Radar detection method and apparatus, terminal device, and computer-readable storage medium

Abstract

The application is suitable for the field of radar technology, and provides a radar detection method, device, terminal equipment and computer readable storage medium, which comprises the following steps: monitoring echo beams after transmitting two transmitting beams along a preset angle and at intervals of a first preset time; recording echo time of each monitored echo beam; generating a transmitting window function according to transmitting time of the transmitting beam; generating a receiving window function according to echo time of the echo beam; and performing filtering processing on the echo beam according to the transmitting window function and the receiving window function to obtain a target signal. Through the above method, the mutual interference between radars can be effectively avoided, and the detection accuracy of the radar is improved.

Description

Technical Field

[0001] This application belongs to the field of radar technology, and in particular relates to a radar detection method, device, terminal equipment and computer-readable storage medium. Background Technology

[0002] LiDAR (Light Detection and Ranging) is a radar system that uses emitted laser beams to detect the position, velocity, and other characteristics of a target object. The working principle of radar detection is to emit a detection signal (emitted beam) towards the target object, then compare the received echo beam reflected back from the target object with the emitted beam, and process the data to obtain information such as the target object's distance, azimuth, altitude, velocity, and attitude. If multiple LiDARs operate collaboratively in the same space, signal interference can easily occur, thus affecting detection accuracy. Summary of the Invention

[0003] This application provides a radar detection method, apparatus, terminal device, and computer-readable storage medium, which can effectively avoid radar cross-beam interference and thus improve radar detection accuracy.

[0004] In a first aspect, embodiments of this application provide a radar detection method, including:

[0005] After transmitting two beams at a preset angle and at a first preset time interval, the echo beam is monitored.

[0006] For each echo beam detected, the echo time of the echo beam is recorded;

[0007] A transmission window function is generated based on the transmission time of the transmitted beam;

[0008] A receiving window function is generated based on the echo time of the echo beam;

[0009] The echo beam is filtered according to the transmit window function and the receive window function to obtain the target signal.

[0010] In this embodiment, a transmission window function and a reception window function are generated based on the transmission time of the transmitted beam and the echo time of the echo beam, respectively. The echo beam is then filtered using these window functions to obtain the target signal. Since the signal in the window function has a certain time width in the time domain, it effectively increases the reception time of the echo beam, avoiding inaccurate beam superposition results caused by time errors between the two transmission times, thus effectively improving the accuracy of the filtering result. Furthermore, when multiple lidars work collaboratively in the same space, the improved filtering accuracy can effectively filter out interference signals between lidars, thereby improving the detection accuracy of the lidar.

[0011] In one possible implementation of the first aspect, the independent variable of the emission window function is time, and the dependent variable is the signal amplitude;

[0012] The step of generating the transmission window function based on the transmission time of the transmitted beam includes:

[0013] Set the amplitude of the signal within the first time window to the first amplitude.

[0014] Set the amplitude of the signal within the second time window to the second amplitude.

[0015] The sum of the first time window and the second time window constitutes the first time range, and the first time range and the first time window are determined by the transmission time of the transmitted beam.

[0016] In one possible implementation of the first aspect, the first boundary of the first time range is the first time minus the second preset time, and the second boundary of the first time range is the second time plus the second preset time, wherein the first time is the transmission time corresponding to the transmission beam transmitted earlier, and the second time is the transmission time corresponding to the transmission beam transmitted later.

[0017] The first time window includes two first time periods, wherein the first boundary of the i-th first time period is the transmission time of the i-th transmitting beam minus the second preset time, and the second boundary of the i-th first time period is the transmission time of the i-th transmitting beam plus the second preset time, where i is 1 or 2.

[0018] In one possible implementation of the first aspect, the independent variable of the receiving window function is time, and the dependent variable is the signal amplitude;

[0019] The step of generating a receiving window function based on the echo time of the echo beam includes:

[0020] Set the amplitude of the signal within the third time window to the third amplitude.

[0021] Set the amplitude of the signal within the fourth time window to the fourth amplitude.

