A method, chip, electronic device and storage medium for resolving speed ambiguity

Abstract

Embodiments of the present application disclose a speed ambiguity resolution method, a chip, an electronic device and a storage medium. The method comprises: performing distance prediction on target points in a first target point set to determine predicted target distances of the target points; and performing matching on the first target point set and a second target point set according to a first matching criterion to determine speed ambiguity multiples of target points in the second target point set that are successfully matched this time. The first matching criterion comprises a first matching condition, which is determined according to the predicted target distances of the target points in the first target point set and measured target distances of the target points in the second target point set. The first target point set corresponds to a first frame, and the second target point set corresponds to a second frame. The speed ambiguity resolution scheme provided by the embodiments of the present application can effectively improve the target point matching rate and the speed ambiguity resolution accuracy.

Description

Technical Field

[0001] This disclosure relates to, but is not limited to, the field of radar technology, and particularly to a method for resolving velocity ambiguity, a chip, an electronic device, and a storage medium. Background Technology

[0002] With the widespread application of Advanced Driver Assistance Systems (ADAS) in the automotive field, millimeter-wave radar, as a member of the sensors in ADAS systems, is receiving increasing attention. Millimeter-wave radar can detect information such as the distance, speed, and angle of a target, providing stable and reliable safety assurance for ADAS systems.

[0003] In recent years, ADAS systems have also put forward higher requirements for vehicle-mounted millimeter-wave radar, such as high range resolution and high speed resolution. However, due to the limitations of vehicle-mounted radar hardware, achieving high resolution will also result in the sacrifice of other indicators, such as the speed unambiguous range. Therefore, in order to achieve high resolution without sacrificing the speed unambiguous range, it is necessary to deambiguate the speed.

[0004] Improving the accuracy of speed ambiguity resolution while achieving high resolution is an important area of ​​exploration in the field of radar technology. Summary of the Invention

[0005] This disclosure provides a method, chip, electronic device, and storage medium for resolving velocity ambiguity. Based on the predicted target distance, corresponding matching standards are used for different sets of target points to perform one or more target point matches, which can effectively improve the matching success rate between target points in consecutive frames and improve the accuracy of velocity ambiguity resolution.

[0006] This disclosure provides a method for resolving velocity ambiguity, applied to a radar system, including:

[0007] Perform distance prediction on the target points in the first set of target points to determine the predicted target distance for each target point;

[0008] According to the first matching criterion, the first target point set and the second target point set are matched to determine the velocity fuzziness factor of the target point that was successfully matched in the second target point set this time;

[0009] The first matching criterion includes a first matching condition;

[0010] The first matching condition is determined based on the predicted target distance of the target points in the first target point set and the measured target distance of the target points in the second target point set;

[0011] The first set of target points corresponds to the first frame, and the second set of target points corresponds to the second frame.

[0012] It should be noted that matching target points in two frames based on the predicted target distances of target points in the first target point set can effectively improve the accuracy of target point matching.

[0013] In some exemplary embodiments, the first matching criterion further includes one or more of the following matching conditions:

[0014] Second matching condition, third matching condition, and fourth matching condition;

[0015] The second matching condition is determined based on the defuzzified target velocity of the target points in the first target point set and the defuzzified target velocity of the target points in the second target point set.

[0016] The third matching condition is determined based on the target angles of the target points in the first set of target points and the target angles of the target points in the second set of target points;

[0017] The fourth matching condition is determined based on the signal-to-noise ratio of the target points in the first target point set and the signal-to-noise ratio of the target points in the second target point set.

[0018] In some exemplary embodiments, the first matching criterion includes: a first matching condition and a second matching condition; optionally, the first matching criterion further includes: a third matching condition and / or a fourth matching condition.

[0019] In some exemplary embodiments, the first set of target points is some or all of the target points in the first frame.

[0020] In some exemplary embodiments, the first frame is the previous frame and the second frame is the current frame.

[0021] In some exemplary embodiments, the first frame is a setting frame and the second frame is the current frame.

[0022] In some exemplary embodiments, when the first target point set is a subset of target points in the first frame, the first target point set is the target points in the first frame that have had their velocity ambiguity resolved.

[0023] In some exemplary embodiments, the method further includes:

[0024] According to the second matching criterion, the third target point set and the fourth target point set are matched to determine the velocity fuzziness factor of the target points that were successfully matched in the fourth target point set this time;

[0025] The third set of target points consists of target points in the first frame that have not been resolved due to velocity ambiguity, and the fourth set of target points consists of target points in the second frame that have not been successfully matched.

[0026] The second matching criterion includes one or more of the following matching conditions:

[0027] The fifth matching condition, the sixth matching condition, the seventh matching condition, and the eighth matching condition.

[0028] In some exemplary embodiments, the second matching criterion includes a fifth matching condition and a sixth matching condition; optionally, the second matching criterion further includes a seventh matching condition and / or an eighth matching condition.

[0029] In some exemplary embodiments, the method further includes:

[0030] The target points that were not matched successfully in the first target point set are included in the target points with unresolved velocity ambiguity in the first frame.

[0031] In some exemplary embodiments, the method further includes:

[0032] Based on the matching results, the target points that were successfully matched in the second frame and the target points that were not successfully matched in the second frame are determined.

[0033] In some exemplary embodiments, the method further includes:

[0034] According to the third matching criterion, the fifth target point set and the sixth target point set are matched to determine the velocity fuzziness factor of the target points in the fifth target point set that were successfully matched this time;

[0035] The fifth set of target points consists of target points that were not successfully matched in the second frame, and the sixth set of target points consists of target points whose velocity ambiguity has been resolved in the first frame.

[0036] The third matching criterion includes one or more of the following matching conditions:

[0037] The ninth matching condition, the tenth matching condition, the eleventh matching condition, and the twelfth matching condition.

[0038] In some exemplary embodiments, the method further includes:

[0039] According to the fourth matching criterion, the seventh target point set and the eighth target point set are matched to determine the velocity fuzziness factor of the target points that are successfully matched in the eighth target point set;

[0040] The seventh set of target points consists of target points that have been successfully matched in the current frame, and the eighth set of target points consists of target points that have not been successfully matched in the current frame.

[0041] The fourth matching criterion includes one or more of the following matching conditions:

[0042] The thirteenth, fourteenth, fifteenth, and sixteenth matching conditions. In some exemplary embodiments, the first matching condition in the first matching criterion is:

[0043] THR <TH R ;

[0044] Where, THR=|R′ A -R B |,R′ A =R A +V′ A *T A , V′ A =V A +q A *V maxA ;

[0045] TH R R′ is the distance threshold for the current matching criterion. A R is the predicted target distance of the target point in the first frame. B V′ is the measured target distance of the target point in the second frame. A Let q be the deblurred target velocity of the target point in the first frame. A T is the velocity blur factor of the target point in the first frame. A V is the frame period of the first frame. maxA The maximum unambiguous velocity measurement value when performing a velocity-dimensional Fourier transform (FFT) on the first frame.

[0046] In some exemplary embodiments, the second matching condition in the first matching criterion is:

[0047] THV i <TH V

[0048] Among them, THV i =|V′ A -V′ Bi |,V′ Bi =V B +q i *V maxB , i = 1, 2, ..., 2n+1;

[0049] TH V V′ is the speed threshold for the current matching standard. A V′ is the deblurred target velocity of the target point in the first frame. Bi The speed blur factor is equal to q i At that time, the target velocity V corresponding to the deblurred target point in the second frame is... BV represents the target velocity of the target point before deblurring in the second frame. maxB The maximum unambiguous velocity measurement value when performing a velocity-dimensional Fourier transform (FFT) on the second frame;

[0050] Speed ​​blur factor q i = -n,...,0,…,n, where n is an integer greater than 0;

[0051] The third matching condition in the first matching criterion is:

[0052] THθ <TH θ

[0053] Where THθ=|θ A -θ B |,

[0054] TH θ θ is the angle threshold of the current matching standard. A Let θ be the target angle of the target point in the first frame. B The target angle of the target point in the second frame;

[0055] The fourth matching condition in the first matching criterion is:

[0056] THS <TH S

[0057] Where, THS = |SNR A -SNR B |,

[0058] TH S SNR is the signal-to-noise ratio threshold of the current matching standard. A The signal-to-noise ratio (SNR) of the target point in the first frame. B is the signal-to-noise ratio of the target point in the second frame.

