Radar signal processing devices and methods, radar systems and mobile platforms

Abstract

A radar signal processing device (200, 1602, 2001) and method, a radar system (103) and a mobile platform are disclosed. The radar signal processing device (200, 1602, 2001) includes at least two RSPU chips (201), which are interconnected by one or more cascaded methods. The at least two RSPU chips (201) perform cascaded processing on the signals output by the microwave signal processing device. The provided radar signal processing device (200, 1602, 2001) improves the data processing capability of the radar signal processing device (200, 1601, 1602, 2001) and improves the processing efficiency of the radar system (103) by cascading and expanding the RSPU chip (201) according to the signal processing unit dimension or according to the data processing unit dimension included in the signal processing unit; in addition, the RSPU chip (201) included in the radar signal processing device (200, 1602, 2001) can be flexibly expanded according to the needs of various levels of intelligent driving and the increasing signal processing algorithm requirements of vehicle radar.

Description

Technical Field

[0001] This application relates to the field of radar technology, and in particular to a radar signal processing device and method, a radar system and a mobile platform. Background Technology

[0002] With the rapid development of internet and artificial intelligence technologies, the era of intelligent driving has arrived. Intelligent driving requires various sensors to perceive the external environment and detect information about the vehicle itself, such as high-resolution, high-precision 4D radar to detect the three-dimensional coordinates and speed of targets.

[0003] Among them, 4D radar is mainly geared towards autonomous driving and is an important research direction. During operation, 4D radar requires its antenna unit to work in conjunction with the radar system. A typical 4D radar system includes chips for processing radar radio frequency and analog signals, as well as chips for processing radar baseband data. Traditional radar systems have relatively low processing efficiency. Summary of the Invention

[0004] This application provides a radar signal processing apparatus and method, a radar system and a mobile platform to improve the processing efficiency of the radar system.

[0005] In a first aspect, embodiments of this application provide a radar signal processing device for a radar system, comprising: at least two radar signal processing units (RSPUs), wherein the at least two RSPUs are interconnected in a cascaded manner.

[0006] Wherein, the at least two RSPUs are interconnected in a cascaded manner, including:

[0007] The input interface of the first RSPU of the at least two RSPUs is coupled to the output interface of the microwave signal processing device, and the input interface of the first RSPU is used to receive the signal output by the microwave signal processing device; the at least two RSPUs are used to perform cascade processing on the signal output by the microwave signal processing device.

[0008] The other RSPUs in the at least two RSPUs are coupled to the first RSPU, and the output interface of the first RSPU is used to output the cascaded signal; or, the other RSPUs in the at least two RSPUs are sequentially coupled to the output interface of the first RSPU, and the output interface of the last RSPU is used to output the cascaded signal.

[0009] The radar signal processing device provided in this embodiment improves the data processing capability of the radar signal processing device and enhances the processing efficiency of the radar system by cascading and expanding the RSPU according to the signal processing unit dimension or according to the data processing unit dimension included in the signal processing unit. In addition, the RSPU included in the radar signal processing device can be flexibly expanded according to the needs of various levels of intelligent driving and the increasing signal processing algorithm requirements of vehicle radar.

[0010] In some possible designs, when the at least two RSPUs are interconnected in a parallel cascade manner, the at least two RSPUs are used to perform parallel cascade processing on the signal output by the microwave signal processing device.

[0011] The input terminals of at least two of the first RSPUs are respectively coupled to the output interface of the microwave signal processing device, and the input interfaces of the at least two first RSPUs are respectively used to receive the signals output by the microwave signal processing device; among the at least two first RSPUs, the signal output terminal of the last data processing unit of each first RSPU is coupled to the same output interface, which is used to output the signal after parallel cascaded processing.

[0012] At least two RSPUs are connected in parallel cascade. Each RSPU can have the same or equivalent data processing capabilities, and the computational load can be approximately balanced between the two RSPUs based on their data processing capabilities. This ensures that each RSPU processes approximately the same amount of data, and further guarantees that the processing latency is basically synchronized while realizing the parallel processing relationship between the RSPUs.

[0013] In some possible designs, the input interface of each of the at least two first RSPUs is coupled to the output interface of one or more monolithic microwave integrated circuits (MMICs) in the microwave signal processing device.

[0014] In some possible designs, each of the at least two first RSPUs includes a plurality of data processing units coupled in sequence, the plurality of data processing units including a first data processing unit and a second data processing unit coupled in sequence;

[0015] In the at least two first RSPUs, the output interface of the first data processing unit in each first RSPU is coupled to the input interface of the second data processing unit of the remaining first RSPUs in the at least two first RSPUs;

[0016] The input interface of the second data processing unit in each of the first RSPUs is used to receive signals output by the first data processing units of the remaining first RSPUs in at least two of the first RSPUs.

[0017] When connected in a parallel cascade manner, the first data processing unit of each first RSPU is coupled with the second data processing unit of other first RSPUs, so that the second data processing unit of each first RSPU can obtain all the data output by the microwave signal processing device. Thus, the second data processing unit of each first RSPU can share the computational load equally based on its own data processing capability, and on the basis of realizing the parallel processing relationship between each RSPU, the processing delay is further guaranteed to be basically synchronized.

[0018] In some possible designs, the first data processing unit is a distance-dimensional Fourier transform unit, and the second data processing unit is a Doppler-dimensional Fourier transform unit.

[0019] When parallel cascading is adopted, each of the at least two first RSPUs can acquire the data output by the range-dimensional Fourier transform units of all the first RSPUs, that is, the data after the range-dimensional Fourier transform of all the data output by the microwave signal processing device; then, the Doppler Fourier transform unit of each first RSPU can evenly distribute the data of all antenna units based on the range dimension, and on the basis of realizing the parallel processing relationship between each RSPU, further ensure that the processing delay is basically synchronized.

[0020] In some possible designs, the first data processing unit is a CFAR unit, and the second data processing unit is a DOA calculation unit.

[0021] When parallel cascading is adopted, each of the at least two first RSPUs can acquire the data processed and output by the CFAR units included in all the first RSPUs, that is, the data after CFAR processing of all the data output by the microwave signal processing device; then, the DOA calculation unit of each first RSPU can evenly distribute the data of all antenna units based on the target number dimension after CFAR, and further ensure that the processing delay is basically synchronized on the basis of realizing the parallel processing relationship between each RSPU.

[0022] In some possible designs, the first data processing unit is a DOA calculation unit, and the second data processing unit is a data tracking unit.

[0023] When parallel cascading is adopted, in at least two first RSPUs, each first RSPU can acquire the data output by the DOA calculation unit included in the first RSPU, that is, the data after all the data output by the microwave signal processing device has passed through DOA; then, the data tracking unit of each first RSPU can evenly distribute the data of all antenna units based on the target number dimension after DOA calculation, and on the basis of realizing the parallel processing relationship between each RSPU, further ensure that the processing delay is basically synchronized.

[0024] Furthermore, in practical applications, at least two first RSPUs can simultaneously support multiple cascaded nodes in their hardware structure, and the state of one or more cascaded nodes between the at least two first RSPUs can be controlled by software according to actual needs. This achieves the flexibility of parallel cascading of at least two first RSPUs, enabling the radar signal processing device to flexibly adapt to the requirements of different signal processing algorithms.

[0025] In some possible designs, a third RSPU is also included, wherein the input interface of the third RSPU is coupled to the output interfaces of the at least two first RSPUs, and the third RSPU is used to process the signals output by the at least two first RSPUs and output the processed signals through the output interface of the third RSPU.

[0026] The third RSPU is coupled to the output interface of at least two RSPUs in a serial cascade manner. The third RSPU can be used to implement algorithm expansion, thereby enabling the radar signal processing device to flexibly adapt to the needs of different signal processing algorithms.

[0027] In some possible designs, the system may further include: a fourth RSPU; the fourth RSPU being coupled between two data processing units sequentially coupled in any of the first RSPUs; or, the fourth RSPU being coupled between two data processing units sequentially coupled in the third RSPU; or, the input interface of the fourth RSPU being coupled to the input interface of any data processing unit in any of the first RSPUs, and the output interface of the fourth RSPU being coupled to the output interface of any other data processing unit in the first RSPU; or, the input interface of the fourth RSPU being coupled to the input interface of any data processing unit in the third RSPU, and the output interface of the fourth RSPU being coupled to the output interface of any other data processing unit in the third RSPU.

[0028] The fourth RSPU is coupled to any one of the at least two RSPUs in a collaborative processing cascade manner, or coupled to the third RSPU. The fourth RSPU can be used to implement intermediate algorithm nodes or branch algorithm nodes. The fourth RSPU can be used to implement algorithm extension, so that the radar signal processing device can flexibly adapt to the needs of different signal processing algorithms.

[0029] In some possible designs, when the at least two RSPUs are interconnected in a serial cascade manner, the at least two RSPUs are used to perform serial cascade processing on the signals output by the microwave signal processing device.

[0030] The input interface of the first RSPU of the at least two RSPUs is coupled to the output interface of the microwave signal processing device, the other RSPUs of the at least two RSPUs are sequentially coupled to the output interface of the first RSPU, and the output interface of the last RSPU is used to output the signal after serial cascade processing.

[0031] The at least two RSPUs include completely different data processing units.

[0032] At least two RSPUs are connected in a serial cascade manner. The RSPUs are sequentially connected, meaning that after processing the data, the RSPU at the previous stage outputs the processed data to the RSPU at the next stage, and each RSPU processes the data corresponding to all antenna elements sequentially. For small-scale radar devices, a serial cascade connection can be used, and the loose coupling between the RSPUs facilitates separate algorithm expansion for different data processing units included in different RSPUs.

[0033] In some possible designs, the at least two RSPUs each include one or more of the following: a distance-dimensional Fourier transform unit, a Doppler-dimensional Fourier transform unit, a CFAR unit, a DOA calculation unit, and a data tracking unit, and the at least two RSPUs are completely different.

[0034] In some possible designs, a fifth RSPU is also included;

[0035] The input interface of the fifth RSPU is coupled to the output interface of any one of the at least two RSPUs, or the input interface of the fifth RSPU is coupled to the output interface of one or more MMICs in the microwave signal processing device; the output interface of the fifth RSPU is coupled to the output interface of any of the remaining RSPUs among the at least two RSPUs.

[0036] The fifth RSPU is used to receive signals from the RSPU coupled to the input interface of the fifth RSPU or the microwave signal processing device, to process the received signals accordingly, and to output the processed signals through the output interface of the fifth RSPU.

[0037] The fifth RSPU is coupled between the output interface of the microwave signal processing device and the output interfaces of at least two RSPUs in a parallel cascade manner. When the specifications of the radar device are expanded, such as by adding antenna units, the fifth RSPU can be used to process the data of the newly added antenna units, thereby enabling the radar device to meet the requirements of the intelligent driving level.

[0038] In some possible designs, the system may further include: a sixth RSPU; the sixth RSPU being coupled between two data processing units sequentially coupled in any of the RSPUs; or, the sixth RSPU being coupled between two data processing units sequentially coupled in the fifth RSPU; or, the input interface of the sixth RSPU being coupled to the input interface of any data processing unit in any of the RSPUs, and the output interface of the sixth RSPU being coupled to the output interface of any other data processing unit in the RSPU; or, the input interface of the sixth RSPU being coupled to the input interface of any data processing unit in the fifth RSPU, and the output interface of the sixth RSPU being coupled to the output interface of any other data processing unit in the fifth RSPU.

[0039] The sixth RSPU is coupled to any of the at least two RSPUs in a collaborative processing cascade manner, or coupled to the fifth RSPU. The sixth RSPU can be used to implement intermediate algorithm nodes or branch algorithm nodes. The sixth RSPU can be used to implement algorithm extension, so that the radar signal processing device can flexibly adapt to the needs of different signal processing algorithms.

[0040] In some possible designs, when the at least two RSPUs are coupled in a collaborative processing cascade manner, the at least two RSPUs are used to perform collaborative cascade processing on the signal output by the microwave signal processing device.

[0041] Wherein, the input interface of the first RSPU of the at least two RSPUs is coupled to the output interface of the microwave signal processing device, the other RSPUs of the at least two RSPUs are coupled to the first RSPU, and the output interface of the first RSPU is used to output the signal after collaborative cascade processing.

[0042] When at least two RSPUs are connected in a collaborative processing cascade manner, some RSPUs can serve as intermediate algorithm points or branch algorithm points of RSPUs connected to the microwave signal processing device, enabling at least two RSPUs to collaboratively process the data output by the microwave signal processing device and meeting the needs of signal processing algorithm expansion.

[0043] In some possible implementations, the first RSPU of the at least two RSPUs includes a plurality of data processing units coupled in sequence, the plurality of data processing units coupled in sequence including a first data processing unit and a second data processing unit coupled in sequence; the remaining RSPUs of the at least two RSPUs include functional extension units;

[0044] The input interface of the functional expansion unit is coupled to the output interface of the first data processing unit, and the output interface of the functional expansion unit is coupled to the input interface of the second data processing unit.

[0045] The functional extension unit is used to receive signals from the first data processing unit of the first RSPU, process the received signals accordingly, and output the processed signals to the second data processing unit of the first RSPU.

[0046] In this embodiment, the RSPU (Remote Signal Processing Unit) of the functional expansion unit serves as an intermediate algorithm point for the RSPU connected to the microwave signal processing device, enabling the collaborative cascading of at least two RSPUs. In practical applications, at least two RSPUs can be connected in hardware using the method described in this embodiment, and the operating state of the functional expansion unit can be controlled by software according to actual needs to meet the signal processing algorithm's requirements for intermediate algorithm expansion.

[0047] In some possible designs, the first RSPU of the at least two RSPUs includes a plurality of data processing units coupled in sequence, and the remaining RSPUs of the at least two RSPUs include functional expansion units;

[0048] The input interface of the functional expansion unit is coupled to the output interface of one of the plurality of data processing units, and the input interface of the functional expansion unit is coupled to the input interface of any of the remaining data processing units among the plurality of data processing units.

[0049] In this embodiment, the RSPU of the functional expansion unit is a branch algorithm point of the RSPU connected to the microwave signal processing device, realizing the cooperative cascading of at least two RSPUs. In practical applications, at least two RSPUs can be connected in hardware in the manner of this embodiment, and the working state of the functional expansion unit can be controlled by software according to actual needs to meet the requirements of the signal processing algorithm for branch algorithm expansion.

[0050] It should be understood that in some cases, RSPUs can be implemented as both intermediate algorithm points and branch algorithm points simultaneously, achieving collaborative cascading of at least two RSPUs. Furthermore, in practical applications, at least two RSPUs can simultaneously support both as intermediate and branch algorithm points in hardware. The operating states of the RSPUs acting as intermediate and branch algorithm points can be controlled by software according to actual needs. This satisfies both the scalability requirements of signal processing algorithms for intermediate algorithms and the scalability requirements of signal processing algorithm points for branch algorithms, while improving the data processing efficiency of the radar signal processing device.