[0022] The sum of the three time windows and the fourth time window constitutes the second time range, and the second time range and the third time window are determined by the echo time of the echo beam.

[0023] In one possible implementation of the first aspect, the first boundary of the second time range is the third time minus the third preset time, and the second boundary of the second time range is the fourth time plus the third preset time, wherein the third time is the echo time of the first received echo beam, and the fourth time is the echo time of the last received echo beam.

[0024] The third time window includes N second time periods, wherein the first boundary of the nth second time period is the echo time of the nth echo beam minus the third preset time, and the second boundary of the nth second time period is the echo time of the nth echo beam plus the third preset time, where N is the number of received echo beams, and n is a positive integer less than or equal to N.

[0025] In one possible implementation of the first aspect, the step of filtering the echo beam according to the transmit window function and the receive window function to obtain the target signal includes:

[0026] Beam superposition processing is performed based on the transmit window function and the receive window function to obtain the superimposed signal;

[0027] The signal with the largest amplitude in the superimposed signals is determined as the target signal.

[0028] In one possible implementation of the first aspect, the step of performing beam superposition processing based on the transmit window function and the receive window function to obtain the superimposed signal includes:

[0029] Perform convolution calculation on the transmit window function and the receive window function to obtain the convolution result;

[0030] The convolution result is determined as the superimposed signal.

[0031] Secondly, embodiments of this application provide a radar detection device, including:

[0032] The beam monitoring unit is used to monitor the echo beam after two transmitted beams are emitted sequentially at a preset angle and a first preset time interval.

[0033] A time recording unit is used to record the echo time of each echo beam detected.

[0034] The first generation unit is used to generate a transmission window function based on the transmission time of the transmission beam;

[0035] The second generation unit is used to generate a receiving window function based on the echo time of the echo beam;

[0036] The filtering processing unit is used to filter the echo beam according to the transmit window function and the receive window function to obtain the target signal.

[0037] Thirdly, embodiments of this application provide a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that the processor executes the computer program to implement the radar detection method as described in any one of the first aspects above.

[0038] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program, characterized in that the computer program, when executed by a processor, implements the radar detection method as described in any one of the first aspects above.

[0039] Fifthly, embodiments of this application provide a computer program product that, when run on a terminal device, causes the terminal device to execute the radar detection method described in any one of the first aspects.

[0040] It is understood that the beneficial effects of the second to fifth aspects mentioned above can be found in the relevant descriptions in the first aspect mentioned above, and will not be repeated here. Attached Figure Description

[0041] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1 This is a schematic flowchart of the radar detection method provided in the embodiments of this application;

[0043] Figure 2 This is a schematic diagram of the transmitted signal and echo signal provided in an embodiment of this application;

[0044] Figure 3 This is a schematic diagram of the target signal provided in the embodiments of this application.

[0045] Figure 4 This is a schematic diagram of the radar detection device provided in the embodiments of this application;

[0046] Figure 5 This is a schematic diagram of the structure of the terminal device provided in the embodiments of this application. Detailed Implementation

[0047] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0048] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0049] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if detected [the described condition or event]" may be interpreted, depending on the context, as meaning "once determined," "in response to determination," "once detected [the described condition or event]," or "in response to detection [the described condition or event]."

[0050] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0051] References to "one embodiment" or "some embodiments" in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized.

[0052] See Figure 1 This is a schematic flowchart of a radar detection method provided in an embodiment of this application. It is intended as an example and not a limitation. The method may include the following steps:

[0053] S101, after transmitting two transmitted beams at a preset angle and at a first preset time interval, monitors the echo beam.

[0054] In this embodiment, a transmission beam is first sent along a preset angle, and then another transmission beam is sent after a first preset time interval. That is, the two transmission beams have the same phase, but the transmission times are different.

[0055] S102, for each echo beam detected, record the echo time of the echo beam.

