Echo power compensation method, compensation device, radar and storage medium

Abstract

The application is suitable for the field of radar technology, and provides a compensation method and device for echo power, a radar and a storage medium. The compensation method comprises the following steps: when a radar detects a target, determining a current echo power of a compensation device according to a distance between the radar and the compensation device, wherein the compensation device is located in a sensing range of the radar; subtracting the current echo power of the compensation device from a reference echo power of the compensation device to obtain a change value of the echo power of the compensation device in this time detection; and if the change value of the echo power of the compensation device in this time detection exceeds a preset range, compensating a current echo power of the radar according to the change value of the echo power of the compensation device in this time detection. Through the application, the interference of factors such as temperature drift, rain and snow attenuation, device aging and the like on the echo power of the radar can be reduced, and the target detection performance of the radar is improved.

Description

Technical Field

[0001] This application belongs to the field of radar technology, and particularly relates to a method, device, radar and storage medium for compensating echo power. Background Technology

[0002] Currently, radar applications (such as visibility detection, target recognition, and target classification) typically require the use of radar echo power. However, radar echo power is easily affected by factors such as temperature drift, attenuation due to rain, snow, fog, and component aging, which can alter radar's target detection performance. Therefore, reducing the interference of temperature drift, attenuation due to rain, snow, fog, and component aging on radar echo power is a pressing technical problem that needs to be solved. Summary of the Invention

[0003] This application provides a method, device, radar, and storage medium for compensating echo power, in order to reduce the interference of factors such as temperature drift, rain, snow, fog attenuation, and device aging on the echo power of the radar and improve the target detection performance of the radar.

[0004] In a first aspect, embodiments of this application provide a method for compensating echo power, the compensation method comprising:

[0005] When the radar detects a target, the current echo power of the compensation device is determined based on the distance between the radar and the compensation device, wherein the compensation device is located within the radar's sensing range.

[0006] Subtracting the current echo power of the compensation device from the reference echo power of the compensation device yields the change in echo power detected by the compensation device in the current test.

[0007] If the change in echo power detected by the compensation device in the current instance exceeds a preset range, the current echo power of the radar is compensated based on the change in echo power detected by the compensation device in the current instance.

[0008] Secondly, embodiments of this application provide an echo power compensation device, the compensation device comprising:

[0009] A power determination module is used to determine the current echo power of the compensation device based on the distance between the radar and the compensation device when the radar detects a target, wherein the compensation device is located within the detection range of the radar;

[0010] The power calculation module is used to subtract the current echo power of the compensation device from the reference echo power of the compensation device to obtain the change value of the echo power of the compensation device in the current detection.

[0011] The power compensation module is used to compensate the current echo power of the radar based on the echo power change value detected by the compensation device in the current test if the change value exceeds a preset range.

[0012] Thirdly, embodiments of this application provide a radar, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the compensation method described in the first aspect above.

[0013] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the compensation method described in the first aspect above.

[0014] Fifthly, embodiments of this application provide a computer program product that, when run on a radar, causes the radar to perform the steps of the compensation method described in the first aspect above.

[0015] As can be seen from the above, when the radar detects a target, the current echo power of the compensation device can be determined based on the distance between the radar and the compensation device located within the radar's sensing range. By subtracting the current echo power of the compensation device from its reference echo power, the change in echo power of the compensation device during the current detection can be obtained. By determining whether the change in echo power of the compensation device during the current detection exceeds a preset range, it can be determined whether the radar's current echo power is affected by factors such as temperature drift, attenuation due to rain, snow, fog, or device aging. If the change in echo power of the compensation device during the current detection exceeds the preset range, it can be determined that the radar's current echo power is affected by the aforementioned factors. In this case, by compensating the radar's current echo power with the change in echo power of the compensation device during the current detection, the interference of the aforementioned factors on the radar echo power can be reduced, thereby improving the radar's target detection performance. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is the application scenario of the echo power compensation system provided in Embodiment 1 of this application;

[0018] Figure 2This is a schematic diagram illustrating the implementation process of the echo power compensation method provided in Embodiment 2 of this application;

[0019] Figure 3 This is a schematic diagram illustrating the implementation process of the echo power compensation method provided in Embodiment 3 of this application;

[0020] Figure 4 This is a schematic diagram illustrating the implementation process of the echo power compensation method provided in Embodiment 4 of this application;

[0021] Figure 5 This is an example diagram showing the average power corresponding to M frequency points;

[0022] Figure 6 This is an example diagram showing the equivalent change in transmit power before and after compensation;

[0023] Figure 7 This is a schematic diagram of the echo power compensation device provided in Embodiment 5 of this application;

[0024] Figure 8 This is a schematic diagram of the radar structure provided in Embodiment Six of this application. Detailed Implementation

[0025] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0026] It should be understood that, when used in this specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0027] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if detected [the described condition or event]" may be interpreted, depending on the context, as meaning "once determined," "in response to determination," "once detected [the described condition or event]," or "in response to detection [the described condition or event]."