[0051] The sequentially coupled multiple data processing units include: a distance-dimensional Fourier transform unit, a Doppler-dimensional Fourier transform unit, a CFAR unit, a DOA calculation unit, and a data tracking unit;

[0052] The signal input terminal of the distance-dimensional Fourier transform unit is coupled to the output interface of the microwave signal processing device through the input interface of the first RSPU. The signal output terminal of the distance-dimensional Fourier transform unit is connected to the signal input terminal of the Doppler-dimensional Fourier transform unit. The signal output terminal of the Doppler-dimensional Fourier transform unit is connected to the signal input terminal of the CFAR unit. The signal output terminal of the CFAR unit is connected to the signal input terminal of the DOA calculation unit. The signal output terminal of the DOA calculation unit is connected to the signal input / output terminal of the data tracking unit. The signal output / output terminal of the data tracking unit is coupled to the output interface of the first RSPU.

[0053] In some possible designs, a seventh RSPU is also included, wherein the input interface of the seventh RSPU is coupled to the output interface of the first RSPU, the seventh RSPU is used to receive the signal output by the first RSPU, process the received signal accordingly, and output the processed signal through the output interface of the seventh RSPU.

[0054] The seventh RSPU is coupled to the output interface of the first RSPU in a serial cascade manner. When the radar device's algorithm is extended, the seventh RSPU can be used to further process the data output by the first RSPU, thereby enabling the radar device to meet the requirements of the signal processing algorithm.

[0055] Secondly, embodiments of this application also provide a radar system, including: a microwave signal processing device and the radar signal processing device described in any one of the first aspects;

[0056] The microwave signal processing device includes one or more monolithic microwave integrated circuits (MMICs). The input interface of each MMIC is coupled to the output interface of one or more antenna elements, and the output interface of each MMIC is coupled to the input interface of a radar signal processing unit (RSPU) in the radar signal processing device. Each MMIC is used to perform radio frequency and analog signal processing on the signals input from one or more antenna elements.

[0057] The radar signal processing device includes at least two RSPUs, which are interconnected in a cascaded manner.

[0058] Wherein, the at least two RSPUs are interconnected in a cascaded manner, including:

[0059] The input interface of the first RSPU of the at least two RSPUs is coupled to the output interface of the microwave signal processing device, and the input interface of the first RSPU is used to receive the signal output by the microwave signal processing device; the at least two RSPUs are used to perform cascade processing on the signal output by the microwave signal processing device.

[0060] The other RSPUs in the at least two RSPUs are coupled to the first RSPU, and the output interface of the first RSPU is used to output the cascaded signal; or, the other RSPUs in the at least two RSPUs are sequentially coupled to the output interface of the first RSPU, and the output interface of the last RSPU is used to output the cascaded signal.

[0061] In the radar system provided in this embodiment, the radar signal processing device improves the data processing capability of the radar signal processing device and enhances the processing efficiency of the radar system by cascading and expanding the RSPU according to the signal processing unit dimension or according to the data processing unit dimension included in the signal processing unit. In addition, the RSPU included in the radar signal processing device can be flexibly expanded according to the needs of various levels of intelligent driving and the increasing signal processing algorithm requirements of vehicle radar.

[0062] In some possible designs, the microwave signal processing device includes at least two sets of microwave signal processing circuits, each set of microwave signal processing circuits including at least one MMIC, and each set of MMICs is connected to one RSPU of the radar signal processing device.

[0063] In the radar system provided in this embodiment, the microwave signal processing device includes at least two MMICs connected in parallel cascade. Each MMIC processes data from different antenna elements, thereby improving the data processing capability of the microwave signal processing device and thus improving the processing efficiency of the radar system. Furthermore, the MMICs included in the microwave signal processing device can be flexibly expanded according to the needs of various levels of intelligent driving and the ever-increasing signal processing algorithm requirements of vehicle radar.

[0064] Thirdly, embodiments of this application also provide a mobile platform, characterized in that it includes: a radar signal processing device, a microwave signal processing device, and an autonomous driving control system as described in any of the first aspects.

[0065] The microwave signal processing device includes one or more MMICs, each MMIC's input interface is coupled to the output interface of one or more antenna elements, and each MMIC's output interface is coupled to the input interface of a radar signal processing unit (RSPU) in the radar signal processing device; each MMIC is used to perform radio frequency and analog signal processing on the signals input from one or more antenna elements.

[0066] The radar signal processing device includes at least two RSPUs, which are interconnected in a cascaded manner.

[0067] Wherein, the at least two RSPUs are interconnected in a cascaded manner, including:

[0068] The input interface of the first RSPU of the at least two RSPUs is coupled to the output interface of the microwave signal processing device, and the input interface of the first RSPU is used to receive the signal output by the microwave signal processing device; the at least two RSPUs are used to perform cascade processing on the signal output by the microwave signal processing device.

[0069] The other RSPUs in the at least two RSPUs are coupled to the first RSPU, and the output interface of the first RSPU is used to output the cascaded processed signal to the autonomous driving control system; or, the other RSPUs in the at least two RSPUs are sequentially coupled to the output interface of the first RSPU, and the output interface of the last RSPU is used to output the cascaded processed signal to the autonomous driving control system.

[0070] The autonomous driving control system is used to obtain radar detection results based on the signals output by the radar signal processing device, and to control the vehicle to perform intelligent driving based on the radar detection results.

[0071] In the mobile platform provided in this embodiment, the radar signal processing device improves the data processing capability of the radar signal processing device and enhances the processing efficiency of the radar system by cascading and expanding the RSPU according to the signal processing unit dimension or according to the data processing unit dimension included in the signal processing unit. In addition, the RSPU included in the radar signal processing device can be flexibly expanded according to the needs of various levels of intelligent driving and the increasing signal processing algorithm requirements of vehicle radar.

[0072] Fourthly, embodiments of this application also provide a radar signal processing method applied to a radar system, the radar system including a radar signal processing device, the radar signal processing device including: at least two radar signal processing units (RSPUs), the at least two RSPUs being interconnected in a cascaded manner; the method includes:

[0073] The signal output from the microwave signal processing device is received through the input interface of the first RSPU of the at least two RSPUs; the at least two RSPUs perform cascade processing on the signal output from the microwave signal processing device.

[0074] The cascaded signal is output through the output interface of the first RSPU, wherein the other RSPUs among the at least two RSPUs are coupled to the first RSPU; or, the cascaded signal is output through the output interface of the last RSPU, wherein the other RSPUs among the at least two RSPUs are sequentially coupled to the output interface of the first RSPU.

[0075] In this embodiment, the radar signal processing device improves the data processing capability of the radar signal processing device and enhances the processing efficiency of the radar system by cascading and expanding the RSPU according to the signal processing unit dimension or according to the data processing unit dimension included in the signal processing unit. In addition, the RSPU included in the radar signal processing device can be flexibly expanded according to the needs of various levels of intelligent driving and the increasing signal processing algorithm requirements of vehicle radar.

[0076] In some possible designs, when the at least two RSPUs are interconnected in a parallel cascade manner, the at least two RSPUs are used to perform parallel cascade processing on the signals output by the microwave signal processing device; wherein, the input terminals of the at least two first RSPUs are respectively coupled to the output interface of the microwave signal processing device, and the input interfaces of the at least two first RSPUs are respectively used to receive the signals output by the microwave signal processing device; the signal output terminal of the last data processing unit of the at least two first RSPUs is coupled to the same output interface, which is used to output the parallel cascaded processed signal;

[0077] Furthermore, in the at least two first RSPUs, each first RSPU includes a plurality of data processing units coupled in sequence, the plurality of data processing units including a first data processing unit and a second data processing unit coupled in sequence;

[0078] In the at least two first RSPUs, the output interface of the first data processing unit in each first RSPU is coupled to the input interface of the second data processing unit in the remaining first RSPUs in the at least two first RSPUs;

[0079] The at least two RSPUs perform parallel cascade processing on the signals output by the microwave signal processing device, including:

[0080] In the at least two first RSPUs, the second data processing unit of each first RSPU acquires the data output by the first data processing unit of the other first RSPUs;

[0081] Each first RSPU performs load balancing on the data output by all first data processing units based on the number of at least two first RSPUs and the characteristics of the data output by the first data processing unit, and determines the data to be processed corresponding to the second data processing unit of the first RSPU.

[0082] The second data processing unit of each of the first RSPUs processes the determined data to be processed.

[0083] In this embodiment, at least two RSPUs are connected in a parallel cascade manner. Each RSPU can have the same or equivalent data processing capabilities, and the computational load can be approximately evenly distributed among the at least two RSPUs based on their data processing capabilities, thereby enabling each RSPU to process approximately the same amount of data. Specifically, when connected in a parallel cascade manner, the first data processing unit of each first RSPU is coupled with the second data processing unit of other first RSPUs. This allows the second data processing unit of each first RSPU to acquire all the data output by the microwave signal processing device. Thus, the second data processing unit of each first RSPU can evenly distribute the computational load based on its own data processing capabilities, achieving a parallel processing relationship among the RSPUs while further ensuring that the processing delay is basically synchronized.

[0084] In some possible designs, the first data processing unit is a distance-dimensional Fourier transform unit, and the second data processing unit is a Doppler-dimensional Fourier transform unit; each of the first RSPUs performs load balancing on the data output by all the first data processing units based on the number of the at least two first RSPUs and the characteristics of the data output by the first data processing unit, and determines the data to be processed corresponding to the second data processing unit of the first RSPU, including:

[0085] In the at least two first RSPUs, each first RSPU performs load balancing on the data output by all distance-dimensional Fourier transform units based on the number of the at least two first RSPUs and the distance dimension, and determines the data to be processed corresponding to the Doppler Fourier transform unit of the first RSPU.

[0086] In this embodiment, when parallel cascading is used, each of the at least two first RSPUs can acquire the data output by the range-dimensional Fourier transform units of all the first RSPUs, that is, the data after the range-dimensional Fourier transform of all the data output by the microwave signal processing device; then, the Doppler Fourier transform unit of each first RSPU can evenly distribute the data of all antenna units based on the range dimension, and on the basis of realizing the parallel processing relationship between each RSPU, further ensure that the processing delay is basically synchronized.

[0087] In some possible designs, the first data processing unit is a constant false alarm rate (CFAR) detection unit, and the second data processing unit is a direction of arrival (DOA) calculation unit; each first RSPU performs load balancing on the data output by all first data processing units based on the number of at least two first RSPUs and the characteristics of the data output by the first data processing unit, and determines the data to be processed corresponding to the second data processing unit of the first RSPU, including:

[0088] In the at least two first RSPUs, each first RSPU performs load balancing on the data output by all CFAR units based on the number of the at least two first RSPUs and the target number dimension, and determines the data to be processed corresponding to the DOA detection unit of the first RSPU.

[0089] In this embodiment, when parallel cascading is used, each of the at least two first RSPUs can acquire the data processed and output by the CFAR units included in all the first RSPUs, that is, the data after CFAR processing of all the data output by the microwave signal processing device; then, the DOA calculation unit of each first RSPU can evenly distribute the data of all antenna units based on the target number dimension after CFAR, and further ensure that the processing delay is basically synchronized on the basis of realizing the parallel processing relationship between each RSPU.

[0090] In some possible designs, the first data processing unit is a DOA calculation unit, and the second data processing unit is a data tracing unit; each first RSPU performs load balancing on the data output by all first data processing units based on the number of the at least two first RSPUs and the characteristics of the data output by the first data processing unit, and determines the data to be processed corresponding to the second data processing unit of the first RSPU, including:

[0091] In the at least two first RSPUs, each first RSPU performs load balancing on the data output by all DOA computing units based on the number of the at least two first RSPUs and the target number dimension, and determines the data to be processed corresponding to the data tracking unit of the first RSPU.

[0092] In this embodiment, when parallel cascading is used, each of the at least two first RSPUs can acquire the data output by the DOA calculation unit included in the first RSPU, that is, the data after all the data output by the microwave signal processing device has passed through DOA; then, the data tracking unit of each first RSPU can evenly distribute the data of all antenna units based on the target number dimension after DOA calculation, and further ensure that the processing delay is basically synchronized on the basis of realizing the parallel processing relationship between each RSPU.

[0093] Furthermore, in practical applications, at least two first RSPUs can simultaneously support multiple cascaded nodes in their hardware structure, and the state of one or more cascaded nodes between the at least two first RSPUs can be controlled by software according to actual needs. This achieves the flexibility of cascading at least two first RSPUs, enabling the radar signal processing device to flexibly adapt to the requirements of different signal processing algorithms.

[0094] In some possible designs, the radar signal processing device further includes: a third RSPU, the input interface of which is coupled to the output interfaces of the at least two first RSPUs;

[0095] The method further includes:

[0096] The third RSPU receives signals output by the at least two first RSPUs;

[0097] The third RSPU processes the signals output by the at least two first RSPUs accordingly, and outputs the processed signals through the output interface of the third RSPU.

[0098] The third RSPU is coupled to the output interface of at least two RSPUs in a serial cascade manner. The third RSPU can be used to implement algorithm expansion, thereby enabling the radar signal processing device to flexibly adapt to the needs of different signal processing algorithms.

[0099] In some possible designs, the radar signal processing device further includes: a fourth RSPU; the fourth RSPU being coupled between two data processing units sequentially coupled in any of the first RSPUs; or, the fourth RSPU being coupled between two data processing units sequentially coupled in the third RSPU; or, the input interface of the fourth RSPU being coupled to the input interface of any data processing unit in any of the first RSPUs, and the output interface of the fourth RSPU being coupled to the output interface of any other data processing unit in the first RSPU; or, the input interface of the fourth RSPU being coupled to the input interface of any data processing unit in the third RSPU, and the output interface of the fourth RSPU being coupled to the output interface of any other data processing unit in the third RSPU.

[0100] The fourth RSPU is coupled to any one of the at least two RSPUs in a collaborative processing cascade manner, or coupled to the third RSPU. The fourth RSPU can be used to implement intermediate algorithm nodes or branch algorithm nodes. The fourth RSPU can be used to implement algorithm extension, so that the radar signal processing device can flexibly adapt to the needs of different signal processing algorithms.

[0101] In some possible designs, when the at least two RSPUs are interconnected in a serial cascade manner, the input interface of the first RSPU is coupled to the output interface of the microwave signal processing device, the other RSPUs are sequentially coupled to the output interface of the first RSPU, and the output interface of the last RSPU is used to output the signal after serial cascade processing; the data processing units included in the at least two RSPUs are completely different.