[0056] Because multiple radars may exist in the same detection environment, the echo beam received by one radar may contain interference beams from other radars—that is, beams reflected from the target object after being emitted by other radars. Since other objects may also exist in the detection environment besides the target object, the echo beam may also contain interference beams reflected from other objects. In summary, a radar may receive multiple echo beams within a certain time period. These multiple echo beams include beams reflected from the target object, as well as interference beams from other radars and interference beams reflected from other objects.

[0057] To avoid receiving too many interfering beams, the time period for receiving the echo beam can be limited. That is, the echo beam is monitored within a certain period of time after the two transmitted beams are emitted.

[0058] S103, Generate a transmission window function based on the transmission time of the transmitted beam.

[0059] In the embodiments of this application, the independent variable of the window function is time, and the dependent variable is the signal amplitude.

[0060] In one embodiment, the emission window function is generated in the following ways:

[0061] The amplitude of the signal within the first time window is set to a first amplitude; the amplitude of the signal within the second time window is set to a second amplitude; wherein, the sum of the first time window and the second time window is a first time range, and the first time range and the first time window are determined by the transmission time of the transmitted beam.

[0062] The first and second amplitude values ​​are preset values. To improve the accuracy of subsequent filtering, the first and second amplitude values ​​are set to two values ​​with significant differences. For example, the first amplitude value is 1 and the second amplitude value is 0.

[0063] Optionally, the first time range can be determined as follows:

[0064] The first boundary of the first time range is the first time minus the second preset time, and the second boundary of the first time range is the second time plus the second preset time. The first time is the transmission time corresponding to the transmission beam that was transmitted earlier, and the second time is the transmission time corresponding to the transmission beam that was transmitted later.

[0065] Optionally, the first time window is determined as follows: the first time window includes two first time periods, wherein the first boundary of the i-th first time period is the transmission time of the i-th transmission beam minus the second preset time, and the second boundary of the i-th first time period is the transmission time of the i-th transmission beam plus the second preset time, where i is 1 or 2.

[0066] Once the first time window and the first time range are determined, the portion of the first time range outside the first time window belongs to the second time window.

[0067] In this embodiment, a smaller second preset time results in more accurate exclusion of abnormal points, but may exclude normal points. The second preset time can be set according to actual needs.

[0068] For example, the emission window function is:

[0069]

[0070] Where t represents time, t1 is the transmission time corresponding to the first transmitted beam, t2 is the transmission time corresponding to the second transmitted beam, ε is the second preset time, 1 is the first amplitude, and 0 is the second amplitude.

[0071] S104, Generate a receiving window function based on the echo time of the echo beam.

[0072] In one embodiment, the receiver window function is generated in the following ways:

[0073] The amplitude of the signal within the third time window is set to the third amplitude; the amplitude of the signal within the fourth time window is set to the fourth amplitude; wherein, the sum of the three time windows and the fourth time window is the second time range, and the second time range and the third time window are determined by the echo time of the echo beam.

[0074] As mentioned above, the third and fourth amplitudes are preset values. To improve the accuracy of subsequent filtering, the third and fourth amplitudes are set to two values ​​with significant differences. For ease of subsequent filtering, the third amplitude can be set to equal the first amplitude, and the fourth amplitude can be set to equal the second amplitude.

[0075] Optionally, the second time range can be determined as follows:

[0076] The first boundary of the second time range is the third time minus the third preset time, and the second boundary of the second time range is the fourth time plus the third preset time, wherein the third time is the echo time of the first received echo beam, and the fourth time is the echo time of the last received echo beam.

[0077] In this embodiment of the application, the second time range corresponds to the monitoring time of the echo beam described in S102.

[0078] Optionally, the third time window can be determined as follows:

[0079] The third time window includes N second time periods, wherein the first boundary of the nth second time period is the echo time of the nth echo beam minus the third preset time, and the second boundary of the nth second time period is the echo time of the nth echo beam plus the third preset time, where N is the number of received echo beams, and n is a positive integer less than or equal to N.

[0080] After the third time window and the second time range are determined, the portion of the second time range that falls outside the third time window belongs to the fourth time window.

