A radar signal processing method, device, equipment and storage medium

Abstract

The present application proposes a radar signal processing method, device, equipment and storage medium. The processing method is applied to the Fourier module, and the method includes: when receiving the first distance dimension information, Fourier processing is performed on the first distance dimension information to obtain the second distance dimension information, the first distance dimension information is obtained by performing distance dimension windowing processing on the sampling information, and the sampling information is obtained by performing sampling processing on the radar signal; when receiving the first Doppler dimension information, Fourier processing is performed on the first Doppler dimension information to obtain the second Doppler dimension information, the first Doppler dimension information is obtained by performing Doppler dimension windowing processing on the transposed information, and the transposed information is obtained by performing transposition processing on the second distance dimension information. The present application can realize the time division multiplexing of the Fourier module; there is no need to separately allocate FPGA resources for the Fourier processing of the distance dimension and the Fourier processing of the Doppler dimension, which can reduce the occupation of FPGA resources.

Description

Technical Field

[0001] The present invention relates to the field of radar, and in particular to a radar signal processing method, device, equipment and storage medium. Background Art

[0002] Fourier processing consumes a lot of resources for the logic resources of the Field Programmable Gate Array (FPGA). In the signal processing flow of the 4D imaging radar, after the range dimension Fourier processing is completed, the Doppler dimension Fourier processing is performed. The Fourier processing of these two dimensions wastes a lot of resources in the FPGA and consumes a lot of power, thereby increasing the production cost of the radar. Summary of the invention

[0003] The present application proposes a radar signal processing method, device, equipment and storage medium, which can at least solve the technical problem that the existing radar signal processing technology consumes too many logic resources.

[0004] According to one aspect of the present application, a radar signal processing method is provided, which is applied to a Fourier module, and the method includes:

[0005] When first distance dimension information is received, Fourier processing is performed on the first distance dimension information to obtain second distance dimension information, wherein the first distance dimension information is obtained by performing distance dimension windowing processing on sampling information, and the sampling information is obtained by performing sampling processing on the radar signal;

[0006] When first Doppler dimension information is received, the first Doppler dimension information is subjected to the Fourier processing to obtain second Doppler dimension information, wherein the first Doppler dimension information is obtained by performing Doppler dimension windowing processing on the transposed information, and the transposed information is obtained by performing transposition processing on the second distance dimension information.

[0007] In a possible implementation, the Fourier module belongs to a radar signal processing device, and the processing device also includes a sampling module, a range dimension windowing module, a transposition module and a Doppler dimension windowing module;

[0008] The sampling information is obtained by the sampling module performing sampling processing on the radar signal;

[0009] The method further comprises:

[0010] Receiving the first distance dimension information obtained by the distance dimension windowing module performing the distance dimension windowing process on the sampling information;

[0011] Sending the second distance dimension information to the transposition module, so that the transposition module performs the transposition processing on the second distance dimension information to obtain the transposition information, and sending the transposition information to the Doppler dimension windowing module;

[0012] The first Doppler dimension information obtained by the Doppler dimension windowing module performing the Doppler dimension windowing process on the transposed information is received.

[0013] In a possible implementation, performing Fourier processing on the first distance dimension information to obtain the second distance dimension information includes: acquiring a preset distance dimension parameter; performing distance dimension Fourier processing on the first distance dimension information based on the preset distance dimension parameter to obtain the second distance dimension information;

[0014] The performing the Fourier processing on the first Doppler dimension information to obtain the second Doppler dimension information includes: acquiring preset Doppler dimension parameters; and performing the Doppler dimension Fourier processing on the first Doppler dimension information based on the preset Doppler dimension parameters to obtain the second Doppler dimension information.

[0015] In a possible implementation, before receiving the first distance dimension information obtained by the distance dimension windowing module performing the distance dimension windowing process on the sampling information, the method further includes: determining radar status information;

[0016] The receiving the first distance dimension information obtained by the range dimension windowing module performing the distance dimension windowing process on the sampling information comprises: when the radar state information is the distance dimension state information, receiving the first distance dimension information, the first distance dimension information being obtained by the range dimension windowing module performing the distance dimension windowing process on the sampling information;

[0017] The receiving the first Doppler dimension information obtained by the Doppler dimension windowing module performing the Doppler dimension windowing processing on the transposed information includes: when the radar status information is the Doppler dimension status information, receiving the first Doppler dimension information, the first Doppler dimension information being obtained by the Doppler dimension windowing module performing the Doppler dimension windowing processing on the transposed information.