[0102] The cascaded processing of the signal output by the microwave signal processing device by the at least two RSPUs includes:

[0103] The at least two RSPUs perform serial cascade processing on the signals output by the microwave signal processing device.

[0104] In some possible designs, the at least two RSPUs each include one or more of the following: a distance-dimensional Fourier transform unit, a Doppler-dimensional Fourier transform unit, a CFAR unit, a DOA calculation unit, and a data tracking unit, and the at least two RSPUs are completely different.

[0105] In this embodiment, at least two RSPUs are connected in a serial cascade manner. The RSPUs are sequentially connected, meaning that after processing the data, the RSPU at the previous stage outputs the processed data to the RSPU at the next stage, and each RSPU processes the data corresponding to all antenna elements sequentially. For small-scale radar devices, a serial cascade connection can be used, and the loose coupling between the RSPUs facilitates separate algorithm extensions for different data processing units included in different RSPUs.

[0106] In some possible designs, the radar signal processing unit also includes: a fifth RSPU;

[0107] The input interface of the fifth RSPU is coupled to the output interface of any one of the at least two RSPUs, or the input interface of the fifth RSPU is coupled to the output interface of one or more MMICs in the microwave signal processing device; the output interface of the fifth RSPU is coupled to the output interface of any of the remaining RSPUs among the at least two RSPUs.

[0108] The method further includes:

[0109] The fifth RSPU receives signals from the RSPU coupled to the input interface of the fifth RSPU or the microwave signal processing device, and performs corresponding processing on the received signals;

[0110] The fifth RSPU outputs the processed signal through its output interface.

[0111] In some possible designs, the radar signal processing device further includes: a sixth RSPU; the sixth RSPU being coupled between two data processing units sequentially coupled in any of the RSPUs; or, the sixth RSPU being coupled between two data processing units sequentially coupled in the fifth RSPU; or, the input interface of the sixth RSPU being coupled to the input interface of any data processing unit in any of the RSPUs, and the output interface of the sixth RSPU being coupled to the output interface of any other data processing unit in the RSPU; or, the input interface of the sixth RSPU being coupled to the input interface of any data processing unit in the fifth RSPU, and the output interface of the sixth RSPU being coupled to the output interface of any other data processing unit in the fifth RSPU.

[0112] The sixth RSPU is coupled to any one of the at least two RSPUs in a collaborative processing cascade manner, or coupled to the fifth RSPU. The sixth RSPU can be used to implement intermediate algorithm nodes or branch algorithm nodes. The sixth RSPU can be used to implement algorithm extension, so that the radar signal processing device can flexibly adapt to the needs of different signal processing algorithms.

[0113] In some possible designs, when the at least two RSPUs are coupled in a collaborative processing cascade manner, the input interface of the first RSPU is coupled to the output interface of the microwave signal processing device, the other RSPUs are coupled to the first RSPU, and the output interface of the first RSPU is used to output the signal after collaborative cascade processing.

[0114] The at least two RSPUs perform cascade processing on the signals output by the microwave signal processing device, including:

[0115] The at least two RSPUs are used to perform coordinated cascade processing on the signals output by the microwave signal processing device.

[0116] When at least two RSPUs are connected in a collaborative processing cascade manner, some RSPUs can serve as intermediate algorithm points or branch algorithm points of RSPUs connected to the microwave signal processing device, enabling at least two RSPUs to collaboratively process the data output by the microwave signal processing device and meeting the needs of signal processing algorithm expansion.

[0117] In some possible implementations, the first RSPU of the at least two RSPUs includes a plurality of data processing units coupled in sequence, the plurality of data processing units coupled in sequence including a first data processing unit and a second data processing unit coupled in sequence; the remaining RSPUs of the at least two RSPUs include functional extension units;

[0118] The input interface of the functional expansion unit is coupled to the output interface of the first data processing unit, and the output interface of the functional expansion unit is coupled to the input interface of the second data processing unit.

[0119] The at least two RSPUs perform cascade processing on the signals output by the microwave signal processing device, including:

[0120] The functional expansion unit receives the data output by the first data processing unit.

[0121] The functional expansion unit processes the data output by the first data unit and outputs the processed data to the second data processing unit.

[0122] The second data processing unit processes the data output by the functional expansion unit accordingly.

[0123] In this embodiment, the RSPU including the functional expansion unit serves as an intermediate algorithm point for the RSPU connected to the microwave signal processing device, realizing the collaborative cascading of at least two RSPUs. In practical applications, at least two RSPUs can be connected in hardware in the manner described in this embodiment, and the operating state of the functional expansion unit can be controlled by software according to actual needs to meet the requirements of the signal processing algorithm for intermediate algorithm expansion.

[0124] In some possible designs, if the at least two RSPUs are connected in a collaborative processing cascade manner; one of the at least two RSPUs includes a plurality of data processing units coupled in sequence, and the remaining RSPUs include a function expansion unit; the signal input terminal of the function expansion unit is connected to the signal output terminal of one of the plurality of data processing units, and the signal output terminal of the function expansion unit is connected to the signal input terminal of any of the remaining data processing units among the plurality of data processing units;

[0125] The at least two RSPUs perform cascade processing on the signals output by the microwave signal processing device, including:

[0126] The functional extension unit receives data output from the sequentially coupled data processing unit;

[0127] The functional extension unit processes the data output by the sequentially coupled data processing units and outputs the processed data to another sequentially coupled data processing unit.

[0128] In this embodiment, the RSPU including the functional expansion unit serves as a branch algorithm point for the RSPU connected to the microwave signal processing device, realizing the cooperative cascading of at least two RSPUs. In practical applications, at least two RSPUs can be connected in hardware in the manner described in this embodiment, and the operating state of the functional expansion unit can be controlled by software according to actual needs to meet the requirements of the signal processing algorithm for branch algorithm expansion.

[0129] In some possible designs, the sequentially coupled multiple data processing units include: a distance-dimensional Fourier transform unit, a Doppler-dimensional Fourier transform unit, a CFAR unit, a DOA calculation unit, and a data tracking unit;

[0130] The signal input terminal of the distance-dimensional Fourier transform unit is coupled to the output interface of the microwave signal processing device through the input interface of the first RSPU. The signal output terminal of the distance-dimensional Fourier transform unit is connected to the signal input terminal of the Doppler-dimensional Fourier transform unit. The signal output terminal of the Doppler-dimensional Fourier transform unit is connected to the signal input terminal of the CFAR unit. The signal output terminal of the CFAR unit is connected to the signal input terminal of the DOA calculation unit. The signal output terminal of the DOA calculation unit is connected to the signal input / output terminal of the data tracking unit. The signal output / output terminal of the data tracking unit is coupled to the output interface of the first RSPU.

[0131] In some possible designs, the radar signal processing device may further include: a seventh RSPU, wherein the input interface of the seventh RSPU is coupled to the output interface of the first RSPU;

[0132] The method further includes:

[0133] The seventh RSPU receives the signal output by the first RSPU and processes the received signal accordingly.

[0134] The seventh RSPU outputs the processed signal through its output interface.

[0135] The seventh RSPU is coupled to the output interface of the first RSPU in a serial cascade manner. When the radar device's algorithm is extended, the seventh RSPU can be used to further process the data output by the first RSPU, thereby enabling the radar device to meet the requirements of the signal processing algorithm.

[0136] This application provides a radar signal processing apparatus and method, a radar system, and a mobile platform. The radar signal processing apparatus includes at least two RSPUs, which are interconnected using one or more cascading methods to achieve cascaded processing of signals output from the microwave signal processing apparatus. In this application, the RSPUs are cascaded and expanded along the signal processing unit dimension or according to the data processing unit dimension included in the signal processing unit, thereby improving the data processing capability of the radar signal processing apparatus and enhancing the processing efficiency of the radar system. Furthermore, the RSPUs included in the radar signal processing apparatus can be flexibly expanded according to the needs of various levels of intelligent driving and the increasing signal processing algorithm requirements of vehicle-mounted radar. Attached Figure Description

[0137] Figure 1 This is a schematic diagram illustrating an application scenario of a radar system provided in an embodiment of this application;

[0138] Figure 2This is a schematic diagram of the structure of a radar system in the prior art;

[0139] Figure 3 This is a schematic diagram of the structure of a radar signal processing device provided in an embodiment of this application;

[0140] Figure 4 This is a schematic diagram of the structure of a radar signal processing device provided in another embodiment of this application;

[0141] Figure 5 This is a schematic diagram of the structure of a radar signal processing device provided in another embodiment of this application;

[0142] Figure 6a This is a schematic diagram of the structure of a radar signal processing device provided in another embodiment of this application;

[0143] Figure 6b This is a schematic diagram of the structure of a radar signal processing device provided in another embodiment of this application;

[0144] Figure 7a This is a schematic diagram of the structure of a radar signal processing device provided in another embodiment of this application;

[0145] Figure 7b This is a schematic diagram of the structure of a radar signal processing device provided in another embodiment of this application;

[0146] Figure 7c This is a schematic diagram of the structure of a radar signal processing device provided in another embodiment of this application;

[0147] Figure 7d This is a schematic diagram of the structure of a radar signal processing device provided in another embodiment of this application;

[0148] Figure 8a This is a schematic diagram of the structure of a radar signal processing device provided in another embodiment of this application;

[0149] Figure 8b This is a schematic diagram of the structure of a radar signal processing device provided in another embodiment of this application;

[0150] Figure 9a This is a schematic diagram of the structure of a radar signal processing device provided in another embodiment of this application;

[0151] Figure 9b This is a schematic diagram of the structure of a radar signal processing device provided in another embodiment of this application;

[0152] Figure 9c This is a schematic diagram of the structure of a radar signal processing device provided in another embodiment of this application;

[0153] Figure 10A flowchart of a radar signal processing method provided in an embodiment of this application;

[0154] Figure 11 A flowchart of a radar signal processing method provided in another embodiment of this application;

[0155] Figure 12a A flowchart of a radar signal processing method provided in another embodiment of this application;

[0156] Figure 12b A schematic diagram of the memory structure during the transfer of data between at least two RSPUs, as provided in an embodiment of this application;

[0157] Figure 13 A flowchart of a radar signal processing method provided in another embodiment of this application;

[0158] Figure 14 A flowchart of a radar signal processing method provided in another embodiment of this application;

[0159] Figure 15 A flowchart of a radar signal processing method provided in another embodiment of this application;

[0160] Figure 16 This is a schematic diagram of the structure of a radar system provided in an embodiment of this application;

[0161] Figure 17 This is a schematic diagram of the structure of a radar system provided in another embodiment of this application;

[0162] Figure 18a This is a schematic diagram of the structure of a radar system provided in another embodiment of this application;

[0163] Figure 18b This is a schematic diagram of the structure of a radar system provided in another embodiment of this application;

[0164] Figure 18c This is a schematic diagram of the structure of a radar system provided in another embodiment of this application;

[0165] Figure 18d This is a schematic diagram of the structure of a radar system provided in another embodiment of this application;

[0166] Figure 19 This is a schematic diagram of the structure of a radar system provided in another embodiment of this application;

[0167] Figure 20 This is a schematic diagram of the structure of a mobile platform provided in an embodiment of this application. Detailed Implementation

[0168] In this application, "at least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0169] With the rapid development of internet and artificial intelligence technologies, the era of intelligent driving has arrived. Intelligent driving requires the use of various sensors to perceive the external environment and detect information about the vehicle itself. For example... Figure 1 As shown, in an autonomous driving scenario, the intelligent driving vehicle 101 can detect surrounding vehicles, pedestrians, or other environmental targets using millimeter-wave radar devices, for example... Figure 1 The vehicle 101 shown can detect the position and speed of the vehicle 102 in the direction of travel using a millimeter-wave radar device. Specifically, the millimeter-wave radar device includes a radar system 103 and an antenna unit 104, wherein the antenna unit 104 is used to transmit and receive millimeter-wave signals, and the radar system 103 is used to obtain the speed and position of the surrounding vehicles 102 based on the signals transmitted by the antenna unit 104.

[0170] It should be noted that, in Figure 1 The installation location of the millimeter-wave radar in the scenario shown is for illustrative purposes only and does not represent a limitation on the structure of the millimeter-wave radar device. For example, in practical applications, the antenna unit and radar system of a millimeter-wave radar device can be integrated into the same module.

[0171] Of course, millimeter-wave radar can also be applied to other scenarios. For example, in the scenario of automatic parking, intelligent driving vehicles can use millimeter-wave radar to detect the position of surrounding obstacles. These will not be listed one by one here.

[0172] Millimeter-wave radar boasts advantages such as all-weather, all-day operation and strong anti-interference capabilities, making it a crucial sensor for intelligent driving. Existing millimeter-wave radars primarily target Level 2 (L2) advanced driver assistance systems (ADAS) applications, typically with relatively low specifications. Therefore, high-resolution, high-precision 4D radar (also known as 4D radar devices or other names) has emerged for autonomous driving, representing a current research hotspot and important technological direction. 4D radar features higher antenna specifications and enhanced signal processing capabilities, enabling it to image vehicles, pedestrians, and road structures in the surrounding environment.

[0173] Because 4D radar employs multiple-in multiple-out (MIMO) technology, using multiple antenna elements at both the transmitting and receiving ends to form a multi-channel antenna system, it improves the detection accuracy of 4D radar. However, the specifications of the functional circuits used to process radar baseband data signals in traditional radar signal processing systems are relatively fixed. For example, Figure 2 The prior art radar system shown in (a) includes a monolithic microwave integrated circuit (MMIC) for radio frequency and analog signal processing and a radar signal processing unit (RSPU) for baseband data processing. Figure 2 The radar system shown in (a) can be applied to small-sized radars; Figure 2 The prior art radar system shown in (b) includes two MMICs and one RSPU. Figure 2 The radar system shown in b can be applied to medium-sized radars; Figure 2 The prior art radar system shown in (c) includes four MMICs and one RSPU. Figure 2 The radar system shown in (c) can be applied to high-specification radars. However, cascading expansion of existing radar systems mostly focuses on MMICs used for radio frequency and analog signal processing of millimeter-wave signals, while the specifications of RSPU chips used for baseband data processing of the MMIC output signals are relatively fixed. For the aforementioned 4D radar employing MIMO technology, the data processing capabilities of RSPU chips in traditional radar systems cannot match the requirements of 4D radar, resulting in low processing efficiency of the radar system.

[0174] Based on this, embodiments of this application provide a radar signal processing device, including: at least two RSPUs, wherein the at least two RSPUs are connected in one or more cascaded manner to perform cascaded processing on the signal output by the microwave signal processing device.

[0175] The core concept of this application is to improve the data processing capability of the radar signal processing device and thus improve the processing efficiency of the radar system by cascading and expanding the RSPU according to the signal processing unit dimension or according to the data processing unit dimension included in the signal processing unit; and the RSPU included in the radar signal processing device can be flexibly expanded according to the needs of various levels of intelligent driving and the increasing signal processing algorithm requirements of vehicle radar.