[0081] In this embodiment, a smaller third preset time results in more accurate exclusion of outliers, but may exclude normal points. The third preset time can be set according to actual needs. To improve filtering accuracy, in this embodiment, the third preset time is set equal to the second preset time.

[0082] For example, the receive window function is:

[0083]

[0084] Where t represents time, tn′ is the echo time corresponding to the nth echo beam, ε is the third preset time (equal to the second preset time), 1 is the third amplitude, and 0 is the fourth amplitude.

[0085] See Figure 2 This is a schematic diagram of the target signal provided in an embodiment of this application. Figure 2 As shown, the horizontal axis represents time, and the vertical axis represents signal amplitude. The signal in the window function has a certain time width in the time domain. The received echo signal contains interference signals.

[0086] S105, the echo beam is filtered according to the transmit window function and the receive window function to obtain the target signal.

[0087] In one embodiment, the filtering step in S105 includes:

[0088] Beam superposition processing is performed based on the transmit window function and the receive window function to obtain a superimposed signal; the signal with the largest amplitude in the superimposed signal is determined as the target signal.

[0089] The essence of convolution of two functions is to flip one function and then slide it onto the other. In the continuous case, superposition refers to integrating the product of the two functions; in the discrete case, it is a weighted summation. In the field of signal processing, the result of convolution is related not only to the response value of the input signal at the current moment but also to the responses of the input signals at all past moments, taking into account the cumulative effect of all past inputs. Therefore, in the embodiments of this application, convolution can be used to perform beam superposition processing on the transmit window function and the receive window function.

[0090] Optionally, one implementation of beam superposition processing is as follows:

[0091] The transmit window function and the receive window function are convolved to obtain the convolution result; the convolution result is then determined as the superimposed signal.

[0092] Because convolution calculations take into account the accumulation of time, the signal with the largest amplitude in the superimposed convolutional signal is the one accumulated from the echo beam reflected by the target object. This method effectively filters out interference signals. See also Figure 3 This is a schematic diagram of the target signal provided in an embodiment of this application. Figure 3 As shown, the horizontal axis represents time, and the vertical axis represents signal amplitude. The signal with the largest amplitude in the superimposed signal obtained after convolution is the target signal.

[0093] In this embodiment, a transmission window function and a reception window function are generated based on the transmission time of the transmitted beam and the echo time of the echo beam, respectively. The echo beam is then filtered using these window functions to obtain the target signal. Since the signal in the window function has a certain time width in the time domain, it effectively increases the reception time of the echo beam, avoiding inaccurate beam superposition results caused by time errors between the two transmission times, thus effectively improving the accuracy of the filtering result. Furthermore, when multiple lidars work collaboratively in the same space, the improved filtering accuracy can effectively filter out interference signals between lidars, thereby improving the detection accuracy of the lidar.

[0094] It should be noted that the methods in steps S101-S105 of the embodiments of this application are for radar detection methods at a certain detection angle (i.e., a preset angle). In practical applications, the radar detection angle may change. For different detection angles, the target signal at each detection angle can be calculated using the methods in S101-S105 described above.

[0095] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0096] Corresponding to the radar detection method described in the above embodiments, Figure 4 This is a structural block diagram of the radar detection device provided in the embodiments of this application. For ease of explanation, only the parts related to the embodiments of this application are shown.

[0097] Reference Figure 4 The device includes:

[0098] The beam monitoring unit 41 is used to monitor the echo beam after two transmitted beams are emitted sequentially at a preset angle and a first preset time interval.

[0099] The time recording unit 42 is used to record the echo time of each echo beam detected.

[0100] The first generation unit 43 is used to generate a transmission window function based on the transmission time of the transmission beam.

[0101] The second generation unit 44 is used to generate a receiving window function based on the echo time of the echo beam.

[0102] The filtering processing unit 45 is used to filter the echo beam according to the transmission window function and the reception window function to obtain the target signal.

[0103] Optionally, the independent variable of the transmission window function is time, and the dependent variable is the signal amplitude.

