A signal processing method, apparatus, device, and storage medium

Abstract

The present invention provides a signal processing method, apparatus, device, and storage medium. The signal processing method is applied to an in-vehicle radar, and the method includes: receiving a target sub-signal, where the target sub-signal is any one of a plurality of sub-signals included in a radar sub-frame signal; performing sampling processing on the target sub-signal to obtain a plurality of sampled signals; performing distance dimension Fourier processing on the plurality of sampled signals in parallel to obtain a plurality of distance dimension signals; and performing signal fusion processing on the plurality of distance dimension signals to obtain a target distance dimension signal. In this application, distance dimension Fourier processing is performed on the plurality of sampled signals in parallel, so that a plurality of distance dimension signals can be obtained simultaneously. The parallel distance dimension Fourier processing takes less time and has high processing efficiency. Since the plurality of distance dimension signals are obtained simultaneously, signal fusion processing can be performed on the plurality of distance dimension signals simultaneously, and the target distance dimension signal can be obtained through one signal fusion processing, with high processing efficiency.

Description

Technical Field

[0001] The present invention relates to the field of antennas, and particularly to a signal processing method, apparatus, device, and storage medium. Background Art

[0002] At present, vehicle-mounted millimeter-wave radars use a microcontroller unit (MCU) for signal processing, and the number of supported transmission and reception channels is limited; for multiple sampled signals received simultaneously, they need to be cached before further processing, which greatly reduces efficiency and lengthens the signal processing time of radar subframes. Summary of the Invention

[0003] In order to solve the technical problems of low processing efficiency and long processing time of radar subframe signals in the prior art, the present invention provides a signal processing method, apparatus, device, and storage medium, which are specifically implemented by the following technical solutions.

[0004] The present application provides a signal processing method applied to a vehicle-mounted radar. The method includes:

[0005] Receiving a target sub-signal, where the target sub-signal is any one of multiple sub-signals included in a radar subframe signal;

[0006] Performing sampling processing on the target sub-signal to obtain multiple sampled signals;

[0007] Performing distance-dimensional Fourier processing on the multiple sampled signals in parallel to obtain multiple distance-dimensional signals;

[0008] Performing signal fusion processing on the multiple distance-dimensional signals to obtain a target distance-dimensional signal.

[0009] In a possible implementation, the performing distance-dimensional Fourier processing on the multiple sampled signals in parallel to obtain multiple distance-dimensional signals includes: invoking distance-dimensional computing resources to perform distance-dimensional Fourier processing on the multiple sampled signals in parallel to obtain multiple distance-dimensional signals;

[0010] After performing distance-dimensional Fourier processing on the multiple sampled signals in parallel to obtain multiple distance-dimensional signals, the method further includes: releasing the distance-dimensional computing resources.

[0011] In a possible implementation, after obtaining the target distance-dimensional signal, the method further includes: storing the target distance-dimensional signal.

[0012] In a possible implementation, it further includes:

[0013] When the storage of multiple target range dimension signals corresponding to the radar subframe signal is completed, multiple channel signals are obtained according to the multiple target range dimension signals corresponding to the radar subframe signal;

[0014] Doppler Fourier processing is performed on the multiple channel signals in parallel to obtain multiple Doppler signals.

[0015] In a possible implementation manner, the obtaining multiple channel signals according to the multiple target range dimension signals corresponding to the radar subframe signal when the storage of the multiple target range dimension signals corresponding to the radar subframe signal is completed includes:

[0016] When the storage of the multiple target range dimension signals corresponding to the radar subframe signal is completed, the following operations are respectively performed on the multiple target range dimension signals: read the target range dimension signal, perform disassembly processing on the target range dimension signal to obtain a disassembled signal;

[0017] When the disassembly of the multiple target range dimension signals is completed, the multiple channel signals are obtained according to the multiple disassembled signals corresponding to the multiple target range dimension signals.

[0018] In a possible implementation manner, the obtaining the multiple channel signals according to the multiple disassembled signals corresponding to the multiple target range dimension signals includes:

[0019] Sorting the multiple disassembled signals corresponding to the multiple target range dimension signals to obtain the multiple channel signals.

[0020] In a possible implementation manner, after performing Doppler Fourier processing on the multiple channel signals in parallel to obtain multiple Doppler signals, the method further includes:

[0021] Performing modulo operation on the multiple Doppler signals in parallel to obtain multiple modulo result signals;

[0022] Adding the multiple modulo result signals to obtain a non-coherent accumulation signal.

