar devices) or other types of communication interfaces, etc. In one possible design, the device includes:

[0037] A memory for storing program instructions;

[0038] A processor is used to call instructions in the memory to execute: controlling the communication interface to receive at least one first signal corresponding to the first transmitting antenna, performing beamforming processing on the at least one first signal to generate a first beam; determining information of the first target according to the phase of the first beam and the phase of the second beam; wherein the second beam corresponds to at least one second signal received by the detection, and there is a first time difference between the first beam and the second beam.

[0039] In one possible design, the second beam is generated after performing beamforming processing on the at least one second signal.

[0040] In one possible design, when the processor determines the information of the first target based on the phase of the first beam and the phase of the second beam, it is specifically used to: determine the Doppler phase difference based on the phase of the first beam and the phase of the second beam; and determine the information of the first target based on the Doppler phase difference.

[0041] In one possible design, the at least one second signal corresponds to a second transmitting antenna, and when the processor determines the Doppler phase difference based on the phase of the first beam and the phase of the second beam, it is specifically used to: determine the first phase difference based on the phase of the first beam and the phase of the second beam; determine the second phase difference based on the phase of the first transmitting antenna and the phase of the second transmitting antenna; determine the Doppler phase difference based on the first phase difference and the second phase difference.

[0042] In a possible design, the at least one first signal corresponds to a first virtual sub-array, and the at least one second signal corresponds to a second virtual sub-array.

[0043] In one possible design, the at least one second signal corresponds to the first transmitting antenna, and when the processor determines the Doppler phase difference based on the phase of the first beam and the phase of the second beam, it is specifically used to: determine the first phase difference based on the phase of the first beam and the phase of the second beam; determine the Doppler phase difference based on the first phase difference.

[0044] In one possible design, the at least one first signal and the at least one second signal correspond to a first virtual sub-array.

[0045] In one possible design, the first pointing angle of the first beam and the second pointing angle of the second beam indicate the first target, and / or the angular difference between the first pointing angle of the first beam and the second pointing angle of the second beam is less than or equal to a first threshold, and / or the difference between the energy of the first beam and the energy of the second beam is less than or equal to a second threshold.

[0046] In one possible design, the information of the first target includes at least one of an angle, a speed or a distance of the first target.

[0047] In one possible design, the first time difference is the time difference between different time division multiplexing TDM groups.

[0048] According to a fourth aspect, a computer-readable storage medium is provided, comprising instructions, which, when executed on a computer, enable the computer to execute the method according to the first aspect.

[0049] In a fifth aspect, a chip system is provided, the chip system includes at least one processor and may also include at least one memory, the at least one processor executes a program or instruction stored in the at least one memory to implement any method of the first aspect. The chip system may be composed of a chip or an integrated circuit, or may include a chip or an integrated circuit and other discrete devices.

[0050] According to a sixth aspect, a computer program product is provided, comprising instructions, which, when executed on a computer, enable the computer to execute the method according to the first aspect.

[0051] In a seventh aspect, a sensor is provided, comprising the device described in the second aspect or the third aspect.

[0052] In an eighth aspect, a sensor system is provided, comprising at least one sensor, which may include the device described in the second or third aspect above.

[0053] In a ninth aspect, a vehicle is provided, comprising at least one sensor, which may include the device described in the second or third aspect above. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 A schematic diagram of a virtual array provided in an embodiment of the present application;

[0055] Figure 2 A schematic diagram of a TDM waveform provided in an embodiment of the present application;

[0056] Figure 3 A schematic diagram of an application scenario provided for an embodiment of the present application;

[0057] Figure 4A schematic diagram of a signal processing flow provided in an embodiment of the present application;

[0058] Figure 5 Schematic diagram of transmitting and receiving sub-array beams of different transmitting antennas provided in the embodiment of the present application;

[0059] Figure 6 A schematic diagram of a receiving subarray beam shape when the same transmitting antenna repeatedly transmits according to an embodiment of the present application;

[0060] Figure 7 A schematic diagram of a TDM waveform provided in an embodiment of the present application;

[0061] Figure 8 A schematic diagram of a virtual array provided in an embodiment of the present application;

[0062] Fig. 9 The signal processing flow provided in the embodiment of the present application;

[0063] Fig.10 A schematic diagram of a structure of a device provided in an embodiment of the present application;

[0064] Fig.11 Another schematic diagram of the structure of the device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0065] Some nouns or terms used in the embodiments of the present application are explained below, and these nouns or terms are also considered as part of the content of the invention.

[0066] 1. Detection device

[0067] The detection device is a device used to detect a target object. For example, it can be used to detect at least one of the speed, angle or distance of the target object. The speed, angle or distance of the target object detected by the detection device can be absolute information of the target object, or can be relative information of the target object relative to the detection device, etc., without limitation. The detection device can be installed on a mobile device, for example, the detection device can be installed on a vehicle as a vehicle-mounted radar detection device. Alternatively, the detection device can be installed on a fixed device, for example, the detection device can be installed on a device such as a road side unit (RSU).

[0068] Detection devices may include radars, etc. Radars may include millimeter wave radars, microwave radars, over-the-horizon radars, and laser radars according to frequency bands; they may include mechanical scanning radars and phased array radars according to antenna scanning methods; they may include coherent accumulation radars, non-coherent accumulation radars, moving target display radars, moving target detection radars, pulse Doppler radars, synthetic aperture radars, and scanning and tracking radars according to the technology and signal processing methods used by radars; they may include height-finding radars, two-coordinate radars, three-coordinate radars, friend-or-foe identification radars, and multi-terminal radars according to the parameter classification of target measurement; they may include single pulse radars, conical scanning radars, and concealed conical scanning radars according to the angle tracking methods. According to the radar signal form, they may include pulse radars, continuous wave radars, pulse compression radars, and frequency agile radars.

[0069] In an embodiment of the present application, the device for realizing the function of the detection device may be a radar; it may also be a device that can support the detection device to realize the function, such as a chip system, which can be installed in the radar. In other possible implementations, the detection device may also be independent of the radar, for example, it may be independently set, or integrated into a vehicle-mounted central controller, a fusion unit, or other possible processing units. In an embodiment of the present application, the chip system may be composed of chips, or may include chips and other discrete devices. In the technical solution provided in the embodiment of the present application, the technical solution provided in the embodiment of the present application is described by taking the device for realizing the function of the detection device as a radar as an example.

[0070] 2. Beam

[0071] A beam can be understood as a spatial resource, and can refer to a sending or receiving precoding vector with energy transmission directivity. Moreover, the sending or receiving precoding vector can be identified by index information. Among them, the energy transmission directivity can refer to the energy of the transmitted signal being concentrated in a certain spatial position through precoding processing, and the signal received after precoding processing by the precoding vector has better receiving power, such as satisfying the receiving demodulation signal-to-noise ratio, etc.; the energy transmission directivity can also refer to the same signal sent from different spatial positions received through the precoding vector having different receiving powers. Optionally, the same communication device can have different precoding vectors, and different devices can also have different precoding vectors, that is, corresponding to different beams. According to the configuration or capability of the communication device, a communication device can use one or more of multiple different precoding vectors at the same time, that is, one beam or multiple beams can be formed at the same time. The beam information may be identified by index information. Optionally, the index information may also be index information explicitly or implicitly carried by a signal or channel carried by the beam. For example, the index information includes but is not limited to the index information of the beam indicated by a synchronization signal or a broadcast channel sent by the beam. A beam pair may include a transmit beam (Tx beam) of a transmitter and a receive beam (Rx beam) of a receiver.

[0072] 3. Beamforming

[0073] Beamforming is used for directional signal transmission or reception. For signal processing at the receiving end, the desired ideal signal can be formed by weighted synthesis of the signals received by at least one receiving array element. From the perspective of the antenna pattern, this is equivalent to forming a beam with a specified direction. For example, the original omnidirectional receiving pattern is converted into a lobe pattern with a zero point and maximum direction. The same principle also applies to the transmitting end, and the antenna array element feed is adjusted in amplitude and phase to form a pattern of the desired shape. In an optional implementation, the beamforming can be implemented by Fourier transform. For example, 4 signals are received by 4 receiving array elements, and the 4 signals can be Fourier transformed to obtain multiple beams. For example, if the above Fourier transform is a 128-point Fourier transform, 128 beams can be obtained. If the above Fourier transform is a 256-point Fourier transform, 256 beams can be obtained. From multiple beams, the beam with the strongest energy is selected, and the beam with the strongest energy can point to the position of the target object, etc. Optionally, the Fourier transform may be a discrete Fourier transform, and an implementation algorithm of the discrete Fourier transform may be a fast Fourier transform, such as a two-dimensional fast Fourier transform, etc. Alternatively, the beamforming may be implemented by minimum variance distortionless response (MVDR), adaptive beamforming, etc., without limitation.

