Signal processing method and device

Abstract

The present application provides a signal processing method and device, which can ensure the orthogonality between detection signals transmitted by different transmitting antennas, thereby improving the angular resolution of target detection. The method includes: determining and sending a first sequence set. Among them, the first sequence set includes at least one first sequence, and at least one first sequence is an orthogonal sequence after fast time dimension coding and slow time dimension coding. Then, the reflection signal of the first sequence set is received, and one or more of the distance, speed, and azimuth of the detection target are determined according to the reflection signal.

Description

Technical Field

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

[0002] The radar system can determine the distance, speed, direction and other information of the target based on the comparison results of the radar transmission signal and the target reflection signal. Among them, the radar transmission signal can be implemented by using multiple fast time dimension (fast time) code division multiplexing (code division multiplexing, CDM) sequences, or it can be implemented by using multiple slow time dimension (slow time) CDM sequences to modulate an original transmission sequence respectively. Among them, the number of fast time dimension sequences and the number of slow time dimension sequences are both the number of transmitting antennas. In order to avoid crosstalk, the above-mentioned multiple fast time dimension CDM sequences or multiple slow time dimension CDM sequences can be orthogonal sequences.

[0003] However, for the above-mentioned fast-time dimension CDM sequence scheme, all fast-time dimension CDM sequences need to perform matched filtering operations with a filter length equal to the sequence length to distinguish target signals at different distances. When the number of transmitting antennas is large and / or the sequence length is long, the amount of matched filtering operations also increases significantly, resulting in high technical complexity and cost of the radar system. For the above-mentioned slow-time dimension CDM sequence scheme, although only one matched filtering operation can be performed, when the target moves at high speed and / or the number of transmitting antennas is large, the orthogonality between multiple slow-time dimension CDM sequences deteriorates, resulting in a decrease in the effective detection distance and / or effective detection speed of the radar system, that is, the detection performance of the radar system deteriorates. Summary of the invention

[0004] The embodiments of the present application provide a signal processing method and device, which can ensure the orthogonality between the transmission signals of different transmitting antennas, thereby improving the angular resolution of target detection.

[0005] In order to achieve the above objectives, this application adopts the following technical solutions:

[0006] In a first aspect, a signal processing method is provided. The method includes: determining a first sequence set. The first sequence set includes at least one first sequence, and the at least one first sequence is an orthogonal sequence after fast time dimension coding and slow time dimension coding. Then, the first sequence set is sent.

[0007] Based on the signal processing method described in the first aspect, the detection signal can be transmitted using an orthogonal sequence after fast time dimension coding and slow time dimension coding. On the one hand, compared with a single slow time dimension coding scheme, the signal processing method described in the first aspect can use a smaller number of slow time dimension sequences to avoid the problem of decreased orthogonality between a large number of slow time dimension sequences when the detection target moves at high speed, and can ensure the orthogonality between the detection signals transmitted by different transmitting antennas, thereby improving the angular resolution of target detection. On the other hand, compared with a single fast time dimension coding scheme, the signal processing method described in the first aspect can reduce the number of fast time dimension sequences to reduce the workload of the receiving end, such as reducing the number of matched filtering or correlation operations for the fast time dimension sequence. In this way, the receiving end can set a smaller number of matched filters or correlators, thereby reducing the technical complexity and hardware cost of the signal processing device.

[0008] In a possible design solution, the signal processing method described in the first aspect may further include: determining M1 fast time dimension sequences. Then, determining a second sequence set. The second sequence set may include M a The first sequence; M a The first sequence can be a sequence obtained by using M2 slow time dimension sequences to encode M1 fast time dimension sequences in the slow time dimension. a =M1*M2, and M a Greater than or equal to M, where M is the number of transmitting antennas.

[0009] Optionally, the determining of the first sequence set may include: a The first sequence set may include M first sequences.

[0010] In a possible design solution, the signal processing method described in the first aspect may further include: determining the number of fast time dimension sequences according to the number of transmitting antennas and the number of slow time dimension sequences. To round up.

[0011] Optionally, the determining of the second sequence set may include: if the encoding method of the M1 fast time dimension sequences is the same as the encoding method of the M2 slow time dimension sequences, then a The first sequences may be Kronecker products of M1 fast time dimension sequences and M2 slow time dimension sequences.

[0012] In a possible design solution, the signal processing method described in the first aspect may further include: determining the number of first sequences included in the second sequence set according to the maximum detection distance and the maximum detection speed. Among them, M ais the number of the first sequence contained in the second sequence set, c is the propagation speed of electromagnetic waves, f c is the carrier frequency, T c is the code element width, V max is the maximum detection speed, R max is the maximum detection distance, R d is the distance resolution, To round down, To round up.

[0013] Optionally, the sequence set obtained by fast time dimension coding includes M1 first orthogonal sequences, the M1 first orthogonal sequences are sequences with zero periodic mutual correlation values ​​within an effective delay, and the effective delay is less than or equal to the delay corresponding to the sequence length of the M1 first orthogonal sequences. Correspondingly, the sequence set obtained by slow time dimension coding includes M2 second orthogonal sequences, the M2 second orthogonal sequences are Hadamard sequences or multi-carrier orthogonal sequences with zero periodic mutual correlation values ​​of zero in zero delay.

[0014] In a second aspect, a signal processing device is provided. The signal processing device includes: a processing module and a transceiver module. The processing module is used to determine a first sequence set. The first sequence set includes at least one first sequence, and at least one first sequence is an orthogonal sequence after fast time dimension coding and slow time dimension coding. The transceiver module is used to send the first sequence set.

[0015] In a possible design, the processing module is further configured to determine M1 fast time dimension sequences and determine a second sequence set. The second sequence set may include M a The first sequence; M a The first sequence can be a sequence obtained by using M2 slow time dimension sequences to encode M1 fast time dimension sequences in the slow time dimension. a =M1*M2, and M a Greater than or equal to M, where M is the number of transmitting antennas.

[0016] In another possible design, the processing module is further configured to: a The first sequences may determine a first sequence set; the first sequence set may include M first sequences.

[0017] Optionally, the processing module is further configured to determine the number of fast time dimension sequences according to the number of transmitting antennas and the number of slow time dimension sequences. To round up.