[0023] The present application further provides a signal processing device applied to an in-vehicle radar, including:

[0024] A receiving module, configured to receive a target sub-signal, where the target sub-signal is any one of multiple sub-signals included in the radar subframe signal;

[0025] A sampling module, configured to perform sampling processing on the target sub-signal to obtain multiple sampling signals;

[0026] A range dimension module, configured to perform range dimension Fourier processing on the multiple sampling signals in parallel to obtain multiple range dimension signals;

[0027] A signal fusion module, configured to perform signal fusion processing on the multiple range dimension signals to obtain a target range dimension signal.

[0028] This application also provides a signal processing device applied to an on-vehicle radar, including:

[0029] A processor;

[0030] A memory for storing instructions executable by the processor;

[0031] Wherein, the processor is configured to execute:

[0032] Receive a target sub-signal, where the target sub-signal is any one of the multiple sub-signals included in the radar sub-frame signal;

[0033] Perform sampling processing on the target sub-signal to obtain multiple sampling signals;

[0034] Perform parallel range dimension Fourier processing on the multiple sampling signals to obtain multiple range dimension signals;

[0035] Perform signal fusion processing on the multiple range dimension signals to obtain a target range dimension signal.

[0036] In addition, this application also provides a non-volatile computer-readable storage medium, on which computer program instructions are stored, and characterized in that when the computer program instructions are executed by a processor, the method described above is implemented.

[0037] In this application, based on the pooling resources of a Field Programmable Gate Array (FPGA) device, range dimension Fourier processing can be performed on multiple sampling signals in parallel and simultaneously, and multiple processing results (multiple range dimension signals) can be obtained simultaneously. The parallel range dimension Fourier processing used in this application takes less time and has high processing efficiency. In addition, since multiple range dimension signals are obtained simultaneously, signal fusion processing can be performed on multiple range dimension signals simultaneously, and a target range dimension signal can be obtained through one signal fusion processing; it can be seen that the processing method of this application takes less time and has high processing efficiency. Description of the Drawings

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention, and for those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0039] Figure 1 Schematic flowchart of a signal processing method shown according to an exemplary embodiment;

[0040] Figure 2 Schematic flowchart of a signal processing method shown according to another exemplary embodiment;

[0041] Figure 3 Schematic flowchart of a signal processing method shown according to still another exemplary embodiment;

[0042] Figure 4 Schematic diagram of signal processing relationship of serial range - dimension Fourier processing in the prior art;

[0043] Figure 5 Schematic diagram of signal relationship of parallel range - dimension Fourier processing in the embodiments of this specification;

[0044] Figure 6 Schematic diagram of signal relationship of signal fusion processing and storage in the embodiments of this specification;

[0045] Figure 7 Schematic diagram of signal relationship of disassembly processing, modulo operation processing and addition processing in the embodiments of this specification;

[0046] Figure 8 Block diagram of a signal processing device shown according to an exemplary embodiment. Detailed implementation manners

[0047] The following will detail various exemplary embodiments, features and aspects of the present application with reference to the accompanying drawings. The same reference numerals in the drawings denote elements having the same or similar functions. Although various aspects of the embodiments are shown in the drawings, the drawings do not have to be drawn to scale unless otherwise specified.

[0048] The special word "exemplary" here means "serving as an example, an embodiment or illustrative". Any embodiment described as "exemplary" here does not have to be construed as superior to or better than other embodiments.

[0049] In addition, for better illustration of the present application, numerous specific details are given in the following detailed implementation manners. Those skilled in the art should understand that the present application can be implemented without some of these specific details. In some instances, methods, means, elements and circuits well - known to those skilled in the art are not described in detail so as to highlight the gist of the present application.

[0050] To solve the technical problems of low processing efficiency and long processing time of radar sub - frame signals in the prior art, the present invention proposes a signal processing method, device, equipment and storage medium, and the present invention is specifically implemented by the following technical solutions.

[0051] A signal processing method provided by an embodiment of this specification is applied to an in-vehicle radar. The in-vehicle radar can be an in-vehicle millimeter-wave radar, which can transmit and receive signals, perform radar detection on a detection object, and obtain an analysis result of the detection object. The detection object can be other vehicles, pedestrians, buildings, etc. in the environment where the vehicle is located.

[0052] Combined with Figures 1 to 3 As shown, the signal processing method provided by an embodiment of this specification includes:

[0053] Step S101: Receive a target sub-signal, where the target sub-signal is any one of a plurality of sub-signals included in a radar sub-frame signal.

[0054] In an embodiment of this specification, the radar can sequentially receive a plurality of sub-signals. The first sub-signal received after the radar is powered on and a consecutive first number of sub-signals can form a radar sub-frame signal; the specific value of the first number can be determined according to actual needs; in an embodiment of this specification, the value of the first number can be 128.

[0055] Step S102: Perform sampling processing on the target sub-signal to obtain a plurality of sampled signals.