[0074] Beamforming technology is generally applied to multi-antenna systems. For example, multiple input multioutput (MIMO). Since multiple antennas are used, the wireless signals from the transmitter to the receiver correspond to the same spatial streams and are transmitted through multiple paths. At the receiving end, a certain algorithm is used to process the signals received by multiple antennas (or receiving array elements), which can significantly improve the signal-to-noise ratio of the receiving end. Even when the receiving end is far away, good signal quality can be obtained.

[0075] It should be noted here that the present application does not limit the specific method of beamforming, and reference may be made to the existing technology or reasonable modifications may be made to the existing technology.

[0076] 4. Virtual Sub-array

[0077] In a MIMO radar system, the transmit signals emitted by multiple transmit antennas are reflected by the target object to form reflected signals, and the receiving antenna separates the reflected signals corresponding to each transmit antenna. These reflected signals correspond to each transmit-receive channel combination. Since these signals are received and separated by the receiving antenna, rather than signals directly received by the physical antenna, these signals are called virtual signals. The virtual signals corresponding to each transmit-receive channel are arranged into virtual sub-arrays according to the transmit-receive antenna arrangement, and a single signal is a virtual array element. Optionally, the transmit signals emitted by multiple transmit antennas can be orthogonal to each other. Accordingly, the receiving antenna can separate the reflected signals corresponding to each transmit antenna by signal orthogonality.

[0078] A virtual subarray may also be referred to as a receiving subarray or an antenna subarray, etc. A virtual subarray may include one or more virtual array elements, which may also be referred to as receiving array elements or antenna array elements, etc. In a MIMO radar system, a transmitting antenna transmits a signal in time division, which is reflected by a target object to form a reflected signal, and a receiving antenna may receive the reflected signal. A signal transmitted by a transmitting antenna may be received by multiple receiving antennas at the receiving end corresponding to the reflected signal of the signal, and the multiple receiving antennas may form a virtual subarray.

[0079] like Figure 1 As shown, the transmitting antenna array of the detection device is set to include transmitting antenna T1, transmitting antenna T2 and transmitting antenna T3, and the above three transmitting antennas use time-division multiplexing (TDM) to transmit signals. The receiving antenna array of the detection device includes receiving antenna R1, receiving antenna R2, receiving antenna R3 and receiving antenna R4.

[0080] When the transmitting antenna T1 of the detection device transmits a signal, the signal reaches the target object and is reflected by the target object to form a reflected signal. The receiving antenna R1, receiving antenna R2, receiving antenna R3 and receiving antenna R4 of the detection device can all receive the reflected signal. At this time, the receiving antenna R1, receiving antenna R2, receiving antenna R3 and receiving antenna R4 can form a virtual subarray. Figure 1 , the virtual sub-array may include virtual array element 1, virtual array element 2, virtual array element 3 and virtual array element 4. Similarly, when the transmitting antenna T2 of the detection device transmits a signal, the receiving antenna R1, receiving antenna R2, receiving antenna R3 and receiving antenna R4 of the detection device may form another virtual sub-array. Figure 1 , in this case, the virtual sub-array may include virtual array element 5, virtual array element 6, virtual array element 7 and virtual array element 8. When the transmitting antenna T3 of the detection device transmits a signal, the receiving antenna R1, receiving antenna R2, receiving antenna R3 and receiving antenna R4 of the detection device may form another virtual sub-array. Figure 1At this time, the virtual sub-array may include virtual array element 9, virtual array element 10, virtual array element 11 and virtual array element 12.

[0081] 5. Time Division Multiplexing (TDM) Group

[0082] In a MIMO system, a detection device (such as a radar) includes multiple transmitting antennas, which can be divided into N TDM groups. Different TDM groups send signals in different time periods, where N is an integer greater than or equal to 1. For example, the multiple transmitting antennas of the detection device can be randomly divided into N TDM groups. Alternatively, the multiple transmitting antennas in the detection device can be divided into N TDM groups in order according to the antenna numbers of the multiple transmitting antennas in the detection device. Figure 1 As shown, the detection device includes a transmitting antenna T1, a transmitting antenna T2 and a transmitting antenna T3. The above three transmitting antennas can be divided into three TDM groups, each TDM group includes a transmitting antenna. Alternatively, the above three transmitting antennas can be divided into two TDM groups, TDM group 1 and TDM group 2. TDM group 1 can include transmitting antenna 1 and transmitting antenna 2. TDM group 2 can include transmitting antenna 3. TDM group 1 and TDM group 2 transmit in time division, while transmitting antenna 1 and transmitting antenna 2 in TDM group 1 transmit signals simultaneously. Among them, different TDM groups may include the same or different transmitting antennas, without limitation. For example, two different TDM groups may include the same transmitting antenna, etc., that is, the same transmitting antenna repeatedly sends signals in different TDM groups. It should be noted here that the setting or division of the above TDM groups can be set when the radar leaves the factory (or the initial design of the radar), or it can be set in the application, or it can be set according to the type of radar, and the specific setting method is not limited here.

[0083] In a MIMO system, the detection device uses a frequency modulated continuous wave (FMCW), and the signal emitted by the transmitting antenna of the detection device is called a chirp signal. Figure 2As shown, the period of the chirp signal is Tr, or the time interval of the chirp signal is Tr. The detection device can allocate different chirp signals to the transmitting antennas of different TDM groups, and at least one of the bandwidth, frequency or period of different chirp signals is the same or different. For example, TDM group 1 includes transmitting antenna 1, and TDM group 2 includes transmitting antenna 2. TDM group 1 and TDM group 2 transmit in time division. TDM group 1 transmits in a first time period, and TDM group 2 transmits in a second time period, and the first time period is different from the second time period. Then, the transmitting antenna 1 in TDM group 1 can transmit the chirp signal 1 corresponding to the first time period in the first time period. The transmitting antenna 2 in TDM group 2 can transmit the chirp signal 2 corresponding to the second time period in the second time period. It is further explained that in the case where the same TDM group includes multiple transmitting antennas, the multiple transmitting antennas in the TDM group all send the chirp signal of the corresponding time period of the TDM group. For example, still using the above example, TDM group 2 corresponds to chirp signal 2. If TDM group 2 includes transmitting antenna 3 and transmitting antenna 4, then transmitting antenna 3 and transmitting antenna 4 both send the chirp signal 2 in the second time period.

[0084] 6. Beam pointing angle

[0085] In different scenarios, the pointing angle of the beam may have different definitions, and the embodiments of the present application do not make specific limitations. For example, the pointing angle of the beam generally refers to the angle from the extension line of the central axis of the sensor to the point where the energy intensity is reduced by half. The pointing angle of the beam may also be referred to as the direction angle of the beam, the beam angle, etc. In the following embodiments, the pointing angle of the beam is used as an example for explanation.

[0086] 7. Doppler phase difference

[0087] The theory of the Doppler effect is that the wavelength of radiation from an object changes due to the relative motion between the wave source and the observer. The difference between the transmitted and received frequencies caused by the Doppler effect is called the Doppler shift, which reveals the law of how the properties of waves change during motion. Specifically, if the target moves, the radar echo signal will produce the Doppler shift phenomenon. The Doppler phase difference is generally the phase difference caused by the Doppler shift due to the movement of the target.

[0088] 8. Spatial phase difference between two transmitting antennas

[0089] Since the two transmitting antennas are located at different positions in space, the time at which the signals transmitted by the two transmitting antennas reach the same target is different, thus causing a spatial phase difference between the two transmitting antennas. Alternatively, it can be described as: since the time at which the signals of the two transmitting antennas reach the same target is different, a time difference will be generated, and the time difference will cause a spatial phase difference between the two transmitting antennas.

[0090] 9. Speed ​​Blur

[0091] The so-called speed ambiguity refers to the phenomenon that when the target object's moving speed exceeds the detection speed range of the detection device, the speed detected by the detection device is wrong. For example, if the detection speed range of the detection device is [-6, 6] km / h. If the actual moving speed of the moving target relative to the detection device is 8 km / h, but 8 km / h exceeds the detection range of the detection device, the moving speed of the target object detected by the detection device relative to the detection device is likely to be 2 km / h.

[0092] In a MIMO radar system, it is assumed that there are M transmitting antennas, and the M transmitting antennas can transmit signals in a time division multiplexing (TDM) manner. Although MIMO radar can improve angular resolution, the maximum speed measurement range corresponding to MIMO radar is reduced to 1 / M of the single input multiple output (SIMO) radar in the same transmission cycle, which makes it easier for speed aliasing to occur when calculating the speed of the target object, resulting in speed ambiguity.