[0018] Optionally, if the encoding method of the M1 fast time dimension sequences is the same as the encoding method of the M2 slow time dimension sequences, then M aThe first sequences may be Kronecker products of M1 fast time dimension sequences and M2 slow time dimension sequences.

[0019] In a possible design solution, the processing module is further configured to determine the number of first sequences included in the second sequence set according to the maximum detection distance and the maximum detection speed. M a is the number of the first sequence contained in the second sequence set, c is the propagation speed of electromagnetic waves, f c is the carrier frequency, T c is the code element width, V max is the maximum detection speed, R max is the maximum detection distance, R d is the distance resolution, To round down, To round up.

[0020] Optionally, the sequence set obtained by fast time dimension coding includes M1 first orthogonal sequences, the M1 first orthogonal sequences are sequences with zero periodic mutual correlation values ​​within an effective delay, and the effective delay is less than or equal to the delay corresponding to the sequence length of the M1 first orthogonal sequences. Correspondingly, the sequence set obtained by slow time dimension coding includes M2 second orthogonal sequences, the M2 second orthogonal sequences are Hadamard sequences or multi-carrier orthogonal sequences with zero periodic mutual correlation values ​​of zero in zero delay.

[0021] Optionally, the signal processing device described in the second aspect may further include a storage module, wherein the storage module stores a program or instruction. When the processing module executes the program or instruction, the signal processing device described in the second aspect may execute the signal processing method described in the first aspect.

[0022] It should be noted that the signal processing device described in the second aspect can be a vehicle-mounted radar, a vehicle-mounted controller coupled to a vehicle-mounted radar, a vehicle with a vehicle-mounted radar function and / or a vehicle-mounted controller function, or a chip (system) or other parts or components that can be set in a vehicle-mounted radar and / or a vehicle-mounted controller. This application does not limit this.

[0023] In addition, the technical effects of the signal processing device described in the second aspect can refer to the technical effects of the signal processing method described in the first aspect, and will not be repeated here.

[0024] In a third aspect, a signal processing device is provided. The signal processing device includes: a processor, the processor is coupled to a memory, and the memory is used to store a computer program; the processor is used to execute the computer program stored in the memory, so that the signal processing device performs the signal processing method as described in any possible implementation of the first aspect.

[0025] In a possible design, the signal processing device described in the third aspect may further include a transceiver. The transceiver may be a transceiver circuit or an input / output port.

[0026] In the present application, the signal processing device described in the third aspect may be a vehicle-mounted radar, a vehicle equipped with the vehicle-mounted radar, or a chip (system) or other parts or components that can be set in the vehicle-mounted radar, and the present application does not limit this.

[0027] In addition, the technical effects of the signal processing device described in the third aspect can refer to the technical effects of the signal processing method described in any implementation method of the first aspect, and will not be repeated here.

[0028] In a fourth aspect, a chip system is provided, which includes a processor and an input / output port, wherein the processor is used to implement the processing function involved in the first aspect, and the input / output port is used to implement the transceiver function involved in the first aspect.

[0029] In one possible design, the chip system also includes a memory, which is used to store program instructions and data for implementing the functions involved in the first aspect.

[0030] The chip system may be composed of chips, or may include chips and other discrete devices.

[0031] In a fifth aspect, a detection system is provided, which includes the signal processing device described in the second aspect or the third aspect.

[0032] In a sixth aspect, a computer-readable storage medium is provided, comprising: a computer program or instructions; when the computer program or instructions are executed on a computer, the computer executes the signal processing method as described in any possible implementation manner in the first aspect.

[0033] In a seventh aspect, a computer program product is provided, comprising a computer program or instructions, which, when executed on a computer, enables the computer to execute the signal processing method as described in any possible implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 A schematic diagram of the architecture of a detection system provided in an embodiment of the present application;

[0035] Figure 2 A schematic diagram of the structure of the signal processing device provided in the embodiment of the present application Figure 1 ;

[0036] Figure 3 A flowchart of a signal processing method provided in an embodiment of the present application;

[0037] Figure 4 A schematic diagram of a signal transmission and reception process according to an embodiment of the present application;

[0038] Figure 5 A schematic diagram of the structure of the signal modulation transmission provided in the embodiment of the present application Figure 1 ;

[0039] Figure 6 A schematic diagram of the structure of the signal modulation transmission provided in the embodiment of the present application Figure 2 ;

[0040] Figure 7 A schematic diagram of the structure of the signal processing device provided in the embodiment of the present application Figure 2 . DETAILED DESCRIPTION

[0041] The technical solution in this application will be described below in conjunction with the accompanying drawings.

[0042] The technical solutions of the embodiments of the present application can be applied to various detection systems, such as vehicle-mounted radar systems, airborne radar systems, satellite-mounted radar systems, ship-mounted radar systems, missile-mounted radar systems, ground-based radar systems, radar stations, etc.

[0043] The present application will present various aspects, embodiments or features around a system that may include multiple devices, components, modules, etc. It should be understood and appreciated that each system may include additional devices, components, modules, etc., and / or may not include all of the devices, components, modules, etc. discussed in conjunction with the figures. In addition, combinations of these schemes may also be used.

[0044] In addition, in the embodiments of the present application, words such as "exemplarily" and "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "exemplary" in the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of the word "exemplary" is intended to present concepts in a concrete way.

[0045] In the embodiments of the present application, "information", "signal", "message", "channel" and "signaling" can sometimes be used interchangeably. It should be noted that when the distinction between them is not emphasized, the meanings they intend to express are consistent. "of", "corresponding, relevant" and "corresponding" can sometimes be used interchangeably. It should be noted that when the distinction between them is not emphasized, the meanings they intend to express are consistent.

[0046] In the embodiments of the present application, sometimes a subscript such as W1 may be mistakenly written as a non-subscript such as W1. When the difference is not emphasized, the meanings to be expressed are consistent.

[0047] The system architecture and business scenarios described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided in the embodiments of the present application. Ordinary technicians in this field can know that with the evolution of the architecture of the detection system and the emergence of new business scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0048] In some embodiments of the present application, Figure 1 The scenario in the detection system shown is used as an example for explanation. It should be noted that the solution in the embodiment of the present application can also be applied to other detection systems, and the corresponding names can also be replaced by the names of corresponding functions in other detection systems.