[0056] In an embodiment of this specification, the radar is provided with a second number of sampling channels, and each sampling channel can perform sampling processing on the target sub-signal; the second number of sampling channels respectively perform sampling processing on the target sub-signal to obtain a second number of sampled signals, and the second number of sampled signals corresponds one-to-one to the second number of sampling channels; the specific value of the second number can be determined according to actual needs.

[0057] Step S103: Perform distance-dimensional Fourier processing on the plurality of sampled signals in parallel to obtain a plurality of distance-dimensional signals.

[0058] In an embodiment of this specification, one sampled signal can correspond to one distance-dimensional signal. Based on a field-programmable gate array device (FPGA, Field Programmable Gate Array), distance-dimensional Fourier processing can be performed on the plurality of sampled signals in parallel. The distance-dimensional Fourier processing can be a fast Fourier processing of the sampled signal in the distance dimension to obtain distance-related information, and the processing result can reflect the distance-related information between the detection object and the radar.

[0059] Step S104: Perform signal fusion processing on the plurality of distance-dimensional signals to obtain a target distance-dimensional signal.

[0060] In the embodiments of this specification, signal fusion processing may be to perform signal merging processing on multiple range dimension signals, and the obtained target range dimension signal has a relatively large bit width. The signal fusion processing can be simultaneously performed on all range dimension signals corresponding to the target sub-signals, and the target range dimension signal can be obtained through one signal fusion processing.

[0061] As shown in Figure 4 In the prior art, when using a microcontroller unit (MCU) for signal processing, only serial processing can be performed. Only one sampling signal can be subjected to range dimension Fourier processing at a time, and other sampling signals need to be cached first. After one sampling signal is processed, another sampling signal is taken out from the cache for range dimension Fourier processing. Multiple sampling signals need to be subjected to range dimension Fourier processing in multiple times and serially, with low processing efficiency and long time consumption. For example, when multiple sampling signals include 0_ADC_DATA, 1_ADC_DATA, 2_ADC_DATA, and 3_ADC_DATA, a total of 4 times of range dimension Fourier processing need to be performed serially. When performing range dimension Fourier processing on 0_ADC_DATA, 1_ADC_DATA, 2_ADC_DATA, and 3_ADC_DATA need to be cached.

[0062] As shown in Figure 5 and Figure 6 In the embodiments of this specification, based on the pooling resources of a field programmable gate array (FPGA) device, range dimension Fourier processing can be performed on multiple sampling signals in parallel and simultaneously, and multiple processing results (multiple range dimension signals) can be obtained simultaneously. For example, when multiple sampling signals include 0_ADC_DATA, 1_ADC_DATA, 2_ADC_DATA, and 3_ADC_DATA, range dimension Fourier processing is performed in parallel, and 1_ADC_DATA, 2_ADC_DATA, and 3_ADC_DATA do not need to be cached. The use of parallel range dimension Fourier processing in the embodiments of this specification consumes less time and has high processing efficiency.

[0063] In addition, since multiple range dimension signals are obtained simultaneously, signal fusion processing can be performed on multiple range dimension signals at the same time, and the target range dimension signal can be obtained through one signal fusion process. For example, when multiple sampling signals include 0_ADC_DATA, 1_ADC_DATA, 2_ADC_DATA, and 3_ADC_DATA, range dimension Fourier processing is performed in parallel to obtain four range dimension signals (0_FFT_DATA, 1_FFT_DATA, 2_FFT_DATA, and 3_FFT_DATA), and signal fusion processing is performed on the four range dimension signals to obtain the target range dimension signal. It can be seen that the processing method in the embodiments of this specification takes less time and has high processing efficiency.

[0064] In a possible implementation manner, step S103 includes: invoking range dimension computing resources to perform range dimension Fourier processing on multiple sampling signals in parallel to obtain multiple range dimension signals;

[0065] After step S103, the method further includes: releasing the range dimension computing resources.

[0066] In the embodiments of this specification, the computing resources may be one or more of the following: central processing unit resources, memory resources, hard disk resources, and network resources required during program operation. The range dimension computing resources may be the computing resources required for range dimension Fourier processing.

[0067] During the process of performing range dimension Fourier processing on the sampling signals of the target sub-signal, range dimension computing resources need to be occupied; after the range dimension Fourier processing is completed, the range dimension computing resources can be released; the released range dimension computing resources can be utilized by the sampling signals of the next sub-signal. For example, after receiving a sub-signal, range dimension Fourier processing is performed on the sampling signals of the sub-signal, and the range dimension computing resources are released after the range dimension Fourier processing is completed, and then the next sub-signal is received. The range dimension computing resources in the embodiments of this specification can be reused, improving the utilization rate of computing resources, reducing the demand for total computing resources, and saving the manufacturing cost of the radar.

[0068] In a possible implementation manner, after step S104, the method further includes step S105: storing the target range dimension signal.