[0093] Velocity ambiguity can also refer to when the true velocity |v|>v max When , the Doppler phase difference will be |2πf d T r ·N|>π, the phase becomes blurred, and thus the velocity becomes blurred. max Refers to the maximum speed that the detection device can detect the target object. For example, if the detection device can only detect a target object at a maximum speed of 20km / h, then v max The value of is 20km / h. d represents the Doppler shift, T r represents the transmission period of a chirp signal, or represents the time interval between adjacent chirp signals, and N represents the number of TDM groups of transmitting antennas in the detection device.

[0094] Furthermore, it should be noted that in the description of the embodiments of the present application, the words "first", "second", etc. (for example, "first signal", "second signal", "first beam", "second beam", etc.) are only used to distinguish the purpose of description, and cannot be understood as indicating or implying relative importance, nor can it be understood as indicating or implying order. "And / or" describes the association relationship of associated 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 single or multiple. At least one of a, b, and c can mean a; b; a and b; a and c; b and c; a, b, and c. Among them, a, b, and c can be single or multiple. "At least one (item)" can mean one (item) or multiple (items).

[0095] like Figure 3 As shown, it is a schematic diagram of a possible application scenario provided by an embodiment of the present application. The above application scenarios can be unmanned driving, automatic driving, assisted driving, intelligent driving, networked driving, etc. The detection device in the embodiment of the present application can be installed on a motor vehicle (such as an unmanned vehicle, an intelligent vehicle, an electric vehicle, a digital vehicle, etc.), a drone, a rail machine, a bicycle, a signal light, a speed measuring device or a network device (such as a base station, a terminal device in various systems), etc. In addition, in addition to the detection device, the above device can also be installed with a processing device and a communication device. In the embodiment of the present application, it is suitable for a detection device between vehicles, and it is also suitable for a detection device between a vehicle and other devices such as a drone, or a detection device between other devices. In addition, the detection device, the processing device and the communication device can be installed on a mobile device, for example, the detection device is installed on a vehicle as a vehicle-mounted radar, or the detection device, the processing device and the communication device can be installed on a fixed device, such as a road side unit (RSU) and other devices.

[0096] It is understandable that the above application scenarios are only for illustrative purposes and are not intended to limit the embodiments of the present application. For example, the methods and devices provided in the embodiments of the present application may be applied to other application scenarios in addition to the above application scenarios without limitation.

[0097] Figure 3 The detection device shown may include a millimeter wave radar. The following uses the millimeter wave radar as an example to introduce the working principle of the detection device and the problems existing in the detection device in the current solution.

[0098] Millimeter wave radar has the characteristics of all-weather, all-day, and low cost, and has become one of the important sensors in the field of automobile safe driving. Figure 2As shown in the figure, millimeter-wave radar usually uses FMCW waveform, which can achieve large bandwidth and long coherent accumulation time, so it has high ranging, speed measurement accuracy and resolution. Millimeter-wave radar also uses multiple-input multiple-output (MIMO) technology to achieve high angle measurement accuracy and high resolution. The above technology enables millimeter-wave radar to have high-resolution imaging and high-precision positioning capabilities, reducing the performance gap with expensive laser detectors.

[0099] Although the angular resolution can be improved for MIMO millimeter-wave radar, the maximum speed measurement range of MIMO radar will drop to 1 / M of SIMO radar with the same transmission cycle (M is the number of transmitting antennas in MIMO, and the M transmitting antennas can transmit signals in TDM mode), which may cause speed ambiguity.

[0100] The so-called speed ambiguity refers to the phenomenon that when the target object's moving speed exceeds the detection speed range of the detection device, the speed detected by the detection device is wrong. For example, if the detection speed range of the detection device is [-6, 6] km / h. If the actual moving speed of the moving target relative to the detection device is 8 km / h, but 8 km / h exceeds the detection range of the detection device, the moving speed of the target object detected by the detection device relative to the detection device is likely to be 2 km / h.

[0101] In order to solve the above-mentioned velocity ambiguity problem, in one solution: when designing the antenna array of the detection device, the virtual sub-arrays corresponding to the two groups of different transmitting antennas have overlapping array elements. Since the phase difference of the overlapping virtual sub-arrays is only caused by the Doppler phase difference. Therefore, by measuring the phase difference of the overlapping virtual sub-arrays, the Doppler phase difference can be determined. And according to the Doppler phase difference, the velocity ambiguity can be resolved. However, the above-mentioned method of designing overlapping virtual sub-arrays has the following problems: the array aperture becomes smaller, which is not conducive to system design, and it is easily affected by array errors, etc.

[0102] In the design of the present application, the detection beam can perform beamforming on at least one first signal and at least one second signal respectively to obtain a first beam and a second beam. According to the phases of the first beam and the second beam, the Doppler phase difference can be determined, and then the velocity ambiguity can be resolved. It can be seen that in the above design, it is not necessary to set the virtual sub-arrays of the detection device to overlap. Thereby, the above problems such as the reduced array aperture caused by the overlapping virtual sub-arrays, the disadvantage of system design, and the susceptibility to array errors can be solved.

[0103] In order to solve the above problems, a signal processing method and device are proposed. The principle of the method is: the detection device can perform beamforming on at least one first signal and at least one second signal respectively to obtain a first beam and a second beam. According to the phases of the first beam and the second beam, the Doppler phase difference can be determined, and then the velocity ambiguity can be resolved. It can be seen that in the above signal processing method, it is not necessary to set the virtual sub-arrays of the detection device to overlap. Thereby, the above problems such as the smaller array aperture caused by overlapping virtual sub-arrays, the disadvantage of system design, and the susceptibility to array errors can be solved.

[0104] like Figure 4 As shown, a process of a signal processing method is provided, the execution subject of the process is a detection device, and the detection device can be applied to Figure 3 The scene shown. The detection device may be a radar (or, called a radar device), or the detection device may be a chip installed in a detection device, and the detection device may be a radar (or, called a radar device), or other devices. The process includes:

[0105] S400: The detection device receives at least one first signal corresponding to the first transmitting antenna. Optionally, the at least one first signal may include at least two first signals.

[0106] S401: The detection device performs beamforming processing on at least one first signal to generate a first beam.

[0107] In an optional design, the detection device performs beamforming processing on at least one first signal to generate a first beam, including: the detection device performs Fourier transform on the at least one signal to obtain multiple beams. The first beam belongs to the multiple beams. Optionally, the first beam is the beam with the strongest energy among the multiple beams.

[0108] For example, if the above-mentioned Fourier transform is a 128-point Fourier transform, 128 beams can be obtained. If the above-mentioned Fourier transform is a 256-point Fourier transform, 256 beams can be obtained. Optionally, the detection device can determine the first beam among multiple beams. For example, the detection device can select the beam with the strongest energy among multiple beams as the first beam, etc. Wherein, the first beam points to the position of the first target. Alternatively, the beamforming can also be implemented by minimum variance distortionless response (MVDR), adaptive beamforming, etc., without limitation. For example, the detection device can transmit a signal through a first transmitting antenna, and the signal reaches the first target object and is reflected by the first target object to form a reflected signal. The first transmitting antenna can correspond to a first virtual subarray, and the first virtual subarray includes one or more virtual array elements. For the corresponding relationship between the transmitting antenna and the first virtual subarray, please refer to the description in the above "virtual subarray". The virtual array elements corresponding to the first virtual subarray of the detection device can respectively receive the above-mentioned reflected signals. Beamforming is performed on the above-mentioned reflected signal to generate a first beam. The first beam may point to the position of the first target object. The "at least one first signal" in the above-mentioned S400 and S401 may specifically be a signal reflected by the first target object, and the number of the "at least one first signal" is one or more, and the specific number is related to the number of virtual array elements in the first virtual sub-array. For example, if the first virtual sub-array includes 4 virtual array elements, the above-mentioned virtual array elements may receive 4 signals respectively, and the above-mentioned "at least one first signal" may include 4 signals. Similarly, in the above-mentioned S401, beamforming processing may be performed on the above-mentioned 4 signals to generate a first beam, and the first beam is pointed to the position of the first target object.

[0109] Optionally, beamforming can be implemented by Fourier transform. For example, the first transmitting antenna corresponds to the first virtual subarray, and the first virtual subarray includes 4 virtual array elements, then the detection device can receive 4 signals through the above 4 virtual array elements. The detection device can perform Fourier transform on the above 4 signals to obtain multiple beams. For example, a 128-point Fourier transform is performed on the above 4 signals to obtain 128 beams. The detection device can select a beam whose energy meets the conditions (for example, the beam with the strongest energy) from the above multiple beams as the first beam.