[0176] Optionally, the cascading method may include one or more of the following: parallel cascading, serial cascading, and collaborative processing cascading.

[0177] It should be noted that, in this application, cascading means coupling two or more devices together in some way.

[0178] Parallel cascading: This means coupling two or more devices together in parallel.

[0179] Serial cascading: This means coupling two or more devices together in a serial manner.

[0180] Collaborative processing cascading: This refers to a coupling method that enables multiple devices to collaboratively share computing tasks.

[0181] The following detailed descriptions of radar signal processing devices employing different cascading methods are provided through specific embodiments.

[0182] Figure 3 This is a schematic diagram of a radar signal processing apparatus according to an embodiment of this application. In this embodiment, the RSPUs in the radar signal processing apparatus are interconnected in a parallel cascade manner. This parallel cascade connection can, for example, be applied to the case of extended antenna elements.

[0183] like Figure 3 As shown, the radar signal processing device 200 provided in this embodiment includes N RSPU chips 201, where N is an integer greater than or equal to 2. The N RSPU chips 201 are interconnected in a parallel cascade manner, and the N RSPU chips 201 are used to perform parallel cascade processing on the signal output by the previous stage microwave signal processing device.

[0184] Specifically, in the parallel cascading method, the signal input terminal of each RSPU chip 201 is coupled to the output interface of one or more MMICs in the preceding microwave signal processing device, and the signal output terminal of each RSPU chip 201 is coupled into a single signal output terminal. That is, each RSPU chip 201 receives data corresponding to the respective antenna element. After the parallel cascading processing is completed, the output interface of one of the N RSPU chips 201 aggregates and outputs the processing results.

[0185] When parallel cascading is used, each RSPU chip is a first RSPU chip, and the signal output terminals of all first RSPU chips are coupled into a single signal output terminal.

[0186] This embodiment uses a parallel cascade interconnection method. Each RSPU chip can have the same or equivalent data processing capability, and the RSPU chips can share the computation load equally according to their data processing capabilities. This enables each RSPU chip to process approximately the same amount of data. Based on the parallel processing relationship between the RSPU chips, the processing latency is further guaranteed to be basically synchronized.

[0187] It should be noted that this embodiment uses the example of each RSPU chip being packaged as an independent chip. In practical applications, N RSPUs can also be packaged as the same chip, or some of the N RSPU chips can be packaged as the same chip, while the remaining RSPUs can be packaged as independent chips. This embodiment does not impose any restrictions on this.

[0188] Figure 4 This is a schematic diagram of a radar signal processing device according to another embodiment of this application. Here, the parallel cascading method is described in detail using an example where the radar signal processing device includes two RSPUs, each packaged as an independent chip. It should be noted that in some cases, multiple RSPUs can also be packaged within the same chip.

[0189] like Figure 4 As shown, the radar signal processing device includes RSPU chip 1 and RSPU chip 2.

[0190] RSPU chip 1 includes: an input interface 1, a distance-dimensional Fourier transform unit 1, a Doppler-dimensional Fourier transform unit 1, a CFRA unit 1, a DOA calculation unit 1, a data tracking unit 1, and an output interface. The signal input terminal of the input interface 1 is coupled to the microwave signal processing device. The signal output terminal of the input interface 1 is coupled to the signal input terminal of the distance-dimensional Fourier transform unit 1. The signal output terminal of the distance-dimensional Fourier transform unit 1 is coupled to the signal input terminal of the Doppler-dimensional Fourier transform unit 1. The signal output terminal of the Doppler-dimensional Fourier transform unit 1 is coupled to the signal input terminal of the CFRA unit 1. The signal output terminal of the CFRA unit 1 is coupled to the signal input terminal of the DOA calculation unit 1. The signal output terminal of the DOA calculation unit 1 is coupled to the signal input / output terminal of the data tracking unit 1. The signal output / output terminal of the data tracking unit 1 is coupled to the signal input terminal of the output interface 1.

[0191] RSPU chip 2 includes: input interface 2, distance-dimensional Fourier transform unit 2, Doppler-dimensional Fourier transform unit 2, CFAR unit 2, DOA calculation unit 2, and data tracking unit 2. The input terminal of input interface 2 is coupled to the microwave signal processing device; the signal output terminal of input interface 2 is coupled to the signal input terminal of distance-dimensional Fourier transform unit 2; the signal output terminal of distance-dimensional Fourier transform unit 2 is coupled to the signal input terminal of Doppler-dimensional Fourier transform unit 2; the signal output terminal of Doppler-dimensional Fourier transform unit 2 is coupled to the signal input terminal of constant false alarm rate (CFAR) detection unit 2; the signal output terminal of CFAR unit 2 is coupled to the signal input terminal of DOA calculation unit 2; the signal output terminal of DOA calculation unit 2 is coupled to the signal input / output terminal of data tracking unit 2; and the signal input / output terminal of data tracking unit 2 is coupled to the signal input terminal of output interface 1.

[0192] exist Figure 4 In the radar signal processing device shown, RSPU chip 1 and RSPU chip 2 may include one or more cascaded nodes, and load balancing is achieved through the one or more cascaded nodes.

[0193] (i) If RSPU chip 1 and RSPU chip 2 can be coupled through cascade node A, specifically, the signal output terminal of the distance-dimensional Fourier transform unit 1 is coupled to the signal input terminal of the Doppler-dimensional Fourier transform unit 2, and the signal output terminal of the distance-dimensional Fourier transform unit 2 is coupled to the signal input terminal of the Doppler-dimensional Fourier transform unit 1.

[0194] Specifically, when RSPU chip 1 and RSPU chip 2 are coupled through cascade node A, the distance-dimensional Fourier transform unit 1 of RSPU chip 1 performs distance-based Fourier transform processing on the data output by the corresponding microwave signal processing device and transmits the processing result to RSPU chip 2. The distance-dimensional Fourier transform unit 2 of RSPU chip 2 performs distance-based Fourier transform processing on the data output by the corresponding microwave signal processing device and transmits the processing result to RSPU chip 1. RSPU chip 1 and RSPU chip 2 can obtain the data of all antenna elements respectively, and RSPU chip 1 and RSPU chip 2 can evenly distribute the data of all antenna elements based on the distance dimension after the distance-dimensional Fourier transform.

[0195] (ii) If RSPU chip 1 and RSPU chip 2 can be coupled through cascade node B, that is, the signal output terminal of CFAR unit 1 is coupled to the signal input terminal of DOA calculation unit 2 of RSPU chip 2, and the signal output terminal of CFAR unit 2 is coupled to the signal input terminal of DOA calculation unit 1.

[0196] Specifically, when RSPU chip 1 and RSPU chip 2 are coupled through cascade node B, CFAR unit 1 of RSPU chip 1 performs CFAR calculation on the corresponding data and transmits the calculation result to RSPU chip 2, and CFAR unit 2 of RSPU chip 2 performs CFAR calculation on the corresponding data and transmits the calculation result to RSPU chip 1. RSPU chip 1 and RSPU chip 2 can obtain the CFAR results corresponding to all antenna elements respectively, and RSPU chip 1 and RSPU chip 2 can also evenly distribute all data to be processed based on the target number dimension after CFAR processing.

[0197] RSPU chip 1 and RSPU chip 2 are coupled through cascaded node B, and based on the target number dimension, all the data to be processed is evenly distributed, ensuring that the amount of DOA calculation performed by RSPU chip 1 and RSPU chip 2 is basically the same, thereby ensuring that the processing latency of RSPU chip 1 and RSPU chip 2 is basically synchronized.

[0198] (iii) If RSPU chip 1 and RSPU chip 2 can be coupled through cascade node C, that is, the signal output terminal of DOA calculation unit 1 of RSPU chip 1 is coupled to the signal input terminal of data tracking unit 2 of RSPU chip 2, and the signal output terminal of DOA calculation unit 2 of RSPU chip 2 is coupled to the signal input terminal of data tracking unit 1 of RSPU chip 1.

[0199] Specifically, when RSPU chip 1 and RSPU chip 2 are coupled through cascade node C, the DOA calculation unit 1 of RSPU chip 1 performs DOA calculation on the corresponding data and transmits the calculation result to RSPU chip 2, and the DOA calculation unit 2 of RSPU chip 2 performs DOA calculation on the corresponding data and transmits the calculation result to RSPU chip 1. RSPU chip 1 and RSPU chip 2 can obtain all DOA calculation results respectively, and RSPU chip 1 and RSPU chip 2 can evenly distribute all the data to be processed based on the target number dimension after DOA calculation.

[0200] RSPU chip 1 and RSPU chip 2 are coupled through cascade node C, and based on the target number dimension calculated by the direction of arrival, all the data to be processed are evenly distributed, ensuring that the amount of data tracking calculations performed by RSPU chip 1 and RSPU chip 2 is basically the same, thereby ensuring that the processing latency of RSPU chip 1 and RSPU chip 2 is basically synchronized.

[0201] Optionally, in practical applications, RSPU chip 1 and RSPU chip 2 can simultaneously support the coupling of three cascaded nodes A, B, and C in their hardware structure. Furthermore, based on actual needs, software control can be used to simultaneously support one or more cascaded nodes among A, B, and C. For example, RSPU chip 1 and RSPU chip 2 can simultaneously have three cascaded nodes A, B, and C in their hardware, and software control can be used to ensure that cascaded nodes A and B are in an active state, while cascaded node C is in a disconnected state.

[0202] Figure 5 This is a schematic diagram of a radar signal processing device according to another embodiment of this application. In this embodiment, the RSPUs in the radar signal processing device are interconnected in a serial cascade manner. This serial cascade method is suitable for small-scale radar devices, i.e., radar devices with a small number of antenna elements.

[0203] like Figure 5 As shown, the radar signal processing device provided in this embodiment includes N RSPU chips, where N is an integer greater than or equal to 2, and the N RSPU chips are interconnected in a serial cascade manner.

[0204] Specifically, when using a serial cascaded method, the input interface of one of the at least two RSPU chips is coupled to the output interface of the microwave signal processing device, that is, the input interface of the first RSPU chip is coupled to the output interface of the microwave signal processing device; wherein, the first RSPU chip can receive data from all antenna elements, and after processing the data received from all antenna elements accordingly, transmit the processed data to the next level RSPU chip.

[0205] When N RSPU chips are interconnected in a serial cascade manner, the signal processed by the serial cascade is output through the output interface of the last RSPU chip, which is the second RSPU chip.

[0206] This embodiment employs a serial cascaded connection, where the RSPU chips are interconnected serially. That is, after processing the data, the preceding RSPU chip outputs the processed data to the next-level RSPU chip, and each RSPU chip processes data corresponding to all antenna elements. For small-scale radar devices, this serial cascaded connection, with loose coupling between the RSPU chips, facilitates individual expansion for different data processing units within different RSPU chips.

[0207] It should be noted that this embodiment uses the example of each RSPU chip being packaged as an independent chip. In practical applications, N RSPUs can also be packaged as the same chip, or some of the N RSPU chips can be packaged as the same chip, while the remaining RSPUs can be packaged as independent chips. This embodiment does not impose any restrictions on this.

[0208] Figure 6a This is a schematic diagram of the structure of a radar signal processing device provided in another embodiment of this application. Figure 6b This is a schematic diagram of the structure of a radar signal processing device provided in another embodiment of this application. Figure 6a as well as Figure 6b The radar signal processing device shown includes two RSPUs for detailed explanation. Each RSPU is packaged as an independent chip, namely RSPU chip 1 and RSPU chip 2. When at least two RSPUs are interconnected in a serial cascade manner, the process node of the serial cascade algorithm can be after CFAR or after DOA calculation.

[0209] If the process node of the serial concatenation algorithm is after CFAR, such as Figure 6a As shown, the radar signal processing device includes RSPU chip 1 and RSPU chip 2.

[0210] RSPU chip 1 includes an input interface, a distance-dimensional Fourier transform unit, a Doppler-dimensional Fourier transform unit, and a CFAR unit; RSPU chip 2 includes a DOA calculation unit, a data tracking unit, and an output interface.

[0211] The input terminal of the input interface is coupled to the microwave signal processing device; the signal output terminal of the input interface is coupled to the signal input terminal of the distance-dimensional Fourier transform unit; the signal output terminal of the distance-dimensional Fourier transform unit is coupled to the signal input terminal of the Doppler-dimensional Fourier transform unit; the signal output terminal of the Doppler-dimensional Fourier transform unit is coupled to the signal input terminal of the constant false alarm rate (CFAR) detection unit; the signal output terminal of the CFAR detection unit is coupled to the signal input terminal of the direction of arrival (DOA) calculation unit; the signal output terminal of the DOA calculation unit is coupled to the signal input / output terminal of the data tracking unit; and the signal output / output terminal of the data tracking unit is coupled to the signal input terminal of the output interface.

[0212] The input interface of RSPU chip 1 receives data from all antenna elements from the microwave signal processing device. After performing range-dimensional Fourier transform, Doppler Fourier transform, and CFAR on the received data from all antennas in sequence, the processed data is transmitted to RSPU chip 2. RSPU chip 2 then performs DOA calculation and data tracking on the received data in sequence.

[0213] If the process node of the serial cascade algorithm is after the DOA calculation, such as Figure 6b As shown, the radar signal processing device includes RSPU chip 1 and RSPU chip 2.

[0214] RSPU chip 1 includes: an input interface, a distance-dimensional Fourier transform unit, a Doppler-dimensional Fourier transform unit, a CFAR unit, and a DOA calculation unit; RSPU chip 2 includes: a data tracking unit and an output interface. The connections between the various data processing units in RSPU chip 1 and RSPU chip 2 can be found in [reference needed]. Figure 6a As shown, it will not be elaborated further here.

[0215] It should be understood that in some cases, radar signal processing devices may also include a greater number of RSPU chips, each RSPU chip containing a completely different data processing unit, and multiple RSPU chips can work together to achieve a complete data processing flow.

[0216] Figure 7a This is a schematic diagram of a radar signal processing apparatus according to another embodiment of this application. In this embodiment, at least two RSPUs are connected in a collaborative processing cascade manner. This collaborative processing cascade method is applicable to radar devices requiring signal processing algorithm expansion.

[0217] like Figure 7aAs shown, the radar signal processing device provided in this embodiment includes N RSPU chips, where N is an integer greater than or equal to 2, and the N RSPU chips are interconnected in a collaborative processing cascade manner. The N RSPU chips are used to perform collaborative cascade processing on the signal output by the microwave signal processing device.

[0218] Specifically, when interconnected using a collaborative processing cascade method, the input interface of the first RSPU chip out of the N RSPU chips is coupled to the output interface of the microwave signal processing device, and the remaining RSPU chips out of the N RSPU chips are coupled to the first RSPU chip. For example... Figure 7a As shown, RSPU chip 1 is coupled to a microwave signal processing device, and RSPU chips 2 to N are all coupled to RSPU chip 1.