[0104] Correspondingly, the first generating unit 43 is also used for:

[0105] The amplitude of the signal within the first time window is set to a first amplitude; the amplitude of the signal within the second time window is set to a second amplitude; wherein, the sum of the first time window and the second time window is a first time range, and the first time range and the first time window are determined by the transmission time of the transmitted beam.

[0106] Optionally, the first boundary of the first time range is the first time minus the second preset time, and the second boundary of the first time range is the second time plus the second preset time, wherein the first time is the transmission time corresponding to the transmission beam that was transmitted earlier, and the second time is the transmission time corresponding to the transmission beam that was transmitted later.

[0107] The first time window includes two first time periods, wherein the first boundary of the i-th first time period is the transmission time of the i-th transmitting beam minus the second preset time, and the second boundary of the i-th first time period is the transmission time of the i-th transmitting beam plus the second preset time, where i is 1 or 2.

[0108] Optionally, the independent variable of the receiving window function is time, and the dependent variable is the signal amplitude.

[0109] Correspondingly, the second generating unit 44 is also used for:

[0110] The amplitude of the signal within the third time window is set to the third amplitude; the amplitude of the signal within the fourth time window is set to the fourth amplitude; wherein, the sum of the three time windows and the fourth time window is the second time range, and the second time range and the third time window are determined by the echo time of the echo beam.

[0111] Optionally, the first boundary of the second time range is the third time minus the third preset time, and the second boundary of the second time range is the fourth time plus the third preset time, wherein the third time is the echo time of the first received echo beam, and the fourth time is the echo time of the last received echo beam.

[0112] The third time window includes N second time periods, wherein the first boundary of the nth second time period is the echo time of the nth echo beam minus the third preset time, and the second boundary of the nth second time period is the echo time of the nth echo beam plus the third preset time, where N is the number of received echo beams, and n is a positive integer less than or equal to N.

[0113] Optionally, the filtering unit 45 is also used for:

[0114] Beam superposition processing is performed based on the transmit window function and the receive window function to obtain a superimposed signal; the signal with the largest amplitude in the superimposed signal is determined as the target signal.

[0115] Optionally, the filtering unit 45 is also used for:

[0116] The transmit window function and the receive window function are convolved to obtain the convolution result; the convolution result is then determined as the superimposed signal.

[0117] It should be noted that the information interaction and execution process between the above-mentioned devices / units are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method embodiments section, and they will not be repeated here.

[0118] in addition, Figure 4 The radar detection device shown can be a software unit, hardware unit, or a combination of software and hardware built into existing terminal equipment, or it can be integrated into the terminal equipment as an independent component, or it can exist as an independent terminal equipment.

[0119] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0120] Figure 5 This is a schematic diagram of the structure of the terminal device provided in the embodiments of this application. For example... Figure 5 As shown, the terminal device 5 in this embodiment includes: at least one processor 50 ( Figure 5 (Only one is shown) a processor, a memory 51, and a computer program 52 stored in the memory 51 and executable on the at least one processor 50, which, when executing the computer program 52, implements the steps in any of the radar detection method embodiments described above.

[0121] The terminal device may be a desktop computer, laptop, handheld computer, or cloud server, etc. This terminal device may include, but is not limited to, a processor and memory. Those skilled in the art will understand that... Figure 5 This is merely an example of terminal device 5 and does not constitute a limitation on terminal device 5. It may include more or fewer components than shown in the figure, or combine certain components, or different components, such as input / output devices, network access devices, etc.

[0122] The processor 50 may be a Central Processing Unit (CPU), or it may be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0123] In some embodiments, the memory 51 may be an internal storage unit of the terminal device 5, such as a hard disk or memory of the terminal device 5. In other embodiments, the memory 51 may be an external storage device of the terminal device 5, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the terminal device 5. Furthermore, the memory 51 may include both internal and external storage units of the terminal device 5. The memory 51 is used to store the operating system, applications, bootloader, data, and other programs, such as the program code of the computer program. The memory 51 can also be used to temporarily store data that has been output or will be output.