[0018] In a possible implementation manner, determining radar status information includes:

[0019] When the radar is detected to be transmitting a signal, the radar state information is switched from the initial state information to the distance dimension state information;

[0020] When the second distance dimension information is monitored, the radar status information is switched from the distance dimension status information to the Doppler dimension status information.

[0021] In a possible implementation manner, the determining the radar state information further includes: when the second Doppler dimension information is monitored, switching the radar state information from the Doppler dimension state information to the initial state information.

[0022] In a possible implementation manner, when the radar state information is the distance dimension state information, receiving the first distance dimension information includes: when the radar state information is the distance dimension state information, receiving the first distance dimension information based on a distance dimension receiving port;

[0023] In the case where the radar state information is the Doppler dimension state information, receiving the first Doppler dimension information includes: in the case where the radar state information is the Doppler dimension state information, receiving the first Doppler dimension information based on a Doppler dimension receiving port;

[0024] The sending the second distance dimension information to the transposition module comprises: when the radar state information is the distance dimension state information and the second distance dimension information is obtained, sending the second distance dimension information to the transposition module based on a distance dimension sending port;

[0025] The method further comprises:

[0026] When the radar state information is Doppler dimension state information and the second Doppler dimension information is obtained, the second Doppler dimension information is sent based on a Doppler dimension sending port.

[0027] According to another aspect of the present application, a radar signal processing device is provided, comprising a Fourier module, wherein the Fourier module comprises a Fourier unit, and the Fourier unit is used to:

[0028] When first distance dimension information is received, Fourier processing is performed on the first distance dimension information to obtain second distance dimension information, wherein the first distance dimension information is obtained by performing distance dimension windowing processing on sampling information, and the sampling information is obtained by performing sampling processing on the radar signal;

[0029] When first Doppler dimension information is received, the first Doppler dimension information is subjected to the Fourier processing to obtain second Doppler dimension information, wherein the first Doppler dimension information is obtained by performing Doppler dimension windowing processing on the transposed information, and the transposed information is obtained by performing transposition processing on the second distance dimension information.

[0030] According to another aspect of the present application, a radar signal processing device is provided, comprising: a processor; and a memory for storing processor executable instructions; wherein the processor is configured to execute the above method.

[0031] According to another aspect of the present application, a non-volatile computer-readable storage medium is provided, on which computer program instructions are stored, wherein the computer program instructions implement the above method when executed by a processor.

[0032] In the present application, the Fourier module can perform Fourier processing on the first distance dimension information in one time period, and can also perform Fourier processing on the first Doppler dimension information in another time period, thereby realizing time division multiplexing of the Fourier module; the present application does not need to separately allocate FPGA resources for the Fourier processing of the distance dimension and the Fourier processing of the Doppler dimension, which can reduce the occupation of FPGA resources, avoid occupying too many resources, and reduce the consumption of logic resources in the Fourier processing process. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0034] Figure 1 The present invention is a flowchart of a radar signal processing method according to an exemplary embodiment;

[0035] Figure 2 is a schematic flow chart of a method for processing a radar signal according to another exemplary embodiment;

[0036] Figure 3 It is a schematic diagram of a flow chart of performing Fourier processing on first distance dimension information in a radar signal processing method according to an exemplary embodiment;

[0037] Figure 4 It is a schematic diagram of a flow chart of performing Fourier processing on first Doppler dimension information in a radar signal processing method according to an exemplary embodiment;

[0038] Figure 5 is a schematic flow chart of a method for processing a radar signal according to yet another exemplary embodiment;

[0039] Figure 6 is a schematic diagram of signal processing of a Fourier module in a radar signal processing method according to an exemplary embodiment;

[0040] Figure 7 A schematic diagram of a timing sequence of signals in a radar signal processing method according to an exemplary embodiment;

[0041] Figure 8 The present invention is a block diagram of a radar signal processing device according to an exemplary embodiment. DETAILED DESCRIPTION

[0042] Various exemplary embodiments, features and aspects of the present application will be described in detail below with reference to the accompanying drawings. The same reference numerals in the accompanying drawings represent elements with the same or similar functions. Although various aspects of the embodiments are shown in the accompanying drawings, the drawings are not necessarily drawn to scale unless otherwise specified.

[0043] The word “exemplary” is used exclusively herein to mean “serving as an example, example, or illustration.” Any embodiment described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments.

[0044] In addition, in order to better illustrate the present application, numerous specific details are given in the following specific embodiments. It should be understood by those skilled in the art that the present application can also be implemented without certain specific details. In some examples, methods, means, components and circuits well known to those skilled in the art are not described in detail in order to highlight the subject matter of the present application.

