Millimeter wave radar simulation method, device and electronic equipment

Abstract

The present disclosure relates to a millimeter wave radar simulation method, device and electronic equipment, and belongs to the field of computer technology. The millimeter wave radar simulation method includes: when simulating the radio frequency signal of the millimeter wave radar, receiving the echo signal reflected by the target object in the virtual scene after receiving the radio frequency signal; when the simulation accuracy parameters of the millimeter wave radar remain unchanged, adjusting the frequency parameters of the millimeter wave radar according to a preset ratio to obtain the adjusted frequency parameters; processing the echo signal according to the adjusted frequency parameters to obtain a processing result. By adjusting the frequency parameters of the millimeter wave radar according to a preset ratio, the present disclosure can reduce the amount of calculation when processing the echo signal and improve the simulation efficiency while ensuring that the simulation accuracy of the millimeter wave radar remains unchanged.

Description

Technical Field

[0001] The present invention belongs to the field of computer technology, and in particular relates to a millimeter wave radar simulation method, device and electronic equipment. Background Art

[0002] With the rise of autonomous driving, autonomous driving simulation can quickly improve the cycle of autonomous driving development. Autonomous driving simulation requires the simulation and simulation of multiple sensors, among which millimeter-wave radar simulation is also an indispensable process.

[0003] The basic principle of millimeter-wave radar signal-level simulation is to build a model based on the signal-level processing process of a real radar, which includes signal generation, transmission, electromagnetic wave propagation simulation, reception, digital signal processing, etc. The simulation part includes the digital signal processing part and the electromagnetic wave propagation simulation part, and the computational complexity corresponding to the simulation of these two parts is particularly large. Summary of the invention

[0004] The purpose of the embodiments of the present disclosure is to provide a millimeter wave radar simulation method, device and electronic device, which can solve the problem of large amount of calculation in signal processing during millimeter wave radar simulation in related technologies.

[0005] In a first aspect, an embodiment of the present disclosure provides a millimeter wave radar simulation method, including:

[0006] When simulating the radio frequency signal of the millimeter wave radar, an echo signal reflected by a target object in a virtual scene after receiving the radio frequency signal is received;

[0007] When the simulation accuracy parameters of the millimeter-wave radar remain unchanged, the frequency parameters of the millimeter-wave radar are adjusted according to a preset ratio to obtain an adjusted frequency parameter;

[0008] The echo signal is processed according to the adjusted frequency parameter to obtain a processing result.

[0009] Optionally, adjusting the frequency parameter of the millimeter wave radar according to a preset ratio to obtain the adjusted frequency parameter includes:

[0010] At least one of the carrier frequency, sampling frequency, sweep frequency, distance dimension frequency, and speed dimension frequency of the millimeter wave radar is adjusted according to a preset ratio to obtain an adjusted frequency parameter.

[0011] Optionally, the simulation accuracy parameters of the millimeter wave radar include: at least one of: distance resolution, speed resolution, maximum distance, maximum speed, bandwidth and speed of light.

[0012] Optionally, at least one of the carrier frequency, sampling frequency, sweep frequency, distance dimension frequency, and speed dimension frequency of the millimeter wave radar is adjusted according to a preset ratio to obtain an adjusted frequency parameter, including:

[0013] The carrier frequency of the millimeter wave radar is reduced or increased according to a first preset ratio to obtain a reduced or increased carrier frequency;

[0014] The sampling frequency of the millimeter wave radar is reduced or increased according to a second preset ratio to obtain a reduced or increased sampling frequency;

[0015] The scanning frequency of the millimeter wave radar is reduced or increased according to a third preset ratio to obtain a reduced or increased scanning frequency;

[0016] The distance dimension frequency of the millimeter wave radar is reduced or increased according to a fourth preset ratio to obtain a reduced or increased distance dimension frequency;

[0017] The speed dimension frequency of the millimeter wave radar is reduced or increased according to a fifth preset ratio to obtain a reduced or increased speed dimension frequency;

[0018] Among them, at least two of the first preset ratio, the second preset ratio, the third preset ratio, the fourth preset ratio and the fifth preset ratio are the same.

[0019] Optionally, the echo signal is processed according to the adjusted frequency parameter to obtain a processing result, including:

[0020] Perform analog-to-digital conversion on the echo signal to obtain a digital signal;

[0021] Sampling the digital signal at a reduced or increased sampling frequency to obtain a sampled signal;

[0022] The sampled signal is processed to obtain a processing result.

[0023] Optionally, the sampled signal is processed to obtain a processing result, including:

[0024] Performing fast Fourier transform processing on the sampling signal in the distance dimension to obtain a first intermediate processing result;

[0025] Performing a fast Fourier transform process in the velocity dimension on the first intermediate processing result to obtain a second intermediate processing result;

[0026] Performing fast Fourier transform processing in the angle dimension on the second intermediate processing result to obtain a third intermediate processing result;

[0027] According to the third intermediate processing result, a target distance dimension frequency and a target speed dimension frequency are obtained; the target distance dimension frequency is a distance dimension frequency that is proportionally reduced or increased based on the reduced or increased sampling frequency, and the target speed dimension frequency is a speed dimension frequency that is proportionally reduced or increased based on the reduced or increased sampling frequency;

[0028] A processing result is obtained according to the target distance dimension frequency and / or the target speed dimension frequency.

[0029] Optionally, a processing result is obtained according to the target distance dimension frequency and / or the target speed dimension frequency, including:

[0030] By formula: S = f r / B*T s *c0, get the distance S between the millimeter wave radar and the target object; where f r represents the target distance dimension frequency, B represents the carrier bandwidth, T s It indicates the sweep period after the sweep frequency is proportionally increased or decreased based on the reduced or increased sweep frequency, and c0 indicates the speed of light;

[0031] and / or

[0032] By formula: V = f ds / f sc *c0, get the speed V between the millimeter wave radar and the target object; where f ds represents the target velocity dimension frequency, f sc It indicates that the carrier frequency is reduced or increased in proportion to the reduced or increased sampling frequency, and c0 indicates the speed of light.