[0028] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0029] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0030] It should be understood that temperature drift in this embodiment refers to the change in the output power of radio frequency devices such as the transmitter and power amplifier inside the radar as the temperature changes.

[0031] Radar Cross Section (RCS) is a measure of a target's ability to reflect radar signals in the direction of radar reception. The RCS of a target is equal to the ratio of the power reflected by the target per unit solid angle in the direction of the radar receiving antenna to the power density incident on the target.

[0032] To reduce the interference of temperature drift on radar echo power, one existing solution is to detect temperature changes in the radar signal modulation circuit using a temperature detection component, and then compensate for these temperature changes by outputting a voltage through a variable impedance circuit. However, this solution only addresses the output voltage changes caused by temperature variations in the radar signal modulation circuit and cannot compensate for temperature changes in other radar components (such as power amplifiers). Furthermore, the added hardware circuitry (e.g., temperature detection component, variable impedance circuit) is itself susceptible to temperature fluctuations, resulting in low accuracy of measurements and consequently, lower radar target detection performance. Temperature measurements often exhibit lag, especially in situations with significant temperature variations, reducing its practicality. To address these technical problems, this application provides an echo power compensation method that, without adding to the radar's hardware circuitry, compensates for the radar's current echo power using a compensation device located within the radar's sensing range. This reduces interference from factors such as temperature drift, attenuation due to rain, snow, fog, and component aging, thereby improving the radar's target detection performance.

[0033] It should be understood that the sequence number of each step in this embodiment does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of this application embodiment.

[0034] To illustrate the technical solution described in this application, specific embodiments are provided below.

[0035] See Figure 1 This is an application scenario for the echo power compensation system provided in Embodiment 1 of this application, specifically an application scenario on a highway. Figure 1 As shown, the compensation system includes a radar and compensation equipment. In actual deployment, the radar is mounted on a gantry or side pole of the highway, and the compensation equipment is mounted on the median strip. The distance between the radar and the compensation equipment is R. Generally, the compensation equipment is positioned 10 to 50 meters away from the radar. Setting R to less than 50 meters can reduce the interference of atmospheric attenuation between the radar and the compensation equipment on the echo power. The radar mentioned above can be a Frequency Modulated Continuous Wave (FMCW) radar.

[0036] The compensation device can be either passive or active; there is no limitation here. For example, a corner reflector can be used as a passive device. Corner reflectors have a high RCS and can reflect higher-energy echoes, thus providing better compensation for radar echo power when used as a compensation device. An active device can be a radar operating in the same frequency band as the aforementioned radar.

[0037] To reduce interference from active equipment on radar echo power, the active equipment needs to maintain a constant transmit power. Since active equipment is also susceptible to interference from factors such as temperature drift, it can be configured to operate intermittently to reduce the impact of temperature drift and other factors.

[0038] It should be noted that the compensation device can be a physical device (such as a corner reflector) or any area within the radar's sensing range (such as an area on an emergency road); there are no limitations on this. Compared to areas within the sensing range, physical devices have more stable echo power and provide better compensation.

[0039] This embodiment of the application sets or selects a compensation device within the radar's sensing range. When the radar detects a target, the current echo power of the compensation device is determined based on the distance between the radar and the compensation device. By subtracting the current echo power of the compensation device from its reference echo power, the change in echo power detected by the compensation device in that current detection can be obtained. By determining whether the change in echo power detected by the compensation device in that current detection exceeds a preset range, it can be determined whether the radar's current echo power is interfered with by factors such as temperature drift, attenuation due to rain, snow, fog, or device aging. If the change in echo power detected by the compensation device in that current detection exceeds the preset range, it can be determined that the radar's current echo power is interfered with by the aforementioned factors. In this case, by compensating the radar's current echo power with the change in echo power detected by the compensation device in that current detection, the interference of the aforementioned factors on the radar echo power can be reduced, thereby improving the radar's target detection performance.

[0040] See Figure 2 This is a schematic diagram illustrating the implementation process of the echo power compensation method provided in Embodiment 2 of this application. Figure 2 As shown, the compensation method may include the following steps:

[0041] Step 201: When the radar detects a target, determine the current echo power of the compensation device based on the distance between the radar and the compensation device.

[0042] The compensation device is located within the radar's sensing range. When the radar is operating, it is determined that the radar is detecting a target, which can be any object within the radar's sensing range, such as a person, vehicle, compensation device, signpost, roadside guardrail, etc.

[0043] The distance between the radar and the compensation device can be pre-stored in the radar or obtained by the radar from the terminal device; there is no limitation on this. For example, the user inputs the distance between the radar and the compensation device into the terminal device. After receiving the distance, the terminal device can save it. After receiving a distance acquisition request from the radar, the terminal device can send the distance between the radar and the compensation device back to the radar.

[0044] Based on the distance between the radar and the compensation equipment, the frequency of the intermediate frequency (IF) signal of the compensation equipment can be determined. Based on the frequency of the IF signal, the current echo power of the compensation equipment can be determined. Here, the IF signal of the compensation equipment refers to the IF signal corresponding to the echo signal of the compensation equipment. The current echo power of the compensation equipment refers to the echo power of the compensation equipment at the current moment.