[0045] The present application proposes a radar signal processing method, device, equipment and storage medium, which can at least solve the technical problem that the existing radar signal processing technology consumes too many logic resources. The present invention is specifically implemented by the following technical solution.

[0046] The present application relates to the field of radar technology. Radar is a radio positioning device. Radar can emit electromagnetic wave signals to illuminate a target object and receive echo signals reflected by the target object, thereby obtaining information such as the distance from the target object to the electromagnetic wave emission point, the rate of change of distance, the azimuth, and the altitude through the echo signals. The target object can be pedestrians, vehicles, buildings, and other objects.

[0047] Combination Figures 1 to 8 As shown, a radar signal processing method provided in an embodiment of this specification is applied to a Fourier module 10. The Fourier module 10 may belong to a radar signal processing device, and the radar signal may be an echo signal received by the radar. The method provided in an embodiment of this specification may include:

[0048] Step S1: When first distance dimension information is received, Fourier processing is performed on the first distance dimension information to obtain second distance dimension information, where the first distance dimension information is obtained by performing distance dimension window processing on sampling information, and the sampling information is obtained by performing sampling processing on the radar signal.

[0049] In an embodiment of the present specification, the radar signal processing device may further include a sampling module 11 and a range dimension windowing module 12. The sampling information may be obtained by the sampling module 11 performing sampling processing on the radar signal. The first distance dimension information may be obtained by the range dimension windowing module 12 performing distance dimension windowing processing on the sampling information. The distance dimension windowing processing may refer to windowing processing based on a preset first window parameter.

[0050] After the radar receives the radar signal, the sampling module 11 can perform sampling processing on the radar signal to obtain sampling information; the sampling module 11 can send the sampling information to the range dimension windowing module 12, and the range dimension windowing module 12 can perform range dimension windowing processing on the sampling information to obtain first range dimension information; the range dimension windowing module 12 can send the first range dimension information to the Fourier module 10. Further, the Fourier module 10 can receive the first range dimension information, perform Fourier processing on the first range dimension information, and thus obtain second range dimension information. The Fourier processing can be a fast Fourier transform (FFT) processing.

[0051] Step S2: when receiving the first Doppler dimension information, Fourier processing is performed on the first Doppler dimension information to obtain second Doppler dimension information, wherein the first Doppler dimension information is obtained by performing Doppler dimension windowing processing on the transposed information, and the transposed information is obtained by performing transposition processing on the second distance dimension information.

[0052] In an embodiment of the present specification, the radar signal processing device may further include a transposition module 13 and a Doppler dimension windowing module 14, the transposition information is obtained by the transposition module 13 performing transposition processing on the second distance dimension information; the first Doppler dimension information is obtained by the Doppler dimension windowing module 14 performing Doppler dimension windowing processing on the transposed information, and the Doppler dimension windowing processing may refer to windowing processing based on a preset second window parameter.

[0053] After the Fourier module 10 obtains the second distance dimension information, the second distance dimension information can be sent to the transposition module 13. The transposition module 13 can perform a transposition process on the second distance dimension information to obtain transposition information; the information form of the second distance dimension information can be a matrix, and the transposition process can be a matrix transposition process on the second distance dimension information. The transposition module 13 can send the transposition information to the Doppler dimension windowing module 14, and the Doppler dimension windowing module 14 can perform a Doppler dimension windowing process on the transposed information to obtain the first Doppler dimension information. The Doppler dimension windowing module 14 can send the first Doppler dimension information to the Fourier module 10. Further, the Fourier module 10 can receive the first Doppler dimension information, perform a Fourier process on the first Doppler dimension information, and thus obtain the second Doppler dimension information.

[0054] The embodiments of this specification are applied to the processing of radar signals. During the processing of radar signals, the processing of the range dimension and the processing of the Doppler dimension can be performed in chronological order; the processing of the range dimension can be performed first, and then the processing of the Doppler dimension, that is, the two processing processes are not parallel.

[0055] In the embodiment of the present specification, the Fourier module 10 can be a functional module divided from the FPGA. The Fourier module 10 can perform Fourier processing on the first distance dimension information in one time period, and can also perform Fourier processing on the first Doppler dimension information in another time period, thereby realizing time division multiplexing of the Fourier module 10; the embodiment of the present specification does not need to separately allocate FPGA resources for the Fourier processing of the distance dimension and the Fourier processing of the Doppler dimension, which can reduce the occupation of FPGA resources, avoid occupying too many resources, and reduce the consumption of logic resources in the Fourier processing process.