[0033] In a second aspect, an embodiment of the present disclosure provides a millimeter wave radar simulation device, including:

[0034] A receiving module, used to receive an echo signal reflected by a target object in a virtual scene after receiving the radio frequency signal when simulating the radio frequency signal of the millimeter wave radar;

[0035] An adjustment module, used to adjust at least one frequency parameter of the millimeter wave radar according to a preset ratio while keeping the simulation accuracy parameter of the millimeter wave radar unchanged, so as to obtain an adjusted frequency parameter;

[0036] The processing module is used to process the echo signal according to the adjusted frequency parameter to obtain a processing result.

[0037] Optionally, the adjustment module is used to adjust at least one of the carrier frequency, sampling frequency, sweep frequency, distance dimension frequency and speed dimension frequency of the millimeter wave radar according to a preset ratio to obtain an adjusted frequency parameter.

[0038] Optionally, the simulation accuracy parameters of the millimeter wave radar in the adjustment module include: at least one of: distance resolution, speed resolution, maximum distance, maximum speed, bandwidth and speed of light.

[0039] Optionally, the adjustment module is specifically used for:

[0040] The carrier frequency of the millimeter wave radar is reduced or increased according to a first preset ratio to obtain a reduced or increased carrier frequency;

[0041] The sampling frequency of the millimeter wave radar is reduced or increased according to a second preset ratio to obtain a reduced or increased sampling frequency;

[0042] The scanning frequency of the millimeter wave radar is reduced or increased according to a third preset ratio to obtain a reduced or increased scanning frequency;

[0043] The distance dimension frequency of the millimeter wave radar is reduced or increased according to a fourth preset ratio to obtain a reduced or increased distance dimension frequency;

[0044] The speed dimension frequency of the millimeter wave radar is reduced or increased according to a fifth preset ratio to obtain a reduced or increased speed dimension frequency;

[0045] Among them, at least two of the first preset ratio, the second preset ratio, the third preset ratio, the fourth preset ratio and the fifth preset ratio are the same.

[0046] Optionally, the processing module includes:

[0047] The first processing submodule is used to perform analog-to-digital conversion on the echo signal to obtain a digital signal;

[0048] The second processing submodule is used to sample the digital signal according to the reduced or increased sampling frequency to obtain a sampled signal;

[0049] The third processing submodule is used to process the sampled signal to obtain a processing result.

[0050] In a possible implementation, the third processing submodule includes:

[0051] A first processing subunit performs fast Fourier transform processing on the sampling signal in the distance dimension to obtain a first intermediate processing result;

[0052] The second processing subunit performs a fast Fourier transform process in the velocity dimension on the first intermediate processing result to obtain a second intermediate processing result;

[0053] A third processing subunit performs fast Fourier transform processing in an angle dimension on the second intermediate processing result to obtain a third intermediate processing result;

[0054] A fourth processing subunit obtains a target distance dimension frequency and a target speed dimension frequency according to the third intermediate processing result; the target distance dimension frequency is a distance dimension frequency proportionally reduced or increased based on the reduced or increased sampling frequency, and the target speed dimension frequency is a speed dimension frequency proportionally reduced or increased based on the reduced or increased sampling frequency;

[0055] The fifth processing subunit obtains a processing result according to the target distance dimension frequency and / or the target speed dimension frequency.

[0056] Optionally, the fifth processing subunit is specifically configured to:

[0057] By formula: S = f r / B*T s *c0, get the distance S between the millimeter wave radar and the target object; where f r represents the target distance dimension frequency, B represents the carrier bandwidth, T s It indicates the sweep period after the sweep frequency is proportionally increased or decreased based on the reduced or increased sweep frequency, and c0 indicates the speed of light;

[0058] and / or

[0059] By formula: V = f ds / f sc *c0, get the speed V between the millimeter wave radar and the target object; where f ds represents the target velocity dimension frequency, f sc It indicates that the carrier frequency is reduced or increased in proportion to the reduced or increased sampling frequency, and c0 indicates the speed of light.

[0060] In a third aspect, an embodiment of the present disclosure provides an electronic device, comprising a processor, a memory, and a program or instruction stored in the memory and executable on the processor, wherein the program or instruction, when executed by the processor, implements the steps of any method in the first aspect.

[0061] In a fourth aspect, an embodiment of the present disclosure provides a readable storage medium, on which a program or instruction is stored, and when the program or instruction is executed by a processor, the steps of any method in the first aspect are implemented.

[0062] In the disclosed embodiment, when simulating the radio frequency signal of the millimeter wave radar, the echo signal reflected by the target object in the virtual scene after receiving the radio frequency signal is received; when the simulation accuracy parameters of the millimeter wave radar remain unchanged, the frequency parameters of the millimeter wave radar are adjusted according to a preset ratio to obtain an adjusted frequency parameter; the echo signal is processed according to the adjusted frequency parameter to obtain a processing result. The disclosed embodiment calculates the echo signal based on the frequency parameter adjusted by the preset ratio, which greatly reduces the amount of calculation of the echo signal and ensures the smoothness of the operation of the autonomous driving simulation platform. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Figure 1 is a schematic diagram of an operating interface of an autonomous driving simulation platform provided by an embodiment of the present disclosure;

[0064] Figure 2 is a flow chart of a millimeter wave radar simulation method according to an embodiment of the present disclosure;

[0065] Figure 3 is a schematic diagram of a specific scenario of a simulation method of a millimeter wave radar in an embodiment provided by the present disclosure;

[0066] Figure 4 is a schematic diagram of the structure of a millimeter wave radar simulation device in an embodiment provided by the present disclosure;

[0067] Figure 5 is a schematic diagram of the structure of an electronic device provided by an embodiment of the present disclosure;

[0068] Figure 6 A schematic diagram of the hardware structure of an electronic device provided for implementing an embodiment of the present disclosure. DETAILED DESCRIPTION

[0069] The following will be combined with the drawings in the embodiments of the present disclosure to clearly describe the technical solutions in the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, rather than all the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the present disclosure are within the scope of protection of the present disclosure.