[0059] In some exemplary embodiments, when the first matching criterion includes a first matching condition, a second matching condition, a third matching condition, and a fourth matching condition, the velocity blur factor of the target point that is successfully matched in the current frame is determined according to the following method:

[0060]

[0061] Where, q B The velocity blur factor of the successfully matched target point in the current frame is q, where i is the velocity blur factor when the first matching criterion is met. i The corresponding i;

[0062] This represents the value of q when the function within the parentheses is at its minimum. i ;

[0063] a1 is the distance weighting coefficient, a2 is the velocity weighting coefficient, a3 is the angle weighting coefficient, and a4 is the SNR weighting coefficient.

[0064] THR is the distance difference, THV i THθ represents the velocity difference, θθ represents the angle difference, and THS represents the signal-to-noise ratio difference.

[0065] In some exemplary embodiments, when the first matching criterion includes a first matching condition and a second matching condition, the velocity blur factor of the target point that is successfully matched in the current frame is determined according to the following method:

[0066]

[0067] Where, q B The velocity blur factor of the successfully matched target point in the current frame is q, where i is the velocity blur factor when the first matching criterion is met. i The corresponding i;

[0068] This represents the value of q when the function within the parentheses is at its minimum. i ;

[0069] a1 is the distance weighting coefficient, and a2 is the speed weighting coefficient.

[0070] It should be noted that the first matching criterion includes one or more matching conditions. According to the scheme of the embodiments of this disclosure, the set of target points participating in the matching includes multiple cases. Under the premise of no conflict, each matching independently sets the matching conditions included in the corresponding matching criterion, as well as the threshold value in each matching condition.

[0071] In some exemplary embodiments, the fifth matching condition is determined based on the predicted target distance of the target points in the third target point set and the measured target distance of the target points in the fourth target point set.

[0072] In some exemplary embodiments, the sixth matching condition is determined based on the defuzzified target velocities of the target points in the third target point set and the defuzzified target velocities of the target points in the fourth target point set.

[0073] In some exemplary embodiments, the seventh matching condition is determined based on the target angles of the target points in the third set of target points and the target angles of the target points in the fourth set of target points.

[0074] In some exemplary embodiments, the eighth matching condition is determined based on the signal-to-noise ratio of the target points in the third target point set and the signal-to-noise ratio of the target points in the fourth target point set.

[0075] In some exemplary embodiments, the fifth matching condition in the second matching criterion is:

[0076] THR <TH R ;

[0077] Where, THR=|R′ Aj -R B |,R′ Aj =R A +V′ Aj *T A ,

[0078] V′ Aj =V A +q j *V maxA j = 1, 2, ..., 2n+1;

[0079] TH R R′ is the distance threshold for the current matching criterion. Aj The speed blur factor is equal to q j At that time, the predicted target distance R of the target points in the corresponding third target point set B R is the measured target distance of the target points in the fourth target point set. A V′ is the measured target distance of the target points in the third target point set. Aj The speed blur factor is equal to q j At that time, the defuzzified target velocity T of the target point in the corresponding third target point set. A V is the frame period of the first frame. maxA The maximum unambiguous velocity measurement value when performing a velocity-dimensional Fourier transform (FFT) on the first frame; velocity ambiguity factor q. j = -n,...,0,…,n, where n is an integer greater than 0;

[0080] The sixth matching condition in the second matching criterion is:

[0081] THV ij <TH V

[0082] Among them, THV ij =|V′ Aj -V′ Bi |,

[0083] V′ Bi =V B +q i *V maxB , i = 1, 2, ..., 2n+1;

[0084] V′Aj =V A +q j *V maxA j = 1, 2, ..., 2n+1;

[0085] TH V V′ is the speed threshold for the current matching standard. Aj The speed blur factor is equal to q j The defuzzed target velocity V′ of the target point in the third target point set corresponding to the time. Bi The speed blur factor is equal to q i The defuzzed target velocity V of the target point in the fourth target point set corresponding to the time. A V represents the target velocity of the target points in the third target point set before defuzzification. maxA V is the maximum unambiguous velocity measurement value when performing a velocity-dimensional Fourier transform (FFT) on the first frame. B V represents the target velocity of the target points in the fourth target point set before defuzzification. maxB The maximum unambiguous velocity measurement value when performing a velocity-dimensional Fourier transform (FFT) on the second frame; velocity ambiguity factor q. j =-n,...,0,…,n, speed fuzziness factor q i = -n,...,0,…,n, where n is an integer greater than 0.

[0086] The seventh matching condition in the second matching criterion is:

[0087] THθ <TH θ

[0088] Where THθ=|θ A -θ B |,

[0089] TH θ θ is the angle threshold of the current matching standard. A θ represents the target angle of the target point in the third set of target points. B The target angle of the target point in the fourth target point set;

[0090] The eighth matching condition in the second matching criterion is:

[0091] THS <TH S

[0092] Where, THS = |SNR A -SNR B |,

[0093] TH S SNR is the signal-to-noise ratio threshold of the current matching standard.A The signal-to-noise ratio (SNR) of the target points in the third target point set. B The signal-to-noise ratio of the target points in the fourth target point set.

[0094] In some exemplary embodiments, when the second matching criterion includes a fifth matching condition, a sixth matching condition, a seventh matching condition, and an eighth matching condition, the velocity fuzziness factor of the successfully matched target points in the fourth target point set is determined according to the following method:

[0095]

[0096] Where, q B The velocity fuzziness factor of the successfully matched target points in the fourth target point set, where i is the velocity fuzziness factor when the second matching criterion is met. i The corresponding i;

[0097] This represents the value of q when the function within the parentheses is at its minimum. i ;

[0098] a1 is the distance weighting coefficient, a2 is the velocity weighting coefficient, a3 is the angle weighting coefficient, and a4 is the SNR weighting coefficient.

[0099] THR is the distance difference, THV ij THθ represents the velocity difference, θθ represents the angle difference, and THS represents the signal-to-noise ratio difference.

[0100] In some exemplary embodiments, when the second matching criterion includes a fifth matching condition, the velocity fuzziness factor of the successfully matched target points in the fourth target point set is determined according to the following method:

[0101]

[0102] Where, q B The velocity fuzziness factor of the successfully matched target points in the fourth target point set, where i is the velocity fuzziness factor when the second matching criterion is met. i The corresponding i;

[0103] This represents the value of q when the function within the parentheses is at its minimum. i a2 is the velocity weighting coefficient.

[0104] In some exemplary embodiments, when the second matching criterion includes a fifth matching condition and a sixth matching condition, the velocity fuzziness factor of the successfully matched target points in the fourth target point set is determined according to the following method:

[0105]

[0106] Where, q B The velocity fuzziness factor of the successfully matched target points in the fourth target point set, where i is the velocity fuzziness factor when the second matching criterion is met. i The corresponding i;

[0107] This represents the value of q when the function within the parentheses is at its minimum. i ;

[0108] a1 is the distance weighting coefficient, and a2 is the speed weighting coefficient.

[0109] It should be noted that the second matching criterion includes one or more matching conditions. According to the scheme of the embodiments of this disclosure, the set of target points participating in the matching includes multiple cases. Under the premise of no conflict, each matching independently sets the matching conditions included in the corresponding matching criterion, as well as the threshold value in each matching condition.

[0110] In some exemplary embodiments, the ninth matching condition is determined based on the predicted target distance of the target points in the fifth target point set and the measured target distance of the target points in the sixth target point set.

[0111] In some exemplary embodiments, the tenth matching condition is determined based on the defuzzified target velocities of the target points in the fifth target point set and the defuzzified target velocities of the target points in the sixth target point set.