[0069] In the prior art, since the range - dimension Fourier processing of multiple sampling signals is serial processing, only multiple range - dimension signals can be obtained sequentially in time order; each time a range - dimension signal is obtained, it needs to be cached in a random access memory (RAM, Random Access Memory) first; after the caching of the range - dimension signal of the last sampling signal of the target sub - signal is completed, the multiple range - dimension signals are stored in a double - data - rate synchronous dynamic random access memory (DDR, Double Data Rate SDRAM) one by one and sequentially. It can be seen that the storage speed of the prior art is relatively slow.

[0070] Combined with Figure 6 As shown, in the embodiments of this specification, since the range - dimension Fourier processing of multiple sampling signals is parallel processing, multiple range - dimension signals can be obtained simultaneously, and signal fusion processing can be performed on multiple range - dimension signals simultaneously to obtain large - bit - width data (the target range - dimension signal). The target range - dimension signal can be stored in the DDR with one - time whole - packet storage; there is no need to cache it in the RAM first and then store it in the DDR, nor to store it in multiple times. It can be seen that in the embodiments of this specification, only one storage of the target range - dimension signal is required to store all the range - dimension signals of the target sub - signal, with a fast storage speed and high storage efficiency. The above - mentioned method increases the storage efficiency, reduces the occupation of the cache space at the same time, and also has an acceleration gain for the subsequent Doppler - dimension processing.

[0071] In the embodiments of this specification, the above steps (step S101 to step S105) can be respectively executed on multiple sub - signals of the radar sub - frame signal until the target range - dimension signal corresponding to the last sub - signal of the radar sub - frame signal is stored in the DDR. In the embodiments of this specification, the radar sub - frame signal can include 128 sub - signals; the first sub - signal can represent the first sub - signal received by the radar in the radar sub - frame signal, and the second sub - signal can represent the second sub - signal received by the radar in the radar sub - frame signal; the first sub - signal corresponds to the first target range - dimension signal, the second sub - signal corresponds to the second target range - dimension signal, and so on. In the DDR, 128 target range - dimension signals can be stored sequentially according to the radar - receiving order of the corresponding sub - signals.

[0072] In a possible implementation manner, the method further includes:

[0073] Step S106: When the storage of multiple target range - dimension signals corresponding to the radar sub - frame signal is completed, multiple channel signals are obtained according to the multiple target range - dimension signals corresponding to the radar sub - frame signal;

[0074] Step S107: Perform Doppler Fourier processing on multiple channel signals in parallel to obtain multiple Doppler signals.

[0075] In the embodiments of this specification, when the storage of multiple target range dimension signals corresponding to a radar subframe signal is completed, it indicates that all range dimension signals corresponding to the radar subframe signal have been obtained. In the embodiments of this specification, a sub-signal is sampled by multiple sampling channels to obtain multiple sampled signals, and multiple range dimension signals are obtained based on the multiple sampled signals, and then a target range dimension signal is obtained; a target range dimension signal corresponds to multiple sampling channels, and a target range dimension signal corresponds to a sub-signal. In step S106, multiple channel signals corresponding to multiple sampling channels can be obtained based on the multiple target range dimension signals corresponding to multiple sub-signals, and one channel signal can correspond to one sampling channel; furthermore, in step S107, Doppler Fourier processing can be performed on the multiple channel signals in parallel. For example, when the radar includes 4 sampling channels and a radar subframe signal includes 128 sub-signals, one target range dimension signal can be obtained for one sub-signal, and one target range dimension signal includes 4 range dimension signals. Four channel signals can be obtained based on the target range dimension signals corresponding to 128 sub-signals. Doppler Fourier processing is the fast Fourier processing of multiple channel signals in the Doppler dimension (velocity dimension).

[0076] In the embodiments of this specification, based on the FPGA, Doppler Fourier processing can be performed on multiple channel signals in parallel, and multiple Doppler signals can be obtained simultaneously. The processing method in the embodiments of this specification takes less time and has high processing efficiency.

[0077] Combined with Figure 7 As shown in

[0078] Step S1061: When the storage of multiple target range dimension signals corresponding to a radar subframe signal is completed, perform the following operations on the multiple target range dimension signals respectively: read the target range dimension signal, perform disassembly processing on the target range dimension signal to obtain a disassembled signal;

[0079] Step S1062: When the disassembly of the multiple target range dimension signals is completed, obtain multiple channel signals based on the multiple disassembled signals corresponding to the multiple target range dimension signals.