[0070] The terms "first", "second", etc. in the specification and claims of the present disclosure are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable when appropriate, so that the embodiments of the present disclosure can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. are generally of the same type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0071] The disclosed embodiments mainly involve autonomous driving simulation scenarios. Users can use various virtual simulation tools provided by the autonomous driving simulation platform to perform operations such as static and dynamic data import, test scenario case editing, sensor simulation, dynamic simulation, visualization, testing and playback, and virtual data set generation. The autonomous driving platform can be deployed in a single machine, private cloud, shared cloud, or other environment or terminal. In each of the above application environments, after detecting the user's operation, a configuration file for the virtual simulation of the smart car can be downloaded. The configuration file may include the application program, interface display data, and virtual scene data of the virtual simulation of the car, so that the user can call the configuration file when logging into the autonomous driving simulation platform in the application environment used, render and display the interface, and provide virtual simulation tools. In a possible implementation, the application environment can also display the real scene captured by the camera, convert the real scene into a virtual scene, and display the virtual object in it.

[0072] The virtual scene involved in the present disclosure can be used to simulate a three-dimensional virtual space, or can be used to simulate a two-dimensional virtual space, and the three-dimensional virtual space or the two-dimensional virtual space can be an open space. The virtual scene can be used to simulate a real environment in reality. Of course, in a possible implementation, the virtual scene can also correspond to the real scene. For example, the virtual object can obtain its own position information, and then based on the position information, obtain the virtual scene corresponding to the position information for display. For example, the position of the virtual object in the real scene is position A, and the virtual object is located on road B in the real scene, and there are buildings C, D, and E around it. After the virtual object obtains the position, the virtual scene can be displayed in the interface. The virtual object in the virtual scene is located at position A', and the position A' corresponds to position A in the real scene. In the virtual scene, the virtual object is located on road B', and there are buildings C', D', and E' around it, wherein road B' corresponds to road B, and buildings C', D', and E' correspond to buildings C, D, and E. The virtual scene can also support time control, and can freely adjust night and day. It can also support the weather system and set sunny days, rainy days, snowy days, foggy days, etc.

[0073] It should be noted that the virtual scene may include a variety of virtual objects, wherein the virtual object may be a virtual image in the virtual scene used to represent a user or other image, and the virtual image may be in any form, for example, a motor vehicle, a non-motor vehicle, a traffic light, a pedestrian, an animal, a building, etc., which is not limited in the present disclosure. The virtual scene may include a plurality of virtual objects, each of which has its own shape, structure and volume in the virtual scene, and occupies a part of the space in the virtual scene. In one possible implementation, the user can control the position or plan the path of the virtual object in the virtual scene through parameter configuration, such as creating the trajectory and triggering method of the opponent's motor vehicle, non-motor vehicle, pedestrian, etc., to simulate mixed traffic flow.

[0074] like Figure 1 As shown in the figure, the virtual object can be a car equipped with a millimeter-wave radar, which supports the creation of a custom millimeter-wave radar and the modification of the installation position, angle, detection distance, detection angle, and angle and distance resolution of the millimeter-wave radar. The target-level obstacle detection results can be returned in real time, including distance, azimuth, radial velocity, RCS, and signal-to-noise ratio, etc., and the millimeter-wave radar target-level simulation (multiple mirror reflections, diffuse reflections, and diffraction) can also be performed based on multiple ray tracing.

[0075] The millimeter wave radar simulation method, device and electronic device provided by the embodiments of the present disclosure are described in detail below with reference to the accompanying drawings through specific embodiments and their application scenarios.

[0076] Figure 2 This is a flow chart of a millimeter wave radar simulation method provided by an embodiment of the present disclosure, see Figure 2 , the method may include the following steps:

[0077] Step 201, when simulating the radio frequency signal of the millimeter wave radar, an echo signal reflected by a target object in a virtual scene after receiving the radio frequency signal is received. Here, the millimeter wave radar is a simulated millimeter wave radar on a virtual object (such as a virtual vehicle) in a virtual scene of a simulation platform. The basic principle of the millimeter wave radar signal level simulation is to model according to the signal level processing process of a real radar, including signal generation, emission, electromagnetic wave propagation simulation, reception, digital signal processing, etc.

[0078] Figure 3 is a flow chart of the simulation of the millimeter wave radar in the implementation example provided by the present disclosure, see Figure 3, wherein, in one implementation example, a simulation platform simulates a process in which an actual object (e.g., a real vehicle) in an actual scene sends a radio frequency signal through a millimeter wave radar and processes the received echo signal; wherein the channel simulator is used to simulate a transmission channel in which an actual object equipped with a millimeter wave radar sends a radio frequency signal and receives an echo signal in an actual scene;

[0079] The radar includes a digital signal processor and a radio frequency unit, the digital signal processor is used to process the signal to be transmitted and the received echo signal, and the radio frequency unit is used to send the radio frequency signal to the target object in the virtual scene of the simulation platform and receive the echo signal reflected by the target object;

[0080] Specifically, the digital signal processor sends a radio frequency signal to the target object in the channel simulator through the radio frequency unit, and the radio frequency unit receives the echo signal reflected by the target object, and converts the echo signal into a digital signal through mixing processing and analog-to-digital conversion processing. The digital signal is processed by FFT processing (Fast Fourier Transform) in the distance dimension, FFT processing in the velocity dimension, and FFT processing in the angle dimension in the digital signal processor to obtain a processing result, and the processing result is used to determine whether the target object exists through CFAR (Constant False Alarm Rate Detector). When the target object exists, the target object is extracted, and the trajectory of the extracted result is tracked, so that a target object list can be generated.