[0110] S402: The detection device determines information of the first target according to the phase of the first beam and the phase of the second beam.

[0111] For example, the detection device may determine the Doppler phase difference based on the phase of the first beam and the phase of the second beam; the detection device may determine the information of the first target based on the Doppler phase difference, and the information of the first target may include at least one of the information such as the speed, angle or distance of the first target. For example, in one possible implementation, the detection device may determine the speed ambiguity coefficient based on the Doppler phase difference; the information of the first target may be determined based on the speed ambiguity coefficient. How to determine the speed ambiguity coefficient based on the Doppler phase difference and how to determine the information of the first target based on the speed ambiguity system will be described in detail in the following embodiments. It should be noted here that the Doppler phase difference can also be an intermediate variable or parameter, and there is no need to determine the Doppler phase difference separately, and the information of the first target can be finally determined.

[0112] Optional, in the above Figure 4 In the process shown, the second beam may correspond to at least one second signal received by the detection device, and there may be a first time difference between the first beam and the second beam, and the first time difference may be the time difference between different TDM groups. For example, in the following Example 1, the detection device includes N TDM groups, and the N TDM groups are transmitted in time division. It is assumed that the N TDM groups include the Lth TDM group and the Kth TDM group, and L and K are both integers greater than or equal to 1 and less than or equal to N. The Lth TDM group includes the first transmitting antenna, and the Kth TDM group includes the second transmitting antenna. The first transmitting antenna in the detection device transmits the first signal in the time period corresponding to the Lth TDM group. The second transmitting antenna in the detection device transmits the second signal in the time period corresponding to the Kth TDM group. The above-mentioned first time difference may refer to the time difference between the Lth TDM group and the Kth TDM group. Alternatively, in the following Example 2, it is assumed that the N TDM groups of the detection device include the Mth TDM group and the Pth TDM group, where M and P are integers greater than or equal to 1 and less than or equal to N. It is assumed that the Mth TDM group includes the first transmitting antenna, and the first transmitting antenna of the detection device transmits a first signal in a time period corresponding to the Mth TDM group. The Pth TDM group also includes the first transmitting antenna, and the first transmitting antenna of the detection device transmits a second signal in a time period corresponding to the Pth TDM group. The above-mentioned first time difference may refer to the time difference between the Mth TDM group and the Pth TDM group.

[0113] Optionally, the second beam is generated after beamforming processing is performed on the at least one second signal. The first beam and the second beam may point to the same target, for example, the same target may be the first target. In the embodiment of the present application, any one of the following methods may be adopted but is not limited to implementation:

[0114] 1. The first pointing angle of the first beam and the second pointing angle of the second beam point to the position of the first target. For example, the first pointing angle of the first beam is 90 degrees, the second pointing angle of the second beam is also 90 degrees, and the first target is at a position offset by 90 degrees relative to the detection device.

[0115] 2. The angular difference between the first pointing angle of the first beam and the second pointing angle of the second beam is less than or equal to a first threshold value. The value of the first threshold value may be predefined or preconfigured, or it may be an empirical value in this field. In this way, when the pointing angles of the two beams are different, but the angular difference between the two is relatively small, the two beams can be considered to be pointing to the same target position. For example, if the first threshold value is set to 5 degrees, the pointing angle of the first beam is 90 degrees, and the pointing angle of the second beam is 91 degrees, then the angular difference between the two is 1 degree, which is less than the first threshold value. It can be considered that the first beam and the second beam are both pointing to the same target position.

[0116] 3. The angle difference between the first pointing angle of the first beam and the second pointing angle of the second beam is less than or equal to the first threshold, and the difference between the energy of the first beam and the energy of the second beam is less than or equal to the second threshold, etc. In this way, not only the angle difference between the two beams is constrained, but also the energy difference between the two beams is constrained. Only when the above two conditions are met at the same time, it can be considered that the two beams are pointing to the same target.

[0117] As can be seen from the above, in the embodiment of the present application, the detection device can determine the Doppler phase difference according to the phase of the first beam and the phase of the second beam, and determine the information of the first target according to the Doppler phase difference. In turn, the influence of the Doppler frequency shift on the detection of the first target can be reduced, so that the speed, distance or angle of the first target detected by the detection device is more accurate.

[0118] Example 1, above Figure 4 The detection device in the process shown may include a first transmitting antenna, the detection device transmits a first signal through the first transmitting antenna, the first signal reaches the target object, is reflected by the target object, forms a reflection signal, and the reflection signal corresponding to the first signal is received through the first virtual subarray. Similarly, the detection device also includes a second transmitting antenna, the detection device transmits a second signal through the second transmitting antenna, the second signal reaches the target object, is reflected by the target object, forms a reflection signal, and the reflection signal corresponding to the second signal is received through the second virtual subarray.

[0119] The detection device can perform beamforming on the signal received by the first virtual sub-array to generate a first beam, and perform beamforming on the signal received by the second virtual sub-array to generate a second beam. The first beam and the second beam point to the same target object, that is, Figure 4The first target in the process shown. For example, the first virtual sub-array includes 4 virtual array elements, and 4 signals can be received through the above 4 virtual array elements. The detection device can perform Fourier transform on the above 4 signals to obtain multiple beams. For example, 128 beams can be obtained by performing 128-point Fourier transform on the above 4 signals. The detection device can select the beam with the strongest energy from the above multiple beams as the first beam. Similarly, the second virtual sub-array includes 4 virtual array elements, and the above 4 virtual array elements can receive 4 signals. The detection device can perform Fourier transform on the above 4 signals to obtain multiple beams. The detection device can select the beam with the strongest energy from the above multiple beams as the second beam.

[0120] The detection device determines the first spatial phase difference between the first beam and the second beam, and the second spatial phase difference between the first transmitting antenna and the second transmitting antenna. Based on the first spatial phase difference and the second spatial phase difference, the Doppler phase difference can be determined; and then the detection device can determine the speed, angle, distance and other information of the target object based on the Doppler phase difference. How the detection device determines the speed, angle or distance and other information of the target object based on the Doppler phase difference will be described in detail in the following embodiments. It should be noted here that at least one of the above-mentioned first spatial phase difference, second spatial phase difference and Doppler phase difference can also be an intermediate variable or parameter, and there is no need to separately determine at least one of the spatial phase difference and Doppler phase difference, and finally determine the information of the target object.

[0121] It should be noted that in the following description, “spatial phase difference” and “phase difference” are not distinguished, and “spatial phase difference” can be recorded as “phase difference”, or “phase difference” can be recorded as “spatial phase difference”, etc.

[0122] A specific implementation of the above S402 may be: the detection device may determine the phase difference between the first beam and the second beam. For the convenience of explanation, the phase difference between the first beam and the second beam may be recorded as the first phase difference; further, the detection device may determine the spatial phase difference between the first transmitting antenna and the second transmitting antenna. For the convenience of explanation, the spatial phase difference between the first transmitting antenna and the second transmitting antenna may be recorded as the second phase difference; the detection device may determine the Doppler phase difference based on the first phase difference and the second phase difference. For example, the Doppler phase difference may be specifically the difference between the first phase difference and the second phase difference. For example, if the above first phase difference is 50 degrees and the second phase difference is 30 degrees, the Doppler phase difference may be the difference between the two, 20 degrees, etc.

[0123] Optional, in the above Figure 4In the process shown, the following description may also be used: at least one first signal may correspond to the first transmitting antenna, and at least one second signal may correspond to the second transmitting antenna, or it may be described as at least one first signal corresponding to the first virtual subarray, and at least one second signal corresponding to the second virtual subarray. The first transmitting antenna corresponds to the first virtual subarray, and the second transmitting antenna corresponds to the second virtual subarray.

[0124] For example, it is assumed that the transmitting antenna array of the detection device includes a first transmitting antenna and a second transmitting antenna, and the first transmitting antenna and the second transmitting antenna transmit in time-sharing mode in the Lth TDM group and the kth TDM group respectively. The first transmitting antenna corresponds to the first virtual subarray, and the second transmitting antenna corresponds to the second virtual subarray. The signal received by the first virtual subarray is beamformed to generate a first beam; the signal received by the second virtual subarray is beamformed to generate a second beam. When the first beam and the second beam point to the same target, that is, the above Figure 4 When the first target is achieved in the embodiment shown, the phase difference φ between the first beam and the second beam is calculated; then, according to the pointing angles of the first beam and the second beam, the spatial phase difference φ between the first transmitting antenna and the second transmitting antenna is estimated. s For example, the spatial phase difference φ between the first transmitting antenna and the second transmitting antenna s The following conditions can be met:

[0125]

[0126] Among them, φ s represents the spatial phase difference between the first transmitting antenna and the second transmitting antenna, represents the directional angles of the first beam and the second beam (for example, if there is a certain deviation in the numerical values ​​of the directional angles of the first beam and the second beam, any value or the average value of the two directional angles can be taken here), λ represents the wavelength, d Tx represents the physical distance between the first transmitting antenna and the second transmitting antenna. For example, in the detection device, if the distance between the first transmitting antenna and the second transmitting antenna is 2 cm, then d Tx The value is 2 cm.