[0049] To facilitate understanding of the embodiments of the present application, first Figure 1 The detection system shown in the figure is used as an example to describe in detail the detection system applicable to the embodiments of the present application. Figure 1 A schematic diagram of the architecture of a detection system applicable to the signal processing method provided in the embodiment of the present application. Figure 1 As shown, the detection system includes a detection device and a detection target. The detection device is used to determine and send electromagnetic wave signals, and listen to the reflected signals of the detection target, so as to determine one or more of the distance, speed, and direction of the detection target.

[0050] For example, the detection device can determine the distance between the detection device and the detection target by comparing the transmitted signal and the received signal, such as the time difference between the transmitted signal and the received signal. For another example, the detection device can determine the speed of the detection target by continuously monitoring the distance of the detection target or using the Doppler effect. Further, the detection device can use multiple transmitters and / or multiple receivers to determine the direction (angle) of the detection target.

[0051] The detection device may include a vehicle with a detection function, a vehicle-mounted module, a vehicle-mounted module, a vehicle-mounted component, a vehicle-mounted chip or a vehicle-mounted unit that can be set on the vehicle and has a detection function, such as various vehicle-mounted radars, such as vehicle-mounted millimeter wave radars, vehicle-mounted infrared radars, phase modulation continuous wave (PMCW) multiple-input multiple-output (MIMO) radars, etc. The implementation method of the detection device corresponding to the embodiment of the present application is not specifically limited, and the vehicle-mounted radar is used as an example for explanation below.

[0052] It should be noted that Figure 1 The detection system shown in FIG. 1 includes a processor or controller having processing functions, such as the following Figure 2 The signal processing device 200 or processor 201 shown in FIG. The processor or controller is used to execute the signal processing method provided in the embodiment of the present application. For details, please refer to the following method embodiment, which will not be described in detail here.

[0053] The above detection target may include all objects around the detection device that can reflect the transmission signal of the detection device, which may be moving or stationary, such as another vehicle, pedestrians, bicycles, motorcycles, trees, buildings, various traffic signs, electric poles, etc. The embodiment of the present application does not specifically limit the implementation method of the detection target.

[0054] For example, Figure 2 The present invention is a schematic diagram of a signal processing device that can be used to execute the signal processing method provided in the embodiment of the present application. The signal processing device can be the above-mentioned vehicle-mounted module, vehicle-mounted module, vehicle-mounted component, vehicle-mounted chip, vehicle-mounted unit, vehicle-mounted radar and other detection devices with detection function, or a chip (system) or other components or assemblies that can be set in the above-mentioned various detection devices.

[0055] like Figure 2 As shown, the signal processing device 200 may include a processor 201 and a transceiver 203. The processor 201 is coupled to the transceiver 203. Optionally, the signal processing device 200 may also include a memory 202. The processor 201 may be coupled to the memory 202. In the embodiment of the present application, the above-mentioned "coupling" refers to the existence of an electrical signal connection between each other, such as being connected through a communication bus.

[0056] Combine the following Figure 2 The components of the signal processing device 200 are described in detail:

[0057] The processor 201 is the control center of the signal processing device 200, and can be a processor or a general term for multiple processing elements. For example, the processor 201 is one or more central processing units (CPUs), or can be an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application, such as one or more microprocessors (digital signal processors, DSPs), or one or more field programmable gate arrays (FPGAs).

[0058] Optionally, the processor 201 may perform various functions of the signal processing device 200 by running or executing a software program stored in the memory 202 , and calling data stored in the memory 202 .

[0059] In a specific implementation, as an embodiment, the processor 201 may include one or more central processing units (CPUs), such as Figure 2 CPU0 and CPU1 are shown in FIG.

[0060] In a specific implementation, as an embodiment, the signal processing device 200 may also include multiple processors, such as Figure 2 201 and processor 204 are shown in FIG. Each of these processors may be a single-core processor (single-CPU) or a multi-core processor (multi-CPU). The processor here may refer to one or more communication devices, circuits, and / or processing cores for processing data (e.g., computer program instructions).

[0061] The memory 202 may be a read-only memory (ROM) or other types of static storage communication devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage communication devices that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage communication device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory 202 may be integrated with the processor 201, or may exist independently and access the processor 201 through the input / output port ( Figure 2 (not shown) is coupled to the processor 201, which is not specifically limited in the embodiment of the present application.

[0062] The memory 202 may be used to store a software program for executing the signal processing method described in the embodiment of the present application, and the execution is controlled by the processor 201. The specific implementation of the signal processing method may refer to the following method embodiment, which will not be described in detail here.

[0063] Optionally, the memory can also be used to store original acquisition data, such as sensor acquisition data, calculated intermediate data, such as calculation results of matched filters or correlators, and detection results, such as the distance, speed, and direction of the detected target.

[0064] The transceiver 203 is used to send signals to the signal processing device 200 and receive reflected signals of the detected target, or to communicate between the signal processing device 200 and a wireless network or other communication device. In addition, the transceiver 203 may include a receiver and a transmitter ( Figure 2 The receiver is used to implement the receiving function, and the transmitter is used to implement the sending function. In addition, the transceiver 203 can be integrated with the processor 201, or can exist independently and communicate with the processor 201 through the input / output port ( Figure 2 (not shown) is coupled to the processor 201, which is not specifically limited in the embodiment of the present application.

[0065] In a possible design scheme, the signal processing device 200 may be a vehicle-mounted radar with processing function. After generating the first sequence set (i.e., executing the following S301), the vehicle-mounted radar controls the transmitting antenna of the vehicle-mounted radar to send out the first sequence set (i.e., executing the following S302).

[0066] In another possible design, the signal processing device 200 may also be a vehicle-mounted controller coupled to the vehicle-mounted radar, such as the vehicle-mounted radar is coupled to the vehicle-mounted controller through the input / output port of the vehicle-mounted controller. In this way, after generating the first sequence set (i.e., executing S301 below), the vehicle-mounted controller may send the first sequence set to the vehicle-mounted radar through its input / output port (i.e., executing S302 below), and then the transmitting antenna of the vehicle-mounted radar sends the first sequence set.