[0081] It should be noted that the radio frequency signal is an electric wave with a certain transmission frequency; the analog-to-digital conversion process is preferably processed by an analog-to-digital converter, and the analog-to-digital conversion process can convert the analog signal into a digital signal.

[0082] Step 202 , when the simulation accuracy parameters of the millimeter wave radar remain unchanged, the frequency parameters of the millimeter wave radar are adjusted according to a preset ratio to obtain adjusted frequency parameters.

[0083] The preset ratio here can be determined according to the computing power of the stand-alone machine, private cloud, shared cloud or other environment or terminal where the virtual simulation tool is located, and can be adjusted to at least one frequency parameter that meets the computing power to ensure smooth operation on the simulation platform.

[0084] In one embodiment of the present disclosure, the simulation accuracy parameters of the millimeter wave radar include: at least one of: range resolution, speed resolution, maximum range, maximum speed, bandwidth and speed of light.

[0085] Among them, the simulation accuracy parameters of the millimeter-wave radar are parameters that affect the accuracy of the processing results of the millimeter-wave radar on the echo signal. When at least one of the simulation accuracy parameters does not change, adjusting at least one frequency parameter according to a preset ratio will not change the accuracy of the simulation results of the millimeter-wave radar.

[0086] Furthermore, step 202 may include:

[0087] Step 2021, at least one of the carrier frequency, sampling frequency, sweep frequency, distance dimension frequency, and speed dimension frequency of the millimeter wave radar is adjusted according to a preset ratio to obtain an adjusted frequency parameter. The frequency parameters of the millimeter wave radar include the carrier frequency, sampling frequency, sweep frequency, distance dimension frequency, and speed dimension frequency, and the frequency parameters of the millimeter wave radar are frequency parameters that do not affect the accuracy of the processing result of the millimeter wave radar on the echo signal.

[0088] In a preferred embodiment of the present disclosure, step 2021 may include at least one of the following:

[0089] Step 20211, reducing or increasing the carrier frequency of the millimeter wave radar according to a first preset ratio to obtain a reduced or increased carrier frequency;

[0090] Step 20212, reducing or increasing the sampling frequency of the millimeter wave radar according to a second preset ratio to obtain a reduced or increased sampling frequency;

[0091] Step 20213, reducing or increasing the sweep frequency of the millimeter wave radar according to a third preset ratio to obtain a reduced or increased sweep frequency;

[0092] Step 20214: reducing or increasing the distance dimension frequency of the millimeter wave radar according to a fourth preset ratio to obtain a reduced or increased distance dimension frequency;

[0093] Step 20215, reducing or increasing the speed dimension frequency of the millimeter wave radar according to a fifth preset ratio to obtain a reduced or increased speed dimension frequency;

[0094] Among them, at least two of the first preset ratio, the second preset ratio, the third preset ratio, the fourth preset ratio and the fifth preset ratio are the same. Preferably, the first preset ratio, the second preset ratio, the third preset ratio, the fourth preset ratio and the fifth preset ratio are the same; that is, when the preset ratios of the above-mentioned frequency parameters can be adjusted, it can be set that when one of the frequency parameters is adjusted, the other frequency parameters can be adjusted in equal proportion according to the adjusted frequency parameters, for example, the carrier frequency is adjusted according to the first preset ratio, and the sampling frequency is adjusted according to the second preset ratio that is the same as the first preset ratio; of course, when the sampling frequency is adjusted according to the second preset ratio, the carrier frequency can also be adjusted according to the first preset ratio that is the same as the second preset ratio.

[0095] Here, since the sweeping period and the sweeping frequency are inversely proportional to each other, that is, the sweeping frequency=1 / sweeping period, step 2021 may further include:

[0096] Step 20216, reducing or increasing the frequency sweeping period of the millimeter wave radar according to a third preset ratio to obtain an increased or reduced frequency sweeping period;

[0097] At least two of the frequency parameters in the above embodiment are correlated frequency parameters, that is, when one frequency parameter is reduced or increased according to a preset ratio, at least one frequency parameter related to it will also be reduced or increased according to the preset ratio, and the preset ratio of reduction or increase is the same, and the amount of calculation is also reduced or increased with the preset ratio. At the same time, the preset ratio can be configured in the user interface of the virtual simulation tool to achieve a controllable and measurable state; in addition, when the preset ratio is set to 1, the frequency parameter corresponding to the preset ratio does not change.

[0098] In another implementation example, the frequency parameters of the millimeter wave radar are reduced according to a preset ratio. The source carrier frequency of the millimeter wave radar is 77 GHz. When the preset ratio is 100, the source carrier frequency is reduced by 100 times. The carrier frequency of the millimeter wave radar after the reduction is 0.77 GHz. In order to ensure that the radar accuracy remains unchanged, other frequency parameters related to the carrier frequency are also reduced by 100 times. The specific related parameters are shown in the following table:

[0099]

[0100]

[0101] Table 1

[0102] As shown in Table 1, when the number of distance FFT points and the number of speed FFT points remain unchanged, since the distance resolution, speed resolution, maximum distance, maximum speed, bandwidth and speed of light are all simulation accuracy parameters of the millimeter wave radar, in order not to affect the accuracy of the processing result of the millimeter wave radar on the echo signal, the simulation accuracy parameters are also unchanged; the preset ratio can be configured in the user interface of the simulation platform, and the configuration interface may include at least one configuration option for the user to select and configure the preset ratio, and of course, it may also include a related input box for the user to customize the preset ratio; if the preset ratio configured in the user interface is 100, the source carrier frequency is reduced by 100 times, and the related source sampling frequency, source sweep frequency source 150m distance dimension frequency and source 30m / s Doppler frequency are also reduced by 100 times. Correspondingly, the sweep period is increased by 100 times. It should be noted that the speed Doppler frequency here is the speed dimension frequency.