[0219] When interconnecting using a collaborative processing cascade method, at least the following situations can be identified:

[0220] First, the remaining RSPU chip in at least two RSPU chips is an intermediate algorithm point of the RSPU chip coupled to the microwave signal processing device (i.e., the first RSPU chip).

[0221] In this case, the input interface of the first RSPU chip is coupled to the output interface of the microwave signal processing device, and the first RSPU chip coupled to the output interface of the microwave signal processing device includes a plurality of data processing units coupled in sequence, wherein the plurality of data processing units coupled in sequence include a first data processing unit and a second data processing unit coupled in sequence.

[0222] In at least two RSPU chips, the remaining RSPU chips, excluding the first RSPU chip, include a functional expansion unit, wherein the signal input terminal of the functional expansion unit is coupled to the signal output terminal of the first data processing unit, and the signal output terminal of the functional expansion unit is coupled to the signal input terminal of the second data processing unit.

[0223] In other words, the functional extension unit obtains data from the first data processing unit coupled to the previous level. After processing the data obtained from the first data processing unit, the functional extension unit sends the processed data to the second data processing unit connected to the next level, thus realizing the functional extension unit as an intermediate algorithm point.

[0224] For example, N-2 is used as an example for illustration, where, Figure 7b The diagram shows a schematic of the structure of RSPU chip 2 as a branch algorithm point of RSPU chip 1.

[0225] In this embodiment, by adding a functional extension unit for implementing intermediate algorithms to the first data processing unit and the second data processing unit coupled in sequence, and the working state of the functional extension unit can be controlled by software, the radar signal processing device can be flexibly expanded, thereby providing a hardware foundation for the flexible expansion of signal processing algorithms.

[0226] In some cases, an RSPU chip may include multiple functional expansion units coupled in sequence, such as Figure 7c As shown, the multiple functional expansion units coupled in sequence can be connected in a serial manner.

[0227] In other cases, the number of RSPU chips including functional expansion units can be one or more, and each RSPU chip includes at least one functional expansion unit. These RSPU chips, serving as intermediate algorithm points, are coupled to the first RSPU chip. For example... Figure 7d As shown, there are two RSPU chips including a functional expansion unit, and these two RSPU chips are respectively coupled to RSPU chip 1.

[0228] It should be understood that in some cases, Figure 7c and Figure 7d The methods shown can coexist.

[0229] Second, the remaining RSPU chip in at least two RSPU chips is the branch algorithm point of the RSPU chip coupled to the microwave signal processing device (i.e., the first RSPU chip).

[0230] In this case, the input interface of the first RSPU chip is coupled to the output interface of the microwave signal processing device, and the first RSPU chip connected to the microwave signal processing device includes a plurality of data processing units coupled in sequence; the remaining RSPU chips in at least two RSPU chips include functional expansion units.

[0231] For each RSPU chip that includes a functional expansion unit, the signal input terminal of the functional expansion unit is connected to the signal output terminal of one of the multiple data processing units, and the signal output terminal of the functional expansion unit is connected to the signal input terminal of any of the remaining data processing units among the multiple data processing units.

[0232] Optionally, the signal output terminal of the functional expansion unit is connected to the signal input terminal of the output interface. The functional expansion unit obtains data from the coupled upper-level data processing unit, processes the obtained data accordingly, and outputs the processed data to the output interface. The output interface can transmit the data output by the functional expansion unit to the next coupled level data processing unit, thereby realizing the functional expansion unit as a branch algorithm point.

[0233] For example, let's take N=2 as an example, where, Figure 8a The diagram shows a schematic of the structure of RSPU chip 2 as a branch algorithm point of RSPU chip 1. Combined with... Figure 7a and Figure 8a As shown, the input interface of RSPU chip 1 is coupled to the output interface of the microwave signal processing device. RSPU chip 2 includes a function expansion unit. The signal input terminal of the function expansion unit is coupled to the signal output terminal of the first data processing unit, and the signal output terminal of the function expansion unit is coupled to the output interface of RSPU1.

[0234] Optionally, the RSPU used to implement the branch algorithm point may include one functional extension unit or multiple sequentially coupled functional extension units. If the RSPU used to implement the branch algorithm point includes multiple sequentially coupled functional extension units, in some possible implementations, the signal input terminals of the sequentially coupled functional extension units, except for the first and last functional extension units, may also be coupled to the signal output terminal of any data processing unit in the first RSPU. In practical applications, the operating state of the functional extension units can be controlled by software, thereby achieving flexibility in the branch algorithm.

[0235] For example Figure 8b As shown, the signal input terminal of functional expansion unit 2 is coupled to the signal output terminal of a data processing unit in the first RSPU chip. In practical applications, the working states of functional expansion units 1 and 2 can be controlled by software to achieve flexible algorithm expansion. For example, if functional expansion unit 1 needs to be in a disconnected state and functional expansion unit 2 needs to be in a working state, software control can be used to disconnect functional expansion unit 1 from RSPU chip 1 and connect functional expansion unit 2 to RSPU chip 1. Functional expansion unit 1 cannot obtain data from RSPU chip 1, while functional expansion unit 2 can obtain corresponding data from the sequentially coupled upstream data processing unit. After processing the obtained data, functional expansion unit 2 outputs it to the output interface of RSPU chip 1.

[0236] It should be noted that when the RSPU chip including the functional expansion unit is used to implement the branch algorithm point, the connection between the RSPU chip including the functional expansion unit and the RSPU chip connected to the microwave signal processing device can be set according to actual needs, as long as it can implement the branch algorithm point.

[0237] In this embodiment, by adding a functional extension unit for implementing the branching algorithm between two sequentially coupled data processing units, and by controlling the working state of the functional extension unit through software, the radar signal processing device can be flexibly expanded, thereby providing a hardware foundation for the flexible expansion of signal processing algorithms.

[0238] Optionally, the two collaborative processing cascade methods described above can coexist, meaning the radar signal processing device can simultaneously include: an RSPU chip for implementing intermediate algorithms and an RSPU chip for implementing branching algorithms. For example, the above... Figure 7b or Figure 7d The method shown for implementing intermediate algorithm points is similar to Figure 8a or Figure 8b The methods shown for implementing branching algorithm points can coexist.

[0239] The following example, using a radar signal processing device comprising two RSPU chips, each packaged as an independent chip, will be used to describe the aforementioned collaborative processing cascade method in detail. The two RSPUs are RSPU chip 1 and RSPU chip 2.

[0240] Figure 9a This is a schematic diagram of a radar signal processing device provided in another embodiment of this application. In this embodiment, RSPU chip 1 and RSPU chip 2 are interconnected in a collaborative processing cascade manner, and RSPU chip 2 is an intermediate algorithm point of RSPU chip 1.

[0241] like Figure 9a As shown, RSPU chip 1 includes an input interface, a distance-dimensional Fourier transform unit, a Doppler-dimensional Fourier transform unit, a CFAR unit, a DOA calculation unit, a data tracking unit, and an output interface, which are coupled in sequence. RSPU chip 2 includes a function expansion unit.

[0242] The signal input terminal of the functional expansion unit is coupled to the signal output terminal of the distance-fourth-transform unit, and the signal output terminal of the functional expansion unit is coupled to the signal input terminal of the Doppler-fourth-transform unit. The operating state of RSPU chip 2, i.e., the operating state of the functional expansion unit, can be controlled by software. For example, if algorithm expansion is required and RSPU chip 2 is used as an intermediate algorithm point, it can be controlled by software to be in the on state. Correspondingly, data can only be transmitted from the distance-fourth-transform unit to RSPU chip 2, and then from RSPU chip 2 to the Doppler-fourth-transform unit. Direct data transmission between the distance-fourth-transform unit and the Doppler-fourth-transform unit is not possible. If algorithm expansion is not required, RSPU chip 2 can be controlled by software to be in the off state. Correspondingly, data can be directly transmitted from the distance-fourth-transform unit to the Doppler-fourth-transform unit.

[0243] In the above manner, an RSPU chip 2, including a functional expansion unit, is added between the range-dimensional Fourier transform unit and the Doppler-dimensional Fourier transform unit of RSPU chip 1. The working state of the functional expansion unit can be controlled by software, thereby realizing the flexible expansion of the radar signal processing device and providing a hardware foundation for the flexible expansion of signal processing algorithms.

[0244] Figure 9b This is a schematic diagram of a radar signal processing device provided in another embodiment of this application. In this embodiment, RSPU chip 1 and RSPU chip 2 are interconnected in a collaborative processing cascade manner, and RSPU chip 2 is a branch algorithm point of RSPU chip 1.

[0245] like Figure 9b As shown, RSPU chip 1 includes an input interface, a distance-dimensional Fourier transform unit, a Doppler-dimensional Fourier transform unit, a CFAR unit, a DOA calculation unit, a data tracking unit, and an output interface, which are coupled in sequence. RSPU chip 2 includes a function expansion unit.

[0246] The signal input terminal of the functional expansion unit is coupled to the signal output terminal of the distance-fourth-order transform unit, and the signal output terminal of the functional expansion unit is coupled to the signal input terminal of the output interface of RSPU chip 1. The operating state of RSPU chip 2, i.e., the operating state of the functional expansion unit, can be controlled by software. For example, if algorithm expansion is required and RSPU chip 2 is used as a branch algorithm point, RSPU chip 2 can be controlled by software to be in the conducting state. Accordingly, a portion of the data can be transmitted to RSPU chip 2 through the distance-fourth-order transform unit, and then transmitted to the output interface of RSPU chip 1 by RSPU chip 2. Another portion of the data can be transmitted sequentially through the distance-fourth-order transform unit, Doppler-fourth-order transform unit, CFAR unit, DOA calculation unit, and data tracking unit to the output interface. The output interface summarizes the two data streams and outputs them to the next stage device. If algorithm expansion is not required, RSPU chip 2 can be controlled by software to be in the disconnected state. Accordingly, all data can be transmitted sequentially through the distance-fourth-order transform unit, Doppler-fourth-order transform unit, CFAR unit, DOA calculation unit, and data tracking unit to the output interface.

[0247] In the above manner, an RSPU chip 2, including a functional expansion unit, is added between the range-dimensional Fourier transform unit and the output interface of RSPU chip 1. The working state of the functional expansion unit can be controlled by software, thereby realizing the flexible expansion of the radar signal processing device and providing a hardware foundation for the flexible expansion of signal processing algorithms.

[0248] Figure 9c This is a schematic diagram of a radar signal processing device provided in another embodiment of this application. In this embodiment, RSPU chip 1, RSPU chip 2, and RSPU chip 3 are interconnected in a collaborative processing cascade manner, and RSPU chip 2 is an intermediate algorithm point of RSPU chip 1, while RSPU chip 3 is a branch algorithm point of RSPU chip 1.

[0249] RSPU chip 1 includes, in sequence, an input interface, a distance-dimensional Fourier transform unit, a Doppler-dimensional Fourier transform unit, a CFAR unit, a DOA calculation unit, a data tracking unit, and an output interface. RSPU chip 2 includes a function expansion unit a, and RSPU chip 3 includes a function expansion unit b.

[0250] Specifically, the signal input terminal of functional expansion unit a is coupled to the signal output terminal of the distance-dimensional Fourier transform unit, and the signal output terminal of functional expansion unit a is coupled to the signal input terminal of the Doppler-dimensional Fourier transform unit; the signal input terminal of functional expansion unit b is coupled to the signal output terminal of the distance-dimensional Fourier transform unit, and the signal output terminal of functional expansion unit b is coupled to the signal input terminal of the output interface of RSPU chip 1.

[0251] In practical applications, the operating states of RSPU chips 2 and 3 can be controlled by software. For example, when it is necessary to expand intermediate algorithm points, RSPU chip 2 can be put into operation by software control; when it is necessary to expand branch algorithm points, RSPU chip 3 can be put into operation by software control. For details regarding RSPU chips 2 and 3, please refer to... Figure 9a as well as Figure 9b The description in the text will not be repeated here.

[0252] In this embodiment, by adding an RSPU chip 2, which includes a functional expansion unit, between the range-dimensional Fourier transform unit and the Doppler-dimensional Fourier transform unit of RSPU chip 1, and adding an RSPU chip 3, which includes a functional expansion unit, between the range-dimensional Fourier transform unit and the output interface of RSPU chip 1, and by controlling the working states of RSPU chip 2 and RSPU chip 3 through software, the flexible expansion of the radar signal processing device is realized, thereby providing a hardware foundation for the flexible expansion of signal processing algorithms.

[0253] In the above Figures 3 to 9c Based on the illustrated embodiments, parallel cascading, serial cascading, and collaborative processing cascading methods can be combined with each other.

[0254] For example, in Figure 3 as well as Figure 4 Based on the illustrated embodiment, the radar processing device may optionally include: a third RSPU chip, the input interface of the third RSPU chip being coupled to the output interface of the first RSPU chip, the third RSPU being used to process the signal output by the first RSPU and output the processed signal to the next stage device through the output interface of the third RSPU chip.

[0255] In this embodiment of the radar signal processing device, the third RSPU chip is interconnected with the N RSPU chips in a serial cascade manner, based on the parallel cascade of the N RSPU chips, in order to meet the requirements of the signal processing algorithm.

[0256] Optionally, based on this, it may further include: a fourth RSPU; the fourth RSPU chip is coupled between two data processing units sequentially coupled in any of the first RSPU chips; or, the fourth RSPU chip is coupled between two data processing units sequentially coupled in the third RSPU chip; or, the input interface of the fourth RSPU chip is coupled to the input interface of any data processing unit in any of the first RSPU chips, and the output interface of the fourth RSPU chip is coupled to the output interface of any other data processing unit in the first RSPU chip; or, the input interface of the fourth RSPU chip is coupled to the input interface of any data processing unit in the third RSPU chip, and the output interface of the fourth RSPU chip is coupled to the output interface of any other data processing unit in the third RSPU chip.

[0257] In this embodiment of the radar signal processing device, the fourth RSPU chip can be interconnected with N RSPU chips through a collaborative processing cascade method, based on the parallel cascade of N RSPU chips, or on the parallel cascade of N RSPU chips and serial cascade of the third RSPU chip, to meet the requirements of the signal processing algorithm.

[0258] For example, in Figure 5 , Figure 6a as well as Figure 6b Based on the illustrated embodiment, optionally, the radar processing device may further include: a fifth RSPU chip; wherein the input interface of the fifth RSPU chip is coupled to the output interface of any one of the at least two RSPU chips, or the input interface of the fifth RSPU chip is coupled to the output interface of one or more MMICs in the microwave signal processing device; the output interface of the fifth RSPU chip is coupled to the output interface of any remaining RSPU chip among the at least two RSPU chips; the fifth RSPU chip is used to receive signals from the RSPU chip coupled to the input interface of the fifth RSPU chip or the microwave signal processing device, and to process the received signals accordingly, and to output the processed signals through the output interface of the fifth RSPU chip.