[0067] Optionally, the signal processing device 200 can also be a chip (system) or other component or assembly that can be set on the above-mentioned vehicle-mounted radar with processing function or the vehicle-mounted controller coupled with the vehicle-mounted radar, or a device including the above-mentioned vehicle-mounted radar with processing function or the vehicle-mounted controller coupled with the vehicle-mounted radar, such as a vehicle.

[0068] For the specific implementation of S301 - S302 , please refer to the following method embodiment, which will not be described in detail here.

[0069] It should be noted that Figure 2 The structure of the signal processing device 200 shown in the figure does not constitute a limitation on the signal processing device. The actual signal processing device may include more or fewer components than those shown in the figure, or combine certain components, or arrange the components differently.

[0070] The following will be combined Figure 3-Figure 6 The signal processing method provided in the embodiment of the present application is described in detail.

[0071] Figure 3 A flow chart of a signal processing method provided in an embodiment of the present application. The signal processing method can be applied to Figure 1 In the detection system shown in , the signal processing device is taken as an example to be described in detail below.

[0072] like Figure 3 As shown, the signal processing method comprises the following steps:

[0073] S301: A signal processing apparatus determines a first sequence set.

[0074] The first sequence set includes at least one first sequence, and the at least one first sequence is an orthogonal sequence after fast time dimension coding and slow time dimension coding. For example, the first sequence set may include M first sequences, where M is the number of transmitting antennas. This is described in detail below.

[0075] Exemplarily, the above S301, the signal processing device determines the first sequence set, may include: the signal processing device determines the first sequence set according to the second sequence set. The second sequence set may include M a The first sequence, the M a The first sequence can be all available transmission sequences of the vehicle-mounted radar, that is, M a is the total number of all available transmission sequences of the vehicle-mounted radar, and M a Greater than or equal to the number of transmitting antennas M.

[0076] Among them, the total number of transmission sequences available for vehicle-mounted radar is M a It can be determined according to the maximum detection distance and maximum detection speed of the vehicle-mounted radar, and specifically can include the following steps 1 to 3:

[0077] Step 1: Determine the minimum sequence length of the available transmission sequence of the vehicle-mounted radar according to the maximum detection distance and distance resolution of the vehicle-mounted radar.

[0078] Specifically, the minimum sequence length can be determined according to the following formula (1):

[0079]

[0080] Among them, L min is the maximum sequence length, R max is the maximum detection distance, R d is the distance resolution, To round up.

[0081] The above-mentioned maximum detection distance (also known as unambiguous detection distance) and distance resolution are two technical indicators in the distance detection range of vehicle-mounted radar, which can be determined according to the functional mode or scene requirements of the vehicle-mounted radar. Generally speaking, according to the functional mode, radars are divided into short-range radar (R max The typical value is 70 meters), medium-range radar (R max Typical value is 120 meters) and long range radar (R max The typical value is 250 meters). For example, in short-distance detection scenarios, such as automatic parking, blind spot recognition, parking door opening assistance, etc., the detection distance is usually required to be short but the distance resolution is high, that is, the maximum detection distance and distance resolution are both small. For another example, in long-distance detection scenarios, such as adaptive cruise control, collision warning, and automatic emergency braking, the detection distance is usually required to be long but the distance resolution requirement can be relaxed, that is, the maximum detection distance and distance resolution are both large. For another example, in medium-distance detection scenarios, such as lane change assistance and active lane control, the detection distance and distance resolution are usually required to be moderate, that is, the maximum detection distance and distance resolution are between the values ​​in the short-distance detection scenario and the values ​​in the long-distance detection scenario.

[0082] Step 2: Determine the maximum sequence length of the available transmission sequence of the vehicle-mounted radar according to the maximum detection speed of the vehicle-mounted radar.

[0083] Specifically, the minimum sequence length can be determined according to the following formula (2):

[0084]

[0085] Among them, L max is the maximum sequence length, c is the propagation speed of electromagnetic waves, f c is the carrier frequency, T c is the code element width, V max is the maximum detection speed, To round down.

[0086] Similar to the maximum detection distance and distance resolution in step 1 above, the above maximum detection speed (also called unambiguous detection speed) is a technical indicator in the speed detection range of the vehicle-mounted radar, which can be determined according to the functional mode or scene requirements of the vehicle-mounted radar. The following takes radar as an example. Generally speaking, according to the functional mode, vehicle motion state, radar deployment position, traffic rules and target motion characteristics, it can be divided into low-speed target detection function (V max Typical values ​​can be 30 m / s) and high-speed target detection radar (V maxThe typical value can be 80 m / s). For example, when the vehicle speed is low, such as in scenarios such as automatic parking, blind spot recognition, and parking door opening assistance, the target detection speed is usually low. For another example, when driving on a highway, the radar needs to have a large unambiguous detection speed range.

[0087] It should be noted that the above-mentioned step 2 can be performed after executing step 1, or before executing step 1, or step 1 and step 2 can be performed simultaneously. The embodiment of the present application does not make any specific limitations on this.

[0088] Step three: Determine the total number of available transmission sequences of the vehicle-mounted radar based on the above maximum sequence length and minimum sequence length.

[0089] Specifically, the total number of available transmission sequences of the vehicle-mounted radar, such as the number of first sequences included in the above-mentioned second sequence set, can be determined according to the following formula (3):

[0090]

[0091] Among them, M a is the total number of available transmission sequences of the vehicle-mounted radar, such as the number of first sequences included in the second sequence set.

[0092] It should be understood that if the above formula (1) and formula (2) are substituted into formula (3), the following formula (4) can be obtained:

[0093]

[0094] Among them, M a is the total number of available transmission sequences of the vehicle-mounted radar, c is the propagation speed of electromagnetic waves, and f c is the carrier frequency, T c is the code element width, V max is the maximum detection speed, R max is the maximum detection distance, R d is the distance resolution, To round down, To round up.