[0112] In some exemplary embodiments, the eleventh matching condition is determined based on the target angles of the target points in the fifth set of target points and the target angles of the target points in the sixth set of target points.

[0113] In some exemplary embodiments, the twelfth matching condition is determined based on the signal-to-noise ratio of the target points in the fifth target point set and the signal-to-noise ratio of the target points in the sixth target point set.

[0114] In some exemplary embodiments, the ninth matching condition in the third matching criterion is:

[0115] THR <TH R ;

[0116] Where, THR=|R′ A -R B |,R′ A =R A +V′ A *T A , V′ A =V A +q A *V maxA ;

[0117] TH R R′ is the distance threshold for the current matching criterion. A R is the predicted target distance of the target point in the first frame. B V′ is the measured target distance of the target point in the second frame. A Let q be the deblurred target velocity of the target point in the first frame. A T is the velocity blur factor of the target point in the first frame. A V is the frame period of the first frame. maxA The maximum unambiguous velocity measurement value when performing a velocity-dimensional Fourier transform (FFT) on the first frame.

[0118] In some exemplary embodiments, the tenth matching condition in the third matching criterion is:

[0119] THV i <TH V

[0120] Among them, THV i =|V′ A -V′ Bi |,V′ Bi =V B +q i *V maxB , i = 1, 2, ..., 2n+1;

[0121] TH V V′ is the speed threshold for the current matching standard. A V′ is the deblurred target velocity of the target point in the first frame. Bi The speed blur factor is equal to q i At that time, the target velocity V corresponding to the deblurred target point in the second frame is... B V represents the target velocity of the target point before deblurring in the second frame. maxB The maximum unambiguous velocity measurement value when performing a velocity-dimensional Fourier transform (FFT) on the second frame;

[0122] Speed ​​blur factor q i = -n,...,0,…,n, where n is an integer greater than 0;

[0123] The eleventh matching condition in the third matching criterion is:

[0124] THθ <TH θ

[0125] Where THθ=|θ A -θ B |,

[0126] TH θθ is the angle threshold of the current matching standard. A Let θ be the target angle of the target point in the first frame. B The target angle of the target point in the second frame;

[0127] The twelfth matching condition in the third matching criterion is:

[0128] THS <TH S

[0129] Where, THS = |SNR A -SNR B |,

[0130] TH S SNR is the signal-to-noise ratio threshold of the current matching standard. A The signal-to-noise ratio (SNR) of the target point in the first frame. B is the signal-to-noise ratio of the target point in the second frame.

[0131] In some exemplary embodiments, when the third matching criterion includes a ninth matching condition, a tenth matching condition, an eleventh matching condition, and a twelfth matching condition, the velocity blur factor of the successfully matched target point in the current frame is determined according to the following method:

[0132]

[0133] Where, q B The velocity blur factor of the successfully matched target point in the current frame is q, where i is the velocity blur factor when the first matching criterion is met. i The corresponding i;

[0134] This represents the value of q when the function within the parentheses is at its minimum. i ;

[0135] a1 is the distance weighting coefficient, a2 is the velocity weighting coefficient, a3 is the angle weighting coefficient, and a4 is the SNR weighting coefficient.

[0136] THR is the distance difference, THV i THθ represents the velocity difference, θθ represents the angle difference, and THS represents the signal-to-noise ratio difference.

[0137] In some exemplary embodiments, when the third matching criterion includes a ninth matching condition and a tenth matching condition, the velocity blur factor of the target point that is successfully matched in the current frame is determined according to the following method:

[0138]

[0139] Where, q BThe velocity blur factor of the successfully matched target point in the current frame is q, where i is the velocity blur factor when the first matching criterion is met. i The corresponding i;

[0140] This represents the value of q when the function within the parentheses is at its minimum. i ;

[0141] a1 is the distance weighting coefficient, and a2 is the speed weighting coefficient.

[0142] It should be noted that the third matching criterion includes one or more matching conditions. According to the scheme of the embodiments of this disclosure, the set of target points participating in the matching includes multiple cases. Under the premise of no conflict, each matching independently sets the matching conditions included in the corresponding matching criterion, as well as the threshold value in each matching condition.

[0143] In some exemplary embodiments, the thirteenth matching condition is determined based on the measured target distances of the target points in the seventh target point set and the measured target distances of the target points in the eighth target point set.

[0144] In some exemplary embodiments, the fourteenth matching condition is determined based on the fuzzy velocity of the target points in the seventh target point set and the fuzzy velocity of the target points in the eighth target point set.

[0145] In some exemplary embodiments, the fifteenth matching condition is determined based on the target angles of the target points in the seventh target point set and the target angles of the target points in the eighth target point set.

[0146] In some exemplary embodiments, the sixteenth matching condition is determined based on the signal-to-noise ratio of the target points in the seventh target point set and the signal-to-noise ratio of the target points in the eighth target point set.

[0147] In some exemplary embodiments, the thirteenth matching condition in the fourth matching criterion is:

[0148] |R BS -R BU | <TH R

[0149] Among them, TH R R is the distance threshold for the current matching standard. BS R is the measured target distance of the target points in the seventh target point set. BU The measured target distances to the target points in the eighth set of target points;

[0150] The fourteenth matching condition in the fourth matching criterion is:

[0151] |VBS -V BU | <TH V

[0152] Among them, TH V V is the speed threshold for the current matching standard. BS V represents the target velocity of the target point in the seventh target point set before defuzzification. BU The target velocity of the target point in the eighth target point set before defuzzification;

[0153] The fifteenth matching condition in the fourth matching criterion is:

[0154] |θ BS -θ BU | <TH θ

[0155] Among them, TH θ θ is the angle threshold of the current matching standard. BS θ represents the target angle of the target point in the seventh target point set. BU The target angle of the target point in the eighth target point set;

[0156] The sixteenth matching condition in the fourth matching criterion is:

[0157] |SNR BS -SNR BU | <TH S

[0158] Among them, TH S SNR is the signal-to-noise ratio threshold of the current matching standard. BS The signal-to-noise ratio (SNR) of the target points in the seventh target point set. BU The signal-to-noise ratio of the target points in the eighth target point set.

[0159] In some exemplary embodiments, the velocity fuzziness factor of the successfully matched target points in the eighth target point set is determined according to the following method:

[0160] The velocity fuzziness factor of the target point that was successfully matched in the seventh target point set is used as the velocity fuzziness factor of the target point in the eighth target point set.

[0161] It should be noted that the fourth matching criterion includes one or more matching conditions. According to the scheme of the embodiments of this disclosure, the set of target points participating in the matching includes multiple cases. Under the premise of no conflict, each matching independently sets the matching conditions included in the corresponding matching criterion, as well as the threshold value in each matching condition.

[0162] In some exemplary embodiments, the method further includes:

[0163] Based on the matching results of the seventh target point set and the eighth target point set, update the target point information of the target points that were successfully matched in the eighth target point set.

[0164] In some exemplary embodiments, updating the target point information of the successfully matched target points in the eighth target point set includes:

[0165] Based on the target point information that is successfully matched in the seventh target point set, update the target point information corresponding to the eighth target point set;

[0166] The target point information includes one or more of the following:

[0167] Target distance, target speed, target angle, and signal-to-noise ratio.

[0168] The velocity ambiguity resolution scheme provided in this disclosure performs one or more matching operations on target points with resolved velocity ambiguity based on target points whose target distance has been predicted. This effectively compensates for the problem of low matching rate or inaccurate matching in a single threshold scheme, effectively improving the matching success rate and matching accuracy, thereby improving the accuracy of velocity ambiguity resolution.