[0127] Finally, the detection device can determine the Doppler phase difference. For example, the Doppler phase difference can meet the following conditions:

[0128] φ d =φ-φ s

[0129] Among them, φ d represents the Doppler phase difference, φ represents the phase difference between the first beam and the second beam, φ s Represents the spatial phase difference between the first transmitting antenna and the second transmitting antenna.

[0130] For example, refer to Figure 5 , based on the above Figure 4 In the process shown, the first transmitting antenna is transmitting antenna 1, the second transmitting antenna is transmitting antenna 2, the first beam is beam 1, the second beam is beam 2, the first target is target 1, and the virtual subarray is the receiving subarray. Figure 4 The process of process.

[0131] like Figure 5 As shown, the detection device performs beamforming on the signal received by the receiving subarray corresponding to the transmitting antenna 1 to generate beam 1, and beam 1 points to the target 1. The detection device performs beamforming on the signal received by the receiving subarray corresponding to the transmitting antenna 2 to generate beam 2, and beam 2 points to the target 1. Optionally, the above beamforming can be implemented by fast Fourier transform (FFT).

[0132] Furthermore, after the signals received by the corresponding receiving subarrays of transmitting antenna 1 and transmitting antenna 2 are beamformed respectively, at target 1, the phase difference φ between beam 1 and beam 2 can be the Doppler phase difference φ caused by the movement of target 1 d and the spatial phase difference φ caused by transmitting antenna 1 and transmitting antenna 2 s The sum of

[0133] φ=φ d +φ s

[0134] Where, φ represents the phase difference between the first beam and the second beam, φ d represents the Doppler phase difference, φ s Represents the spatial phase difference between the first transmitting antenna and the second transmitting antenna.

[0135] The spatial phase difference between transmitting antenna 1 and transmitting antenna 2 is φ s It can be estimated by the pointing angles of beam 1 and beam 2, that is, Thus, the Doppler phase difference φ caused by the movement of target 1 can be calculated d =φ-φ s .

[0136] Example 2, above Figure 4The detection device in the process shown may include a first transmitting antenna, and the detection device may transmit a first signal and a second signal in time-sharing through the first transmitting antenna. The first signal reaches the target object and is reflected by the target object to form a reflected signal. The reflected signal corresponding to the first signal is received by the first virtual subarray. At this time, the signal received by the first virtual subarray is beamformed to generate a first beam. Similarly, the second signal may also reach the target object and be reflected by the target object to form a reflected signal. The reflected signal corresponding to the second signal is received by the first virtual subarray. At this time, the signal received by the first virtual subarray is beamformed to generate a second beam.

[0137] Since the first beam and the second beam correspond to the same transmitting antenna (i.e., the above-mentioned first transmitting antenna), there is no need to compensate for the spatial phase difference between the two antennas. The first spatial phase difference between the first beam and the second beam is the above-mentioned Doppler phase difference. For example, if the first spatial phase difference between the first beam and the second beam is measured to be 50 degrees, the Doppler phase difference is also 50 degrees. In the above example 1, since the first beam and the second beam correspond to different transmitting antennas, the first spatial phase difference between the first beam and the second beam may include the spatial phase difference between the two transmitting antennas in addition to the Doppler phase difference. Still using the above example, if the first spatial phase difference between the first beam and the second beam is measured to be 50 degrees, and the spatial phase difference between the two transmitting antennas is 30 degrees, the Doppler phase difference is the difference between the two, i.e., 20 degrees. Alternatively, the above process can also be described as: the detection device determines the first phase difference between the first beam and the second beam. The detection device determines the Doppler phase difference based on the first phase difference. Then, the detection device can determine the speed, angle or distance of the target object according to the Doppler phase difference. How the detection device determines the speed, angle or distance of the target object will be described in detail in the following embodiments. It should be noted that at least one of the first phase difference and the Doppler phase difference can also be an intermediate variable or parameter, and there is no need to determine at least one of the first phase difference and the Doppler phase difference separately, and finally determine the information of the target object.

[0138] A specific implementation of the above S402 may be: the detection device may determine a first phase difference between the first beam and the second beam; the detection device determines the Doppler phase difference according to the first phase difference between the first beam and the second beam. Figure 4 In the process shown, the following description may also be used: at least one first signal may correspond to the first transmitting antenna, and at least one second signal may correspond to the first transmitting antenna, or it may be described as: at least one first signal may correspond to the first virtual subarray, and at least one second signal may correspond to the first virtual subarray, wherein the first transmitting antenna corresponds to the first virtual subarray, etc.

[0139] like Figure 6 As shown above Figure 4 In the process shown, the first transmitting antenna is transmitting antenna 1, the first beam is beam 1, the second beam is beam 2, and the virtual subarray is the receiving subarray. Figure 4 The process of process.

[0140] Consider the possible array error between transmitting antenna 1 and transmitting antenna 2 (for example Figure 5 In this way, it is possible to consider transmitting antenna 1 repeatedly transmitting in different TDM groups. Figure 6 In , transmitting antenna 1 transmits in time-sharing mode in the Mth TDM group and the Pth TDM group. Optionally, the Mth TDM group and the Pth TDM group may be TDM groups that are adjacent in time. For example, the Mth TDM group is TDM group 1, the Pth TDM group is TDM group 2, and so on. Figure 6 In the example, the Mth TDM group is TDM group 1 and the Pth TDM group is TDM group 2.

[0141] For the two sets of received data, the signals received by the receiving subarray corresponding to transmit antenna 1 are beamformed twice to form beam 1 and beam 2. Since beam 1 and beam 2 correspond to the same transmit antenna, they are not affected by array errors. Beam 1 and beam 2 come from the same transmit antenna, and there is no need to compensate for the spatial phase difference φ caused by transmit antenna 1 and transmit antenna 2. s At this time, the phase difference φ between the first beam and the second beam is the Doppler phase difference.

[0142] From the above records, we can see that Figure 4 In the method of the process shown, the detection device can determine the Doppler phase difference. Further, the detection device can resolve the velocity ambiguity according to the Doppler phase difference. After resolving the velocity ambiguity, the detection device can determine the velocity, angle or distance of the first target. For ease of understanding, the following first explains the reasons for the velocity ambiguity.

[0143] Reference Figure 2 As shown in the figure, when the detection device uses FMCW waveform, its speed measurement range is determined by the interval time of the chirp signal between the antennas, and the maximum speed measurement range is [-v max ,v max For example, according to the detection requirements of the detection device, the speed measurement range of the detection device is [-200, 200] km / h, then -v max The value of is -200km / h, v max The value is 200km / h.

[0144] in,

[0145]

[0146] Where λ represents the wavelength of the FMCW signal, T r Represents the time interval between different chirp signals, or represents the period of a chirp signal, etc.

[0147] Reference Figure 7 As shown in the figure, when the transmitting antenna is divided into N TDM groups, the transmission between different TDM groups will be time-sharing, which will cause the delay of two chirps in the same group to become N times the original, that is, N*Tr. At this time, the maximum speed measurement range of TMD FMCW will be reduced to 1 / N, and the maximum fuzzy speed is

[0148]

[0149] Among them, v max Represents the maximum detection range of the detection device, T r represents the time interval between different chirp signals, or represents the period of the chirp signal, N represents the number of TDM groups of transmitting antennas in the detection device, and λ represents the signal wavelength.

[0150] In addition, if Figure 8 As shown in the figure, the target movement and time-sharing transmission will cause the transmitting antenna corresponding to the kth TDM group to produce a Doppler phase difference of 2πf relative to the transmitting antenna of the first TDM group. d T r (k-1),k=1,…,N.

[0151] Among them, f d represents the Doppler shift, T r represents the time interval between different chirp signals, or represents the period of the chirp signal, and k is the order in which the TDM groups are transmitted.

[0152] And in Figure 8 The phase difference between adjacent transmitting antennas is The phase difference contains both spatial angle information and velocity information, which results in the problem of angle-velocity coupling.

[0153] Where θ represents the angle of the target object, φ represents the spatial phase difference between the first transmitting antenna and the second transmitting antenna, and d Tx represents the physical distance between the first transmitting antenna and the second transmitting antenna, λ represents the wavelength of the signal, and f d represents the actual Doppler shift, T r represents the transmission period of a chirp signal, or represents the time interval between adjacent chirp signals.