[0095] That is to say, after determining the maximum detection distance, distance resolution and maximum detection speed of the signal processing device according to the functional mode or scenario requirements, the maximum sequence length and the minimum sequence length may not be calculated according to the above formulas (1) and (2), but the total number of available transmission sequences may be directly calculated according to formula (4). The specific implementation method for calculating the total number of available transmission sequences is not limited in the embodiment of the present application.

[0096] It should be noted that the total number of available transmit sequences needs to be greater than or equal to the number of transmit antennas, that is, the following formula (5) is satisfied:

[0097] M a ≥M. (5)

[0098] That is to say, the above steps 1 to 3 may need to be performed multiple times in iterations to determine the appropriate value of the total number of available transmission sequences. max1 and V max1 The calculated M a1 <M, that is, the above formula (5) cannot be satisfied, then the R corresponding to the second working mode can be selected max2 and / or V max2 , where R max2 <R max1 and / or V max2 <V max1 , and then execute the above steps 1 to 3 again. Of course, if the second working mode still does not satisfy the above formula (5), you can continue to select the third working mode corresponding to a smaller R value max3 and / or V max3 , until the calculated M a Satisfies formula (5).

[0099] After executing steps 1 to 3 above, you can execute steps 4 to 6 below:

[0100] Step 4: The signal processing device determines the number of fast time dimension sequences according to the number of slow time dimension sequences.

[0101] The number of slow time dimension sequences can be determined according to the orthogonality requirements of the system. The orthogonality requirement of the system means that in order to ensure that the transmitted signals of different transmitting antennas can be distinguished with high performance at the receiving end, the transmitted signals of different transmitting antennas are required to be orthogonal, otherwise it will cause crosstalk between the signals of different transmitting-receiving channels, thereby causing adverse effects on the detection accuracy. In view of the lower cost of using slow time dimension sequences to achieve orthogonality, under the premise of ensuring orthogonality and system detection requirements, a larger number of slow time dimension sequences and a smaller number of fast time dimension sequences are preferably used, that is, the number of slow time dimension sequences is greater than the number of fast time dimension sequences, so that the number of slow time dimension sequences can be determined.

[0102] In a possible design, the signal processing device may determine the number of fast time dimension sequences according to the total number of available transmission sequences and the number of slow time dimension sequences. For example, the number of fast time dimension sequences may be determined according to the following formula (6):

[0103]

[0104] in, Alternatively, in another possible design, the signal processing device may determine the number of fast time dimension sequences according to the number of available transmit antennas and the number of slow time dimension sequences, such as the number of fast time dimension sequences may be determined according to the following formula (7):

[0105]

[0106] in, To round up.

[0107] Step 5: The signal processing device determines M1 fast time dimension sequences and M2 slow time dimension sequences.

[0108] Among them, the M1 fast time dimension sequences can be regarded as a set of sequences obtained by fast time dimension coding, and the M2 slow time dimension sequences can be regarded as a set of sequences obtained by slow time dimension coding. They are explained below.

[0109] Optionally, the sequence set obtained by fast time dimension encoding includes M1 first orthogonal sequences, and the M1 first orthogonal sequences can be sequences with zero periodic cross-correlation values ​​within an effective delay, and the effective delay is less than or equal to the delay corresponding to the sequence length of the M1 first orthogonal sequences.

[0110] Optionally, the sequence set obtained by slow time dimension encoding includes M2 second orthogonal sequences, and the M2 second orthogonal sequences are Hadamard sequences or multi-carrier orthogonal sequences with a zero time delay period mutual correlation value of zero.

[0111] For example, it is assumed that the sequence length of the orthogonal sequence is 1000 and the symbol width is T c , that is, the orthogonal sequence needs to be sent out in the time length corresponding to the width of 1000 code elements, then the effective delay value can be 0, T c , 2*T c , 3*T c , 4*T c ,…,999*T c Any value in , where the effective delay with a value of 0 can also be called zero delay. That is to say, the orthogonality of the orthogonal sequence with a zero periodic cross-correlation value in the above zero delay is more fragile than the orthogonal sequence with a zero periodic cross-correlation value in the effective delay, and is more susceptible to the adverse effects of adjacent channels, such as interference from another transmitting antenna / receiving antenna port to the corresponding wireless channel, which destroys its orthogonality, thereby resulting in a decrease in detection accuracy.

[0112] The method for generating the above-mentioned M1 fast time dimension sequences and M2 slow time dimension sequences can refer to the prior art, and the embodiment of the present application will not be described in detail.

[0113] Step six: the signal processing device determines a second sequence set.

[0114] The second sequence set may include M a The first sequence, M a The first sequence is a sequence obtained by using M2 slow time dimension sequences to perform slow time dimension encoding on M1 fast time dimension sequences.

[0115] For example, Figure 4 Schematic diagram of the signal sending and receiving process provided by the embodiment of the present application. Figure 4 As shown, at the transmitting end, the signal processing device can use M2 slow time dimension sequences to perform slow time dimension encoding on M1 fast time dimension sequences to generate a second sequence set, that is, to generate M a The first sequence, then from M a The first sequence selects M first sequences and sends them out through the M transmitting antennas of the vehicle-mounted radar. In which, considering that the number of transmitting antennas M is less than or equal to the total number of available sequences M a , the above-mentioned first sequence set can be regarded as a subset of the second sequence set.

[0116] Optionally, the determining of the second sequence set may include: if the encoding method of the M1 fast time dimension sequences is the same as the encoding method of the M2 slow time dimension sequences, then a The first sequence may be a Kronecker product of M1 fast time dimension sequences and M2 slow time dimension sequences. For the specific implementation of the Kronecker product, reference may be made to the prior art, and this embodiment of the present application will not be repeated.

[0117] When the encoding method of the M1 fast time dimension sequences is the same as the encoding method of the M2 slow time dimension sequences, the fast time dimension encoding process and the slow time dimension encoding process can be simplified, that is, the fast time dimension encoding process and the slow time dimension encoding process can be combined into one step. Figure 4 The two steps of fast time dimension encoding and slow time encoding shown in are combined into one step. Figure 5 and Figure 6 The two examples shown in FIG.