[0056] In a possible implementation, the method further includes:

[0057] Step S3: receiving first distance dimension information obtained by performing distance dimension windowing processing on the sampling information by the distance dimension windowing module 12;

[0058] Step S4: sending the second distance dimension information to the transposition module 13, so that the transposition module 13 performs transposition processing on the second distance dimension information to obtain transposition information, and sends the transposition information to the Doppler dimension windowing module 14;

[0059] Step S5: receiving the first Doppler dimension information obtained by performing Doppler dimension windowing processing on the transposed information by the Doppler dimension windowing module 14 .

[0060] In the embodiments of this specification, the Fourier module 10 can communicate with the range dimension windowing module 12, the transposition module 13 and the Doppler dimension windowing module 14 to implement the information processing flow; the Fourier module 10 can implement Fourier processing after the range dimension windowing and Fourier processing after the Doppler dimension windowing.

[0061] In a possible implementation, step S1 may include:

[0062] Step S11: obtaining a preset distance dimension parameter;

[0063] Step S12: Based on a preset distance dimension parameter, performing distance dimension Fourier processing on the first distance dimension information to obtain second distance dimension information;

[0064] In the embodiment of this specification, the preset distance dimension parameter can represent the number of points when Fourier processing is performed on the first distance dimension information, that is, the number of Fourier points corresponding to the distance dimension Fourier processing. The preset distance dimension parameter can be set according to actual needs. In an example, the preset distance dimension parameter can be 1024.

[0065] Step S2 may include:

[0066] Step S21: obtaining preset Doppler parameters;

[0067] Step S22: Based on the preset Doppler dimension parameters, perform Doppler dimension Fourier processing on the first Doppler dimension information to obtain second Doppler dimension information.

[0068] In the embodiment of this specification, the preset Doppler dimension parameter can represent the number of points when the first Doppler dimension information is subjected to Fourier processing, that is, the number of Fourier points corresponding to the Doppler dimension Fourier processing. The preset Doppler dimension parameter can be set according to actual needs. In an example, the preset Doppler dimension parameter can be 128.

[0069] In the embodiment of the present specification, when Fourier processing is performed on different information, different points may be used. For the first distance dimension information and the first Doppler dimension information, the Fourier module 10 may set corresponding Fourier points respectively, so as to meet the parameter requirements when Fourier processing is performed on the first distance dimension information and the first Doppler dimension information respectively, and obtain more accurate second distance dimension information and second Doppler dimension information.

[0070] In a possible implementation, before step S3, the method may further include: step S6: determining radar status information; in the embodiment of this specification, the type of radar status information may include initial status information, range dimension status information and Doppler dimension status information.

[0071] Step S3 may include step S31: when the radar state information is range dimension state information, receiving first range dimension information, where the first range dimension information is obtained by performing range dimension windowing processing on the sampling information by the range dimension windowing module 12 .

[0072] Step S5 may include step S51: when the radar state information is Doppler dimension state information, receiving first Doppler dimension information, where the first Doppler dimension information is obtained by performing Doppler dimension windowing processing on the transposed information by the Doppler dimension windowing module 14 .

[0073] In the embodiment of the present specification, the radar can transmit electromagnetic wave signals to the target object. After the radar is turned on and before the electromagnetic wave signal is transmitted, the Fourier module 10 can determine the radar state information as the initial state information. When the radar state information is the initial state information, the Fourier module 10 does not need to perform Fourier processing.

[0074] Step S6 may include: when the radar is detected to be transmitting a signal, switching the radar state information from the initial state information to the distance dimension state information. When the radar sends an electromagnetic wave signal to the target object, the Fourier module 10 may detect that the radar is transmitting an electromagnetic wave signal; at this time, the Fourier module 10 may switch the radar state information to the distance dimension state information, and wait for receiving the first distance dimension information; when the Fourier module 10 receives the first distance dimension information, it may perform distance dimension Fourier processing based on the preset distance dimension parameters to obtain the second distance dimension information.

[0075] Step S6 may also include: when the second distance dimension information is monitored, the radar state information is switched from the distance dimension state information to the Doppler dimension state information. The Fourier module 10 may also monitor the signal generated by itself. When the Fourier module 10 monitors the second distance dimension information, the Fourier module 10 may switch the radar state information from the distance dimension state information to the Doppler dimension state information. At the same time, the Fourier module 10 may send the second distance dimension information to the transposition module 13, waiting to receive the first Doppler dimension information; when the first Doppler dimension information is received, the Doppler dimension Fourier processing may be performed based on the preset Doppler dimension parameters to obtain the second Doppler dimension information.