[0103] Step 203, processing the echo signal according to the adjusted frequency parameter to obtain a processing result; wherein the processing of the echo signal may include analog-to-digital conversion processing, sampling processing, and sampling signal processing. Specifically, step 203 may include:

[0104] Step 2031, performing analog-to-digital conversion on the echo signal to obtain a digital signal;

[0105] Step 2032, sampling the digital signal according to the reduced or increased sampling frequency to obtain a sampled signal;

[0106] Step 2033, processing the sampled signal to obtain a processing result.

[0107] The analog-to-digital conversion can preferably be processed by an ADC (Analog to Digital Converter); the sampling process specifically obtains a sampling period according to the reduced or increased sampling frequency, samples the digital signal according to the sampling period, and obtains a sampled signal;

[0108] The processing of the sampled signal in step 2033 may include:

[0109] Step 20331, performing fast Fourier transform processing on the sampling signal in the distance dimension to obtain a first intermediate processing result;

[0110] Step 20332, performing a fast Fourier transform process in the velocity dimension on the first intermediate processing result to obtain a second intermediate processing result;

[0111] Step 20333, performing fast Fourier transform processing in the angle dimension on the second intermediate processing result to obtain a third intermediate processing result;

[0112] Step 20334, obtaining a target distance dimension frequency and a target speed dimension frequency according to the third intermediate processing result; the target distance dimension frequency is the distance dimension frequency proportionally reduced or increased based on the reduced or increased sampling frequency, and the target speed dimension frequency is the speed dimension frequency proportionally reduced or increased based on the reduced or increased sampling frequency;

[0113] Step 20335, obtaining a processing result according to the target distance dimension frequency and / or the target speed dimension frequency.

[0114] Among them, the digital signal is sampled according to the reduced or increased sampling frequency to obtain a sampling signal, and the sampling signal is subjected to FFT processing in three dimensions, namely, distance dimension, speed dimension and angle dimension, through steps 20331 to 20333 to obtain the target distance dimension frequency and the target speed dimension frequency. On the basis of reducing the amount of calculation by fast Fourier transform, the amount of calculation when processing the sampling signal can be further reduced; the target distance dimension frequency and the target speed dimension frequency are not the final signal processing results during millimeter wave radar simulation, but are the distance dimension frequency and the speed dimension frequency that are proportionally reduced or increased based on the sampling frequency reduced or increased by the preset proportion in the above step 202.

[0115] In one embodiment of the present disclosure, the above step 20335 includes:

[0116] By formula: S = f r / B*T s *c0, get the distance S between the millimeter wave radar and the target object; where f r represents the target distance dimension frequency, B represents the carrier bandwidth, T s It indicates the sweep period after the sweep frequency is proportionally increased or decreased based on the reduced or increased sweep frequency, and c0 indicates the speed of light;

[0117] and / or,

[0118] By formula: V = f ds / f sc *c0, get the speed V between the millimeter wave radar and the target object; where f ds represents the target velocity dimension frequency, f sc It indicates that the carrier frequency is reduced or increased in proportion to the reduced or increased sampling frequency, and c0 indicates the speed of light.

[0119] Here, the target distance dimension frequency and the target speed dimension frequency obtained in step 20334 are back-calculated to obtain the actual distance S and the actual speed V; since in step 202 only the frequency parameters are adjusted according to the preset ratio, and the simulation accuracy parameters remain unchanged, the actual distance S and the actual speed V obtained by back-calculating the target distance dimension frequency and the target speed dimension frequency will not reduce the accuracy of the data compared with the actual distance S and the actual speed V obtained by directly performing a large number of calculations based on the original frequency parameters.

[0120] In an implementation example, based on the parameters in the implementation example corresponding to Table 1 above, it can be seen that the frequency of the distance dimension of 150m before being reduced by 100 times is 40MHz, and the frequency of the distance dimension of 150m after being reduced by 100 times is 400kHz; the frequency of the speed dimension of 30m / s before being reduced by 100 times is 7700Hz, and the frequency of the speed dimension of 30m / s after being reduced by 100 times is 77Hz;

[0121] Calculate the distance S1 between the millimeter-wave radar and the target object at the source carrier frequency, and set the bandwidth B to 4×10 8 , sweep period T s1 = 0.00001 and the speed of light c0 = 3 × 10 8 Substitute into the formula: S = f r / B*T s *c0, we get

[0122] After the source carrier frequency and related frequency parameters are reduced by 100 times, the bandwidth B = 4 × 10 8 , sweep period T s = 0.001 and the speed of light c0 = 3 × 10 8 Substitute into the formula: S = f r / B*T s *c0, we get

[0123] Because f r2 It is based on f r1 The sampling frequency after the preset ratio is reduced or increased is proportional to the distance dimension frequency after the preset ratio is reduced or increased. Therefore, when the sampling frequency is reduced by 100 times based on the preset ratio, f r2 Yes r1 The target distance dimension frequency after being reduced by 100 times, i.e. f r1 =100f r2 , then:

[0124] While maintaining the accuracy of distance data, the amount of computation required to calculate distance is further reduced based on the three-dimensional fast Fourier transform.

[0125] Calculate the distance S1 between the millimeter-wave radar and the target object at the source carrier frequency, and use the speed of light c0 = 3×10 8 Substitute into the formula: V = f ds / f sc *c0, we get

[0126] After the source carrier frequency and related frequency parameters are reduced by 100 times, the speed of light c0 = 3 × 10 8 Substitute into the formula: S = f r / B*T s *c0, we get

[0127] Because f ds2 It is based on f ds1 The sampling frequency after the preset ratio is reduced or increased is proportional to the speed dimension frequency after the ratio is reduced or increased, f sc2 It is based on f sc1 The sampling frequency after the preset ratio is reduced or increased is proportional to the carrier frequency after the preset ratio is reduced or increased. Therefore, when the sampling frequency is reduced by 100 times based on the preset ratio, f ds2 Yes ds1 The target velocity dimension frequency after reducing by 100 times, i.e. f ds1 =100f ds2 , f sc2 Yes sc1 The target velocity dimension frequency after reducing by 100 times, i.e. f sc1 =100f sc2 ,visible:

[0128]

[0129] While maintaining the simulation accuracy, the amount of calculation is further reduced based on the three-dimensional fast Fourier transform.