[0118] For example, Figure 5 A schematic diagram of the structure of the signal modulation transmission provided in the embodiment of the present application Figure 1 . Combined Figure 4 ,like Figure 5As shown, the number of transmitting antennas is 4, and the M1 fast time dimension sequences are 2 two-phase sequences, namely two-phase sequence 1 and two-phase sequence 2. Among them, the cross-correlation between two-phase sequence 1 and two-phase sequence 2 is zero at all effective time delays. The M2 slow time dimension sequences are also two-phase codes, such as second-order Hadamard code sequences, and the cross-correlation between any two Hadamard code sequences at zero time delay is zero. Figure 5 The “+” and “-” shown in the figure correspond to “0 radians” and “π radians” respectively, that is, the modulated sequence is subjected to 0-phase modulation and π-phase modulation.

[0119] When the number of phases in the fast time dimension coding is equal to the number of phases in the slow time dimension coding, it can be considered that the coding method of the fast time dimension sequence is the same as the coding method of the slow time dimension sequence, and the fast time dimension coding and the slow time dimension coding can be combined, which is equivalent to modulating a long sequence. Figure 5 As shown, the above two fast time dimension orthogonal sequences are modulated by a second-order slow time dimension sequence to obtain four sequences, and the four sequences are modulated by binary phase shift keying (BPSK) and then transmitted through four transmitting antennas respectively.

[0120] Optionally, when the phase number of the fast time dimension encoding is less than the phase number of the slow time dimension encoding, and the phase number of the slow time dimension encoding is a multiple of the phase number of the fast time dimension encoding, it can also be regarded as that the encoding method of the fast time dimension sequence is the same as the encoding method of the slow time dimension sequence, then the fast time dimension encoding and the slow time dimension encoding can also be combined, which is equivalent to modulating a long sequence.

[0121] For example, assuming that the number of transmitting antennas is 8, the fast time dimension sequence uses 2 two-phase sequences and the slow time dimension uses 4 four-phase sequences. Among them, the fast time dimension sequence can use two-phase modulation, such as any one of BPSK, minimum phase shift keying (MSK) or Gaussian minimum phase shift keying (GMSK), and the slow time dimension sequence uses quadrature phase shift keying (QPSK) modulation. At this time, the fast time dimension sequence can be regarded as a special four-phase sequence. For example, the two-phase sequence {+, -, +, -} can be changed into a four-phase sequence, such as {-, +, -, +} or {i, j, i, j} or {j, i, j, i} or still keep the original phase without rotation, that is, {+, -, +, -}. Among them, "+" represents 0 phase, "i" represents π / 2 phase, "-" represents π phase, and "j" represents 3π / 2 phase, which means that the original two-phase sequence is rotated by 0 radians, π / 2 radians, π radians, and 3π / 2 radians respectively. Then, according to Figure 5The method shown performs four-phase modulation, such as QPSK modulation, on the changed four-phase sequence together with the slow time dimension sequence, thereby generating 8 transmission sequences.

[0122] It should be understood that a two-stage modulation scheme may also be used at this time, that is, in the first stage, two-phase modulation is performed on the fast time dimension sequence alone, and in the second stage, four-phase modulation is performed on the modulated fast time dimension sequence, thereby generating 8 transmission sequences.

[0123] For example, Figure 6 A schematic diagram of the structure of the signal modulation transmission provided in the embodiment of the present application Figure 2 . Combined Figure 4 ,like Figure 6 As shown, the number of transmitting antennas is 8, and the M1 fast time dimension sequences are 2 two-phase sequences, namely two-phase sequence 1 and two-phase sequence 2. Among them, the cross-correlation between two-phase sequence 1 and two-phase sequence 2 is zero at all effective time delays. The M2 slow time dimension sequences are 4 four-phase sequences, and the cross-correlation between any two four-phase sequences at zero time delay is zero. Figure 6 As shown, after two phase modulation, two two-phase orthogonal sequences enter the QPSK modulation module for slow time dimension modulation, thereby generating eight transmission sequences. In this example, QPSK modulation uses discrete Fourier transform coding.

[0124] It should be noted that if the encoding method of the fast time dimension sequence is different from the encoding method of the slow time dimension sequence, the fast time dimension encoding and the slow time dimension encoding need to be performed separately, that is, two stages of modulation are required. For specific implementation, please refer to Figure 6 The coding and modulation process shown is not described in detail in the embodiments of the present application.

[0125] S302: The signal processing device sends a first sequence set.

[0126] Specifically, after the above Figure 4-Figure 6 After the coding and modulation process shown in any of the items, M1 fast time dimension sequences can be coated with a layer of slow time dimension coding and sent out through M1 transmitting antennas. Among them, "coating with a layer of slow time dimension coding" means using the slow time dimension sequence to encode each fast time dimension sequence again. For specific implementation, please refer to the above Figure 4-Figure 6 The processing flow of the sending end will not be repeated here.

[0127] It should be noted that, when a transmission signal carrying any sequence in the first sequence set reaches a detection target, the transmission signal may be reflected back to the signal processing device, and the signal processing device may receive the reflected signal and obtain a detection result according to the reflected signal.

[0128] refer to Figure 4, taking a receiving channel at the receiving end as an example, the receiving channel includes M1 matched filters, such as matched filter 1 to matched filter M1, and the M1 matched filters perform matched filtering operations on M1 fast time dimension sequences respectively, thereby obtaining the first detection results of M1 fast time dimension sequences. Then, for each first detection result, M2 slow time dimension sequences are decoded respectively, thereby obtaining M2 second detection results corresponding to the first detection result, such as Figure 4 The detection result 1 of the fast time dimension sequence 1 to the detection result M2 of the fast time dimension sequence 1 are shown in . That is to say, when N receiving channels detect M1 fast time dimension sequences and M2 slow time dimension decodings, N*M1 matched filtering operations need to be performed to obtain N*M1 first detection results, and N*M1*M2 slow time dimension decodings need to be performed to obtain N*M1*M2 second detection results.

[0129] Afterwards, the signal processing device can determine one or more of the distance, speed, and direction of the detected target based on the above-mentioned second detection result. The specific implementation method can refer to the existing technology, and the embodiments of the present application will not be repeated here.

[0130] It should be noted that for Figure 5 or Figure 6 The two signal modulation transmission scenario examples shown in Figure 4 The first detection result and the second detection result are obtained by the same processing flow as the receiving end shown in , so as to determine one or more of the distance, speed, and direction of the detected target, which will not be repeated here.