[0169] After reading and understanding the accompanying diagrams and detailed descriptions, the other aspects can be understood. Attached Figure Description

[0170] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, 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 the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0171] Figure 1 This is a schematic diagram of the AB wave velocity ambiguity resolution in an embodiment of the present invention;

[0172] Figure 2 This is a flowchart of a method for resolving velocity ambiguity provided in an embodiment of the present invention;

[0173] Figure 3 This is a flowchart of another method for resolving velocity ambiguity provided in an embodiment of the present invention;

[0174] Figure 4 This is a flowchart of another method for resolving velocity ambiguity provided in an embodiment of the present invention;

[0175] Figure 5 This is a flowchart of another method for resolving velocity ambiguity provided in an embodiment of the present invention;

[0176] Figure 6 This is a flowchart of another method for resolving velocity ambiguity provided in an embodiment of the present invention;

[0177] Figure 7 This is a flowchart of another method for resolving velocity ambiguity provided in an embodiment of the present invention;

[0178] Figure 8 This is a flowchart of another method for resolving velocity ambiguity provided in an embodiment of the present invention;

[0179] Figure 9 This is a flowchart of another method for resolving velocity ambiguity provided in an embodiment of the present invention;

[0180] Figure 10 This is a flowchart of another method for resolving velocity ambiguity provided in an embodiment of the present invention;

[0181] Figure 11 This is a flowchart of another method for resolving velocity fuzziness provided in an embodiment of the present invention.

[0182] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0183] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0184] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0185] Furthermore, in this invention, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0186] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0187] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are feasible for those skilled in the art. If the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0188] The method for extracting target velocity using radar technology generally involves measuring the Doppler frequency in the echo. However, in microwave and millimeter-wave radars, the pulse repetition frequency (also known as the repetition frequency) forms the Doppler signal sampling for targets at the same range threshold. The pulse repetition frequency limits the range of radar target measurement; if the target velocity exceeds half the pulse repetition frequency, velocity ambiguity will occur.

[0189] In some feasible velocity ambiguity resolution schemes, the method of sampling staggered repetition frequencies involves the radar alternately transmitting signals at multiple repetition frequencies. A method similar to the Chinese remainder theorem is used to match target points in adjacent frames before velocity deambiguity is achieved. However, these feasible schemes typically use a fixed threshold for target point matching. This threshold is not applicable to all velocity ranges. When the target velocity is high, matching failures are likely, reducing the success rate. Conversely, when the velocity is low, matching errors are more likely, reducing the accuracy of velocity deambiguity resolution.

[0190] This disclosure provides a method for resolving velocity ambiguity. Before performing target point matching, target distance prediction is performed first, and target point matching is performed based on the predicted target distance. This allows for the application of all velocity ranges with only a small matching threshold. In some exemplary embodiments, multiple target point matchings are used to effectively improve the matching success rate, thereby improving the accuracy of velocity ambiguity resolution.

[0191] The velocity ambiguity resolution method provided in this disclosure is a velocity ambiguity resolution method based on two repetition frequency periods (also known as a velocity deambiguity resolution method), wherein the two repetition frequency periods are T... A and T B These are referred to as A-wave and B-wave. This disclosure employs an alternating A / B wave resolution method for velocity ambiguity, i.e., A-wave resolves B-wave, and B-wave resolves A-wave, as shown below. Figure 1As shown. It can be understood that wave A and wave B are dynamic relative concepts, also referred to as the previous frame and the current frame, that is, the velocity blurring of the target points in the current frame is performed based on the velocity blurring result of the target points in the previous frame; Figure 1 The phrase “A wave solves B wave, B wave solves A wave” can also be uniformly understood as “the previous frame solves the current frame”. In the relevant descriptions of the embodiments of this disclosure, the previous frame has the same meaning as the A wave, and the current frame has the same meaning as the B wave.

[0192] In related schemes, radar is used for target point detection. The initial detection result of each frame is a set of target points containing one or more target points. Each target point corresponds to target point information, therefore the set of target points is also called a target point information list, denoted as targetList. Accordingly, the initial detection result of the previous frame is denoted as targetListA, and the initial detection result of the current frame is denoted as targetListB. Each target point information includes one or more of the following: target distance (R), target velocity (V), target angle (θ), and signal-to-noise ratio (SNR). Compared to the scheme of this disclosure where the predicted target distance is determined after target distance prediction, the target distance of the target point in each frame in the initial detection result is also called the measured target distance. The target velocity of the target point in each frame, without deblurring, is also called the blurred velocity or the target velocity before deblurring; after deblurring, the target point determines the corresponding deblurred target velocity. It should be noted that how to obtain the target point information list corresponding to each frame is implemented according to relevant feasible schemes, and the specific steps are not discussed in detail in this application.

[0193] In some exemplary embodiments, the target angle includes an azimuth angle and a pitch angle.

[0194] It should be noted that the velocity ambiguity resolution scheme provided in this disclosure, based on the target points with resolved velocity ambiguity that have undergone target distance prediction, performs one or more matching operations on different sets of target points. This effectively compensates for the low matching rate or inaccurate matching in a single threshold value scheme, effectively improving the matching success rate and accuracy, thereby enhancing the accuracy of velocity ambiguity resolution. Where there is no conflict, multiple matching operations can be flexibly combined, with corresponding matching criteria set for each operation to minimize matching omissions. Specific combinations of multiple matching operations are not illustrated here. Based on the following examples, those skilled in the art can make equivalent substitutions or modifications to obtain similar technical effects.

[0195] In some exemplary embodiments disclosed herein, the target point set of the previous frame is used as the first target point set, and the target point set of the current frame is used as the second target point set. The previous frame is also referred to as wave A, and the current frame is also referred to as wave B.

[0196] It should also be noted that when the preceding frame is not the first frame transmitted by the radar, the preceding frame can perform target point matching based on its previous frame and its own frame to determine the velocity ambiguity factor of the successfully matched target points, thus completing the de-velocity ambiguity resolution for the successfully matched points. For example, the radar system transmits frames 1, 2, 3, ..., n, corresponding to target point sets targetList1, targetList2, targetList3, ..., targetList4, respectively. Since there are no other frames before the first frame (frame 1), the staggered repetition frequency scheme cannot be used to resolve velocity blur. The target velocities of each target point in the first frame (frame 1) are all blurred velocities. The frame preceding frame 2 is frame 1. At this time, there are no target points in frame 1 that have resolved velocity blur. However, frame 2 can use other feasible staggered repetition frequency schemes to resolve velocity blur by matching target points based on frames 1 and 2. Finally, the target points in frame 2 that can be successfully matched complete the resolution of velocity blur and determine the resolved velocity. That is, frame 2 contains target points that have resolved velocity blur. The frame preceding frame 3 is frame 2. Therefore, when resolving velocity blur for frame 3, the first set of target points corresponds to the set of target points in frame 2. Frames 4, 5, ... are similar to frame 3.

[0197] In some exemplary embodiments, millimeter radar waves are continuously emitted. For the first frame, velocity ambiguity can be temporarily omitted, and the initial detection information of each target point can be stored.

[0198] In some exemplary embodiments, if the velocity blur of the target points in the previous frame has not been resolved, the current frame can use two relevant and implementable velocity blur resolution schemes with different repetition frequency periods to perform target point matching and resolve the velocity blur of the successfully matched target points.

[0199] In some exemplary embodiments, the radar system includes a millimeter-wave radar system; or other radar systems, not limited to a particular aspect.

[0200] In some exemplary embodiments, when the first frame is the previous frame, the second frame is the current frame, and the first target point set consists of target points whose velocity blur has been resolved in the previous frame, the method for resolving velocity blur is as follows: Figure 2 As shown, it includes:

[0201] Step 210: Perform distance prediction on the target points whose velocity blur has been resolved in the previous frame, and determine the predicted target distance for each target point;

[0202] Step 220: According to the first matching criterion, match the set of target points with resolved velocity ambiguity in the previous frame with the set of target points in the current frame, and determine the velocity ambiguity factor of the target points that were successfully matched in the current frame target point set.

[0203] In this context, the set of target points whose velocity blur has been resolved in the previous frame is denoted as As; and the set of target points in the current frame is denoted as B.

[0204] In some exemplary embodiments, step 220 further includes:

[0205] The target points that were not successfully matched in this frame from the target points whose velocity blur was resolved in the previous frame are included in the target points whose velocity blur was not resolved in the first frame.

[0206] In some exemplary embodiments, step 220 further includes:

[0207] Based on the matching results, determine the target points that have been successfully matched and the target points that have not been successfully matched in the current frame.