[0130] The simulation method of the millimeter-wave radar in the disclosed embodiment adjusts at least one frequency parameter of the millimeter-wave radar according to a preset ratio while keeping the simulation accuracy parameters of the millimeter-wave radar unchanged. The preset ratio can be configured according to a user interface to obtain the adjusted frequency parameters, and then the echo signal is processed according to the adjusted frequency parameters to obtain a processing result. This reduces the amount of signal processing calculations during visual simulation and ensures the smoothness of the autonomous driving vehicle running on the simulation platform.

[0131] All the above optional technical solutions can be arbitrarily combined to form optional embodiments of the present disclosure, which will not be described one by one here.

[0132] Figure 4 is a schematic diagram of the structure of a millimeter wave radar simulation method and device provided by an embodiment of the present disclosure, see Figure 4 , the device 400 comprises:

[0133] The receiving module 401 is used to receive the echo signal reflected by the target object in the virtual scene after receiving the radio frequency signal when simulating the radio frequency signal of the millimeter wave radar;

[0134] An adjustment module 402 is used to adjust the frequency parameter of the millimeter wave radar according to a preset ratio to obtain an adjusted frequency parameter when the simulation accuracy parameter of the millimeter wave radar remains unchanged;

[0135] The processing module 403 is used to process the echo signal according to the adjusted frequency parameter to obtain a processing result.

[0136] In a possible implementation, the adjustment module 402 is used to:

[0137] At least one of the carrier frequency, sampling frequency, sweep frequency, distance dimension frequency, and speed dimension frequency of the millimeter wave radar is adjusted according to a preset ratio to obtain an adjusted frequency parameter.

[0138] In a possible implementation, the simulation accuracy parameters of the millimeter wave radar in the adjustment module 402 include: at least one of: distance resolution, speed resolution, maximum distance, maximum speed, bandwidth, and speed of light.

[0139] In a possible implementation, the adjustment module 402 is specifically configured to:

[0140] The carrier frequency of the millimeter wave radar is reduced or increased according to a first preset ratio to obtain a reduced or increased carrier frequency;

[0141] The sampling frequency of the millimeter wave radar is reduced or increased according to a second preset ratio to obtain a reduced or increased sampling frequency;

[0142] The scanning frequency of the millimeter wave radar is reduced or increased according to a third preset ratio to obtain a reduced or increased scanning frequency;

[0143] The distance dimension frequency of the millimeter wave radar is reduced or increased according to a fourth preset ratio to obtain a reduced or increased distance dimension frequency;

[0144] The speed dimension frequency of the millimeter wave radar is reduced or increased according to a fifth preset ratio to obtain a reduced or increased speed dimension frequency;

[0145] Among them, at least two of the first preset ratio, the second preset ratio, the third preset ratio, the fourth preset ratio and the fifth preset ratio are the same.

[0146] In a possible implementation, the processing module 403 includes:

[0147] The first processing submodule is used to perform analog-to-digital conversion on the echo signal to obtain a digital signal;

[0148] The second processing submodule is used to sample the digital signal according to the reduced or increased sampling frequency to obtain a sampled signal;

[0149] The third processing submodule is used to process the sampled signal to obtain a processing result.

[0150] In a possible implementation, the third processing submodule includes:

[0151] A first processing subunit performs fast Fourier transform processing on the sampling signal in the distance dimension to obtain a first intermediate processing result;

[0152] The second processing subunit performs a fast Fourier transform process in the velocity dimension on the first intermediate processing result to obtain a second intermediate processing result;

[0153] A third processing subunit performs fast Fourier transform processing in an angle dimension on the second intermediate processing result to obtain a third intermediate processing result;

[0154] A fourth processing subunit obtains a target distance dimension frequency and a target speed dimension frequency according to the third intermediate processing result; the target distance dimension frequency is a distance dimension frequency proportionally reduced or increased based on the reduced or increased sampling frequency, and the target speed dimension frequency is a speed dimension frequency proportionally reduced or increased based on the reduced or increased sampling frequency;

[0155] The fifth processing subunit obtains a processing result according to the target distance dimension frequency and / or the target speed dimension frequency.

[0156] In a possible implementation manner, the fifth processing subunit is specifically configured to:

[0157] By formula: S = f r / B*T s *c0, get the distance S between the millimeter wave radar and the target object; where f r represents the target distance dimension frequency, B represents the carrier bandwidth, T s It indicates the sweep period after the sweep frequency is proportionally increased or decreased based on the reduced or increased sweep frequency, and c0 indicates the speed of light;

[0158] and / or

[0159] By formula: V = f ds / fsc *c0, get the speed V between the millimeter wave radar and the target object; where f ds represents the target velocity dimension frequency, f sc It indicates that the carrier frequency is reduced or increased in proportion to the reduced or increased sampling frequency, and c0 indicates the speed of light.

[0160] The device provided by the embodiment of the present disclosure can receive the echo signal reflected by the target object in the virtual scene after receiving the radio frequency signal when simulating the radio frequency signal of the millimeter-wave radar, so that when the simulation accuracy parameter of the millimeter-wave radar remains unchanged, at least one frequency parameter of the millimeter-wave radar is adjusted according to a preset ratio to obtain the adjusted frequency parameter. The adjustment according to the preset ratio can make the radio frequency signal processing of the millimeter-wave radar controllable. The preset ratio can be configured through the user interface, and then the echo signal is processed according to the adjusted frequency parameter to obtain the processing result, which reduces the amount of calculation when processing the millimeter-wave radar signal and ensures the smoothness of the autonomous driving vehicle running on the simulation platform.