[0076] Step S6 may also include: when the second Doppler dimension information is monitored, switching the radar state information from the Doppler dimension state information to the initial state information. In the embodiment of the present specification, the radar may periodically transmit electromagnetic wave signals to the target object. After the Fourier module 10 obtains the second Doppler dimension information based on the echo signal, the radar may transmit the next electromagnetic wave signal. When the second Doppler dimension information is obtained, the Fourier module 10 may switch the radar state information from the Doppler dimension state information to the initial state information, and wait for the radar to transmit the next electromagnetic wave signal. When the radar state information is the initial state information, the Fourier module 10 does not need to perform Fourier processing.

[0077] In the embodiments of this specification, corresponding information is processed under different radar status information to ensure that FFT is performed on the first distance dimension information when the distance dimension status information is used, and to ensure that FFT is performed on the first Doppler dimension information when the Doppler dimension status information is used. This can avoid processing logic confusion and improve the accuracy of signal processing results.

[0078] In a possible implementation, step S31 may include: when the radar state information is range dimension state information, receiving first range dimension information based on a range dimension receiving port;

[0079] Step S4 may further include: when the radar state information is range dimension state information and the second range dimension information is obtained, sending the second range dimension information to the transposition module 13 based on the range dimension sending port.

[0080] In the embodiment of the present specification, when the radar state information is the range dimension state information, information transmission can be performed based on the range dimension receiving port and the range dimension sending port; the range dimension receiving port can be connected in communication with the range dimension windowing module 12 to achieve the reception of the first range dimension information; the range dimension sending port can be connected in communication with the transposition module 13 to achieve the transmission of the second range dimension information. In one example, after the transmission of the second range dimension information is detected, the radar state information can be switched from the range dimension state information to the Doppler dimension state information.

[0081] Step S51 may include: when the radar state information is Doppler dimension state information, receiving first Doppler dimension information based on a Doppler dimension receiving port;

[0082] The processing method may further include: when the radar state information is Doppler dimension state information and the second Doppler dimension information is obtained, sending the second Doppler dimension information based on the Doppler dimension sending port. In the embodiment of this specification, the radar signal processing device may further include a non-coherent accumulation module 15, which may send the second Doppler dimension information to the non-coherent accumulation module 15 based on the Doppler dimension sending port.

[0083] In the embodiment of the present specification, when the radar state information is Doppler dimension state information, information transmission can be performed based on the Doppler dimension receiving port and the Doppler dimension sending port; the Doppler dimension receiving port can be connected to the Doppler dimension windowing module 14 for communication to achieve the reception of the first Doppler dimension information; the Doppler dimension sending port can be connected to the non-coherent accumulation module 15 for communication to achieve the transmission of the second Doppler dimension information. In one example, after monitoring the transmission of the second Doppler dimension information, the radar state information can be switched from the Doppler dimension state information to the initial state information. After the non-coherent accumulation module 15 receives the second Doppler dimension information, it can perform non-coherent integration (NCI) on the second Doppler dimension information.

[0084] In the embodiments of this specification, under different radar status information, information interaction can be performed based on different receiving ports and sending ports to ensure that the first distance dimension information is FFT-ed when the distance dimension status information is in use, and to ensure that the first Doppler dimension information is FFT-ed when the Doppler dimension status information is in use. This can avoid processing logic confusion and improve the accuracy of signal processing results. In one example, the distance dimension receiving port, the distance dimension sending port, the Doppler dimension receiving port, and the Doppler dimension sending port can be software ports. In another example, the distance dimension receiving port, the distance dimension sending port, the Doppler dimension receiving port, and the Doppler dimension sending port can be hardware ports. In combination Figure 6 and Figure 7As shown, in one example, the sampling module 11 can be implemented by a sampling chip, and the range dimension windowing module 12, the transposition module 13, the Doppler dimension windowing module 14, the incoherent accumulation module 15 and the Fourier module 10 can all be divided in the FPGA. The Fourier module 10 may include a control unit, a Fourier unit, an input selection unit and an output selection unit. The input selection unit can select between the range dimension receiving port and the Doppler dimension receiving port, and the output selection unit can select between the range dimension sending port and the Doppler dimension sending port; the range dimension receiving port, the range dimension sending port, the Doppler dimension receiving port and the Doppler dimension sending port can be software ports, and the parameters of each port can be set according to actual needs. When the radar transmits an electromagnetic wave signal, an initial pulse signal chirp_start can be generated. The control unit can receive the initial pulse signal chirp_start, and switch the radar state information from the initial state information to the distance dimension state information. Specifically, the control unit can generate the port signal mux_rg_dpl, the reset signal fft_rst and the point number signal point_size (1024 at this time); after the input selection unit receives the port signal mux_rg_dpl, it can select the distance dimension receiving port for communication, and after the output selection unit receives the port signal mux_rg_dpl, it can select the distance dimension sending port for communication. After receiving the reset signal fft_rst, the Fourier unit can perform FFT based on the point number signal point_size. While obtaining the second distance dimension information, the Fourier unit can generate the distance dimension completion signal range_done_flag. The control unit can receive the range dimension completion signal range_done_flag, and switch the radar state information from the range dimension state information to the Doppler dimension state information. Specifically, the control unit can generate a port signal mux_rg_dpl, a reset signal fft_rst, and a Doppler dimension parameter signal; after the input selection unit receives the port signal mux_rg_dpl, it can select the Doppler dimension receiving port for communication, and after the output selection unit receives the port signal mux_rg_dpl, it can select the Doppler dimension sending port for communication. After receiving the reset signal fft_rst, the Fourier unit can perform FFT based on the point number signal point_size (128 at this time). The Fourier unit can generate a Doppler dimension completion signal dpl_done_flag while obtaining the second Doppler dimension information. The control unit can receive the Doppler dimension completion signal dpl_done_flag, and switch the radar state information from the Doppler dimension state information to the initial state information.