[0131] In a possible design scheme, the signal processing device described in the above method embodiment may be a vehicle-mounted radar with processing function. After generating the first sequence set (S301), the vehicle-mounted radar controls the transmitting antenna of the vehicle-mounted radar to send out the first sequence set (S302).

[0132] In another possible design, the signal processing device described in the above method embodiment may also be a vehicle-mounted controller coupled to the vehicle-mounted radar, such as the vehicle-mounted radar is coupled to the vehicle-mounted controller through the input / output port of the vehicle-mounted controller. In this way, after generating the first sequence set (S301), the vehicle-mounted controller may send the first sequence set to the vehicle-mounted radar through its input / output port (S302), and then the vehicle-mounted radar sends the first sequence set.

[0133] Optionally, the signal processing device described in the above method embodiment can also be a chip (system) or other parts or components that can be set on the above-mentioned vehicle-mounted radar with processing function or the vehicle-mounted controller coupled with the vehicle-mounted radar, or a device including the above-mentioned vehicle-mounted radar with processing function or the vehicle-mounted controller coupled with the vehicle-mounted radar, such as a vehicle.

[0134] Based on the signal processing method described in the above method embodiment, the detection signal can be transmitted using an orthogonal sequence after fast time dimension coding and slow time dimension coding. On the one hand, compared with a single slow time dimension coding scheme, the signal processing method can use a smaller number of slow time dimension sequences to avoid the problem of decreased orthogonality between a large number of slow time dimension sequences when the detection target moves at high speed, and can ensure the orthogonality between the detection signals transmitted by different transmitting antennas, thereby improving the angular resolution of target detection. On the other hand, compared with a single fast time dimension coding scheme, the signal processing method can reduce the number of fast time dimension sequences to reduce the workload of the receiving end, such as reducing the number of matched filtering or correlation operations for the fast time dimension sequence, so that the receiving end can set a smaller number of matched filters or correlators, thereby reducing the technical complexity and hardware cost of the signal processing device.

[0135] Combination of the above Figure 3-Figure 6 The signal processing method provided by the embodiment of the present application is described in detail. Figure 7 Another signal processing device provided by an embodiment of the present application is described in detail.

[0136] Figure 7 is a schematic diagram of the structure of the signal processing device provided in the embodiment of the present application Figure 2 The signal processing device can be applied to Figure 1 In the detection system shown, the execution Figure 3 For ease of explanation, Figure 7 Only the essential components of the signal processing device are shown.

[0137] like Figure 7 As shown, the signal processing device 700 includes: a processing module 701 and a transceiver module 702 .

[0138] The processing module 701 is used to determine a first sequence set. The first sequence set includes at least one first sequence, and the at least one first sequence is an orthogonal sequence after fast time dimension coding and slow time dimension coding.

[0139] The transceiver module 702 is configured to send a first sequence set.

[0140] In a possible design, the processing module 701 is further configured to determine M1 fast time dimension sequences and determine a second sequence set. The second sequence set may include M a The first sequence; M a The first sequence can be a sequence obtained by using M2 slow time dimension sequences to encode M1 fast time dimension sequences in the slow time dimension. a =M1*M2, and M aGreater than or equal to M, where M is the number of transmitting antennas.

[0141] In another possible design, the processing module 701 is further configured to: a The first sequences may determine a first sequence set; the first sequence set may include M first sequences.

[0142] Optionally, the processing module 701 is further configured to determine the number of fast time dimension sequences according to the number of transmitting antennas and the number of slow time dimension sequences. To round up.

[0143] Optionally, if the encoding method of the M1 fast time dimension sequences is the same as the encoding method of the M2 slow time dimension sequences, then M a The first sequences may be Kronecker products of M1 fast time dimension sequences and M2 slow time dimension sequences.

[0144] In a possible design solution, the processing module 701 is further configured to determine the number of first sequences included in the second sequence set according to the maximum detection distance and the maximum detection speed. M a is the number of the first sequence contained in the second sequence set, c is the propagation speed of electromagnetic waves, f c is the carrier frequency, T c is the code element width, V max is the maximum detection speed, R max is the maximum detection distance, R d is the distance resolution, To round down, To round up.

[0145] Optionally, the sequence set obtained by fast time dimension coding includes M1 first orthogonal sequences, the M1 first orthogonal sequences are sequences with zero periodic mutual correlation values ​​within an effective delay, and the effective delay is less than or equal to the delay corresponding to the sequence length of the M1 first orthogonal sequences. Correspondingly, the sequence set obtained by slow time dimension coding includes M2 second orthogonal sequences, the M2 second orthogonal sequences are Hadamard sequences or multi-carrier orthogonal sequences with zero periodic mutual correlation values ​​of zero in zero delay.

[0146] In addition, the transceiver module 702 is further configured to receive the reflected signal of the detected target after the transceiver module 702 sends the first sequence set. Accordingly, the processing module 701 is further configured to obtain the detection result according to the reflected signal, such as one or more of the distance, speed, and direction of the detected target.

[0147] Optionally, Figure 7 The signal processing device 700 shown may also include a storage module ( Figure 7(not shown in the figure), the storage module stores a program or instruction. When the processing module 701 executes the program or instruction, the signal processing device 700 can execute Figure 3 The signal processing method shown.

[0148] It should be noted that the signal processing device 700 may be Figure 1 The detection device shown in, or Figure 2 The signal processing device 200 shown in the figure may also be a chip (system) or other parts or components arranged in the above-mentioned detection device or signal processing device 200, which is not limited in the embodiment of the present application.

[0149] In addition, the technical effects of the signal processing device 700 can be referred to Figure 3 The technical effects of the signal processing method shown will not be repeated here.

[0150] The embodiment of the present application provides a chip system, which includes a processor and an input / output port, wherein the processor is used to implement the processing function involved in the above method embodiment, and the input / output port is used to implement the transceiver function involved in the above method embodiment.

[0151] In one possible design, the chip system also includes a memory, which is used to store program instructions and data for implementing the functions involved in the above method embodiments.

[0152] The chip system may be composed of chips, or may include chips and other discrete devices.