[0154] In order to solve the problem of TDM-MIMO speed and angle coupling, that is, to eliminate the influence of Doppler frequency shift on angle estimation, it is necessary to estimate the real Doppler frequency shift.

[0155] Among them, f d represents the actual Doppler shift, λ represents the wavelength of the signal, and v represents the velocity of the target object.

[0156] After 2D-FFT, the Doppler frequency shift f is obtained. damb may be blurred. The phase ambiguity factor is defined as the velocity ambiguity coefficient ξ, i.e.

[0157] Among them, f d represents the actual Doppler shift, f damb represents the Doppler frequency shift after 2D-FFT, ξ represents the velocity ambiguity coefficient, N represents the number of TDM groups of transmitting antennas in the detection device, T r represents the time interval between different chirp signals, or represents the period of the chirp signal. Since TDM reduces the fuzziness rate by N times, To understand the velocity / angle coupling, simply restore the blur velocity to the maximum blur velocity of a single chirp Therefore, the fuzzy system has N possible values. In the implementation of this application, N=3 is set, and ξ has three possible values ​​ξ=[-101], that is, the speed range corresponding to a single chirp is v∈[-3v max ,3v max ]. During design, the maximum ambiguity velocity corresponding to a single chirp is usually made to meet certain system requirements. TDM-MIMO velocity resolution is to find the correct one among the three possible ξs.

[0158] In the following embodiments, it will be specifically described how to resolve speed ambiguity for the above-mentioned examples 1 and 2, and how the detection device determines information such as the speed, angle or distance of the target object after resolving the speed ambiguity.

[0159] For the above example 1, after the detection device determines the Doppler phase difference, the detection device can determine the velocity ambiguity coefficient according to the Doppler phase difference. For example, when the detection device resolves the TDM velocity ambiguity, the velocity ambiguity coefficient can meet the following conditions:

[0160]

[0161] Among them, ξ represents the velocity ambiguity coefficient, φ d represents the Doppler phase difference, f dambrepresents the Doppler frequency shift after 2D-FFT, k represents the TDM group identifier corresponding to the first transmitting antenna, l represents the TDM group identifier corresponding to the second transmitting antenna, T r represents the transmission period of a chirp signal, or represents the time interval between adjacent chirp signals, and N represents the number of TDM groups of transmitting antennas in the detection device.

[0162] Afterwards, the detection device can determine the Doppler frequency shift based on the velocity ambiguity coefficient. At this time, the Doppler frequency shift is real and is different from the Doppler frequency shift f obtained after the above 2D-FFT. damb Different, the Doppler frequency shift f obtained after 2D-FFT damb It may be ambiguous or inaccurate. For example, the Doppler shift determined by the detection device may meet the following conditions:

[0163]

[0164] Among them, f d represents the actual Doppler shift, f damb represents the Doppler frequency shift after 2D-FFT ambiguity, ξ represents the velocity ambiguity coefficient, N represents the number of TDM groups of transmitting antennas in the detection device, T r represents the transmission period of a chirp signal, or represents the time interval between adjacent chirp signals.

[0165] Afterwards, the detection device can determine the speed of the target object based on the actual Doppler shift determined above. For example, the speed of the target object meets the following conditions:

[0166]

[0167] Among them, f d represents the actual Doppler shift, λ represents the wavelength of the chirp signal, and v represents the velocity of the target object.

[0168] And / or, the detection device may also determine the angle of the target object according to the actual Doppler shift determined above, for example, the angle of the target object satisfies the following conditions:

[0169]

[0170] Where θ represents the angle of the target object, φ represents the spatial phase difference between the first transmitting antenna and the second transmitting antenna, and d Tx represents the physical distance between the first transmitting antenna and the second transmitting antenna, λ represents the wavelength of the chirp signal, and f d represents the actual Doppler shift, T rrepresents the transmission period of a chirp signal, or represents the time interval between adjacent chirp signals.

[0171] In the above example 1, since the transmitting antennas corresponding to the two TDM groups have phase differences in space, So the Doppler phase difference

[0172] Where φ represents the spatial phase difference between the first beam and the second beam, φ d represents the Doppler phase difference, φ represents the phase difference between adjacent transmitting antennas, and f damb represents the fuzzy Doppler shift after 2D-FFT, T r represents the transmission period of the chirp signal, or represents the time interval between adjacent chirp signals, ξ represents the speed ambiguity coefficient, N represents the number of TDM groups of the transmitting antenna in the detection device, k represents the TDM group identifier of the first transmission signal when the first transmitting antenna transmits in time-sharing mode, l represents the TDM group identifier of the second transmission signal when the first transmitting antenna transmits in time-sharing mode; θ represents the angle of the target object, d Tx represents the physical distance between the first transmitting antenna and the second transmitting antenna, and λ represents the wavelength of the chirp signal.

[0173] In the above example 2, the Mth TDM group and the Pth TDM group are sent from the same antenna, and the virtual subarrays of the two transmissions are at the same position in space (equivalent to virtualizing multiple overlapping array elements, and virtual subarray 1 overlaps virtual subarray 2). Therefore, at this time, the phase difference φ between beam 1 and beam 2 only includes the Doppler phase difference φ d , without including the spatial phase difference, that is, φ = φ d Therefore, in Example 2, the phase difference between the first beam and the second beam is:

[0174]

[0175] Where φ represents the spatial phase difference between the first beam and the second beam, φ d represents the Doppler phase difference, f damb represents the fuzzy Doppler shift after 2D-FFT, T r represents the transmission period of the chirp signal, or represents the time interval between adjacent chirp signals, ξ represents the speed ambiguity coefficient, N represents the number of TDM groups of the transmitting antenna in the detection device, m represents the TDM group identifier of the first transmitted signal when the first transmitting antenna is transmitting in time-sharing mode, and p represents the TDM group identifier of the second transmitted signal when the first transmitting antenna is transmitting in time-sharing mode.

[0176] In the above example 2, the detection device can determine the velocity ambiguity coefficient based on the Doppler phase difference. For example, the velocity ambiguity coefficient can meet the following conditions:

[0177]

[0178] Where ξ represents the velocity ambiguity coefficient, φ represents the spatial phase difference between the first beam and the second beam, or represents the Doppler phase difference (in this case, the Doppler phase difference is equal to the spatial phase difference between the first beam and the second beam), and f damb represents the fuzzy Doppler shift after 2D-FFT, T r represents the transmission period of the chirp signal, or represents the time interval between adjacent chirp signals, N represents the number of TDM groups of the transmitting antenna in the detection device, m represents the TDM group identifier of the first transmitted signal when the first transmitting antenna is transmitting in time-sharing mode, and p represents the TDM group identifier of the second transmitted signal when the first transmitting antenna is transmitting in time-sharing mode.

[0179] Afterwards, the detection device can determine the real Doppler frequency shift according to the velocity ambiguity coefficient. The detection device can determine the velocity and / or angle of the target object according to the real Doppler frequency shift. The specific process can be referred to the above record, which will not be repeated here.

[0180] In Example 2, the two TDM groups use the same antenna for transmission, which can effectively reduce the impact of array, antenna and other errors on the TDM-MIMO speed ambiguity resolution performance.

[0181] For example, Figure 4 The process shown is as follows Fig. 9As shown, the present application also provides a signal processing flow: the receiving end of the detection device receives signals using M groups of virtual sub-arrays, and each group of virtual sub-arrays includes one or more virtual array elements. Optionally, the detection device determines M TDM groups of the transmitting antenna, and different TDM groups transmit in time. The signals transmitted by different TDM groups are reflected by the target to form reflected signals. The receiving end of the detection device can use M groups of virtual sub-arrays to receive the signals corresponding to the above-mentioned M TDM groups. Then, a two-dimensional fast Fourier transform (2D-FFT) is performed on the signals received by each group of virtual sub-arrays. The data after 2D-FFT of each group of virtual sub-arrays is subjected to incoherent accumulation and constant false alarm rate (CFAR) detection to obtain multiple detected targets. Possible target position and speed information are obtained. At the detected target position, the signals received by each group of virtual sub-arrays are beamformed to find the estimated position of the target angle, compensate the phase difference caused by the spatial angle between the two beams, calculate the phase difference caused by Doppler, and use the phase difference caused by Doppler to calculate the velocity ambiguity coefficient, thereby resolving the velocity ambiguity.

[0182] In the embodiment of the present application, TDM-MIMO speed ambiguity resolution does not require overlapping array elements, is less affected by array errors, can accumulate more signal-to-noise ratios, and thus achieve better ambiguity resolution performance. At the same time, through beamforming, mutual interference between different speed ambiguous targets at the same distance speed unit is filtered out, thereby enhancing the probability of successful speed ambiguity resolution.