[0085] The embodiments of this specification change the division of the processing flow of radar signals by FPGA in the prior art, implement the distance dimension FFT and Doppler dimension FFT based on the same module, use time-division multiplexing to optimize the logic resource occupancy and power consumption, reduce the logic resource consumption and power consumption of FPGA, greatly save the price of the FPGA chip used, and reduce the hardware cost of the whole imaging radar. In one example, the model of FPGA can be MPSOC-ZU5.

[0086] Combination Figure 8 As shown, the embodiment of this specification also provides a radar signal processing device, including a Fourier module 10, the Fourier module 10 includes a Fourier unit, and the Fourier unit is used to:

[0087] When first distance dimension information is received, Fourier processing is performed on the first distance dimension information to obtain second distance dimension information, wherein the first distance dimension information is obtained by performing distance dimension windowing processing on sampling information, and the sampling information is obtained by performing sampling processing on the radar signal;

[0088] When the first Doppler dimension information is received, Fourier processing is performed on the first Doppler dimension information to obtain second Doppler dimension information, wherein the first Doppler dimension information is obtained by performing Doppler dimension windowing processing on the transposed information, and the transposed information is obtained by performing transposition processing on the second distance dimension information.

[0089] In a possible implementation, the processing device further includes a sampling module 11, a range dimension windowing module 12, a transposition module 13, and a Doppler dimension windowing module 14;

[0090] The sampling information is obtained by sampling the radar signal by the sampling module 11;

[0091] The Fourier module 10 also includes:

[0092] An input selection unit, configured to receive first distance dimension information obtained by performing distance dimension windowing processing on sampling information by the distance dimension windowing module 12;

[0093] An output selection unit, used for sending the second distance dimension information to the transposition module 13, so that the transposition module 13 performs transposition processing on the second distance dimension information to obtain transposition information, and sends the transposition information to the Doppler dimension windowing module 14;

[0094] The input selection unit is further configured to receive first Doppler dimension information obtained by the Doppler dimension windowing module 14 performing Doppler dimension windowing processing on the transposed information.

[0095] In one possible implementation, the Fourier unit is used to:

[0096] Obtaining a preset distance dimension parameter; performing distance dimension Fourier processing on the first distance dimension information based on the preset distance dimension parameter to obtain second distance dimension information;

[0097] Acquire preset Doppler dimension parameters; and perform Doppler dimension Fourier processing on the first Doppler dimension information based on the preset Doppler dimension parameters to obtain second Doppler dimension information.

[0098] In a possible implementation, the Fourier module 10 further includes a control unit, configured to determine radar status information;

[0099] The input selection unit is used to receive first distance dimension information when the radar status information is distance dimension status information, and the first distance dimension information is obtained by the distance dimension windowing module 12 performing distance dimension windowing on the sampling information; and is used to receive first Doppler dimension information when the radar status information is Doppler dimension status information, and the first Doppler dimension information is obtained by the Doppler dimension windowing module 14 performing Doppler dimension windowing on the transposed information.

[0100] In a possible implementation, the control unit is used to:

[0101] When the radar is detected to be transmitting a signal, the radar state information is switched from the initial state information to the distance dimension state information;

[0102] When the second distance dimension information is monitored, the radar state information is switched from the distance dimension state information to the Doppler dimension state information.