[0208] In this set, the set of target points whose velocity blur has been resolved in the previous frame is denoted as As, and the set of target points whose velocity blur has not been resolved in the previous frame is denoted as Au; the set of target points in the current frame is denoted as B, the set of target points that have been successfully matched in the current frame is denoted as Bs, and the set of target points that have not been successfully matched in the current frame is denoted as Bu.

[0209] The first matching criterion includes a first matching condition, a second matching condition, a third matching condition, and a fourth matching condition. In this matching, each threshold TH in the first matching criterion... R TH V TH A TH S The corresponding threshold value is: TH1 R TH1 V TH1 A TH1 S The first matching criteria include:

[0210] THR <TH1 R

[0211] THV i <TH1 V

[0212] THθ <TH1 A

[0213] THS <TH1 S

[0214] in,

[0215] THR=|R′ A -R B |

[0216] THV i =|V′ A -V′ Bi |

[0217] THθ=|θ A -θ B |

[0218] THS = |SNR A -SNR B |

[0219] V′ Bi =V B +q i *V maxB , i = 1, 2, ..., 2n+1;

[0220] R′ A R is the predicted target distance of the target point in the previous frame. B V′ is the measured target distance of the target point in the current frame. A q represents the deblurred target velocity of the target point in the previous frame. A T is the velocity blur factor of the target point in the previous frame. A V is the frame period of the previous frame. maxA The maximum unambiguous velocity measurement value when performing a velocity-dimensional Fourier transform (FFT) on the previous frame;

[0221] V′ Bi The speed blur factor is equal to q i At that time, the deblurred target velocity corresponding to the target point in the current frame, V B V represents the target velocity of the target point in the current frame before deblurring. maxB The maximum unambiguous velocity measurement value when performing a velocity-dimensional Fourier transform (FFT) on the current frame; velocity ambiguity factor q. i = -n,...,0,…,n, where n is an integer greater than 0, i.e., q i The value range is [-nn];

[0222] θ A θ is the target angle of the target point in the previous frame. B The target angle of the target point in the current frame;

[0223] SNR A The signal-to-noise ratio (SNR) of the target point in the previous frame. B The signal-to-noise ratio of the target point in the current frame.

[0224] In step 220, the velocity blur factor of the successfully matched target points in the current frame is determined according to the following method:

[0225]

[0226] Where, qB The velocity blur factor of the successfully matched target point in the current frame is q, where i is the velocity blur factor when the first matching criterion is met. i The corresponding i;

[0227] This represents the value of q when the function within the parentheses is at its minimum. i ;

[0228] a1 is the distance weighting coefficient, a2 is the velocity weighting coefficient, a3 is the angle weighting coefficient, and a4 is the SNR weighting coefficient.

[0229] THR is the distance difference, THV i THθ represents the velocity difference, θθ represents the angle difference, and THS represents the signal-to-noise ratio difference.

[0230] It is understood that in step 220 of some exemplary embodiments, a matching point is searched in the second target point set B, using the target point in the target point set As as the base point. If the two match, the successfully matched point in set B is added to the subset Bs, and the velocity fuzzy factor q at the time of successful matching is saved. B If the value is not found, the points in set B that do not match will be added to the subset Bu. Additionally, after this matching (search), if some target points in subset As do not match, they will be added to the subset Au.

[0231] For example, the previous frame contains 14 target points: 10 target points with resolved velocity blur and 4 target points with unresolved velocity blur, i.e., the target point set As contains 10 target points, all of which have resolved velocity blur and their respective velocity blur ratios are stored. The second target point set contains 16 target points. The predicted target distance is determined by predicting the 10 target points in the target point set As. Based on the 10 target points in As and the 16 target points in the second target point set, a matching process is performed according to the first matching criterion. It is determined that 8 of the 10 target points in As are successfully matched, and the 2 unmatched target points are classified as unresolved velocity blur target points. It can be understood that after step 220, the target point set As contains 8 target points with resolved velocity blur, the target point set Au contains 6 target points with unresolved velocity blur, the target point set Bs contains 8 successfully matched target points, and the target point set Bu contains 8 unmatched target points.

[0232] In some exemplary embodiments, TH1 R Set to 3 distance bins, TH1 V Set to 3 speed bins, TH1 A TH1 sets different sizes according to different distances. S Set to within 15dB, etc.; these threshold values ​​are for reference only and can be adjusted according to actual test data, and are not limited to the examples above.

[0233] It can be understood that by iterating through the possible values ​​of the velocity blur factor in the range [-n, n], and determining the target points that are successfully matched according to the first matching criterion, and further determining the corresponding velocity blur factor, the velocity blur of these target points that are successfully matched in the current frame is de-enhanced.

[0234] In some exemplary embodiments, such as Figure 3 As shown, the method further includes:

[0235] Step 230: According to the second matching criterion, match the unresolved velocity blur target points in the previous frame with the unmatched target points in the current frame, and determine the velocity blur factor of the target points that are successfully matched in the current frame.

[0236] The second matching criteria include the fifth, sixth, seventh, and eighth matching conditions.

[0237] Among them, the target points in the previous frame that have not been resolved by velocity blur form the third target point set, and the target points in the current frame that have not been matched form the fourth target point set.

[0238] In some exemplary embodiments, each threshold TH in the second matching criterion R TH V TH A TH S The corresponding threshold value is: TH2 R TH2 V TH2 A TH2 S The second matching criteria include:

[0239] THR <TH2 R

[0240] THV ij <TH2 V

[0241] THθ <TH2 A

[0242] THS <TH2 S

[0243] in,

[0244] THR=|R′ Aj -R B |

[0245] THV ij =|V′ Aj -V′ Bi |

[0246] THθ=|θ A -θ B |

[0247] THS = |SNR A -SNR B |

[0248] R′ Aj =R A +V′ Aj *T A j = 1, 2, ..., 2n+1;

[0249] V′ Bi =V B +q i *V maxB , i = 1, 2, ..., 2n+1;

[0250] V′ Aj =V A +q j *V maxA j = 1, 2, ..., 2n+1;

[0251] R′ Aj R is the predicted target distance of the target points in the third target point set. B R is the measured target distance of the target points in the fourth target point set. A V′ is the measured target distance of the target points in the third target point set. Aj The speed blur factor is equal to q j At that time, the defuzzified target velocity T of the target point in the corresponding third target point set. A V is the frame period of the first frame. maxA The maximum unambiguous velocity measurement value when performing a velocity-dimensional Fourier transform (FFT) on the first frame;

[0252] V′ Bi The speed blur factor is equal to q i The defuzzed target velocity V of the target point in the fourth target point set corresponding to the time. A V represents the target velocity of the target points in the third target point set before defuzzification. maxA V represents the maximum unambiguous velocity measurement value when performing a velocity-dimensional Fourier transform (FFT) on the previous frame. B V represents the target velocity of the target points in the fourth target point set before defuzzification. maxB The maximum unambiguous velocity measurement value when performing a velocity-dimensional Fourier transform (FFT) on the current frame; velocity ambiguity factor q. j =-n,...,0,…,n, speed fuzziness factor q i= -n,...,0,…,n, where n is an integer greater than 0.

[0253] It is understood that in step 230 of some exemplary embodiments, a target point in the target point set Au is used as the base point, and a matching point is searched in the target point set Bu. If the two match, the point in set Bu that successfully matches this time is added to the subset Bs, and the fuzzy multiple q at the time of successful matching is saved. B value.

[0254] As you can see, Figure 3 The speed ambiguity resolution method shown in the diagram performs matching on As and B according to the first matching criterion in step 220, and redetermines As, Bs, Au, and Bu. In step 230, matching is performed on Au and Bu according to the second matching criterion. This allows target points in Au that did not participate in the matching in step 220 to participate in the re-matching, thereby improving the overall matching success rate. Figure 3 The method for resolving speed ambiguity, for example, employs two matching processes to improve the success rate of target point matching. The matching criteria for each of the two matching processes are set independently, and can be the same or different. They can be adjusted and set according to the actual situation or dynamically determined during the ambiguity resolution process, and are not limited to a specific method.