[0259] The fifth RSPU chip is coupled between the output interface of the microwave signal processing device and the output interfaces of at least two RSPU chips in a parallel cascade manner. When the specifications of the radar device are expanded, such as by adding antenna units, the fifth RSPU chip can be used to process the data of the newly added antenna units, thereby enabling the radar device to meet the requirements of the intelligent driving level.

[0260] Optionally, the radar signal processing device may further include: a sixth RSPU chip, which is coupled between two data processing units sequentially coupled in any RSPU chip; or, the sixth RSPU chip is coupled between two data processing units sequentially coupled in the fifth RSPU chip; or, the input interface of the sixth RSPU chip is coupled to the input interface of any data processing unit in any RSPU chip, and the output interface of the sixth RSPU chip is coupled to the output interface of any other data processing unit in the RSPU chip; or, the input interface of the sixth RSPU chip is coupled to the input interface of any data processing unit in the fifth RSPU chip, and the output interface of the sixth RSPU chip is coupled to the output interface of any other data processing unit in the fifth RSPU chip.

[0261] The sixth RSPU chip is coupled to any one of the at least two RSPU chips in a collaborative processing cascade manner, or coupled to the fifth RSPU chip. The sixth RSPU chip can be used to implement intermediate algorithm nodes or branch algorithm nodes. The sixth RSPU chip can be used to implement algorithm expansion, so that the radar signal processing device can flexibly adapt to the needs of different signal processing algorithms.

[0262] For example, in Figures 7a to 9c Based on the illustrated embodiment, optionally, the radar signal processing device further includes: a seventh RSPU chip, wherein the input interface of the seventh RSPU chip is coupled to the output interface of the first RSPU chip, the seventh RSPU chip is used to receive the signal output by the first RSPU chip, process the received signal accordingly, and output the processed signal through the output interface of the seventh RSPU chip.

[0263] The seventh RSPU chip is coupled to the output interface of the first RSPU chip in a serial cascade manner. When the radar device's algorithm is extended, the seventh RSPU can be used to further process the data output by the first RSPU chip, thereby enabling the radar device to meet the requirements of the signal processing algorithm.

[0264] The following examples illustrate in detail the interaction between various RSPU chips in a radar signal processing device when different cascading methods are used.

[0265] Figure 10 This is a flowchart illustrating a radar signal processing method according to an embodiment of this application. The method of this embodiment is applied to the radar signal processing apparatus provided in the above-described embodiment of this application. The radar signal processing apparatus includes at least two RSPUs, and the at least two RSPUs are connected in a cascaded manner. Figure 10 As shown, the method in this embodiment includes:

[0266] S101, the at least two RSPUs receive signals output by the microwave signal processing device.

[0267] Specifically, at least two RSPUs receive signals output by one or more MMICs included in the microwave signal processing device.

[0268] S102, the at least two RSPUs perform cascade processing on the signals output by the microwave signal processing device.

[0269] Specifically, at least two RSPUs perform different cascading processes on the signal output by the microwave signal processing device, depending on the cascading method. If the at least two RSPUs are interconnected in a parallel cascading manner, then the at least two RSPUs perform parallel cascading processing on the signal output by the microwave signal processing device; if the at least two RSPUs are interconnected in a serial cascading manner, then the at least two RSPUs perform serial cascading processing on the signal output by the microwave signal processing device; if the at least two RSPUs are interconnected in a cooperative processing cascading manner, then the at least two RSPUs perform cooperative cascading processing on the signal output by the microwave signal processing device.

[0270] In this embodiment, by cascading and expanding the RSPU according to the signal processing unit dimension or according to the data processing unit dimension included in the signal processing unit, the data processing capability of the radar signal processing device is improved, thereby improving the processing efficiency of the radar system; and the RSPU included in the radar signal processing device can be flexibly expanded according to the needs of various levels of intelligent driving, the increasing signal processing algorithm requirements of vehicle radar, etc.

[0271] Figure 11 This is a flowchart illustrating a radar signal processing method according to another embodiment of this application. The radar signal processing method provided in this embodiment can be applied to situations where at least two RSPUs within a radar signal processing device are connected in a parallel cascaded manner. For example... Figure 11 As shown, the method in this embodiment includes:

[0272] S201, At least two RSPUs receive signals output by the microwave signal processing device.

[0273] When at least two RSPUs are connected in parallel cascade, the input reception of at least two RSPUs is coupled to the output interface of one or more MMICs included in the microwave signal processing device. That is, in this step, each RSPU receives different data output by different MMICs of the microwave signal processing device.

[0274] S202, Each RSPU acquires the data output by the first data processing unit of other RSPUs.

[0275] Each RSPU includes a first data processing unit and a second data processing unit connected together; in at least two RSPUs, the first data processing unit in each RSPU is connected to the second data processing unit in the remaining RSPUs in at least two data processing chips.

[0276] The purpose of this step is to enable each RSPU to acquire the data corresponding to all antenna elements after the first data processing unit of each RSPU processes the data accordingly, thus providing a basis for each subsequent second data processing unit to evenly distribute the data to be processed.

[0277] It should be understood that, for each RSPU, if the microwave signal processing device and the first data processing unit are further coupled with one or more data processing units in sequence, the microwave signal processing device outputs a signal to the connected one or more data processing units, the one or more data processing units in sequence process the signal output by the microwave signal processing device accordingly, and transmit the processed data to the first data processing unit. After processing the data accordingly, the first data processing unit transmits the processed data to other RSPUs.

[0278] S203. Each RSPU performs load balancing on the data output by all the first data processing units based on the number of at least two RSPUs and the characteristics of the data output by the first data processing unit, and determines the data to be processed corresponding to the second data processing unit of each RSPU.

[0279] In this step, each RSPU can receive data corresponding to all antenna elements and distribute the data to be processed evenly based on the characteristics of the data output by the previous stage data processing unit.

[0280] For example, such as Figure 4 In the scenario shown, if RSPU chip 1 and RSPU chip 2 are connected through cascade node A, then RSPU chip 1 and RSPU chip 2 will distribute the data output by all range-dimensional Fourier transform units equally according to the number of RSPU chips and the distance dimension, so that RSPU chip 1 and RSPU chip 2 can equally share the data of all antenna units.

[0281] like Figure 4 In the scenario shown, if RSPU chip 1 and RSPU chip 2 are connected through cascade node B, then RSPU chip 1 and RSPU chip 2 will distribute the data output by all constant false alarm detection units equally according to the number of RSPU chips and the number of targets, so that RSPU chip 1 and RSPU chip 2 can process the same number of target object data, thereby achieving a balanced distribution of the data to be processed between RSPU chip 1 and RSPU chip 2.

[0282] like Figure 4 In the scenario shown, if RSPU chip 1 and RSPU chip 2 are coupled through cascade node C, then RSPU chip 1 and RSPU chip 2 will evenly distribute the data output by all direction-of-arrival calculation units according to the number of RSPU chips and the number of targets, so that RSPU chip 1 and RSPU chip 2 can process the same number of target object data, thereby achieving a balanced distribution of the data to be processed between RSPU chip 1 and RSPU chip 2.

[0283] It is understandable that if RSPU chip 1 and RSPU chip 2 simultaneously support multiple cascaded nodes A, B and C, then the data processing methods of different cascaded nodes can be combined during data processing.

[0284] S204. The second data processing unit of each RSPU performs corresponding processing on the determined data to be processed.

[0285] S205. The second data processing unit of each RSPU outputs the processed data to the next-level data processing unit for corresponding data processing.

[0286] In this embodiment, when the radar signal processing device is connected in a parallel cascade manner, each RSPU can have the same data processing capability, and at least two RSPUs can interact based on the cascade node, so that each RSPU processes the same amount of data, thereby ensuring that each RSPU can output the processing results synchronously. While realizing the parallel processing relationship between each RSPU, the computational load is balanced and the processing delay is basically synchronized.

[0287] The following section takes a radar signal processing device consisting of two RSPUs as an example to explain in detail how the RSPUs interact with each other. The two RSPUs are RSPU chip 1 and RSPU chip 2.

[0288] Figure 12a A flowchart illustrating a radar signal processing method provided in another embodiment of this application. (In conjunction with...) Figure 4 And such as Figure 12a As shown, in this embodiment, RSPU chip 1 includes: digital signal processing DSP 1, memory 1, distance-dimensional Fourier transform unit 1, and inter-chip transfer interface 1. The memory 1 includes storage areas a1 and b1. Storage area a1 is used to store the data output by distance-dimensional Fourier transform unit 1 of RSPU chip 1, and storage area b1 is used to store the data output by distance-dimensional Fourier transform unit 2 of RSPU chip 2.

[0289] RSPU chip 2 includes: digital signal processing DSP 2, memory 2, distance-dimensional Fourier transform unit 2, and inter-chip transfer interface 2. The memory 2 includes storage areas a2 and b2. Storage area a2 is used to store the data output by distance-dimensional Fourier transform unit 1 of RSPU chip 1, and storage area b2 is used to store the data output by distance-dimensional Fourier transform unit 2 of RSPU chip 2.

[0290] RSPU chip 1 and RSPU chip 2 interact based on cascaded node A, then as follows Figure 12a As shown, for RSPU chip 1, the following steps may be included:

[0291] Step (1): The distance-dimensional Fourier transform unit 1 outputs the processed data to the storage area a1 of the memory 1; at this time, the RSPU chip 1 stores the data corresponding to the antenna unit corresponding to the RSPU chip 1.

[0292] Step (2): After the distance-dimensional Fourier transform unit 1 outputs all the data corresponding to all its antenna units to the storage area a1, it notifies DSP 1 to configure DMA1 to start moving the data corresponding to the antenna units of RSPU chip 1 to RSPU chip 2.

[0293] Step (3): After receiving the notification of data transfer, DSP 1 starts the inter-chip transfer interfaces INF1 and INF2.

[0294] Step (4): INF1 and INF2 begin moving data.

[0295] Step (5): After the data transfer is completed, RSPU chip 2's INF2 sends a message to DSP2 indicating that the data transfer is complete.

[0296] For RSPU chip 2, the steps performed are as follows: Figure 12a As shown in steps (1′) to (5′), this process is similar to the data transfer process of RSPU chip 1 at cascade node A. Please refer to the description of RSPU chip 1, which will not be repeated here.

[0297] Here, taking the data of 512 distance ranges corresponding to 16 antenna elements as an example, this section explains in detail how RSPU chip 1 and RSPU chip 2 store data when they interact through cascade node A.

[0298] like Figure 12bAs shown, RSPU chip 1 receives data for all distance ranges corresponding to eight antenna elements output by range-dimensional Fourier transform unit 1; that is, the memory 1 of RSPU chip 1 stores the data for rangebin0-rangebin511 corresponding to antenna elements R0 to R7, respectively. RSPU chip 2 receives data for all distance ranges corresponding to the other eight antenna elements output by range-dimensional Fourier transform unit 2; that is, the memory 2 of RSPU chip 2 stores the data for rangebin0-rangebin511 corresponding to antenna elements R8 to R15, respectively. Here, "rangebin" represents the distance range.

[0299] After the interaction between RSPU chip 1 and RSPU chip 2 is completed, RSPU chip 1 obtains the data of rangbin0-rangbin255 corresponding to antenna elements R0 to R15 respectively, and RSPU chip 2 obtains the data of rangbin256-rangbin511 corresponding to antenna elements R0 to R15 respectively.

[0300] In other words, during the interaction between RSPU chip 1 and RSPU chip 2 through cascaded node A, after the range-dimensional Fourier transform, RSPU chip 1 divides the data of the antenna elements stored in memory 1 into two equal parts according to the antenna or range dimension, and transmits one part to RSPU chip 2; RSPU chip 2 divides the data of the antenna elements stored in memory 2 into two equal parts according to the antenna or range dimension, and transmits one part to RSPU chip 1. This enables each RSPU chip to acquire the data of all antenna elements, and each RSPU chip acquires the data of half the range corresponding to all antenna elements based on the range dimension. This avoids RSPU chip 1 and RSPU chip 2 transmitting all the data, which would cause unnecessary resource waste, thereby improving the processing efficiency of the radar signal processing device.

[0301] Figure 13 A flowchart illustrating a radar signal processing method provided in another embodiment of this application. (In conjunction with...) Figure 4 And such as Figure 13 As shown, in this embodiment, the RSPU chip 1 includes: DSP 1, memory 1, CFAR unit 1, DOA calculation unit 1, first direct memory access system DMA, and inter-chip transfer interface 1.

[0302] RSPU chip 2 includes: DSP 2, memory 2, CFAR unit 2, DOA calculation unit 2, second DMA and inter-chip transfer interface 2.

[0303] RSPU chip 1 and RSPU chip 2 interact based on cascaded node B, then as follows Figure 13As shown, for RSPU chip 1, the following steps may be included:

[0304] Step (1): CFAR unit 1 outputs target data to memory 1.

[0305] The target data referred to here is the data obtained by CFAR unit 1 after performing CFAR processing on the data output by the previous stage data processing unit.

[0306] Step (2): CFAR unit 2 outputs the target number to DSP1 so that DSP1 can determine whether it exceeds the data processing capability of RSPU chip 1.

[0307] It should be noted that the execution order of steps (1) and (2) is not important.

[0308] Step (3): If DSP1 determines that the data processing capability of RSPU chip 1 is exceeded, the target number and target address exceeding the data processing capability of RSPU chip 1 are sent to DSP2 of RSPU chip 2.

[0309] Step (4): DSP2 determines whether the data processing capacity of RSPU chip 1 can be shared based on the target number and target address sent by DSP1 that exceed the data processing capacity of RSPU chip 1.

[0310] Step (5): If DSP2 determines that it can share the workload, then DSP2 sends a command to DOA calculation unit 2 to perform the calculation.

[0311] Step (6): DOA calculation unit 2 schedules the local second DMA to read the shared target data from RSPU chip 1.

[0312] Afterwards, DOA calculation unit 2 can perform direction of arrival calculation on the distributed target data.

[0313] For RSPU chip 2, the steps performed are as follows: Figure 13 As shown in steps (1′) to (6′), this process is similar to the data transfer process of RSPU chip 1 at cascade node B. Please refer to the description of RSPU chip 1, which will not be repeated here.

[0314] It should be noted that, in Figure 13 In this context, steps (3′) to (4′) are not shown for RSPU chip 2, but it should be understood that steps (3′) and (4′) are interactions between DSP2 and DSP1, which are similar to steps (3) and (4).