[0103] In a possible implementation manner, the control unit is further configured to: when the second Doppler dimension information is monitored, switch the radar state information from the Doppler dimension state information to the initial state information.

[0104] In a possible implementation manner, the input selection unit is used to receive the first distance dimension information based on the distance dimension receiving port when the radar state information is the distance dimension state information;

[0105] The input selection unit is used for receiving first Doppler dimension information based on the Doppler dimension receiving port when the radar state information is Doppler dimension state information;

[0106] The output selection unit is used for sending the second distance dimension information to the transposition module 13 based on the distance dimension sending port when the radar state information is the distance dimension state information and the second distance dimension information is obtained;

[0107] The output selection unit is used for sending the second Doppler dimension information based on the Doppler dimension sending port when the radar state information is Doppler dimension state information and the second Doppler dimension information is obtained.

[0108] It should be noted that the device provided in the above embodiment, when implementing its functions, is only illustrated by the division of the above functional modules. In actual applications, the above functions can be assigned to different functional modules as needed, 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 device and method embodiments provided in the above embodiment belong to the same concept, and the specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0109] An embodiment of the present specification also provides a radar signal processing device, comprising: a processor; a memory for storing instructions executable by the processor; wherein the processor is configured to execute the above method.

[0110] In addition, an embodiment of the present specification also provides a non-volatile computer-readable storage medium, on which computer program instructions are stored. When the computer program instructions are executed by a processor, the above-mentioned radar signal processing method is implemented.

[0111] The computer program product may include a computer-readable storage medium carrying computer-readable program instructions for causing a processor to implement various aspects of the present application.

[0112] A computer-readable storage medium may be a tangible device that can hold and store instructions used by an instruction execution device. A computer-readable storage medium may be, for example, but 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 of computer-readable storage media (a non-exhaustive list) 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 disk read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, such as a punch card or a raised structure in a groove on which instructions are stored, and any suitable combination of the foregoing. As used herein, a computer-readable storage medium is not to be interpreted as a transient signal per se, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., a light pulse through a fiber optic cable), or an electrical signal transmitted through a wire.

[0113] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or 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 copper transmission cables, optical fiber transmissions, wireless transmissions, routers, firewalls, switches, gateway computers, and / or edge servers. The 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 the computer-readable storage medium in each computing / processing device.

[0114] The computer program instructions for performing the operation of the present application can 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 "C" language or similar programming languages. Computer-readable program instructions can be executed completely on the user's computer, partially on the user's computer, as an independent software package, partially on the user's computer, partially on the remote computer, or completely on the remote computer or server. In the case of a remote computer, the remote computer can 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 can be connected to an external computer (for example, using an Internet service provider to connect through the Internet). In some embodiments, by using the state information of computer-readable program instructions to personalize electronic circuits, such as programmable logic circuits, field programmable gate arrays (FPGAs) or programmable logic arrays (PLAs), the electronic circuits can execute computer-readable program instructions, thereby realizing various aspects of the present application.

[0115] Various aspects of the present application are described herein with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present application. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer-readable program instructions.

[0116] 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 device, thereby producing a machine, so that when these instructions are executed by the processor of the computer or other programmable data processing device, a device that implements the functions / actions specified in one or more boxes in the flowchart and / or block diagram is generated. These computer-readable program instructions can also be stored in a computer-readable storage medium, and these instructions cause the computer, programmable data processing device, and / or other equipment to work in a specific manner, so that the computer-readable medium storing the instructions includes a manufactured product, which includes instructions for implementing various aspects of the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0117] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operating steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to implement the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0118] The flow chart and block diagram in the accompanying drawings show the possible architecture, function and operation of the system, method and computer program product according to multiple embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a part of a module, program segment or instruction, and a part of a module, program segment or instruction includes one or more executable instructions for realizing the specified logical function. In some alternative implementations, the function marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two continuous square boxes can actually be executed substantially in parallel, and they can sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs the specified function or action, or can be implemented with a combination of special-purpose hardware and computer instructions.