[0161] It should be noted that: the millimeter wave radar simulation device provided in the above embodiment only uses the division of the above functional modules as an example during the simulation process. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the millimeter wave radar simulation device provided in the above embodiment and the millimeter wave radar simulation method embodiment belong to the same concept. The specific implementation process is detailed in the method embodiment and will not be repeated here.

[0162] The millimeter wave radar simulation device in the embodiment of the present disclosure may be a virtual device, or a component, integrated circuit or chip in a server or terminal. The device may be a mobile electronic device or a non-mobile electronic device. Exemplarily, the mobile electronic device may be a mobile phone, a tablet computer, a laptop computer, a PDA, an in-vehicle electronic device, a wearable device, an ultra-mobile personal computer (UMPC), a netbook or a personal digital assistant (PDA), etc., and the non-mobile electronic device may be a server, a network attached storage (NAS), a personal computer (PC), a television (TV), a teller machine or a self-service machine, etc., which is not specifically limited in the embodiment of the present disclosure.

[0163] The millimeter wave radar simulation device in the embodiment of the present disclosure may be a device having an operating system. The operating system may be an Android operating system, an iOS operating system, or other possible operating systems, which are not specifically limited in the embodiment of the present disclosure.

[0164] The millimeter wave radar simulation device provided in the embodiment of the present disclosure can achieve Figures 2 to 3 To avoid repetition, the various processes implemented by the method embodiment are not described here.

[0165] Alternatively, if Figure 5 As shown, the embodiment of the present disclosure also provides an electronic device 500, including a processor 501, a memory 502, and a program or instruction stored in the memory 502 and executable on the processor 501. When the program or instruction is executed by the processor 501, each process of the above-mentioned millimeter wave radar simulation method embodiment is implemented, and the same technical effect can be achieved. To avoid repetition, it is not repeated here. It should be noted that the electronic device in the embodiment of the present disclosure includes the above-mentioned mobile electronic device and non-mobile electronic device.

[0166] Figure 6 A schematic diagram of the hardware structure of an electronic device for implementing an embodiment of the present disclosure.

[0167] The electronic device 600 includes but is not limited to: a radio frequency unit 601, a network module 602, an audio output unit 603, an input unit 604, a sensor 605, a display unit 606, a user input unit 607, an interface unit 608, a memory 609, and a processor 610.

[0168] Those skilled in the art will appreciate that the electronic device 600 may also include a power source (such as a battery) for supplying power to each component, and the power source may be logically connected to the processor 610 through a power management system, thereby implementing functions such as managing charging, discharging, and power consumption management through the power management system. Figure 6 The electronic device structure shown in the figure does not constitute a limitation on the electronic device. The electronic device may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently, which will not be described in detail here.

[0169] It should be understood that in the embodiment of the present disclosure, the input unit 604 may include a graphics processor (GPU) 6041 and a microphone 6042, and the graphics processor 6041 processes the image data of a static picture or video obtained by an image capture device (such as a camera) in a video capture mode or an image capture mode. The display unit 606 may include a display panel 6061, and the display panel 6061 may be configured in the form of a liquid crystal display, an organic light emitting diode, etc. The user input unit 607 includes a touch panel 6071 and other input devices 6072. The touch panel 6071 is also called a touch screen. The touch panel 6071 may include two parts: a touch detection device and a touch controller. Other input devices 6072 may include, but are not limited to, a physical keyboard, function keys (such as volume control keys, switch keys, etc.), a trackball, a mouse, and a joystick, which will not be repeated here. The memory 609 may be used to store software programs and various data, including but not limited to applications and operating systems. The processor 610 may integrate an application processor and a modem processor, wherein the application processor mainly processes an operating system, a user interface, and applications, and the modem processor mainly processes wireless communications. It is understandable that the above-mentioned modem processor may not be integrated into the processor 610.

[0170] The disclosed embodiment also provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, each process of the above-mentioned millimeter wave radar simulation method embodiment is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0171] The processor is the processor in the electronic device in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a computer read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0172] The disclosed embodiment further provides a chip, which includes a processor and a communication interface, wherein the communication interface and the processor are coupled, and the processor is used to run programs or instructions to implement the various processes of the above-mentioned millimeter wave radar simulation method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0173] It should be understood that the chip mentioned in the embodiments of the present disclosure may also be referred to as a system-level chip, a system chip, a chip system, or a system-on-chip chip, etc.

[0174] It should be noted that, in this article, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises one..." does not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the method and device in the embodiments of the present disclosure is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0175] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present disclosure, or the part that contributes to the prior art, can be embodied in the form of a computer software product, which is stored in a storage medium (such as ROM / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods of each embodiment of the present disclosure.

[0176] The embodiments of the present disclosure are described above in conjunction with the accompanying drawings, but the present disclosure is not limited to the above-mentioned specific implementation modes. The above-mentioned specific implementation modes are merely illustrative and not restrictive. Under the guidance of the present disclosure, ordinary technicians in this field can also make many forms without departing from the scope of protection of the present disclosure and the claims, all of which are within the protection of the present disclosure.

