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

Abstract

The present application relates to the technical field of radar, and provides a radar signal processing method, device, equipment and storage medium.The radar signal processing method comprises: acquiring a plurality of radar signals reflected by a target object; for each radar signal in the plurality of radar signals, determining a phase set corresponding to the radar signal based on the radar signal and element information of an antenna array; the phase set comprises a phase corresponding to each virtual channel in a plurality of virtual channels; the number of virtual channels and the number of receiving antennas in the antenna array have a preset integer multiple relationship; and arranging the phases in the phase set according to a preset rule, and determining the radar signal as a target signal if the difference between any adjacent phases in the phase set is equal to a preset difference. The method can more accurately filter out multipath targets, determine the radar signal data of a real target, and improve the accuracy of radar identification.

Description

Technical Field

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

[0002] In radar recognition environments, strong reflectors such as fences, tall buildings, and stone piers often exist on roads. This causes electromagnetic waves emitted by the radar to reflect multiple times, ultimately forming stable multipath false targets. Specifically, these false targets eventually move along a trajectory that coincides with the actual target. To ensure optimal performance, automotive millimeter-wave radars use high transmit power and receive gain settings. This exacerbates multipath, significantly impacting radar detection accuracy.

[0003] Existing strategies to address this issue rely on the characteristics of multipath targets. For example, they distinguish targets with similar distances and speeds but significantly different azimuths by determining their amplitude. However, field measurements of road data show that this approach is prone to misjudgment. Another approach uses fence point identification to filter out multipath targets outside of the fence. This approach is somewhat effective, but fails in scenarios without fences. Summary of the Invention

[0004] The present invention aims to solve the technical problems in the above-mentioned prior art of low accuracy in determining target objects of radar and narrow application range.

[0005] To solve the above technical problems, the present application discloses a radar signal processing method, which includes:

[0006] Acquire multiple radar signals reflected by a target object;

[0007] For each radar signal among the multiple radar signals, determine a phase set corresponding to the radar signal based on the radar signal and array element information of the antenna array; the phase set includes a phase corresponding to each virtual channel among a plurality of virtual channels; the number of the virtual channels is a preset integer multiple of the number of receiving antennas in the antenna array;

[0008] The phases in the phase set are arranged according to a preset rule. If the difference between any adjacent phases in the phase set is equal to a preset difference, the radar signal is determined to be a target signal.

[0009] Optionally, obtaining multiple radar signals reflected by the target object includes:

[0010] An antenna array is used to acquire multiple radar signals reflected by a target object. The antenna array is arranged in a multiple-input multiple-output radar and includes a receiving antenna array and a transmitting antenna array. Both the receiving antenna array and the transmitting antenna array are equally spaced antenna arrays.

[0011] Optionally, the array element spacing of the transmitting antenna array is determined based on the array element spacing of the receiving antenna array and the number of array elements of the receiving antenna array;

[0012] The array element spacing of the receiving antenna array is equal to half of the half wavelength of the receiving antenna array.

[0013] Optionally, determining a phase set corresponding to the radar signal based on the radar signal and array element information of an antenna array includes:

[0014] Performing a range-velocity Fourier transform on the radar signal to obtain a first data set; the first data set includes distance information and velocity information of the target object's point trace;

[0015] Performing a screening operation on the first data set using a constant false alarm detection method to obtain a second data set;

[0016] Processing the second data set using an angle measurement algorithm to obtain angle information of points in the second data set;

[0017] The phase set is determined based on angle information of the center trace of the second data set and array element information of the antenna array.

[0018] Optionally, determining the phase set based on the angle information of the point trace in the second data set and the array element information of the antenna array includes:

[0019] Determining a transmission phase according to the angle information of the point trace of the second data set and the element spacing of the transmitting antenna array;

[0020] Determine a receiving phase according to the angle information of the center point trace of the second data set and the element spacing of the receiving antenna array;

[0021] The phase of each virtual channel is determined based on the transmit phase, the receive phase, the number of array elements of the transmit antenna array, and the number of array elements of the receive antenna array to obtain the phase set.