[0119] The embodiments of the present application have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A method for processing radar signals, characterized in that: Applied to the Fourier module, the method comprises: Determine radar state information; the radar state information includes initial state information, distance dimension state information and Doppler dimension state information; the Fourier module is a functional module divided from FPGA; When the radar is detected to be transmitting a signal, the radar state information is switched from the initial state information to the distance dimension state information; and when the radar state information is the distance dimension state information, the first distance dimension information is received; When receiving the first distance dimension information, the Fourier module performs Fourier processing on the first distance dimension information to obtain second distance dimension information, wherein the first distance dimension information is obtained by performing distance dimension windowing processing on sampling information, and the sampling information is obtained by performing sampling processing on the radar signal; When the second distance dimension information is detected, the radar state information is switched from the distance dimension state information to the Doppler dimension state information; and when the radar state information is the Doppler dimension state information, the first Doppler dimension information is received; When receiving the first Doppler dimension information, the Fourier module performs the Fourier processing on the first Doppler dimension information to obtain the second Doppler dimension information, wherein the first Doppler dimension information is obtained by performing the Doppler dimension windowing processing on the transposed information, and the transposed information is obtained by performing the transposition processing on the second distance dimension information; When the second Doppler dimension information is monitored, the radar state information is switched from the Doppler dimension state information to the initial state information.

2. The radar signal processing method according to claim 1, characterized in that: The Fourier module belongs to a radar signal processing device, and the processing device also includes a sampling module, a range dimension windowing module, a transposition module and a Doppler dimension windowing module; The sampling information is obtained by the sampling module performing sampling processing on the radar signal; The method further comprises: Receiving the first distance dimension information obtained by the distance dimension windowing module performing the distance dimension windowing process on the sampling information; Sending the second distance dimension information to the transposition module, so that the transposition module performs the transposition processing on the second distance dimension information to obtain the transposition information, and sending the transposition information to the Doppler dimension windowing module; The first Doppler dimension information obtained by the Doppler dimension windowing module performing the Doppler dimension windowing process on the transposed information is received.

3. The radar signal processing method according to claim 1, characterized in that: The performing Fourier processing on the first distance dimension information to obtain the second distance dimension information comprises: obtaining a preset distance dimension parameter; performing distance dimension Fourier processing on the first distance dimension information based on the preset distance dimension parameter to obtain the second distance dimension information; The performing the Fourier processing on the first Doppler dimension information to obtain the second Doppler dimension information includes: acquiring preset Doppler dimension parameters; and performing the Doppler dimension Fourier processing on the first Doppler dimension information based on the preset Doppler dimension parameters to obtain the second Doppler dimension information.

4. The radar signal processing method according to claim 2, characterized in that: In the case where the radar state information is the distance dimension state information, receiving the first distance dimension information includes: in the case where the radar state information is the distance dimension state information, receiving the first distance dimension information based on a distance dimension receiving port; In the case where the radar state information is the Doppler dimension state information, receiving the first Doppler dimension information includes: in the case where the radar state information is the Doppler dimension state information, receiving the first Doppler dimension information based on a Doppler dimension receiving port; The sending the second distance dimension information to the transposition module comprises: when the radar state information is the distance dimension state information and the second distance dimension information is obtained, sending the second distance dimension information to the transposition module based on a distance dimension sending port; The method further comprises: When the radar state information is Doppler dimension state information and the second Doppler dimension information is obtained, the second Doppler dimension information is sent based on a Doppler dimension sending port.

5. A radar signal processing device, characterized in that: A Fourier module is included, wherein the Fourier module includes a Fourier unit, and the Fourier unit is used to: Determine radar state information; the radar state information includes initial state information, distance dimension state information and Doppler dimension state information; the Fourier module is a functional module divided from FPGA; When the radar is detected to be transmitting a signal, the radar state information is switched from the initial state information to the distance dimension state information; and when the radar state information is the distance dimension state information, the first distance dimension information is received; When first distance dimension information is received, Fourier processing is performed on the first distance dimension information to obtain second distance dimension information, wherein the first distance dimension information is obtained by performing distance dimension windowing processing on sampling information, and the sampling information is obtained by performing sampling processing on the radar signal; When the second distance dimension information is detected, the radar state information is switched from the distance dimension state information to the Doppler dimension state information; and when the radar state information is the Doppler dimension state information, the first Doppler dimension information is received; When first Doppler dimension information is received, performing the Fourier processing on the first Doppler dimension information to obtain second Doppler dimension information, wherein the first Doppler dimension information is obtained by performing Doppler dimension windowing processing on transposed information, and the transposed information is obtained by performing transposition processing on the second distance dimension information; When the second Doppler dimension information is monitored, the radar state information is switched from the Doppler dimension state information to the initial state information.

6. A radar signal processing device, characterized in that: include: processor; a memory for storing processor-executable instructions; The processor is configured to execute the method according to any one of claims 1 to 4.

7. A non-volatile computer-readable storage medium having computer program instructions stored thereon, characterized in that: When the computer program instructions are executed by a processor, the method according to any one of claims 1 to 4 is implemented.

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