[0255] In some exemplary embodiments, TH2 R Set to 6 distance bins, TH2 V Set to 6 speed bins, TH2 A TH2 sets different sizes according to different distances. S These thresholds can be set to within 15dB, but they are for reference only and need to be adjusted based on actual test data. They are not limited to the examples above.

[0256] In some exemplary embodiments, such as Figure 4 As shown, the method for resolving velocity ambiguity further includes:

[0257] Step 240: According to the third matching criterion, match the unmatched target points (Bu) in the current frame with the de-velocity blurred target points (As) in the previous frame to determine the velocity blur factor of the target points that are successfully matched in the current frame.

[0258] That is, the target points that have not been matched in the current frame constitute the fifth set of target points, and the target points whose velocity ambiguity has been resolved in the previous frame constitute the sixth set of target points.

[0259] The third matching criterion in step 240 includes the ninth, tenth, eleventh, and twelfth matching conditions. In this matching process, each threshold TH in the third matching criterion... R TH VTH A TH S The corresponding threshold value is: TH3 R TH3 V TH3 A TH3 S The first matching criteria include:

[0260] THR <TH3 R

[0261] THV i <TH3 V

[0262] THθ <TH3 A

[0263] THS <TH3 S

[0264] The calculation of the relevant values ​​is similar to that in step 220, and will not be repeated here.

[0265] In some exemplary embodiments, TH3 R Set to 6 distance bins, TH3 V Set to 6 speed bins, TH3 A TH3 sets different sizes according to different distances. S Set to within 15dB, etc.; these threshold values ​​are for reference only and can be adjusted according to actual test data, and are not limited to the examples above.

[0266] It is understood that the threshold value in the third matching criterion corresponding to step 240 is set independently from the threshold value in the first matching criterion corresponding to step 220; they can be the same or different. In step 240 of some exemplary embodiments, the target points in the target point set Bu are used as base points, and matching points are searched in the target point set As. If the two match, the points in set Bu that are successfully matched this time are included in the subset Bs, and the fuzzy multiple q at the time of successful matching is saved. B value.

[0267] As you can see, Figure 4 The speed ambiguity resolution method shown in step 230 performs a matching process again in step 240. Using the target point in Bu as the base point, the search is performed in As, which can further improve the matching success rate of the target point in the current frame. Figure 4 The method for resolving speed ambiguity, for example, employs three-stage matching to improve the success rate of target point matching. The matching criteria for each of the three stages are set independently, and can be the same or different. They can be adjusted and set according to the actual situation or dynamically determined during the deambiguity process, and are not limited to a specific method.

[0268] In some exemplary embodiments, such as Figure 5 As shown, the method for resolving velocity ambiguity further includes:

[0269] Step 250: According to the fourth matching standard, match the target points that have been successfully matched in the current frame and the target points that have not been successfully matched in the current frame, and determine the velocity blur factor of the target points that have been successfully matched in the current frame.

[0270] That is, the target points that have been successfully matched in the current frame constitute the seventh target point set, and the target points that have not been successfully matched in the current frame constitute the eighth target point set.

[0271] In some exemplary embodiments, the fourth matching criterion includes a thirteenth matching condition, a fourteenth matching condition, a fifteenth matching condition, and a sixteenth matching condition. In this matching, each threshold TH in the fourth matching criterion... R TH V TH A TH S The corresponding threshold value is: TH4 R TH4 V TH4 A TH4 S The fourth matching criterion includes:

[0272] |R BS -R BU | <TH4 R

[0273] |V BS -V BU | <TH4 V

[0274] |θ BS -θ BU | <TH4 θ

[0275] |SNR BS -SNR BU | <TH4 S

[0276] Among them, R BS R is the measured target distance of the target points in the fifth target point set. BU V is the measured target distance of the target point in the sixth target point set; BS V represents the target velocity of the target points in the fifth target point set before defuzzification. BU θ represents the target velocity of the target point in the sixth target point set before defuzzification; BS θ represents the target angle of the target point in the fifth set of target points. BUThe target angle of the target point in the sixth target point set; SNR BS The signal-to-noise ratio (SNR) of the target points in the fifth target point set. BU The signal-to-noise ratio of the target points in the sixth target point set.

[0277] In some exemplary embodiments, TH4 R Set to 10 distance bins, TH4 V Set to 3 speed bins, TH4 A TH4 sets different sizes according to different distances. S These threshold values, such as 15dB or less, are for reference only and need to be adjusted based on actual test data, and are not limited to the examples above.

[0278] In some exemplary embodiments, step 250 further includes: updating the target point information that was successfully matched in the eighth target point set according to the target point information that was successfully matched in the seventh target point set;

[0279] The target point information includes one or more of the following:

[0280] Target distance, target speed, target angle, and signal-to-noise ratio.

[0281] It is understood that in step 250 of some exemplary embodiments, using the target points in the target point set Bs as base points, a matching point is searched in the target point set Bu. If the two match, the successfully matched point in the subset Bu is added to the subset Bs, and the fuzziness factor q value at the time of successful matching is saved. That is, the velocity fuzziness factor of the target point that is successfully matched in Bu is determined to be equal to the velocity fuzziness factor of the corresponding target point in Bs. At the same time, the target point information that is successfully matched in Bu is updated according to the target point information in Bs. This achieves the clustering of target points in Bu to target points with resolved velocity fuzziness in Bs.

[0282] As you can see, Figure 5 The velocity ambiguity resolution method shown in the diagram, after step 240, performs step 250 for matching again. Using the target point in Bs as the base point, it searches in Bu, enabling clustering of target points in Bu with the already velocity-ambiguated target points in Bs. It can be understood that for target points in the current frame that have not been successfully matched after one or more previous matches, step 350 performs intra-frame matching, ensuring that different scattering points of the same target can share the same velocity ambiguity factor, i.e., achieving self-matching. This further improves the matching success rate and velocity ambiguity resolution accuracy of target points in the current frame.

[0283] Figure 5The method for resolving speed ambiguity, for example, employs four-stage matching to improve the success rate of target point matching. The matching criteria for each of the four stages are set independently, and can be the same or different. They can be adjusted and set according to the actual situation or dynamically determined during the deambiguity process, and are not limited to a specific method.

[0284] Figure 5 In the velocity ambiguity resolution method shown, step 220 is also called a first-time matching based on historical frames, step 230 is also called a second-time matching based on historical frames, step 240 is also called a first-time matching based on the current frame, and step 250 is also called a second-time matching based on the current frame. By performing multiple matches and using independently set threshold values, compared to the velocity ambiguity resolution schemes that use a fixed threshold for first-time matching in related feasible schemes, this method can cover a wider range of real velocities by setting matching criteria for different matching operations, thereby improving the matching rate and accuracy of target points, and ultimately improving the accuracy of velocity ambiguity resolution.

[0285] In some exemplary embodiments, such as Figure 6 As shown, the method for resolving velocity ambiguity includes:

[0286] Step 610: Perform distance prediction on the target points whose velocity blur has been resolved in the previous frame, and determine the predicted target distance for each target point;

[0287] Step 620: According to the first matching criterion, match the set of target points with resolved velocity ambiguity in the previous frame with the set of target points in the current frame, and determine the velocity ambiguity factor of the target points that were successfully matched in the current frame target point set.

[0288] Step 640: According to the third matching criterion, match the set of unmatched target points in the current frame with the set of target points whose velocity ambiguity has been resolved in the previous frame, and determine the velocity ambiguity multiple of the target points that were successfully matched in the target point set of the current frame.

[0289] In this set, the set of target points whose velocity blur has been resolved in the previous frame is denoted as As; the set of target points in the current frame is denoted as B; the set of target points that have been successfully matched in the current frame is denoted as Bs; and the set of target points that have not been successfully matched in the current frame is denoted as Bu.

[0290] Understandable. Figure 6 The solution to the speed fuzzy problem shown performs two matching operations to improve the success rate of target point matching.