[0022] Optionally, the preset rule is from small to large or from large to small;

[0023] The preset difference is determined based on the minimum difference between any two phases in the phase set.

[0024] Optionally, after determining the radar signal as a target signal if the difference between any adjacent phases in the phase set is equal to a preset difference, the method further includes:

[0025] Otherwise, delete the radar signal.

[0026] On the other hand, the present application also discloses a radar signal processing device, comprising:

[0027] an acquisition module, configured to acquire a plurality of radar signals reflected by a target object;

[0028] a phase set determination module configured to determine, for each radar signal among the plurality of radar signals, a phase set corresponding to the radar signal based on the radar signal and array element information of the antenna array; the phase set including a phase corresponding to each virtual channel among a plurality of virtual channels; the number of the virtual channels being a preset integer multiple of the number of receiving antennas in the antenna array;

[0029] The judgment module is used to arrange the phases in the phase set according to a preset rule, and if the difference between any adjacent phases in the phase set is equal to a preset difference, determine the radar signal as a target signal.

[0030] On the other hand, the present application also discloses an electronic device, which includes a processor and a memory, wherein the memory stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by the processor to implement the above-mentioned radar signal processing method.

[0031] On the other hand, the present application also discloses a computer storage medium, characterized in that the computer storage medium stores at least one instruction or at least one program, and the at least one instruction or at least one program is loaded and executed by a processor to implement the above-mentioned radar signal processing method.

[0032] By adopting the above technical solution, the radar signal processing method provided by this application has the following beneficial effects:

[0033] The radar signal processing method includes the following steps: obtaining multiple radar signals reflected by a target object; determining, for each of the multiple radar signals, a phase set corresponding to the radar signal based on the radar signal and array element information of the antenna array; the phase set including the phase corresponding to each of multiple virtual channels; the number of virtual channels being a preset integer multiple of the number of receiving antennas in the antenna array; and arranging the phases in the phase set according to a preset rule. If the difference between any adjacent phases in the phase set equals a preset difference, the radar signal is determined to be a target signal. This allows for more accurate filtering of multipath targets and identification of radar signal data of the true target, ensuring radar identification accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0035] Figure 1 An optional application scenario diagram for this application;

[0036] Figure 2 A flowchart of an optional radar signal processing method for this application;

[0037] Figure 3 An optional multipath diagram for this application;

[0038] Figure 4 An optional flow chart for determining a phase set for this application;

[0039] Figure 5 This is another optional flow chart for determining the phase set of the present application;

[0040] Figure 6 An optional antenna array arrangement is provided for this application;

[0041] Figure 7 This is a simulation result diagram of an optional path 1 of this application;

[0042] Figure 8 This is a simulation result diagram of an optional path 2 of this application;

[0043] Figure 9 This is a simulation result diagram of an optional path three of this application;

[0044] Figure 10 This is a schematic structural diagram of an optional radar signal processing device for this application.

[0045] The following is a supplementary description of the accompanying drawings:

[0046] 10-Vehicle; 20-Radar; 30-Processing Unit. DETAILED DESCRIPTION

[0047] The following will be combined with the accompanying drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making any creative work are within the scope of protection of this application.

[0048] It should be noted that the terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or server that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products, or devices.

[0049] like Figure 1 As shown, Figure 1 This is an optional application scenario diagram for the present application. The scenario includes a vehicle, a radar located on the vehicle, and a processing unit; the radar is provided with a receiving antenna array and a transmitting antenna array; the transmitting antenna array is used to transmit electromagnetic waves, and the receiving antenna array is used to receive multiple radar signals reflected by the target object and send the multiple radar signals to the processing unit; the processing unit is used to determine, based on the multiple radar signals received from the receiving antenna array, a phase set corresponding to each radar signal in the multiple radar signals based on the radar signal and array element information of the antenna array; the phase set includes a phase corresponding to each virtual channel in a plurality of virtual channels; the number of virtual channels is a preset integer multiple of the number of receiving antennas in the antenna array; the phases in the phase set are arranged according to a preset rule, and if the difference between any adjacent phases in the phase set is equal to the preset difference, the radar signal is determined to be a target signal.