[0080] In the embodiments of this specification, after the storage of multiple target range dimension signals corresponding to the radar subframe signal is completed, the multiple target range dimension signals are sequentially read and disassembled. For example, the first target range dimension signal can be read first, and the first target range dimension signal is disassembled to obtain the disassembled signal corresponding to the first target range dimension signal; then the second target range dimension signal is read, and the second target range dimension signal is disassembled to obtain the disassembled signal corresponding to the second target range dimension signal; then the third target range dimension signal is read, and the third target range dimension signal is disassembled to obtain the disassembled signal corresponding to the third target range dimension signal; and so on until the disassembled signal corresponding to the last target range dimension signal is obtained; thus, all the disassembled signals corresponding to the radar subframe signal can be obtained, and multiple channel signals can be obtained based on all the disassembled signals.

[0081] In the embodiments of this specification, serial writing in the DDR cache space corresponds to serial reading. And in the embodiments of this specification, since the range dimension signals corresponding to multiple sampling signals are written simultaneously, multiplexed reading can be achieved. When reading the target range dimension signal, since the target range dimension signal is obtained by merging all the range dimension signals corresponding to a sub-signal, therefore, all the range dimension signals corresponding to a sub-signal can be read in one read, with high reading efficiency and improved signal processing efficiency.

[0082] In one possible implementation manner, step S1062 includes: sorting multiple disassembled signals corresponding to multiple target range dimension signals to obtain multiple channel signals.

[0083] In the embodiments of this specification, the sorting process can be signal recombination and merging according to the sub-signal number and the sampling channel number; the sub-signal number can be the sequential number when received by the radar; the sampling channel number can be the number preset by the radar for the sampling channel; multiple disassembled signals corresponding to the same sampling channel number can be sorted and combined in the order of the sub-signal number to obtain the channel signal corresponding to the sampling channel number. The sorting process can be performed on all the disassembled signals after all the disassembled signals corresponding to the radar subframe signal are obtained to obtain multiple channel signals; or the sorting process can be performed on the disassembled signal corresponding to a sub-signal after the disassembled signal corresponding to a sub-signal is obtained, and the disassembled signal corresponding to the sub-signal is arranged after the disassembled signal corresponding to the previous sub-signal; no matter which method, multiple channel signals are obtained after all the disassembled signals corresponding to the radar subframe signal are obtained. The embodiments of this specification can obtain multiple channel signals simultaneously, improving the signal processing efficiency.

[0084] In one possible implementation manner, after step S107, the method further includes:

[0085] Step S108: Parallelly perform modulo processing on multiple Doppler signals to obtain multiple modulo result signals;

[0086] Step S109: Add multiple modulo result signals to obtain a non-coherent accumulation signal.

[0087] In the embodiments of this specification, a Doppler signal includes a real part and an imaginary part. The modulo operation is to take the square root of the sum of the square of the real part and the square of the imaginary part of the Doppler signal. The accumulation methods are divided into coherent and non-coherent accumulation; coherent accumulation is to utilize the phase relationship between received pulses to superimpose the amplitudes of signals. The advantage of this method is that all radar echo energies can be directly added; non-coherent accumulation is performed after taking the signal envelope. At this time, the information of the complex signal is lost, only the modulus value is retained, and there is no strict phase relationship.

[0088] In the embodiments of this specification, Doppler Fourier processing is performed on multiple channel signals in parallel, and multiple Doppler signals can be obtained simultaneously. Furthermore, modulo operation and addition operation can be directly and simultaneously performed without caching the Doppler signals, so that a non-coherent accumulation signal can be obtained faster, and the processing efficiency is high.

[0089] In the prior art, when processing radar sub-frame signals based on a processor such as an MCU, a serial method is adopted when processing data streams.

[0090] The signal processing method provided by the embodiments of this specification can be executed based on an FPGA. The greatest advantage of an FPGA is the flexibility of algorithm adaptation. The resource granularity of an FPGA is lower. Unlike an MCU that limits one FFT (Fast Fourier Transform) module, all resources included in an FPGA can form various FFT modules, which can be flexibly changed according to actual usage. In an FPGA, the advantages of the device itself can be utilized to reuse parallel processing / high clock operation to seek a balance between resources and speed. The embodiments of this specification change the idea of serial calculation in the MCU era, and can maximize the advantage of parallel signal processing of an FPGA, start multiple channels, use pooled resources to generate multiple FFT modules, and perform parallel calculations.

[0091] In the embodiments of this specification, range dimension Fourier processing is placed within the complete reception of a sub-frame. When a sub-signal is received, sampling processing and range dimension Fourier processing are performed on the sub-signal. After the reception of a radar sub-frame signal is completed, the range dimension Fourier processing of the radar sub-frame signal can end synchronously.