[0153] The embodiment of the present application provides a detection system, which includes the above-mentioned signal processing device and one or more detection targets.

[0154] An embodiment of the present application provides a computer-readable storage medium, including: the computer-readable storage medium stores computer instructions; when the computer instructions are executed on a computer, the computer executes the signal processing method described in the above method embodiment.

[0155] An embodiment of the present application provides a computer program product including instructions, including a computer program or instructions. When the computer program or instructions are executed on a computer, the computer is enabled to execute the signal processing method described in the above method embodiment.

[0156] It should be understood that the processor in the embodiments of the present application may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0157] It should also be understood that the memory in the embodiments of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of random access memory (RAM) are available, such as static RAM (SRAM), dynamic random access memory (DRAM), synchronous DRAM (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM).

[0158] The above embodiments can be implemented in whole or in part by software, hardware (such as circuits), firmware or any other combination. When implemented using software, the above embodiments 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 or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website site, computer, server or data center to another website site, computer, server or data center by wired (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that contains one or more available media sets. The available medium can be a magnetic medium (for example, a floppy disk, a hard disk, a tape), an optical medium (for example, a DVD), or a semiconductor medium. The semiconductor medium can be a solid-state hard disk.

[0159] It should be understood that the term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. A and B can be singular or plural. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship, but it may also indicate an "and / or" relationship. Please refer to the context for specific understanding.

[0160] In this application, "at least one" means one or more, and "more than one" means two or more. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can be represented by: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple.

[0161] It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0162] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0163] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0164] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0165] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0166] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0167] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage media include: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks or optical disks.

[0168] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A signal processing method, characterized in that: include: Determine M a a first sequence; said M a The first sequence is the sequence obtained by using M2 slow time dimension sequences to encode M1 fast time dimension sequences in the slow time dimension. a =M1*M2, and M1>1, M a Greater than or equal to M, where M is the number of transmitting antennas; According to the M a A first sequence is used to determine a first sequence set, where the first sequence set includes M first sequences; The first sequence set is sent.

2. The signal processing method according to claim 1, characterized in that: Also includes: The number of the fast time dimension sequences is determined according to the number of the transmitting antennas and the number of the slow time dimension sequences; wherein, To round up.

3. The signal processing method according to claim 1 or 2, characterized in that: If the encoding method of the M1 fast time dimension sequences is the same as the encoding method of the M2 slow time dimension sequences, then the M a The first sequences are the Kronecker products of the M1 fast time dimension sequences and the M2 slow time dimension sequences.

4. The signal processing method according to claim 1 or 2, characterized in that: Also includes: Determine M based on the maximum detection distance and maximum detection speed. a ; in, Where c is the propagation speed of electromagnetic waves, f c is the carrier frequency, T c is the code element width, V max is the maximum detection speed, R max is the maximum detection distance, R d is the distance resolution, To round down, To round up.

5. The signal processing method according to claim 1 or 2, characterized in that: The sequence set obtained by the fast time dimension coding includes M1 first orthogonal sequences, the M1 first orthogonal sequences are sequences whose periodic cross-correlation values ​​are zero within an effective delay, and the effective delay is less than or equal to the delay corresponding to the sequence length of the M1 first orthogonal sequences; The sequence set obtained by the slow time dimension encoding includes M2 second orthogonal sequences, and the M2 second orthogonal sequences are Hadamard sequences or multi-carrier orthogonal sequences with a zero time delay period mutual correlation value of zero.

6. A signal processing device, characterized in that: include: Processing module and transceiver module; wherein, The processing module is used to determine M a a first sequence; the M a The first sequence is the sequence obtained by using M2 slow time dimension sequences to encode M1 fast time dimension sequences in the slow time dimension. a =M1*M2, and M1>1, M a Greater than or equal to M, where M is the number of transmitting antennas; The processing module is also used to a A first sequence set is determined by using a first sequence, where the first sequence set includes M first sequences; The transceiver module is used to send the first sequence set.

7. The signal processing device according to claim 6, characterized in that: The processing module is further used to determine the number of the fast time dimension sequences according to the number of the transmitting antennas and the number of the slow time dimension sequences; wherein, To round up.

8. The signal processing device according to claim 6 or 7, characterized in that: If the encoding method of the M1 fast time dimension sequences is the same as the encoding method of the M2 slow time dimension sequences, then the M a The first sequences are the Kronecker products of the M1 fast time dimension sequences and the M2 slow time dimension sequences.

9. The signal processing device according to claim 6 or 7, characterized in that: The processing module is further used to determine M according to the maximum detection distance and the maximum detection speed. a ;in, Where c is the propagation speed of electromagnetic waves, f c is the carrier frequency, T c is the code element width, V max is the maximum detection speed, R max is the maximum detection distance, R d is the distance resolution, To round down, To round up.

10. The signal processing device according to claim 6 or 7, characterized in that: The sequence set obtained by the fast time dimension coding includes M1 first orthogonal sequences, the M1 first orthogonal sequences are sequences whose periodic cross-correlation values ​​are zero within an effective delay, and the effective delay is less than or equal to the delay corresponding to the sequence length of the M1 first orthogonal sequences; The sequence set obtained by the slow time dimension encoding includes M2 second orthogonal sequences, and the M2 second orthogonal sequences are Hadamard sequences or multi-carrier orthogonal sequences with a zero time delay period mutual correlation value of zero.

11. A signal processing device, characterized in that: The signal processing device includes: a processor, the processor is coupled to a memory; The memory is used to store computer programs; The processor is used to execute the computer program stored in the memory, so that the signal processing device performs the signal processing method according to any one of claims 1 to 5.

12. A chip system, characterized in that: The chip system includes a processor and an input / output port, wherein the processor is used to implement the processing function involved in any one of claims 1-7, and the input / output port is used to implement the transceiver function involved in any one of claims 1-5.

13. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a program or an instruction. When the program or the instruction is executed on a computer, the computer is caused to execute the signal processing method according to any one of claims 1 to 5.

14. A computer program product, characterized in that The computer program product comprises: a computer program code, and when the computer program code is run on a computer, the computer is enabled to execute the signal processing method according to any one of claims 1 to 5.

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