Claims

1. A millimeter wave radar simulation method, characterized in that: include: When simulating the radio frequency signal of the millimeter wave radar, an echo signal reflected by a target object in a virtual scene after receiving the radio frequency signal is received; When the simulation accuracy parameter of the millimeter wave radar remains unchanged, the frequency parameter of the millimeter wave radar is adjusted according to a preset ratio to obtain an adjusted frequency parameter; Processing the echo signal according to the adjusted frequency parameter to obtain a processing result; The frequency parameter of the millimeter wave radar is adjusted according to a preset ratio to obtain the adjusted frequency parameter, including: Adjust at least one of the carrier frequency, sampling frequency, sweep frequency, distance dimension frequency, and speed dimension frequency of the millimeter wave radar according to a preset ratio to obtain an adjusted frequency parameter; The simulation accuracy parameters of the millimeter wave radar include: distance resolution, speed resolution, maximum distance, maximum speed, bandwidth and speed of light; At least one of the carrier frequency, sampling frequency, sweep frequency, distance dimension frequency, and speed dimension frequency of the millimeter wave radar is adjusted according to a preset ratio to obtain an adjusted frequency parameter, including: The carrier frequency of the millimeter wave radar is reduced or increased according to a first preset ratio to obtain a reduced or increased carrier frequency; The sampling frequency of the millimeter wave radar is reduced or increased according to a second preset ratio to obtain a reduced or increased sampling frequency; The scanning frequency of the millimeter wave radar is reduced or increased according to a third preset ratio to obtain a reduced or increased scanning frequency; reducing or increasing the distance dimension frequency of the millimeter wave radar according to a fourth preset ratio to obtain a reduced or increased distance dimension frequency; The speed dimension frequency of the millimeter wave radar is reduced or increased according to a fifth preset ratio to obtain a reduced or increased speed dimension frequency; Wherein, at least two of the first preset ratio, the second preset ratio, the third preset ratio, the fourth preset ratio and the fifth preset ratio are the same.

2. The millimeter wave radar simulation method according to claim 1, characterized in that: The echo signal is processed according to the adjusted frequency parameter to obtain a processing result, including: Performing analog-to-digital conversion on the echo signal to obtain a digital signal; Sampling the digital signal at a reduced or increased sampling frequency to obtain a sampled signal; The sampled signal is processed to obtain a processing result.

3. The millimeter wave radar simulation method according to claim 2, characterized in that: Processing the sampled signal to obtain a processing result includes: Performing fast Fourier transform processing on the sampling signal in the distance dimension to obtain a first intermediate processing result; Performing a fast Fourier transform process in a velocity dimension on the first intermediate processing result to obtain a second intermediate processing result; Performing fast Fourier transform processing in an angle dimension on the second intermediate processing result to obtain a third intermediate processing result; According to the third intermediate processing result, a target distance dimension frequency and a target speed dimension frequency are obtained; the target distance dimension frequency is a distance dimension frequency that is proportionally reduced or increased based on the reduced or increased sampling frequency, and the target speed dimension frequency is a speed dimension frequency that is proportionally reduced or increased based on the reduced or increased sampling frequency; The processing result is obtained according to the target distance dimension frequency and / or the target speed dimension frequency.

4. The millimeter wave radar simulation method according to claim 3, characterized in that: Obtaining the processing result according to the target distance dimension frequency and / or the target speed dimension frequency includes: By formula: S = f r / B*T s *c0, obtain the distance S between the millimeter wave radar and the target object; where f r represents the target distance dimension frequency, B represents the carrier bandwidth, T s It indicates the sweep period after the sweep frequency is proportionally increased or decreased based on the reduced or increased sweep frequency, and c0 indicates the speed of light; and / or By formula: V = f ds / f sc *c0, obtain the speed V between the millimeter wave radar and the target object; where f ds represents the target velocity dimension frequency, f sc It indicates that the carrier frequency is reduced or increased in proportion to the reduced or increased sampling frequency, and c0 indicates the speed of light.

5. A millimeter wave radar simulation device, characterized in that: include: A receiving module, used to receive an echo signal reflected by a target object in a virtual scene after receiving the radio frequency signal when simulating the radio frequency signal of the millimeter wave radar; An adjustment module, configured to adjust the frequency parameter of the millimeter-wave radar according to a preset ratio to obtain an adjusted frequency parameter while keeping the simulation accuracy parameter of the millimeter-wave radar unchanged; A processing module, used for processing the echo signal according to the adjusted frequency parameter to obtain a processing result; The frequency parameter of the millimeter wave radar is adjusted according to a preset ratio to obtain the adjusted frequency parameter, including: Adjust at least one of the carrier frequency, sampling frequency, sweep frequency, distance dimension frequency, and speed dimension frequency of the millimeter wave radar according to a preset ratio to obtain an adjusted frequency parameter; The simulation accuracy parameters of the millimeter wave radar include: distance resolution, speed resolution, maximum distance, maximum speed, bandwidth and speed of light; At least one of the carrier frequency, sampling frequency, sweep frequency, distance dimension frequency, and speed dimension frequency of the millimeter wave radar is adjusted according to a preset ratio to obtain an adjusted frequency parameter, including: The carrier frequency of the millimeter wave radar is reduced or increased according to a first preset ratio to obtain a reduced or increased carrier frequency; The sampling frequency of the millimeter wave radar is reduced or increased according to a second preset ratio to obtain a reduced or increased sampling frequency; The scanning frequency of the millimeter wave radar is reduced or increased according to a third preset ratio to obtain a reduced or increased scanning frequency; reducing or increasing the distance dimension frequency of the millimeter wave radar according to a fourth preset ratio to obtain a reduced or increased distance dimension frequency; The speed dimension frequency of the millimeter wave radar is reduced or increased according to a fifth preset ratio to obtain a reduced or increased speed dimension frequency; Wherein, at least two of the first preset ratio, the second preset ratio, the third preset ratio, the fourth preset ratio and the fifth preset ratio are the same.

6. An electronic device, characterized in that: It includes a processor, a memory, and a program or instruction stored in the memory and executable on the processor, wherein when the program or instruction is executed by the processor, the steps of the millimeter wave radar simulation method according to any one of claims 1 to 4 are implemented.

7. A readable storage medium, characterized in that: The readable storage medium stores a program or instruction, and when the program or instruction is executed by the processor, the steps of the millimeter wave radar simulation method according to any one of claims 1 to 4 are implemented.

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