[0092] In the embodiments of this specification, the characteristics of the maximum 1024-bit write and read externally through the AXI-4 (Advanced eXtensible Interface 4) bus of DDR4 can be utilized simultaneously. Since 32bit * 32 = 1024bit, the range dimension Fourier results corresponding to up to 32 antennas with a maximum of 1024bit are sent to the DDR for storage. After the entire range dimension Fourier processing is completed, Doppler dimension Fourier processing is performed. When performing the Doppler dimension Fourier operation, the AXI-4 bus reads with a maximum supported bit width of 1024bit and a number of 256. In actual use, 128 units with a 1024bit width can be selected for single Burst reading to correspond to the Doppler dimension Fourier operation of 128 chirp data of 32 channels of antennas.

[0093] In the embodiments of this specification, according to the bus characteristics of AXI-4 and in combination with the data characteristics in the radar signal processing process, the 32-bit real and imaginary part data of multiple antennas are combined into a data unit with a large bit width of 1024bit and written into the DDR buffer. According to the bus characteristics of AXI-4 and in combination with the data characteristics in the radar signal processing process, by reading multiple data units of a single sub-signal, the maximum utilization of the DDR interface efficiency is achieved, and the results of multiple output antennas are calculated in parallel.

[0094] The processing cycle of a single sub-frame is shortened, the amount of point cloud data per unit time is larger, and the real-time performance and reliability of the output target are improved, which is beneficial for autonomous driving to execute relevant operation actions faster.

[0095] Combined with Figure 8 As shown, the embodiments of this specification also provide a signal processing device applied to an automotive radar. The device includes:

[0096] A receiving module 10, configured to receive a target sub-signal, where the target sub-signal is any one of multiple sub-signals included in the radar sub-frame signal;

[0097] A sampling module 20, configured to perform sampling processing on the target sub-signal to obtain multiple sampling signals;

[0098] A range dimension module 30, configured to perform parallel range dimension Fourier processing on multiple sampling signals to obtain multiple range dimension signals;

[0099] A signal fusion module 40, configured to perform signal fusion processing on multiple range dimension signals to obtain a target range dimension signal.

[0100] In the embodiments of this specification, based on the pooling resources of a Field Programmable Gate Array (FPGA), the range dimension Fourier processing of multiple sampling signals can be performed in parallel and simultaneously, and multiple processing results (multiple range dimension signals) can be obtained simultaneously. The use of parallel range dimension Fourier processing in the embodiments of this specification takes less time and has high processing efficiency. In addition, since multiple range dimension signals are obtained simultaneously, signal fusion processing can be performed on multiple range dimension signals simultaneously, and the target range dimension signal can be obtained through one signal fusion processing. It can be seen that the processing method in the embodiments of this specification takes less time and has high processing efficiency.

[0101] In one possible implementation, the range dimension module 30 is configured to: call range dimension computing resources to perform range dimension Fourier processing on multiple sampling signals in parallel to obtain multiple range dimension signals;

[0102] The apparatus further includes a release module, configured to release the range dimension computing resources after obtaining multiple range dimension signals.

[0103] In one possible implementation, the apparatus further includes a storage module, configured to store the target range dimension signal.

[0104] In one possible implementation, the apparatus further includes:

[0105] A first determination module, configured to obtain multiple channel signals according to the multiple target range dimension signals corresponding to the radar subframe signal when the storage of the multiple target range dimension signals corresponding to the radar subframe signal is completed;

[0106] A Doppler dimension module, configured to perform Doppler Fourier processing on multiple channel signals in parallel to obtain multiple Doppler signals.

[0107] In one possible implementation, the first determination module includes:

[0108] A first determination unit, configured to, when the storage of the multiple target range dimension signals corresponding to the radar subframe signal is completed, perform the following operations on each of the multiple target range dimension signals: read the target range dimension signal, perform disassembly processing on the target range dimension signal to obtain a disassembled signal;

[0109] A second determination unit, configured to obtain multiple channel signals according to the multiple disassembled signals corresponding to the multiple target range dimension signals when the disassembly of the multiple target range dimension signals is completed.

[0110] In one possible implementation, the second determination unit is configured to perform sorting processing on the multiple disassembled signals corresponding to the multiple target range dimension signals to obtain multiple channel signals.

[0111] In a possible implementation, the apparatus further includes:

[0112] A modulo unit, configured to perform modulo processing on multiple Doppler signals in parallel to obtain multiple modulo result signals;

[0113] An addition unit, configured to perform addition processing on the multiple modulo result signals to obtain a non-coherent accumulation signal.

[0114] It should be noted that, for the apparatus provided in the above embodiments, when implementing its functions, only the division of the above functional modules is used for illustration. In actual applications, the above functions can be allocated to different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the apparatus provided in the above embodiments and the method embodiments belong to the same concept. For the specific implementation process, please refer to the method embodiments, which will not be elaborated here.