[0183] It is understandable that, in each of the above-mentioned method embodiments, the method and operation implemented by the detection device can also be implemented by a part of the detection device (such as a chip or a circuit). In the above-mentioned method embodiments, the method provided by the embodiment of the present application is introduced from the perspective of the detection device. In order to realize the various functions in the method provided by the above-mentioned embodiment of the present application, the detection device may include a hardware structure and / or a software unit, and the above-mentioned functions are realized in the form of a hardware structure, a software unit, or a hardware structure plus a software unit. Whether a certain function of the above-mentioned functions is executed in the form of a hardware structure, a software unit, or a hardware structure plus a software unit depends on the specific application and design constraints of the technical solution.

[0184] Above, combined Figures 1 to 9 The method provided in the embodiment of the present application is described in detail. Fig.10 and Fig.11 The device provided in the embodiment of the present application is described in detail. It should be understood that the description of the device embodiment corresponds to the description of the method embodiment. Therefore, the content not described in detail can refer to the description in the method embodiment above.

[0185] Fig.10 It is a schematic block diagram of the device 1000 provided in an embodiment of the present application, which is used to implement the function of the detection device in the above method. For example, the device can be a software module or a chip system. The chip system can be composed of chips, and can also include chips and other discrete devices. The device 1000 may include a communication unit 1001, and may also include a processing unit 1002. The communication unit 1001 can communicate with the outside. The processing unit 1002 is used for processing. The communication unit 1001 can also be called a communication interface, a transceiver unit, or an input / output interface, etc. For example, the communication unit 1001 may include a sending unit and / or a receiving unit, etc., for executing the above Figure 4 The sending or receiving step of the detection device in the process.

[0186] In one example, the apparatus 1000 may implement the above Figure 4 In the steps performed by the detection device in the process shown, the device 1000 may be a vehicle-mounted terminal, or a chip or circuit configured in the vehicle-mounted terminal. Alternatively, the device 1000 may be a radar, or a chip or circuit configured in the radar, and the radar may be a millimeter wave radar, etc. Alternatively, the device 1000 may be a vehicle-mounted central processing unit, or a chip or circuit configured in the vehicle central processing unit, etc. Alternatively, the device 1000 may be a smart cockpit domain controller (CDC), or a chip or circuit configured in the CDC, etc.

[0187] The communication unit 1001 is used to execute the sending and receiving related operations of the detection device in the above method embodiment, and the processing unit 1002 is used to execute the processing related operations of the detection device in the above method embodiment.

[0188] For example, the communication unit 1001 is used to receive at least one first signal corresponding to the first transmitting antenna. The processing unit 1002 is used to perform beamforming processing on the at least one first signal to generate a first beam, and determine the information of the first target according to the phase of the first beam and the phase of the second beam. The second beam corresponds to at least one second signal received by the detection device, and there is a first time difference between the first beam and the second beam.

[0189] Optionally, the second beam is generated after performing beamforming processing on at least one second signal.

[0190] Optionally, when the processing unit 1002 determines the information of the first target based on the phase of the first beam and the phase of the second beam, it is specifically used to: determine the Doppler phase difference based on the phase of the first beam and the phase of the second beam; determine the information of the first target based on the Doppler phase difference.

[0191] Optionally, at least one second signal corresponds to a second transmitting antenna. When determining the Doppler phase difference according to the phase of the first beam and the phase of the second beam, the processing unit 1002 is specifically configured to: determine the first phase difference according to the phase of the first beam and the phase of the second beam; determine the second phase difference according to the phase of the first transmitting antenna and the phase of the second transmitting antenna; and determine the Doppler phase difference according to the first phase difference and the second phase difference.

[0192] Optionally, at least one first signal corresponds to a first virtual sub-array, and at least one second signal corresponds to a second virtual sub-array.

[0193] Optionally, at least one second signal corresponds to the first transmitting antenna, and when the processing unit 1002 determines the Doppler phase difference based on the phase of the first beam and the phase of the second beam, it is specifically used to: determine the first phase difference based on the phase of the first beam and the phase of the second beam; determine the Doppler phase difference based on the first phase difference.

[0194] Optionally, at least one first signal and at least one second signal both correspond to a first virtual sub-array.

[0195] Optionally, the first pointing angle of the first beam and the second pointing angle of the second beam indicate a first target, and / or the angle difference between the first pointing angle of the first beam and the second pointing angle of the second beam is less than or equal to a first threshold, and / or the difference between the energy of the first beam and the energy of the second beam is less than or equal to a second threshold.

[0196] Optionally, the information of the first target includes at least one of an angle, a speed or a distance of the first target.

[0197] Optionally, the first time difference is the time difference between different TDM groups.

[0198] The division of units in the embodiments of the present application is schematic and is only a logical function division. There may be other division methods in actual implementation. In addition, in the embodiments of the present application, each functional unit may be integrated into a processor, or may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated units may be implemented in the form of hardware or in the form of software functional units.

[0199] It is understandable that the functions of the communication unit in the above embodiment can be implemented by a transceiver, and the functions of the processing unit can be implemented by a processor. The transceiver may include a transmitter and / or a receiver, etc., which are respectively used to implement the functions of the sending unit and / or the receiving unit. Fig.11 Let me explain this with an example.

[0200] Fig.11is a schematic block diagram of a device 1100 provided in an embodiment of the present application, Fig.11 The device 1100 shown may be Fig.10 A hardware circuit implementation of the device shown in FIG. Figure 4 In the process shown, the function of the detection device in the above method embodiment is performed. For the convenience of explanation, Fig.11 Only the main components of the device are shown.

[0201] Fig.11 The device 1100 shown includes at least one processor 1101. The device 1100 may also include at least one memory 1102 for storing program instructions and / or data. The memory 1102 is coupled to the processor 1101. The coupling in the embodiment of the present application is an interval coupling or communication connection between devices, units or modules, which can be electrical, mechanical or other forms, and is used for information exchange between devices, units or modules. The processor 1101 can operate in conjunction with the memory 1102, and the processor 1101 can execute program instructions stored in the memory 1102, and at least one of the at least one memory 1102 can be included in the processor 1101.

[0202] The device 1100 may also include a communication interface 1103 for communicating with other devices via a transmission medium, so that the device 1100 can communicate with other devices. In an embodiment of the present application, the communication interface may be a transceiver, a circuit, a bus, a module, or other types of communication interfaces. In an embodiment of the present application, when the communication interface is a transceiver, the transceiver may include an independent receiver, an independent transmitter; or a transceiver with integrated transceiver functions, or an interface circuit. Optionally, the communication interface may be an antenna, and the antenna includes at least one receiving antenna and at least one transmitting antenna.

[0203] It should be understood that the connection medium between the processor 1101, the memory 1102 and the communication interface 1103 is not limited in the embodiment of the present application. Fig.11 In the embodiment, the memory 1102, the processor 1101 and the communication interface 1103 are connected via a communication bus 1104. Fig.11 The connections between other components are shown in bold lines, which are only schematic and not limiting. The bus may include an address bus, a data bus, a control bus, etc. For ease of representation, Fig.11 Only one thick line is used in the diagram, but this does not mean that there is only one bus or one type of bus.

[0204] In one example, the apparatus 1100 is used to implement the above Figure 4The steps performed by the detection device in the process shown are as follows: The communication interface is used to perform the transceiver-related operations of the detection device in the above method embodiment, and the processor is used to perform the processing-related operations of the detection device in the above method embodiment.

[0205] The communication interface 1103 is used to receive at least one first signal corresponding to the first transmitting antenna. The processor 1101 is used to perform beamforming processing on the at least one first signal to generate a first beam, and determine the information of the first target according to the phase of the first beam and the phase of the second beam; wherein the second beam corresponds to at least one second signal received by the detection device, and there is a first time difference between the first beam and the second beam.

[0206] Optionally, the second beam is generated after performing beamforming processing on the at least one second signal.

[0207] Optionally, when the processor 1101 determines the information of the first target based on the phase of the first beam and the phase of the second beam, it is specifically used to: determine the Doppler phase difference based on the phase of the first beam and the phase of the second beam; and determine the information of the first target based on the Doppler phase difference.

[0208] Optionally, the at least one second signal corresponds to a second transmitting antenna, and the processor 1101, when determining the Doppler phase difference according to the phase of the first beam and the phase of the second beam, is specifically configured to:

[0209] A first phase difference is determined according to a phase of the first beam and a phase of the second beam; a second phase difference is determined according to a phase of the first transmitting antenna and a phase of the second transmitting antenna; and the Doppler phase difference is determined according to the first phase difference and the second phase difference.