[0291] It should be noted that, Figure 6 The details of the solution to the velocity fuzzy problem shown are consistent with those of the aforementioned embodiments, and will not be repeated here.

[0292] In some exemplary embodiments, such as Figure 7 As shown, the method further includes:

[0293] 650. According to the fourth matching criterion, the seventh target point set and the eighth target point set are matched to determine the velocity fuzziness factor of the target points that are successfully matched in the eighth target point set;

[0294] The seventh set of target points consists of target points that have been successfully matched in the current frame, and the eighth set of target points consists of target points that have not been successfully matched in the current frame.

[0295] It should be noted that, Figure 7 The details of the solution to the velocity fuzzy problem shown are consistent with those of the aforementioned embodiments, and will not be repeated here.

[0296] This disclosure also provides a method for resolving velocity blur. The first target point set is a set Au consisting of target points in the first frame that have not undergone velocity blur resolution. The second target point set is a set B consisting of target points in the second frame. The target points that have been successfully matched in the second frame constitute a set Bs, and the target points that have not been successfully matched in the second frame constitute a set Bu. Wherein, if no matching or velocity blur resolution is performed in the second frame, Bu is initially equal to B, meaning that all target points in the second frame are unmatched target points. Figure 8 As shown, it includes:

[0297] Step 810: Perform distance prediction on the target points (Au) with unresolved velocity ambiguity in the first frame to determine the predicted target distance for each target point;

[0298] Step 830: According to the second matching criterion, match the set of target points Au in the first frame that are not resolved by velocity blur and the set of target points B in the second frame to determine the velocity blur factor of the target points that are successfully matched in the second frame.

[0299] In step 810, the predicted target distance is determined according to the following method:

[0300] R′ Aj =R A +V′ Aj *T A ,

[0301] V′ Aj =V A +q j *V maxA j = 1, 2, ..., 2n+1;

[0302] R′ Aj For the target point in the first frame, the speed blur factor is q. j Predicted target distance at time, V′ Aj The speed blur factor is equal to q jAt that time, the deblurred target velocity of the target point in the corresponding first frame, T A V is the frame period of the first frame. maxA The maximum unambiguous velocity measurement value when performing a velocity-dimensional Fourier transform (FFT) on the first frame; velocity ambiguity factor q. j = -n,...,0,…,n, where n is an integer greater than 0.

[0303] The second matching criterion includes a fifth matching condition;

[0304] The fifth matching condition is determined based on the predicted target distance of the target point in Au and the measured target distance of the target point in B.

[0305] In some exemplary embodiments, the second matching criterion further includes one or more of the following matching conditions:

[0306] The sixth, seventh, and eighth matching conditions;

[0307] The sixth matching condition is determined based on the defuzzified target velocities of the target points in the first target point set and the defuzzified target velocities of the target points in the second target point set.

[0308] The seventh matching condition is determined based on the target angles of the target points in the first set of target points and the target angles of the target points in the second set of target points;

[0309] The eighth matching condition is determined based on the signal-to-noise ratio of the target points in the first target point set and the signal-to-noise ratio of the target points in the second target point set.

[0310] It is understood that in step 830 of some exemplary embodiments, using the target points in the target point set Au as base points, a matching point is searched in the target point set B. If the two match, the points in set B that are successfully matched this time are added to the subset Bs, and the fuzzy multiple q at the time of successful matching is saved. B Value. Points in set B that failed to match this time are added to the subset Bu.

[0311] In some exemplary embodiments, such as Figure 9 As shown, the method further includes:

[0312] Step 840: According to the third matching criterion, match the fifth target point set and the sixth target point set to determine the velocity fuzziness factor of the target points that were successfully matched in the fifth target point set this time;

[0313] The fifth set of target points consists of unmatched target points Bu in the second frame, and the sixth set of target points consists of target points As in the first frame whose velocity ambiguity has been resolved.

[0314] In some exemplary embodiments, such as Figure 10 As shown, the method further includes:

[0315] Step 850: According to the fourth matching criterion, match the seventh target point set and the eighth target point set, and determine the velocity fuzziness factor of the target points that were successfully matched in the eighth target point set this time;

[0316] The seventh set of target points consists of target points Bs that have been successfully matched in the second frame, and the eighth set of target points consists of target points Bu that have not been successfully matched in the second frame.

[0317] This disclosure also provides a method for resolving velocity ambiguity, such as... Figure 11 As shown, it includes:

[0318] Step 1110: According to the fourth matching criterion, match the seventh target point set and the eighth target point set, and determine the velocity fuzziness factor of the target points that were successfully matched in the eighth target point set this time;

[0319] The seventh set of target points consists of target points in the set frame whose velocity ambiguity has been resolved, and the eighth set of target points consists of target points in the set frame whose velocity ambiguity has not been resolved.

[0320] In some exemplary embodiments, the target point whose velocity ambiguity has been resolved is a target point with a known true velocity.

[0321] In some exemplary embodiments, the target point that has been de-ambigued is the target point where the set frame has been successfully matched with other frames and the speed ambiguity multiple has been determined.

[0322] In some exemplary embodiments, the setting frame is the current frame.

[0323] It can be understood that the seventh and eighth target point sets are subsets of target points in the same frame, such as... Figure 11 The method shown for resolving velocity blurring achieves self-matching of target points within the same frame.

[0324] This disclosure also provides a radar chip including a processor configured to implement the velocity ambiguity resolution method as described in any embodiment of this disclosure.

[0325] This disclosure also provides an electronic device, including:

[0326] One or more processors;

[0327] Storage device for storing one or more programs.

[0328] When the one or more programs are executed by the one or more processors, the one or more processors implement the method for resolving speed ambiguity as described in any embodiment of this disclosure.

[0329] This disclosure also provides a computer-readable storage medium having a computer program stored thereon, the program being implemented by a processor as a method for resolving speed fuzziness as described in any embodiment of this disclosure.

[0330] As can be seen, the velocity ambiguity resolution scheme provided in this disclosure, by increasing target distance prediction, can effectively improve the matching accuracy of AB wave target points and the accuracy of velocity ambiguity resolution in the staggered repetition frequency velocity ambiguity resolution scheme. In some exemplary embodiments, by increasing the number of matching attempts, compared with the single-matching scheme under a single threshold in related schemes, the velocity ambiguity resolution scheme provided in this disclosure uses different matching thresholds in multiple matches, covering a wider range of target velocities, improving the target point matching rate, thereby improving the accuracy of velocity ambiguity resolution and enhancing the performance of the radar system.

[0331] It will be understood by those skilled in the art that all or some of the steps, systems, or apparatuses disclosed above, and their functional modules / units, can be implemented as software, firmware, hardware, or suitable combinations thereof. In hardware implementations, the division between functional modules / units mentioned above does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed collaboratively by several physical components. Some or all components may be implemented as software executed by a processor, such as a digital signal processor or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit (ASIC). Such software may be distributed on a computer-readable medium, which may include computer storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and can be accessed by a computer. Furthermore, it is well known to those skilled in the art that communication media typically contain computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

[0332] The above description is only a preferred embodiment of the present invention and does not limit the patent scope of the present invention. All equivalent structural transformations made under the concept of the present invention using the contents of the present invention specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A method for resolving velocity ambiguities, applied to a radar system, characterized in that, Comprising: distance prediction is performed on the target points in the first target point set to determine the predicted target distance of each target point; According to the first matching standard, the first target point set and the second target point set are matched to determine the velocity ambiguity multiple of the target points in the second target point set that are successfully matched this time; Wherein, the first matching standard includes a first matching condition and one or more of the following matching conditions: a second matching condition, a third matching condition and a fourth matching condition; The first matching condition is determined according to the predicted target distance of the target points in the first target point set and the measured target distance of the target points in the second target point set; The second matching condition is determined according to the deblurred target speed of the target points in the first target point set and the deblurred target speed of the target points in the second target point set; The third matching condition is determined according to the target angle of the target points in the first target point set and the target angle of the target points in the second target point set; The fourth matching condition is determined according to the signal-to-noise ratio of the target points in the first target point set and the signal-to-noise ratio of the target points in the second target point set; The first target point set corresponds to the first frame, and the second target point set corresponds to the second frame; the target points in the first target point set are target points in the first frame that have been deblurred in speed.