[0050] Optionally, the processing unit can be provided in the radar, that is, the radar has its own signal processing function; the processing unit can also be provided independently of the radar, and can be located on the vehicle or on a remote processing server or terminal, which is not limited here.

[0051] Optionally, the radar may be a multiple-input multiple-output radar, such as a TDM-MIMO vehicle-mounted radar.

[0052] The server can include a standalone physical server, a server cluster or distributed system consisting of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud audio recognition model training, middleware services, domain name services, security services, CDN (Content Delivery Network), and big data and artificial intelligence platforms. The operating systems running on the server may include, but are not limited to, Android, iOS, Linux, Windows, Unix, etc.

[0053] In some possible embodiments, the aforementioned client may include, but is not limited to, smartphones, desktop computers, tablet computers, laptop computers, smart speakers, digital assistants, augmented reality (AR) / virtual reality (VR) devices, smart wearable devices, and the like. Alternatively, the client may be software running on the aforementioned client, such as an application or applet. Optionally, the operating system running on the client may include, but is not limited to, Android, iOS, Linux, Windows, Unix, and the like.

[0054] The following describes a specific embodiment of a radar signal processing method of the present application. Figure 2 This is a flowchart of an optional radar signal processing method for this application. This specification provides method operation steps such as embodiments or flowcharts, but may include more or fewer operation steps based on conventional or non-creative work. The order of steps listed in the embodiments is only one way of executing the steps among many orders, and does not represent the only order of execution. When the actual system or server product is executed, it can be executed in sequence or in parallel (for example, in a parallel processor or multi-threaded processing environment) according to the method shown in the embodiments or drawings. Specifically, Figure 2 As shown, the method may include:

[0055] S201: Acquire multiple radar signals reflected by a target object.

[0056] In one possible embodiment, obtaining multiple radar signals reflected by a target object includes:

[0057] An antenna array is used to acquire multiple radar signals reflected by a target object. The antenna array is arranged in a multiple-input multiple-output radar and includes a receiving antenna array and a transmitting antenna array. Both the receiving antenna array and the transmitting antenna array are equally spaced antenna arrays.

[0058] In one possible embodiment, in order to obtain high angular resolution, a large antenna aperture is required, and the size of the antenna aperture depends on the number of antenna arrays and the antenna spacing. When the number of antennas is fixed, the aperture can be expanded by increasing the antenna spacing, but when the antenna spacing is greater than λ / 2, grating lobes will appear. Therefore, when designing the array layout, these two points will be taken into consideration, and different array layout schemes will be selected according to the actual application scenario. When arranging a uniform linear array, in order to ensure the performance index of the radar azimuth angle FOV, the antenna spacing of the virtual array needs to be controlled within λ / 2. Therefore, in this embodiment, the array element spacing d of the receiving antenna array is λ / 2. Rx =λ / 2. At the same time, in order to ensure high angular resolution, it is necessary to choose a large antenna spacing. Therefore, the element spacing d of the transmitting antenna array is Tx Greater than the element spacing d of the receiving antenna array Rx In the embodiment of the present application, d Tx =N Rx d Rx , where N Rx is the number of receiving antennas.

[0059] Here, λ is the half wavelength corresponding to the antenna array.

[0060] Optionally, in order to further improve the flexibility of the solution, the d Tx It can also be N multiplied by the coefficient m Rx d Rx , m can be greater than 1 / N Rx The number of.