[0124] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps described in the various method embodiments above.

[0125] This application provides a computer program product that, when run on a terminal device, enables the terminal device to implement the steps described in the various method embodiments above.

[0126] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of this application can be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include at least: any entity or device capable of carrying computer program code to a device / terminal equipment, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium. Examples include USB flash drives, portable hard drives, magnetic disks, or optical disks. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electrical carrier signals or telecommunication signals.

[0127] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0128] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0129] In the embodiments provided in this application, it should be understood that the disclosed devices / terminal equipment and methods can be implemented in other ways. For example, the device / terminal equipment embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling or direct coupling or communication connection may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0130] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0131] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A radar detection method, characterized in that, include: After transmitting two beams at a preset angle and at a first preset time interval, the echo beam is monitored within a certain time period after the two beams are transmitted. For each echo beam detected, the echo time of the echo beam is recorded; A transmission window function is generated based on the transmission time of the transmitted beam; A receiving window function is generated based on the echo time of the echo beam; Perform convolution calculation on the transmit window function and the receive window function to obtain the convolution result; The convolution result is determined as a superimposed signal; The signal with the largest amplitude among the superimposed signals is determined as the target signal.

2. The radar detection method as described in claim 1, characterized in that, The independent variable of the transmission window function is time, and the dependent variable is the signal amplitude; The step of generating the transmission window function based on the transmission time of the transmitted beam includes: Set the amplitude of the signal within the first time window to the first amplitude. Set the amplitude of the signal within the second time window to the second amplitude. The sum of the first time window and the second time window constitutes the first time range, and the first time range and the first time window are determined by the transmission time of the transmitted beam.

3. The radar detection method as described in claim 2, characterized in that, The first boundary of the first time range is the first time minus the second preset time, and the second boundary of the first time range is the second time plus the second preset time, wherein the first time is the transmission time corresponding to the transmission beam that was transmitted earlier, and the second time is the transmission time corresponding to the transmission beam that was transmitted later. The first time window includes two first time periods, wherein the first boundary of the i-th first time period is the transmission time of the i-th transmitting beam minus the second preset time, and the second boundary of the i-th first time period is the transmission time of the i-th transmitting beam plus the second preset time, where i is 1 or 2.

4. The radar detection method as described in claim 1, characterized in that, The independent variable of the receiving window function is time, and the dependent variable is the signal amplitude; The step of generating a receiving window function based on the echo time of the echo beam includes: Set the amplitude of the signal within the third time window to the third amplitude. Set the amplitude of the signal within the fourth time window to the fourth amplitude. The sum of the three time windows and the fourth time window constitutes the second time range, and the second time range and the third time window are determined by the echo time of the echo beam.

5. The radar detection method as described in claim 4, characterized in that, The first boundary of the second time range is the third time minus the third preset time, and the second boundary of the second time range is the fourth time plus the third preset time, wherein the third time is the echo time of the first received echo beam, and the fourth time is the echo time of the last received echo beam. The third time window includes N second time periods, wherein the first boundary of the nth second time period is the echo time of the nth echo beam minus the third preset time, and the second boundary of the nth second time period is the echo time of the nth echo beam plus the third preset time, where N is the number of received echo beams, and n is a positive integer less than or equal to N.

6. A radar detection device, characterized in that, include: The beam monitoring unit is used to monitor the echo beam within a certain period of time after transmitting two transmitted beams at a preset angle and a first preset time interval. A time recording unit is used to record the echo time of each echo beam detected. The first generation unit is used to generate a transmission window function based on the transmission time of the transmission beam; The second generation unit is used to generate a receiving window function based on the echo time of the echo beam; The filtering processing unit is used to perform convolution calculation on the transmit window function and the receive window function to obtain the convolution result, determine the convolution result as the superimposed signal, and determine the signal with the largest amplitude in the superimposed signal as the target signal.

7. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method as described in any one of claims 1 to 5.

8. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1 to 5.

Images