[0315] It should be noted that cascade node B is located after CFAR processing. The number of targets obtained by CFAR processing is related to the actual detection in each frame. Therefore, the processing capabilities of RSPU chip 1 and RSPU chip 2 are dynamically allocated. For example, in one frame, RSPU chip 2 may be responsible for the number of targets detected by RSPU chip 1, while in another frame, RSPU chip 1 may be responsible for the number of targets detected by RSPU chip 2.

[0316] Figure 14 A flowchart illustrating a radar signal processing method provided in another embodiment of this application. (In conjunction with...) Figure 4 And such as Figure 14 As shown, in this embodiment, the RSPU chip 1 includes: a DSP 1, a memory 1, a DOA calculation unit 1, a data tracking unit 1, a first DMA, and an inter-chip transfer interface 1. The memory 1 includes a storage area a3 for storing data output by the direction of arrival calculation unit 1, and a storage area b3 for storing the historical tracking list 1.

[0317] RSPU chip 2 includes: DSP 2, memory 2, DOA calculation unit 2, data tracking unit 2, second DMA, and inter-chip transfer interface 2. The memory 2 includes region a4 for storing data output by the DOA calculation unit 2, and region b4 for storing the historical tracking list 2.

[0318] RSPU chip 1 and RSPU chip 2 interact based on cascaded node C, then as follows Figure 14 As shown, for RSPU chip 1, the following steps may be included:

[0319] Step (1): DOA calculation unit 1 outputs target data to memory 1.

[0320] The target data referred to here is the data obtained by DOA calculation unit 1 after performing DOA calculation on the data output by the previous level data processing unit.

[0321] Step (2): The DOA calculation unit 1 outputs the target number to the DSP1 so that the DSP1 can determine whether it exceeds the data processing capability of the RSPU chip 1.

[0322] It should be noted that the execution order of steps (1) and (2) is not important.

[0323] Step (3): If DSP1 determines that the data processing capability of RSPU chip 1 is exceeded, the target number and target address exceeding the data processing capability of RSPU chip 1 are sent to DSP2 of RSPU chip 2.

[0324] Step (4): DSP2 determines whether the data processing capacity of RSPU chip 1 can be shared based on the target number and target address sent by DSP1 that exceed the data processing capacity of RSPU chip 1.

[0325] Step (5): If DSP2 determines that it can share the workload, then DSP2 sends a command to data tracking unit 2 to perform calculations.

[0326] Step (6): Data tracking unit 2 schedules the local second DMA to read the target data shared by RSPU chip 1.

[0327] Step (7): Data tracking unit 2 schedules the second DMA to read the historical tracking list 1 from RSPU chip 1.

[0328] Since historical tracking list 1 is required as a reference for data tracking, the second DMA data tracking unit 2 schedules the second DMA to read historical tracking list 1 from memory 1 of RSPU chip 1.

[0329] Afterwards, data tracking unit 2 can perform data tracking processing on the assigned target data.

[0330] For RSPU chip 2, the steps it performs are the same as Figure 14 The process of data transfer in cascade node C by RSPU chip 1 is similar and can be referred to the description of RSPU chip 1, which will not be repeated here.

[0331] It should be noted that when cascade node C is located after DOA calculation, data tracking is related not only to the actual measured angle of the frame, but also to the historical tracking list. Therefore, in order to balance the data tracking capability, in addition to reading the target data to be shared, it is also necessary to read the historical tracking list.

[0332] It should be understood that if RSPU chip 1 and RSPU chip 2 can simultaneously support the connection of three cascaded nodes A, B, and C in their hardware structure, and can be controlled by software to simultaneously support multiple cascaded nodes of A, B, and C in a working state, then the data processing flow can be as described above. Figures 11 to 14 The methods in this article are combined and used.

[0333] Figure 15 This is a flowchart illustrating a radar signal processing method according to another embodiment of this application. In this embodiment, the radar signal processing device includes RSPU chip 1 and RSPU chip 2, which are interconnected via a collaborative processing cascade method. Figure 9aAs shown, the signal input terminal of the functional expansion unit included in RSPU chip 2 is connected to the signal output terminal of the Doppler Fourier transform unit of RSPU chip 1, and the signal output terminal of the functional expansion unit is connected to the signal input terminal of the Doppler Fourier transform unit of RSPU chip 1. In this case, RSPU chip 2 serves as an intermediate algorithm point for RSPU chip 1.

[0334] Combination Figure 9a as well as Figure 15 As shown, RSPU chip 1 includes: a distance-dimensional Fourier transform unit, a memory 1, an inter-chip transfer interface INF1, a DSP 1, and a Doppler-dimensional Fourier transform unit; RSPU chip 2 includes: a DSP 2, a memory 2, a function expansion unit, and an inter-chip transfer interface INF2.

[0335] exist Figure 15 Based on the above, the data processing procedure of RSPU chip 1 and RSPU chip 2 may include the following steps:

[0336] Step (1): The distance dimension Fourier transform unit sends the target data to memory 1.

[0337] Step (2): RSPU chip 1 sends the target data to the memory 2 of RSPU chip 2 through INF1 and INF2.

[0338] Step (3): DSP2 of RSPU chip 2 utilizes processor resources to complete the function expansion algorithm. For example, DSP2 utilizes the FFT accelerator and the DSP's own computing resources to complete the function expansion algorithm.

[0339] Step (4): RSPU chip 2 sends the processed data to the memory 1 of RSPU chip 1 through INF2 and INF1.

[0340] Step (5): The Doppler Fourier Transform Unit of RSPU chip 1 calls the processor resources to perform Doppler Fourier Transform processing.

[0341] The above method enables RSPU chip 2 to serve as an intermediate algorithm point for RSPU chip 1, and the connection between RSPU chip 1 and RSPU chip 2 can be controlled by software, thereby controlling the working state of this functional extension unit and improving the flexibility of the radar signal processing device.

[0342] When serial cascading, collaborative processing cascading, or a combination of multiple cascading methods are used, the data processing flow of the radar signal processing device can be referred to the description of the radar signal processing device embodiment.

[0343] Figure 16 This is a schematic diagram of the structure of a radar system provided in one embodiment of this application. Figure 16 As shown, the radar system 1600 of this embodiment includes a microwave signal processing device 1601 and a radar signal processing device 1602.

[0344] The output interface of the microwave signal processing device 1601 is coupled to the input interface of the radar signal processing device 1602. The microwave signal processing device 1601 is used to perform radio frequency and analog signal processing on the microwave signal transmitted between the antenna unit and the radar signal processing device 1602. The radar signal processing device 1602 includes at least two RSPUs, which are interconnected in a cascaded manner. The radar signal processing device 1602 is used to perform cascaded processing on the signal output by the microwave signal processing device 1601.

[0345] Optionally, the radar signal processing device 1602 may employ the radar signal processing device shown in any of the above embodiments.

[0346] exist Figure 16 Based on the illustrated embodiment, one possible implementation is that the microwave signal processing device 1601 includes at least two MMICs, wherein the output interface of each MMIC is coupled to the input interface of one RSPU in the radar signal processing device 1602.

[0347] Figure 17 This is a schematic diagram of a radar system provided in another embodiment of this application. Figure 17 As shown, the radar system 1700 shown in this embodiment is... Figure 16 Based on the illustrated embodiment, the microwave signal processing device 1601 includes at least two sets of MMICs, that is, the microwave signal processing device 1601 includes at least two sets of MMICs, wherein each set of MMICs includes at least one MMIC, and the output interface of each set of MMICs is coupled to the input interface of one RSPU in the radar signal processing device 1602.

[0348] At least two sets of MMICs can also be interconnected in a cascaded manner, for example, at least two sets of MMICs can be interconnected in a parallel cascaded manner. Of course, the specific implementation of the microwave signal processing device in the embodiments of this application is not limited.

[0349] In one specific embodiment, refer to Figure 18a As shown, the microwave signal processing device of the radar system includes: 2 sets of MMICs, each set of MMICs includes 2 MMICs, and the radar signal processing device of the radar system includes 2 RSPU chips, which are connected in parallel cascade.

[0350] Specifically, the output interface of the first group of MMICs is coupled to the input interface of RSPU chip 1, and the output interface of the second group of MMICs is coupled to the input interface of RSPU chip 2. The specific implementation of the parallel cascading interconnection of RSPU chip 1 and RSPU chip 2 can be referred to the description in the above embodiments, and will not be repeated here.

[0351] In another specific embodiment, refer to Figure 18b As shown, the microwave signal processing device of the radar system includes: 4 MMICs; the radar signal processing device of the radar system includes 2 RSPU chips, which are interconnected in a serial cascade manner.

[0352] Specifically, the output interfaces of all four MMICs are coupled to the input interface of RSPU chip 1, and the output interface of RSPU chip 1 is coupled to the input interface of RSPU chip 2. The specific implementation of the serial cascading interconnection between RSPU chip 1 and RSPU chip 2 can be found in the description of the above embodiments, and will not be repeated here.

[0353] In another specific embodiment, refer to Figure 18c As shown, the microwave signal processing unit of the radar system includes 4 MMICs; the radar signal processing unit of the radar system includes 2 RSPU chips, which are interconnected in a collaborative processing cascade manner.

[0354] Specifically, the output interfaces of the four MMIC chips are coupled to the input interface of RSPU chip 1, and RSPU chip 2 is coupled to RSPU chip 1. RSPU chip 2 can be an intermediate algorithm point of RSPU chip 1 or a branch algorithm point of RSPU chip 2. The specific implementation of the interconnection of RSPU chip 1 and RSPU chip 2 using a collaborative processing cascade method can be referred to the description in the above embodiments, and will not be repeated here.

[0355] In another specific embodiment, refer to Figure 18d As shown, the microwave signal processing device of the radar system includes: 2 sets of MMICs, each set of MMICs includes 4 MMIC chips; the radar signal processing device of the radar system includes 4 RSPU chips, which are interconnected in a comprehensive manner using three methods: parallel cascading, serial cascading and collaborative processing cascading.

[0356] Specifically, the output interface of the first group of MMICs is coupled to the input interface of RSPU chip 1, the output interface chip of the second group of MMICs is coupled to the input interface of RSPU chip 2, RSPU chip 1 and RSPU chip 2 are interconnected in a parallel cascade manner; RSPU chip 1 and RSPU chip 3 are interconnected in a serial cascade manner, RSPU chip 2 and RSPU chip 4 are interconnected in a serial cascade manner; and RSPU chip 3 and RSPU chip 4 are interconnected in a collaborative processing cascade manner.

[0357] In the radar systems provided by the above embodiments, the radar signal processing device includes at least two RSPUs interconnected according to the signal processing unit dimension or the data processing unit dimension included in the signal processing unit, using one or more of the following cascading methods: parallel cascading, serial cascading, and collaborative processing cascading. This improves the data processing capability of the radar signal processing device, thereby improving the processing efficiency of the radar system. Furthermore, the RSPUs included in the radar signal processing device can be flexibly expanded according to the needs of various levels of intelligent driving and the ever-increasing signal processing algorithm requirements of vehicle radar.

[0358] Figure 19 This is a schematic diagram of a radar system provided in another embodiment of this application. Figure 19 As shown, the radar system 1900 shown in this embodiment is... Figure 16 Based on the embodiment shown, it also includes: antenna element 1603.

[0359] The antenna unit 1603 is coupled to the microwave signal processing device 1601, and the antenna unit 1603 is used to transmit and receive signals.

[0360] In one possible implementation, the radar system 1900 includes multiple antenna element groups, each antenna element group including at least one antenna element 1603, and each antenna element group is coupled to a microwave signal processing device (MMIC).

[0361] Figure 20 This is a schematic diagram of the structure of a mobile platform provided in one embodiment of this application. Figure 20 As shown, the mobile platform 2000 of this embodiment includes: a radar signal processing device 2001, a microwave signal processing device 2002, and an automatic driving control system 2003.

[0362] The microwave signal processing device 2002 includes one or more MMICs, the input interface of each MMIC is coupled to the output interface of one or more antenna elements, and the output interface of each MMIC is coupled to the input interface of an RSPU in the radar signal processing device 2001; each MMIC is used to perform radio frequency and analog signal processing on the signals input from one or more antenna elements.

[0363] The radar signal processing device 2001 includes at least two RSPUs, and the at least two RSPUs are interconnected in a cascaded manner.

[0364] Specifically, the input interface of the first RSPU of at least two RSPUs is coupled to the output interface of the microwave signal processing device, and the input interface of the first RSPU is used to receive the signal output by the microwave signal processing device; the at least two RSPUs are used to cascade the signal output by the microwave signal processing device; the other RSPUs of at least two RSPUs are coupled to the first RSPU, and the output interface of the first RSPU is used to output the cascaded signal to the autonomous driving control system; or, the other RSPUs of at least two RSPUs are sequentially coupled to the output interface of the first RSPU, and the output interface of the last RSPU is used to output the cascaded signal to the autonomous driving control system.

[0365] The automatic driving control system 2003 is used to acquire radar detection results based on the signals output by the radar signal processing device 2001, and control the vehicle to perform intelligent driving based on the radar detection results.

[0366] For example, the automatic driving control system 2003 senses the surrounding environment information based on the signal output by the radar signal processing device 2001, detects the presence of obstacles ahead, and can control the state of the vehicle's body controller, engine control unit, etc., thereby executing avoidance strategies, such as deceleration and emergency braking.

[0367] The mobile platform described above can also be applied to various types of drones, such as photography drones and agricultural drones, and is not limited to autonomous vehicles.

[0368] It should be noted that in the above embodiments, the RSPU and RSPU chip are used to indicate the same device. However, the RSPU can be packaged as a separate chip, or integrated with other functional circuits, such as the MMIC. Alternatively, multiple RSPUs can be integrated together and packaged as the same chip. Similarly, the MMIC and MMIC chip are used to indicate the same device. Likewise, the MMIC can be packaged as a separate chip, or integrated with other functional circuits, such as the RSPU. Alternatively, multiple MMICs can be integrated together and packaged as the same chip.

[0369] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A radar signal processing device for use in a radar system, characterized in that, include: At least two RSPUs are interconnected in a cascaded manner, and each RSPU is a radar signal processing unit for performing baseband data processing. Wherein, the at least two RSPUs are interconnected in a cascaded manner, including: The input interface of the first RSPU of the at least two RSPUs is coupled to the output interface of the microwave signal processing device, and the input interface of the first RSPU is used to receive the signal output by the microwave signal processing device; the at least two RSPUs are used to perform cascade processing on the signal output by the microwave signal processing device. The other RSPUs in the at least two RSPUs are coupled to the first RSPU, and the output interface of the first RSPU is used to output the cascaded signal; or, the other RSPUs in the at least two RSPUs are sequentially coupled to the output interface of the first RSPU, and the output interface of the last RSPU is used to output the cascaded signal. When the at least two RSPUs are interconnected in a serial cascade manner, the at least two RSPUs are used to perform serial cascade processing on the signals output by the microwave signal processing device. The input interface of the first RSPU of the at least two RSPUs is coupled to the output interface of the microwave signal processing device, the other RSPUs of the at least two RSPUs are sequentially coupled to the output interface of the first RSPU, and the output interface of the last RSPU is used to output the signal after serial cascade processing. The at least two RSPUs include completely different data processing units.