[0061] Generally, roads are prone to strong reflectors such as fences, tall buildings, and stone piers, which cause the electromagnetic waves emitted by the radar to be reflected multiple times, eventually forming a stable multipath false target, which is specifically manifested as a track moving together with the real target. Figure 3 , Figure 3 This is an optional multipath diagram for this application. Figure 3 The two dotted boxes in the figure represent multipath false targets generated after multiple reflections. Generally, radar radiates electromagnetic waves outwards. Figure 3 After the target is detected, the target will scatter the signal in all directions in space. Part of the signal returns directly to the radar receiver along the transmission signal path, corresponding to Figure 3 The path shown in Figure 1 (1→2→1) can determine the true target point location information. Some signals are prone to encounter strong reflectors (such as Figure 3 The obstruction in the middle, which can be a fence) produces multiple scattering and is then received by the radar's receiving antenna, such as Figure 3 The path shown is (1→3→2→1), and we get Figure 3 The corresponding false target 1, path three (1→2→3→1) is obtained Figure 1The corresponding false target 2. As a result, the radar will receive three radar signals, corresponding to Figure 3 The signals generated by the three path conditions are as follows. Of course, the actual road environment will be more complicated. The above only describes Figure 3 The simplified model diagram is only listed to facilitate a better understanding of this solution, that is, the number of radar signals may be 4, 5, etc.

[0062] Optional, see Figure 3 Assuming that the true azimuth of the target relative to the radar is θ1 and the azimuth of the strong reflection point on the roadside is θ2, the signal transmission angle and receiving angle corresponding to path one in step 1 are both θ1; the radar transmission angle corresponding to path two is θ2, and the receiving angle is θ1; the radar transmission angle corresponding to path three is θ1, and the receiving angle is θ2.

[0063] S202: For each radar signal among the multiple radar signals, determine a phase set corresponding to the radar signal based on the radar signal and array element information of the antenna array; the phase set includes a phase corresponding to each virtual channel among a plurality of virtual channels; the number of the virtual channels is a preset integer multiple of the number of receiving antennas in the antenna array.

[0064] In one possible embodiment, see Figure 4 , Figure 4 This is an optional flow chart for determining a phase set in this application. Step S202 may specifically include:

[0065] S2021: Perform a distance-velocity Fourier transform on the radar signal to obtain a first data set; the first data set includes distance information and velocity information of the target object's point traces.

[0066] In this embodiment, the radar signal X(t) may first be processed through a digital-to-analog converter (DAC) to generate a digital signal. The processing module in the processing unit may sequentially use a range Fourier transform and a Doppler Fourier transform to obtain the first data set. The first data set may be a range-velocity spectrum matrix.

[0067] S2022: Perform a screening operation on the first data set using a constant false alarm detection method to obtain a second data set.

[0068] In this embodiment, the second data set is data in the first data set corresponding to the target.

[0069] S2023: Process the second data set using an angle measurement algorithm to obtain angle information of the points in the second data set.

[0070] S2024: Determine the phase set based on the angle information of the center point of the second data set and the array element information of the antenna array.

[0071] In one possible embodiment, see Figure 5 , Figure 5 This is another optional flow chart for determining the phase set of this application. Step S2024 can be specifically described as follows:

[0072] S501: Determine a transmission phase according to the angle information of the center point of the second data set and the element spacing of the transmitting antenna array.

[0073] Assume that the antenna array contains N Tx transmit antennas and N Rx receiving antennas; generally, the transmitting antenna array can be expressed as Transmit phase a1,a2,…,a N are the amplitudes corresponding to each transmitting antenna, θ Tx is the signal emission angle.

[0074] S502: Determine a receiving phase according to the angle information of the center point of the second data set and the element spacing of the receiving antenna array.

[0075] Following the above, the receiving antenna array can be expressed as Receive Phase b1,b2,…,b N are the amplitudes corresponding to each receiving antenna, θ Rx is the signal receiving angle.

[0076] The radar received signal can be expressed as represents the Kronecker product, S R (t) is a signal containing target distance and speed information, and N(t) is random noise.

[0077] S503: Determine the phase of each virtual channel based on the transmit phase, the receive phase, the number of array elements in the transmit antenna array, and the number of array elements in the receive antenna array to obtain the phase set.