[0210] Optionally, the at least one first signal corresponds to a first virtual sub-array, and the at least one second signal corresponds to a second virtual sub-array.

[0211] Optionally, the at least one second signal corresponds to the first transmitting antenna, and when the processor 1101 determines the Doppler phase difference based on the phase of the first beam and the phase of the second beam, it is specifically used to: determine the first phase difference based on the phase of the first beam and the phase of the second beam; determine the Doppler phase difference based on the first phase difference.

[0212] Optionally, the at least one first signal and the at least one second signal both correspond to a first virtual sub-array.

[0213] Optionally, the first pointing angle of the first beam and the second pointing angle of the second beam indicate the first target, and / or the angle difference between the first pointing angle of the first beam and the second pointing angle of the second beam is less than or equal to a first threshold, and / or the difference between the energy of the first beam and the energy of the second beam is less than or equal to a second threshold.

[0214] Optionally, the information of the first target includes at least one of an angle, a speed or a distance of the first target.

[0215] Optionally, the first time difference is the time difference between different TDM groups.

[0216] Furthermore, in an embodiment of the present application, a device is also provided, including a method for implementing the above Figure 4 Alternatively, the device comprises a processor and an interface circuit, wherein the processor is used to communicate with other devices through the interface circuit and perform the above Figure 4 Alternatively, the device includes a processor for calling a program stored in a memory to execute the above Figure 4 A readable storage medium is also provided, including instructions, which, when executed on a computer, causes the computer to execute the above Figure 4 A chip system is also provided, the chip system includes a processor and a memory for implementing the above Figure 4 The chip system may be composed of a chip, or may include a chip and other discrete devices. A computer program product is also provided, including instructions, which, when executed on a computer, causes the computer to execute the above Figure 4 Design method.

[0217] The present application also provides a sensor, which includes the above Fig.10 or Fig.11 In the device, the sensor is a radar, such as a millimeter wave radar.

[0218] The present application also provides a sensor system, including at least one sensor, which may include the above-mentioned Fig.10 or Fig.11 Furthermore, the at least one sensor comprises at least one radar, such as a millimeter wave radar.

[0219] The present application also provides a vehicle. In one design, the vehicle includes at least one sensor, which may include the above-mentioned Fig.10 or Fig.11 The device described. Fig.10 or Fig.11 The specific implementation process of the device can be found in the above Fig.10 or Fig.11 In another design, the vehicle includes the above Fig.10 or Fig.11 The device may be independently configured, or integrated into at least one sensor included in the vehicle, or integrated into an intelligent cockpit domain controller (CDC) or an on-board central processing unit included in the vehicle.

[0220] In the embodiments of the present application, the processor may be a general-purpose processor, a digital signal processor, an application-specific integrated circuit, a field programmable gate array or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component, and may implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor may be a microprocessor or any conventional processor, etc. The steps of the method disclosed in the embodiments of the present application may be directly embodied as being executed by a hardware processor, or may be executed by a combination of hardware and software modules in the processor.

[0221] In the embodiment of the present application, the memory may be a non-volatile memory, such as a hard disk drive (HDD) or a solid-state drive (SSD), etc., or a volatile memory (volatile memory), such as a random access memory (RAM). The memory is any other medium that can be used to carry or store a desired program code in the form of an instruction or data structure and can be accessed by a computer, but is not limited thereto. The memory in the embodiment of the present application may also be a circuit or any other device that can implement a storage function, for storing program instructions and / or data.

[0222] In the method provided in the embodiment of the present application, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present invention is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, a network device, a user device or other programmable device. The computer instructions may 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 may be transmitted from a website site, a computer, a server or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or a data center that includes one or more available media integrated. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a digital video disc (DVD)), or a semiconductor medium (eg, an SSD), etc.

[0223] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the 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 processing method, characterized in that: include: The detection device receives at least one first signal corresponding to the first transmitting antenna; The detection device performs beamforming processing on the at least one first signal to generate a first beam; The detection device determines information of the first target according to the phase of the first beam and the phase of the second beam; Wherein, the second beam corresponds to at least one second signal received by the detection device, and there is a first time difference between the first beam and the second beam; The detection device determines information of the first target according to the phase of the first beam and the phase of the second beam, including: The detection device determines a Doppler phase difference based on the phase of the first beam and the phase of the second beam; The detection device determines the information of the first target according to the Doppler phase difference; The first pointing angle of the first beam and the second pointing angle of the second beam indicate the first target, and / or, An angular difference between a first directional angle of the first beam and a second directional angle of the second beam is less than or equal to a first threshold, and / or a difference between energy of the first beam and energy of the second beam is less than or equal to a second threshold.

2. The method according to claim 1, characterized in that The second beam is generated after beamforming processing is performed on the at least one second signal.

3. The method according to claim 1, characterized in that The at least one second signal corresponds to a second transmitting antenna, and the detection device determines a Doppler phase difference according to a phase of the first beam and a phase of the second beam, including: The detection device determines a first phase difference according to the phase of the first beam and the phase of the second beam; The detection device determines a second phase difference according to the phase of the first transmitting antenna and the phase of the second transmitting antenna; The detection device determines the Doppler phase difference according to the first phase difference and the second phase difference.

4. The method according to claim 3, characterized in that The at least one first signal corresponds to a first virtual sub-array, and the at least one second signal corresponds to a second virtual sub-array.

5. The method according to claim 1, characterized in that The at least one second signal corresponds to the first transmitting antenna, and the detection device determines the Doppler phase difference according to the phase of the first beam and the phase of the second beam, including: The detection device determines a first phase difference according to the phase of the first beam and the phase of the second beam; The detection device determines the Doppler phase difference according to the first phase difference.

6. The method according to claim 5, characterized in that The at least one first signal and the at least one second signal correspond to a first virtual sub-array.

7. The method according to any one of claims 1 to 6, characterized in that: The information of the first target includes at least one of an angle, a speed or a distance of the first target.

8. The method according to any one of claims 1 to 6, characterized in that The first time difference is the time difference between different time division multiplexing TDM groups.

9. A device, characterized in that: include: A communication unit, configured to receive at least one first signal corresponding to a first transmitting antenna; a processing unit, configured to perform beamforming processing on the at least one first signal to generate a first beam; The processing unit is further used to determine information of the first target according to the phase of the first beam and the phase of the second beam; Wherein, the second beam corresponds to at least one second signal received by the detection device, and there is a first time difference between the first beam and the second beam; When the processing unit determines the information of the first target according to the phase of the first beam and the phase of the second beam, it is specifically used to: Determining a Doppler phase difference according to a phase of the first beam and a phase of the second beam; Determining information of the first target according to the Doppler phase difference; The first pointing angle of the first beam and the second pointing angle of the second beam indicate the first target, and / or, An angular difference between a first directional angle of the first beam and a second directional angle of the second beam is less than or equal to a first threshold, and / or a difference between energy of the first beam and energy of the second beam is less than or equal to a second threshold.

10. The device according to claim 9, characterized in that The second beam is generated after performing beamforming processing on the at least one second signal.

11. The device according to claim 9, characterized in that The at least one second signal corresponds to a second transmitting antenna, and the processing unit, when determining the Doppler phase difference according to the phase of the first beam and the phase of the second beam, is specifically configured to: Determining a first phase difference according to a phase of the first beam and a phase of the second beam; Determining a second phase difference according to a phase of the first transmitting antenna and a phase of the second transmitting antenna; The Doppler phase difference is determined according to the first phase difference and the second phase difference.

12. The device according to claim 11, characterized in that The at least one first signal corresponds to a first virtual sub-array, and the at least one second signal corresponds to a second virtual sub-array.

13. The device according to claim 9, characterized in that The at least one second signal corresponds to the first transmitting antenna, and the processing unit, when determining the Doppler phase difference according to the phase of the first beam and the phase of the second beam, is specifically configured to: Determining a first phase difference according to a phase of the first beam and a phase of the second beam; The Doppler phase difference is determined according to the first phase difference.

14. The device according to claim 13, characterized in that The at least one first signal and the at least one second signal correspond to a first virtual sub-array.

15. The device according to any one of claims 9 to 14, characterized in that The information of the first target includes at least one of an angle, a speed or a distance of the first target.

16. The device according to any one of claims 9 to 14, characterized in that The first time difference is the time difference between different time division multiplexing TDM groups.

17. A device, characterized in that: The device comprises at least one processor and at least one memory, wherein the at least one memory stores instructions, and when the at least one processor executes the instructions, the device executes the method according to any one of claims 1 to 8.

18. A computer-readable storage medium, characterized in that: The method comprises instructions which, when executed on a computer, cause the computer to execute the method according to any one of claims 1 to 8.

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