[0115] In addition, an embodiment of this specification further provides a signal processing device applied to an automotive radar, including:

[0116] A processor;

[0117] A memory for storing executable instructions of the processor;

[0118] Wherein, the processor is configured to execute:

[0119] Receive a target sub-signal, where the target sub-signal is any one of multiple sub-signals included in a radar sub-frame signal;

[0120] Perform sampling processing on the target sub-signal to obtain multiple sampling signals;

[0121] Perform range dimension Fourier processing on the multiple sampling signals in parallel to obtain multiple range dimension signals;

[0122] Perform signal fusion processing on the multiple range dimension signals to obtain a target range dimension signal.

[0123] In addition, an embodiment of this specification further provides a non-volatile computer-readable storage medium, on which computer program instructions are stored, and when the computer program instructions are executed by a processor, the above signal processing method is implemented.

[0124] A computer program product may include a computer-readable storage medium, on which computer-readable program instructions for enabling a processor to implement various aspects of the present application are loaded.

[0125] A computer-readable storage medium can be a tangible device that can hold and store instructions for use by an instruction execution device. A computer-readable storage medium can be, for example, but is not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), a digital versatile disc (DVD), a memory stick, a floppy disk, a mechanically encoded device, such as a punched card or raised structures in grooves having instructions stored thereon, and any suitable combination of the foregoing. The computer-readable storage medium as used herein is not construed as being a transient signal per se, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagated through a waveguide or other transmission medium (e.g., an optical pulse through an optical fiber cable), or an electrical signal transmitted through a wire.

[0126] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to respective computing / processing devices, or can be downloaded to an external computer or an external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include a copper transmission cable, an optical fiber transmission, a wireless transmission, a router, a firewall, a switch, a gateway computer, and / or an edge server. A network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in each computing / processing device.

[0127] The computer program instructions for performing the operations of this application may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine - related instructions, microcode, firmware instructions, state - setting data, or source code or object code written in any combination of one or more programming languages, including object - oriented programming languages such as Smalltalk, C++, etc., and conventional procedural programming languages such as the "C" language or similar programming languages. The computer - readable program instructions may be executed entirely on the user's computer, partially on the user's computer, executed as a stand - alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or it may be connected to an external computer (e.g., using an Internet service provider to connect through the Internet). In some embodiments, by using the state information of the computer - readable program instructions to customize an electronic circuit, such as a programmable logic circuit, a field - programmable gate array (FPGA), or a programmable logic array (PLA), the electronic circuit can execute the computer - readable program instructions to implement various aspects of this application.

[0128] Aspects of the present application are described herein with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to embodiments of the present application. It should be understood that each block of the flowcharts and / or block diagrams, and combinations of blocks in the flowcharts and / or block diagrams, can be implemented by computer - readable program instructions.

[0129] These computer - readable program instructions can be provided to a processor of a general - purpose computer, a special - purpose computer, or other programmable data - processing apparatus to produce a machine such that the instructions, when executed by the processor of the computer or other programmable data - processing apparatus, create a means for implementing the functions / actions specified in one or more blocks of the flowchart and / or block diagram. These computer - readable program instructions can also be stored in a computer - readable storage medium, which causes a computer, a programmable data - processing apparatus, and / or other devices to operate in a particular manner. Thus, the computer - readable medium storing the instructions includes a manufacture, which includes instructions for implementing various aspects of the functions / actions specified in one or more blocks of the flowchart and / or block diagram.

[0130] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other devices to produce a computer-implemented process such that the instructions executed on the computer, other programmable data processing apparatus, or other devices implement the functions / acts specified in one or more boxes of the flowchart and / or block diagram.

[0131] The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagram may represent a module, a segment of a program, or a portion of an instruction, which contains one or more executable instructions for implementing the specified logical function. In some alternative implementations, the functions noted in the blocks may occur out of the order noted in the figures. For example, two consecutive blocks may in fact be executed substantially in parallel, or they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block of the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented by a dedicated hardware-based system that performs the specified functions or acts, or by a combination of dedicated hardware and computer instructions.

[0132] The embodiments of the present application have been described above. The above description is exemplary and not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art in the field of the present technology without departing from the scope and spirit of the described embodiments. The selection of the terms used herein is intended to best explain the principles of the embodiments, the practical application, or the technical improvement of the technology in the market, or to enable other ordinary skilled persons in the field of the present technology to understand the embodiments disclosed herein.