[0078] Optional, for N Tx Send N Rx The TDM-MIMO array can be equivalent to 1 transmit N Tx ×N Rx The received one-dimensional linear array, that is, the virtual array A=A' Tx ·A Rx , which is equal to the transpose of the transmit array multiplied by the receive array;

[0079]

[0080] That is, it represents the phase corresponding to each virtual channel in the virtual array, that is, the phase set.

[0081] S203: Arrange the phases in the phase set according to a preset rule, and if the difference between any adjacent phases in the phase set is equal to a preset difference, determine the radar signal as a target signal.

[0082] In a possible embodiment, the preset rule is from small to large or from large to small; the preset difference is determined based on the minimum difference between any two phases in the phase set; of course, in fact, based on the above A=A' Tx ·A Rx After the formula is calculated, the matrix A is formed, which can directly obtain data arranged from small to large, and is a data set that is evenly spaced at equal intervals; optionally, the minimum difference can be the interval value of adjacent data in the data set.

[0083] In one possible embodiment, after step S203, the radar signal processing method further includes: otherwise, deleting the radar signal. Specifically, the radar signal and related data corresponding to the multipath path are deleted to free up system resources. Alternatively, the radar signal and related data may be retained and only the target and corresponding radar data may be output.

[0084] In order to better understand the beneficial effects of the technical solution of the present application, a specific embodiment is described below: See 6, Figure 6 This is an optional antenna array arrangement for this application. The black circles represent the transmit antenna array, and each black circle represents a transmit antenna. In this embodiment, N Tx =2,d Tx =N Rx d Rx , see Figure 3 The scene model is shown in the Matlab simulation experiment. When the signal is reflected in the direction of path one, the radar obtains the target's true azimuth information after processing. When the signal is reflected in the direction of path two, the radar obtains the target's azimuth information after processing, which is biased towards the true target. When the signal is reflected in the direction of path three, the radar obtains the target's azimuth information after processing, which is biased towards the position of the strong reflection point on the roadside. Here, we assume that θ1 = -8° and θ2 = 39°. Figure 7-9 These are the simulation results for paths one to three. By comparing Figure 7-9 As can be seen from the figure, Figure 7 Except for the peak in the middle, the rest of the amplitudes show a relatively uniform fluctuation. Figure 8 and Figure 9 This experiment proves the influence of echo direction on target direction estimation.

[0085] See Figure 3 When the signal is reflected in the direction of path one, the radar's transmission angle is equal to the receiving angle, that is, θ Tx =θ Rx =θ1, that is, at this time When the signal is reflected in the direction of path 2, the transmission angle θ Tx =θ2, receiving angle θ Rx =θ1, that is, at this time When the signal is reflected in the direction of path three, the transmission angle θ Tx =θ1, receiving angle θ Rx =θ2, that is, at this time

[0086] Based on the above analysis, it can be determined that the virtual array phase corresponding to path 1 can be expressed as [0, ..., (N Rx -1)πsinθ1,...,πN Rx sinθ1,...,(2N Rx -1)πsinθ1], it can be found that the phase of the virtual array is evenly arranged at intervals of πsinθ1. The phase of the virtual array corresponding to path 2 is [0, ..., (N Rx -1)πsinθ1,...,πN Rx sinθ2,...,[N Rx sinθ2+(N Rx -1)sinθ1]π], the virtual array phase corresponding to path three is [0,...,(N Rx -1)πsinθ2,...,πN Rx sinθ1,...,[N Rx sinθ1+(N Rx -1)sinθ2]π], it can be found that the phases in the virtual arrays of paths two and three are arranged non-uniformly. Therefore, the above characteristics can be used to distinguish real targets from multipaths.

[0087] Based on the above embodiments, it can be seen that compared with the existing multipath filtering method, the radar signal processing method provided by the present application uses the phase law between virtual array elements at the signal processing end to distinguish real targets from multipath targets, thereby getting rid of the traditional method's dependence on road fence scenes and having higher reliability.