2. The method of claim 1, wherein: The method further comprises: According to the second matching standard, the third target point set and the fourth target point set are matched to determine the velocity ambiguity multiple of the target points in the fourth target point set that are successfully matched this time; Wherein, the third target point set is the target points in the first frame that have not been deblurred in speed, and the fourth target point set is the target points in the second frame that have not been successfully matched; The second matching standard includes one or more of the following matching conditions: Fifth matching condition, sixth matching condition, seventh matching condition and eighth matching condition.

3. The method of any one of claims 1-2, wherein: The method further comprises: According to the third matching standard, the fifth target point set and the sixth target point set are matched to determine the velocity ambiguity multiple of the target points in the fifth target point set that are successfully matched this time; Wherein, the fifth target point set is the target points in the second frame that have not been successfully matched, and the sixth target point set is the target points in the first frame that have been deblurred in speed; The third matching standard includes one or more of the following matching conditions: Ninth matching condition, tenth matching condition, eleventh matching condition and twelfth matching condition.

4. The method of claim 3, wherein: The method further comprises: According to the fourth matching standard, the seventh target point set and the eighth target point set are matched to determine the velocity ambiguity multiple of the target points in the eighth target point set that are successfully matched; Wherein, the seventh target point set is the target points in the second frame that have been successfully matched, and the eighth target point set is the target points in the second frame that have not been successfully matched; The fourth matching standard includes one or more of the following matching conditions: a thirteenth matching condition, a fourteenth matching condition, a fifteenth matching condition and a sixteenth matching condition. 5.The method of claim 3, wherein the first matching condition in the first matching criterion is that: 6.The method of claim 5, wherein the second matching condition in the first matching criterion is that: ； wherein , , ; is a distance difference, is a distance threshold of the current matching criterion, is a predicted target distance of a target point of the first frame, is a measured target distance of a target point of the second frame, is a de-blurred target velocity of a target point of the first frame, is a velocity blurring multiple of a target point of the first frame, is a frame period of the first frame, is a maximum non-blurred velocity measurement value when performing a velocity dimension Fourier transform (FFT) on the first frame. 7.The method of claim 6, wherein in a case that the first matching criterion comprises the first matching condition, the second matching condition, the third matching condition and the fourth matching condition, the velocity ambiguity factor of the target point in the second frame that matches successfully is determined according to the following manner: 8.The method of claim 3, wherein the fifth matching condition in the second matching criterion is that: wherein , , ; is a speed difference, is a speed threshold of a current matching criterion, is a de-blurred target speed of a target point of the first frame, is a de-blurred target speed of a target point of the second frame when a speed blur multiple equals is a de-blurred target speed of a target point of the second frame when a speed blur multiple equals is a pre-de-blurred target speed of a target point of the second frame, is a maximum non-blurred speed value when performing a speed dimension Fourier transform (FFT) on the second frame; Velocity ambiguity factor = -n,...,0,…,n, n being an integer greater than 0; 9.The method of claim 8, wherein in a case that the second matching criterion comprises the fifth matching condition, the sixth matching condition, the seventh matching condition and the eighth matching condition, the velocity ambiguity factor of the target point in the fourth target point set that matches successfully is determined according to the following manner: wherein , is an angle difference, is an angle threshold of the current matching criterion, is a target angle of a target point of the first frame, is a target angle of a target point of the second frame; 10.The method of claim 4, wherein the thirteenth matching condition in the fourth matching criterion is that: wherein , is a signal-to-noise ratio of the first frame, is a signal-to-noise ratio threshold of the current matching criterion, is a signal-to-noise ratio of the target point of the first frame, is a signal-to-noise ratio of the target point of the second frame. 11.The method of claim 4, wherein the velocity ambiguity factor of the target point in the eighth target point set that matches successfully is determined according to the following manner: the velocity ambiguity factor of the target point in the seventh target point set that matches successfully this time is taken as the velocity ambiguity factor of the corresponding target point in the eighth target point set. A processor configured to implement the method for resolving velocity ambiguity according to any one of claims 1-11. wherein, is the velocity blur multiple of the target point that matches successfully in the second frame, i is the corresponding i that satisfies the first matching criterion corresponding i; denotes the minimum value of the function within the brackets ; is a distance weighting coefficient, is a velocity weighting coefficient, is an angle weighting coefficient, is an SNR weighting coefficient. comprising: one or more processors; ； wherein , , ； is a distance difference, is a distance threshold of a current matching criterion, is a predicted target distance of a target point in the third target point set when a velocity ambiguity multiple equals is a predicted target distance of a target point in the third target point set when a velocity ambiguity multiple equals is a measured target distance of a target point in the fourth target point set, is a measured target distance of a target point in the third target point set, is a predicted target distance of a target point in the third target point set when a velocity ambiguity multiple equals is a de-ambiguized target velocity of a target point in the third target point set when a velocity ambiguity multiple equals is a frame period of the first frame, is a maximum non-ambiguous velocity measurement value when a velocity Fourier transform (FFT) is performed on the first frame; a velocity ambiguity multiple =-n,...,0,…,n, n is an integer greater than 0; a memory device for storing one or more programs, wherein , ， ； ， ； is a speed difference, is a speed threshold of a current matching criterion, is a target speed of a target point in the third target point set corresponding to when the speed ambiguity multiple is equal to is a target speed of a target point in the third target point set corresponding to when the speed ambiguity multiple is equal to is a target speed of a target point in the fourth target point set corresponding to when the speed ambiguity multiple is equal to is a target speed of a target point in the fourth target point set corresponding to when the speed ambiguity multiple is equal to is a target speed of a target point in the third target point set before being disambiguated, is a maximum non-ambiguous speed value when performing a speed dimension Fourier transform FFT on the first frame, is a target speed of a target point in the fourth target point set before being disambiguated, is a maximum non-ambiguous speed value when performing a speed dimension Fourier transform FFT on the second frame; the speed ambiguity multiple = -n,..., 0,..., n, the speed ambiguity multiple = -n,..., 0,..., n, n is an integer greater than 0; when the one or more programs are executed by the one or more processors, the one or more processors implement the method for resolving velocity ambiguity according to any one of claims 1-11. wherein , is an angle difference, is an angle threshold of a current matching criterion, is a target angle of a target point in the third target point set, is a target angle of a target point in the fourth target point set; The program is executed by the processor to implement the method for resolving velocity ambiguity according to any one of claims 1-11. wherein , is a signal-to-noise ratio of the current matching criterion, is a signal-to-noise ratio threshold of the current matching criterion, is a signal-to-noise ratio of a target point in the third target point set, is a signal-to-noise ratio of a target point in the fourth target point set. ​ ​ ​ wherein, is the velocity ambiguity factor of the target point in the fourth target point set that matches successfully, i is the corresponding i that satisfies the second matching standard corresponding i; denotes the minimum value of the function within the brackets ; is a distance weighting coefficient, is a velocity weighting coefficient, is an angle weighting coefficient, is an SNR weighting coefficient. ​ ​ wherein, is a distance threshold of a current matching criterion, is a measured target distance of a target point in the seventh target point set, is a measured target distance of a target point in the eighth target point set; ​ wherein, is a speed threshold of a current matching criterion, is a target speed of a target point in the seventh target point set before deblurring, is a target speed of a target point in the eighth target point set before deblurring; ​ wherein, is an angle threshold of a current matching criterion, is a target angle of a target point in the seventh target point set, is a target angle of a target point of the eighth target point set; ​ wherein, is a signal-to-noise ratio threshold for the current matching criterion, is a signal-to-noise ratio of a target point in the seventh set of target points, is a signal-to-noise ratio of a target point in the eighth set of target points. ​ ​ ​ 12. A radar chip, characterized by ​ 13. An electronic device, comprising: ​ ​ ​ ​ 14. A computer-readable storage medium having stored thereon a computer program, characterized in that, ​

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