2. The apparatus according to claim 1, characterized in that, When the at least two RSPUs are interconnected in a parallel cascade manner, the at least two RSPUs are used to perform parallel cascade processing on the signal output by the microwave signal processing device. Wherein, at least two of the input terminals of the first RSPU are respectively coupled to the output interface of the microwave signal processing device, and the input interfaces of the at least two first RSPUs are respectively used to receive the signals output by the microwave signal processing device; In the at least two first RSPUs, the signal output terminal of the last data processing unit of each first RSPU is coupled to the same output interface, which is used to output the signal after parallel cascaded processing.

3. The apparatus according to claim 2, characterized in that, In the at least two first RSPUs, the input interface of each first RSPU is coupled to the output interface of one or more monolithic microwave integrated circuits (MMICs) in the microwave signal processing device.

4. The apparatus according to claim 3, characterized in that, In the at least two first RSPUs, each first RSPU includes a plurality of data processing units coupled in sequence, the plurality of data processing units including a first data processing unit and a second data processing unit coupled in sequence; In the at least two first RSPUs, the output interface of the first data processing unit in each first RSPU is coupled to the input interface of the second data processing unit of the remaining first RSPUs in the at least two first RSPU paths; The input interface of the second data processing unit in each of the first RSPUs is used to receive signals output by the first data processing units of the remaining first RSPUs in at least two of the first RSPUs.

5. The apparatus according to claim 4, characterized in that, The first data processing unit is a distance-dimensional Fourier transform unit, and the second data processing unit is a Doppler-dimensional Fourier transform unit.

6. The apparatus according to claim 4, characterized in that, The first data processing unit is a constant false alarm rate (CFAR) detection unit, and the second data processing unit is a direction of arrival (DOA) calculation unit.

7. The apparatus according to claim 4, characterized in that, The first data processing unit is a DOA calculation unit, and the second data processing unit is a data tracking unit.

8. The apparatus according to any one of claims 2 to 7, characterized in that, Also includes: The third RSPU has its input interface coupled to the output interfaces of the at least two first RSPUs. The third RSPU is used to process the signals output by the at least two first RSPUs and output the processed signals through the output interface of the third RSPU.

9. The apparatus according to any one of claims 2 to 7, characterized in that, Also includes: Fourth RSPU; The fourth RSPU is coupled between two data processing units that are sequentially coupled in any of the first RSPUs; or... The fourth RSPU is coupled between two data processing units that are sequentially coupled in the third RSPU; or... The input interface of the fourth RSPU is coupled to the input interface of any data processing unit in any of the first RSPUs, and the output interface of the fourth RSPU is coupled to the output interface of any other data processing unit in the first RSPUs; or... The input interface of the fourth RSPU is coupled to the input interface of any data processing unit in the third RSPU, and the output interface of the fourth RSPU is coupled to the output interface of any other data processing unit in the third RSPU.

10. The apparatus according to claim 1, characterized in that, The at least two RSPUs each include one or more of the following: a distance-dimensional Fourier transform unit, a Doppler-dimensional Fourier transform unit, a CFAR unit, a DOA calculation unit, and a data tracking unit, and the at least two RSPUs are completely different.

11. The apparatus according to claim 10, characterized in that, Also includes: Fifth RSPU; The input interface of the fifth RSPU is coupled to the output interface of any one of the at least two RSPUs, or the input interface of the fifth RSPU is coupled to the output interface of one or more MMICs in the microwave signal processing device; the output interface of the fifth RSPU is coupled to the output interface of any of the remaining RSPUs among the at least two RSPUs. The fifth RSPU is used to receive signals from the RSPU coupled to the input interface of the fifth RSPU or the microwave signal processing device, to process the received signals accordingly, and to output the processed signals through the output interface of the fifth RSPU.

12. The apparatus according to any one of claims 10 to 11, characterized in that, Also includes: The sixth RSPU, The sixth RSPU is coupled between two data processing units that are sequentially coupled within any of the RSPUs; or... The sixth RSPU is coupled between two data processing units that are sequentially coupled in the fifth RSPU; or... The input interface of the sixth RSPU is coupled to the input interface of any data processing unit in any RSPU, and the output interface of the sixth RSPU is coupled to the output interface of any other data processing unit in the RSPU; or, The input interface of the sixth RSPU is coupled to the input interface of any data processing unit in the fifth RSPU, and the output interface of the sixth RSPU is coupled to the output interface of any other data processing unit in the fifth RSPU.

13. The apparatus according to claim 1, characterized in that, When the at least two RSPUs are coupled in a collaborative processing cascade manner, the at least two RSPUs are used to perform collaborative cascade processing on the signal output by the microwave signal processing device. Wherein, the input interface of the first RSPU of the at least two RSPUs is coupled to the output interface of the microwave signal processing device, the other RSPUs of the at least two RSPUs are coupled to the first RSPU, and the output interface of the first RSPU is used to output the signal after collaborative cascade processing.

14. The apparatus according to claim 13, characterized in that, The first RSPU in the at least two RSPUs includes a plurality of data processing units coupled in sequence, the plurality of data processing units coupled in sequence including a first data processing unit and a second data processing unit coupled in sequence; the remaining RSPUs in the at least two RSPUs include a functional extension unit; The input interface of the functional expansion unit is coupled to the output interface of the first data processing unit, and the output interface of the functional expansion unit is coupled to the input interface of the second data processing unit. The functional extension unit is used to receive signals from the first data processing unit of the first RSPU, process the received signals accordingly, and output the processed signals to the second data processing unit of the first RSPU.

15. The apparatus according to claim 13, characterized in that, The first RSPU in the at least two RSPUs includes a plurality of data processing units coupled in sequence, and the remaining RSPUs in the at least two RSPUs include a function extension unit; The input interface of the functional expansion unit is coupled to the output interface of one of the plurality of data processing units, and the input interface of the functional expansion unit is coupled to the input interface of any of the remaining data processing units among the plurality of data processing units.

16. The apparatus according to claim 15, characterized in that, The sequentially coupled multiple data processing units include: a distance-dimensional Fourier transform unit, a Doppler-dimensional Fourier transform unit, a CFAR unit, a DOA calculation unit, and a data tracking unit; The signal input terminal of the distance-dimensional Fourier transform unit is coupled to the output interface of the microwave signal processing device through the input interface of the first RSPU. The signal output terminal of the distance-dimensional Fourier transform unit is connected to the signal input terminal of the Doppler-dimensional Fourier transform unit. The signal output terminal of the Doppler-dimensional Fourier transform unit is connected to the signal input terminal of the CFAR unit. The signal output terminal of the CFAR unit is connected to the signal input terminal of the DOA calculation unit. The signal output terminal of the DOA calculation unit is connected to the signal input / output terminal of the data tracking unit. The signal output / output terminal of the data tracking unit is coupled to the output interface of the first RSPU.

17. The apparatus according to any one of claims 13 to 16, characterized in that, Also includes: The seventh RSPU, wherein the input interface of the seventh RSPU is coupled to the output interface of the first RSPU, the seventh RSPU is used to receive the signal output by the first RSPU, process the received signal accordingly, and output the processed signal through the output interface of the seventh RSPU.

18. A radar system, characterized in that, include: A microwave signal processing apparatus and a radar signal processing apparatus as described in any one of claims 1 to 17; The microwave signal processing device includes one or more monolithic microwave integrated circuits (MMICs) for radio frequency and analog signal processing. The input interface of each MMIC is coupled to the output interface of one or more antenna elements, and the output interface of each MMIC is coupled to the input interface of a radar signal processing unit (RSPU) in the radar signal processing device. Each MMIC is used to perform radio frequency and analog signal processing on the signals input from one or more antenna elements. The radar signal processing device includes at least two RSPUs, which are interconnected in a cascaded manner. Wherein, the at least two RSPUs are interconnected in a cascaded manner, including: The input interface of the first RSPU of the at least two RSPUs is coupled to the output interface of the microwave signal processing device, and the input interface of the first RSPU is used to receive the signal output by the microwave signal processing device; the at least two RSPUs are used to perform cascade processing on the signal output by the microwave signal processing device. The other RSPUs in the at least two RSPUs are coupled to the first RSPU, and the output interface of the first RSPU is used to output the cascaded signal; or, the other RSPUs in the at least two RSPUs are sequentially coupled to the output interface of the first RSPU, and the output interface of the last RSPU is used to output the cascaded signal.

19. The radar system according to claim 18, characterized in that, The microwave signal processing device includes at least two sets of microwave signal processing circuits, each set of microwave signal processing circuits includes at least one MMIC, and each set of MMICs is connected to one RSPU in the radar signal processing device.

20. A mobile platform, characterized in that, include: The radar signal processing apparatus, microwave signal processing apparatus, and automatic driving control system as described in any one of claims 1 to 17 The microwave signal processing device includes one or more MMICs, each MMIC's input interface is coupled to the output interface of one or more antenna elements, and each MMIC's output interface is coupled to the input interface of a radar signal processing unit (RSPU) in the radar signal processing device; each MMIC is used to perform radio frequency and analog signal processing on the signals input from one or more antenna elements. The radar signal processing device includes at least two RSPUs, which are interconnected in a cascaded manner. Wherein, the at least two RSPUs are interconnected in a cascaded manner, including: The input interface of the first RSPU of the at least two RSPUs is coupled to the output interface of the microwave signal processing device, and the input interface of the first RSPU is used to receive the signal output by the microwave signal processing device; the at least two RSPUs are used to perform cascade processing on the signal output by the microwave signal processing device. The other RSPUs in the at least two RSPUs are coupled to the first RSPU, and the output interface of the first RSPU is used to output the cascaded processed signal to the autonomous driving control system; or, the other RSPUs in the at least two RSPUs are sequentially coupled to the output interface of the first RSPU, and the output interface of the last RSPU is used to output the cascaded processed signal to the autonomous driving control system. The autonomous driving control system is used to obtain radar detection results based on the signals output by the radar signal processing device, and to control the vehicle to perform intelligent driving based on the radar detection results.

21. A radar signal processing method applied to a radar system, characterized in that, The radar system includes a radar signal processing device, which includes at least two RSPUs interconnected in a cascaded manner, wherein each RSPU is a radar signal processing unit for performing baseband data processing; the method includes: The signal output from the microwave signal processing device is received through the input interface of the first RSPU of the at least two RSPUs; the at least two RSPUs perform cascade processing on the signal output from the microwave signal processing device. The cascaded signal is output through the output interface of the first RSPU, wherein the other RSPUs among the at least two RSPUs are coupled to the first RSPU; or, the cascaded signal is output through the output interface of the last RSPU, wherein the other RSPUs among the at least two RSPUs are sequentially coupled to the output interface of the first RSPU. When the at least two RSPUs are interconnected in a serial cascade manner, the at least two RSPUs are used to perform serial cascade processing on the signals output by the microwave signal processing device. The input interface of the first RSPU of the at least two RSPUs is coupled to the output interface of the microwave signal processing device, the other RSPUs of the at least two RSPUs are sequentially coupled to the output interface of the first RSPU, and the output interface of the last RSPU is used to output the signal after serial cascade processing. The at least two RSPUs include completely different data processing units.

22. The method according to claim 21, characterized in that, When the at least two RSPUs are interconnected in a parallel cascade manner, the at least two RSPUs are used to perform parallel cascade processing on the signals output by the microwave signal processing device; wherein, the input terminals of the at least two first RSPUs are respectively coupled to the output interface of the microwave signal processing device, and the input interfaces of the at least two first RSPUs are respectively used to receive the signals output by the microwave signal processing device; the signal output terminal of the last data processing unit of the at least two first RSPUs is coupled to the same output interface, which is used to output the parallel cascaded processed signals; Furthermore, in the at least two first RSPUs, each first RSPU includes a plurality of data processing units coupled in sequence, the plurality of data processing units including a first data processing unit and a second data processing unit coupled in sequence; In the at least two first RSPUs, the output interface of the first data processing unit in each first RSPU is coupled to the input interface of the second data processing unit in the remaining first RSPUs in the at least two first RSPUs; The at least two RSPUs perform parallel cascade processing on the signals output by the microwave signal processing device, including: In the at least two first RSPUs, the second data processing unit of each first RSPU acquires the data output by the first data processing unit of the other first RSPUs; Each first RSPU performs load balancing on the data output by all first data processing units based on the number of at least two first RSPUs and the characteristics of the data output by the first data processing unit, and determines the data to be processed corresponding to the second data processing unit of the first RSPU. The second data processing unit of each of the first RSPUs processes the determined data to be processed.

23. The method according to claim 22, characterized in that, The first data processing unit is a distance-dimensional Fourier transform unit, and the second data processing unit is a Doppler-dimensional Fourier transform unit; each first RSPU performs load balancing on the data output by all first data processing units based on the number of at least two first RSPUs and the characteristics of the data output by the first data processing unit, and determines the data to be processed corresponding to the second data processing unit of the first RSPU, including: In the at least two first RSPUs, each first RSPU performs load balancing on the data output by all distance-dimensional Fourier transform units based on the number of the at least two first RSPUs and the distance dimension, and determines the data to be processed corresponding to the Doppler Fourier transform unit of the first RSPU.

24. The method according to claim 22, characterized in that, The first data processing unit is a Constant False Alarm Rate (CFAR) unit, and the second data processing unit is a Direction of Arrival (DOA) calculation unit. Each first RSPU performs load balancing on the data output by all first data processing units based on the number of at least two first RSPUs and the characteristics of the data output by the first data processing unit, determining the data to be processed corresponding to the second data processing unit of the first RSPU, including: In the at least two first RSPUs, each first RSPU performs load balancing on the data output by all CFAR units based on the number of the at least two first RSPUs and the target number dimension, and determines the data to be processed corresponding to the DOA detection unit of the first RSPU.

25. The method according to claim 22, characterized in that, The first data processing unit is a DOA calculation unit, and the second data processing unit is a data tracing unit; each first RSPU performs load balancing on the data output by all first data processing units based on the number of the at least two first RSPUs and the characteristics of the data output by the first data processing unit, and determines the data to be processed corresponding to the second data processing unit of the first RSPU, including: In the at least two first RSPUs, each first RSPU performs load balancing on the data output by all DOA computing units based on the number of the at least two first RSPUs and the target number dimension, and determines the data to be processed corresponding to the data tracking unit of the first RSPU.

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