[0088] On the other hand, see Figure 10 , Figure 10 This is a schematic diagram of the structure of an optional radar signal processing device of the present application. This application also discloses a radar signal processing device, which includes:

[0089] An acquisition module 1001 is configured to acquire multiple radar signals reflected by a target object;

[0090] a phase set determining module 1002 configured to determine, for each radar signal among the plurality of radar signals, a phase set corresponding to the radar signal based on the radar signal and array element information of the antenna array; the phase set including a phase corresponding to each virtual channel among a plurality of virtual channels; the number of the virtual channels being a preset integer multiple of the number of receiving antennas in the antenna array;

[0091] The judgment module 1003 is configured to arrange the phases in the phase set according to a preset rule, and determine the radar signal as a target signal if the difference between any adjacent phases in the phase set is equal to a preset difference.

[0092] In one possible embodiment, an acquisition module is configured to acquire multiple radar signals reflected by a target object using an antenna array; the antenna array is disposed in a multiple-input multiple-output radar, and the antenna array includes a receiving antenna array and a transmitting antenna array; both the receiving antenna array and the transmitting antenna array are equally spaced antenna arrays.

[0093] In a possible embodiment, the array element spacing of the transmitting antenna array is determined based on the array element spacing of the receiving antenna array and the number of array elements in the receiving antenna array;

[0094] The array element spacing of the receiving antenna array is equal to half of the half wavelength of the receiving antenna array.

[0095] In one possible embodiment, the phase set determination module is configured to perform a range-velocity Fourier transform on the radar signal to obtain a first data set; the first data set includes distance information and velocity information of the target object's point traces; the first data set is filtered using a constant false alarm detection method to obtain a second data set; the second data set is processed using an angle measurement algorithm to obtain angle information of the point traces in the second data set; and the phase set is determined based on the angle information of the point traces in the second data set and array element information of the antenna array.

[0096] In one possible embodiment, the phase set determination module is configured to determine a transmit phase based on the angle information of the point traces in the second data set and the array element spacing of the transmit antenna array; determine a receive phase based on the angle information of the point traces in the second data set and the array element spacing of the receive antenna array; and determine the phase of each virtual channel based on the transmit phase, the receive phase, the number of array elements in the transmit antenna array, and the number of array elements in the receive antenna array to obtain the phase set.

[0097] In a possible embodiment, the preset rule is from small to large or from large to small; and the preset difference is determined based on the minimum difference between any two phases in the phase set.

[0098] In a possible embodiment, the device further includes:

[0099] The deletion module is configured to delete the radar signal when the judgment module determines that the difference between any adjacent phases in the phase set is not equal to the preset difference.

[0100] On the other hand, the present application also discloses an electronic device, which includes a processor and a memory, wherein the memory stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by the processor to implement the above-mentioned radar signal processing method.

[0101] On the other hand, the present application also discloses a computer storage medium, characterized in that the computer storage medium stores at least one instruction or at least one program, and the at least one instruction or at least one program is loaded and executed by a processor to implement the above-mentioned radar signal processing method.

[0102] It should be noted that the order of the embodiments of the present application described above is for descriptive purposes only and does not represent the superiority or inferiority of the embodiments. The above description is of specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps described in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0103] The various embodiments in this specification are described in a progressive manner. Similar parts between the various embodiments can be referred to in conjunction with each other. Each embodiment focuses on the differences between the other embodiments. In particular, the device embodiments are generally similar to the method embodiments, so the description is relatively simple. For relevant parts, refer to the description of the method embodiments.

[0104] Those skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware, or by a program to instruct the relevant hardware, and the program may be stored in a computer-readable storage medium, which may be a read-only memory, a disk, or an optical disk, etc.