Claims

1. A signal processing method, applied to an in-vehicle radar, characterized in that, The method includes: Receiving a target sub-signal, where the target sub-signal is any one of a plurality of sub-signals included in a radar sub-frame signal; Performing sampling processing on the target sub-signal to obtain a plurality of sampled signals; Performing distance-dimensional Fourier processing on the plurality of sampled signals in parallel to obtain a plurality of distance-dimensional signals; Performing signal fusion processing on the plurality of distance-dimensional signals to obtain a target distance-dimensional signal; After storing the plurality of target distance-dimensional signals corresponding to the radar sub-frame signal is completed, respectively perform on the plurality of target distance-dimensional signals: reading the target distance-dimensional signal, and performing disassembly processing on the target distance-dimensional signal to obtain a disassembled signal; After the disassembly of the plurality of target distance-dimensional signals is completed, performing sorting processing on the plurality of disassembled signals corresponding to the plurality of target distance-dimensional signals to obtain a plurality of channel signals; the sorting processing is to perform signal recombination and merging according to the sub-signal number and the sampling channel number, where the sub-signal number is the sequential number when received by the vehicle-mounted radar, and the sampling channel number is the number preset by the vehicle-mounted radar for the sampling channel.

2. The signal processing method according to claim 1, wherein The performing distance-dimensional Fourier processing on the plurality of sampled signals in parallel to obtain a plurality of distance-dimensional signals includes: invoking distance-dimensional computing resources, and performing distance-dimensional Fourier processing on the plurality of sampled signals in parallel to obtain a plurality of distance-dimensional signals; After the performing distance-dimensional Fourier processing on the plurality of sampled signals in parallel to obtain a plurality of distance-dimensional signals, the method further includes: releasing the distance-dimensional computing resources.

3. The signal processing method according to claim 1, characterized in that, After obtaining the target distance-dimensional signal, the method further includes: storing the target distance-dimensional signal.

4. The signal processing method according to claim 1, characterized in that, It further includes: After storing the plurality of target distance-dimensional signals corresponding to the radar sub-frame signal is completed, obtaining a plurality of channel signals according to the plurality of target distance-dimensional signals corresponding to the radar sub-frame signal; Performing Doppler Fourier processing on the plurality of channel signals in parallel to obtain a plurality of Doppler signals.

5. The signal processing method according to claim 4, wherein After the performing Doppler Fourier processing on the plurality of channel signals in parallel to obtain a plurality of Doppler signals, the method further includes: Performing modulus calculation processing on the plurality of Doppler signals in parallel to obtain a plurality of modulus result signals; Performing addition processing on the plurality of modulus result signals to obtain a non-coherent accumulation signal.

6. A signal processing device is applied to an in-vehicle radar, characterized in that, It includes: A receiving module, configured to receive a target sub-signal, where the target sub-signal is any one of a plurality of sub-signals included in a radar sub-frame signal; A sampling module, configured to perform sampling processing on the target sub-signal to obtain a plurality of sampled signals; A distance-dimensional module, configured to perform distance-dimensional Fourier processing on the plurality of sampled signals in parallel to obtain a plurality of distance-dimensional signals; A signal fusion module, configured to perform signal fusion processing on the multiple range dimension signals to obtain a target range dimension signal; when the storage of the multiple target range dimension signals corresponding to the radar sub-frame signal is completed, respectively perform the following operations on the multiple target range dimension signals: read the target range dimension signal, and perform disassembly processing on the target range dimension signal to obtain disassembled signals; when the disassembly of the multiple target range dimension signals is completed, perform sorting processing on the multiple disassembled signals corresponding to the multiple target range dimension signals to obtain multiple channel signals; the sorting processing is to perform signal recombination and merging according to the sub-signal number and the sampling channel number, the sub-signal number is the sequential number when received by the vehicle-mounted radar, and the sampling channel number is the number preset by the vehicle-mounted radar for the sampling channel.

7. A signal processing device, applied to vehicle-mounted radar, characterized in that Comprising: A processor; A memory for storing processor-executable instructions; Wherein, the processor is configured to execute: Receive a target sub-signal, where the target sub-signal is any one of the multiple sub-signals included in the radar sub-frame signal; Perform sampling processing on the target sub-signal to obtain multiple sampling signals; Perform parallel range dimension Fourier processing on the multiple sampling signals to obtain multiple range dimension signals; Perform signal fusion processing on the multiple range dimension signals to obtain a target range dimension signal; When the storage of the multiple target range dimension signals corresponding to the radar sub-frame signal is completed, respectively perform the following operations on the multiple target range dimension signals: read the target range dimension signal, and perform disassembly processing on the target range dimension signal to obtain disassembled signals; When the disassembly of the multiple target range dimension signals is completed, perform sorting processing on the multiple disassembled signals corresponding to the multiple target range dimension signals to obtain multiple channel signals; the sorting processing is to perform signal recombination and merging according to the sub-signal number and the sampling channel number, the sub-signal number is the sequential number when received by the vehicle-mounted radar, and the sampling channel number is the number preset by the vehicle-mounted radar for the sampling channel.

8. A non-volatile computer-readable storage medium having computer program instructions stored thereon, characterized in that, The computer program instructions, when executed by the processor, implement the method according to any one of claims 1 to 5.

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