[0105] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A radar signal processing method, characterized in that: include: Using an antenna array to acquire multiple radar signals reflected by a target object; The antenna array is an equally spaced antenna array; For each radar signal among the multiple radar signals, determining a phase set corresponding to the radar signal based on the radar signal and array element information of the antenna array; the phase set includes a phase corresponding to each virtual channel among a plurality of virtual channels; the number of the virtual channels is a preset integer multiple of the number of receiving antennas in the antenna array; Arranging the phases in the phase set according to a preset rule, and determining the radar signal as a target signal if a difference between any adjacent phases in the phase set is equal to a preset difference; The determining, based on the radar signal and array element information of the antenna array, a phase set corresponding to the radar signal includes: Performing a range-velocity Fourier transform on the radar signal to obtain a first data set; the first data set includes distance information and velocity information of the target object's point traces; Performing a screening operation on the first data set using a constant false alarm detection method to obtain a second data set; Processing the second data set using an angle measurement algorithm to obtain angle information of points in the second data set; The phase set is determined based on angle information of the center traces of the second data set and array element information of the antenna array.

2. The radar signal processing method according to claim 1, wherein: The antenna array is arranged in a multiple-input multiple-output radar, and the antenna array includes a receiving antenna array and a transmitting antenna array; the receiving antenna array and the transmitting antenna array are both equally spaced antenna arrays.

3. The radar signal processing method according to claim 2, wherein: The element spacing of the transmitting antenna array is determined based on the element spacing of the receiving antenna array and the number of array elements of the receiving antenna array; The array element spacing of the receiving antenna array is equal to half of the half wavelength of the receiving antenna array.

4. The radar signal processing method according to claim 3, wherein: The determining the phase set based on the angle information of the center point trace of the second data set and the array element information of the antenna array includes: Determining a transmission phase according to angle information of the center trace of the second data set and an array element spacing of the transmitting antenna array; Determining a receiving phase according to angle information of the center point trace of the second data set and the element spacing of the receiving antenna array; The phase of each virtual channel is determined based on the transmit phase, the receive phase, the number of array elements of the transmit antenna array, and the number of array elements of the receive antenna array to obtain the phase set.

5. The radar signal processing method according to claim 1, wherein: The preset rule is from small to large or from large to small; The preset difference is determined based on the minimum difference between any two phases in the phase set.

6. The radar signal processing method according to claim 1, wherein: After determining that the radar signal is a target signal if the difference between any adjacent phases in the phase set is equal to a preset difference, the method further includes: Otherwise, the radar signal is deleted.

7. A radar signal processing device, characterized in that: include: an acquisition module, configured to acquire multiple radar signals reflected by a target object using an antenna array; The antenna array is an equally spaced antenna array; a phase set determination module configured to determine, for each radar signal among the plurality of radar signals, a phase set corresponding to the radar signal based on the radar signal and array element information of the antenna array; the phase set comprising a phase corresponding to each of a plurality of virtual channels; the number of the virtual channels being a preset integer multiple of the number of receiving antennas in the antenna array; a judgment module, configured to arrange the phases in the phase set according to a preset rule, and determine the radar signal as a target signal if a difference between any adjacent phases in the phase set is equal to a preset difference; The determining, based on the radar signal and array element information of the antenna array, a phase set corresponding to the radar signal includes: Performing a range-velocity Fourier transform on the radar signal to obtain a first data set; the first data set includes distance information and velocity information of the target object's point traces; Performing a screening operation on the first data set using a constant false alarm detection method to obtain a second data set; Processing the second data set using an angle measurement algorithm to obtain angle information of points in the second data set; The phase set is determined based on angle information of the center traces of the second data set and array element information of the antenna array.

8. An electronic device, comprising a processor and a memory, wherein the memory stores at least one instruction, at least one program, a code set, or an instruction set, wherein the at least one instruction, at least one program, the code set, or the instruction set is loaded and executed by the processor to implement the radar signal processing method according to any one of claims 1 to 6.

9. A computer storage medium, characterized in that The computer storage medium stores at least one instruction or at least one program, and the at least one instruction or at least one program is loaded and executed by the processor to implement the radar signal processing method according to any one of claims 1 to 6.

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