[0045] Specifically, let's assume the radar's transmitted signal is:

[0046]

[0047] Where f0 is the signal start frequency, k = B / T is the frequency modulation slope of the linear frequency modulated signal, B is the bandwidth of the transmitted signal, and T is the sweep period.

[0048] The echo signals of targets at different distances can be represented as:

[0049]

[0050] Where: τ n =2R n / c represents the distance R h The echo delay caused by the target at the location is given by c, where c is the speed of light, H is the number of targets, and h = 1, ..., H. Additionally, the wavelength λ can be chosen as... Therefore, the echo signals of targets at different distances can be represented as:

[0051]

[0052] In an ideal situation, the echo signal of a target within the radar's sensing range is as shown in formula (3) above. By mixing the echo signal, an intermediate frequency (IF) signal can be obtained, which can be expressed as:

[0053]

[0054] Among them, K h Let be the amplitude of the echo signal of the h-th target, which corresponds to the echo power. From equation (4), the intermediate frequency signal s can be obtained. IF The frequency of (t) is

[0055] In actual deployments of radar and compensation equipment, the echo signal of the compensation equipment is usually mixed with clutter signals such as nearby leaves and traffic facilities (such as railings). Furthermore, radar will experience noise and false alarms during target detection. Therefore, in practical applications, the intermediate frequency signal of the compensation equipment can be filtered out from the intermediate frequency signals of all targets within the radar's sensing range based on the frequency of the compensation equipment's intermediate frequency signal, thereby obtaining the current echo power of the compensation equipment.

[0056] Step 202: Subtract the current echo power of the compensation device from the reference echo power of the compensation device to obtain the change value of the echo power of the compensation device in the current detection.

[0057] The reference echo power of the compensation device can be pre-stored in the radar. When compensating for the radar echo power, the pre-stored reference echo power of the compensation device can be called.

[0058] The reference echo power and the current echo power of the compensation device are both considered echo power of the compensation device. They are determined in the same way, based on the distance between the radar and the compensation device, only the timing differs. The reference echo power of the compensation device can refer to the echo power when the radar is minimally affected by factors such as temperature drift, attenuation from rain, snow, fog, or component aging, or when these factors are not present. For example, when the radar has been operating for a short time and the temperature is low, the echo power of the compensation device determined based on the distance between the radar and the compensation device is the reference echo power of the compensation device.

[0059] The difference between the reference echo power of the compensation device and the current echo power of the compensation device is the change in echo power detected by the compensation device in the current test.

[0060] The change in echo power can be understood as the decrease in echo power caused by interference from factors such as temperature drift, attenuation due to rain, snow, fog, and device aging.

[0061] Step 203: If the change in echo power detected by the compensation device in the current test exceeds the preset range, the current echo power of the radar is compensated according to the change in echo power detected by the compensation device in the current test.

[0062] The preset range refers to the pre-set limits for echo power variation. When the radar's current echo power is not affected by factors such as temperature drift, rain, snow, fog attenuation, or device aging, the echo power variation detected by the compensation device in the current test is usually zero. Therefore, the lower limit of the preset range can be set to zero, and the upper limit is greater than zero and less than a certain value (this value is the maximum acceptable echo power variation for the radar). For example, the preset range is [0, 0.3dBm], where 0 is the lower limit and 0.3dBm is the upper limit.

[0063] By determining whether the change in echo power detected by the compensation device exceeds a preset range, it can be determined whether the radar's current echo power is affected by factors such as temperature drift, attenuation due to rain, snow, fog, or component aging. If the change in echo power detected by the compensation device exceeds the preset range, it can be determined that the radar's current echo power is affected by these factors. In this case, compensating for the radar's current echo power using the change in echo power detected by the compensation device can reduce the interference of these factors and improve the radar's target detection performance. If the change in echo power detected by the compensation device does not exceed the preset range, it can be determined that the radar's current echo power is not affected by these factors, and in this case, no compensation for the radar's current echo power is required.

[0064] In this embodiment, the change in echo power detected by the compensation device in the current detection can be added to the current echo power of the radar to compensate for the current echo power of the radar, thereby obtaining the echo power after reducing the interference of the above factors (i.e., the target echo power), and the target echo power is the compensated echo power.

[0065] This embodiment of the application sets or selects a compensation device within the radar's sensing range. When the radar detects a target, the current echo power of the compensation device is determined based on the distance between the radar and the compensation device. By subtracting the current echo power of the compensation device from its reference echo power, the change in echo power detected by the compensation device in that current detection can be obtained. By determining whether the change in echo power detected by the compensation device in that current detection exceeds a preset range, it can be determined whether the radar's current echo power is interfered with by factors such as temperature drift, attenuation due to rain, snow, fog, or device aging. If the change in echo power detected by the compensation device in that current detection exceeds the preset range, it can be determined that the radar's current echo power is interfered with by the aforementioned factors. In this case, by compensating the radar's current echo power with the change in echo power detected by the compensation device in that current detection, the interference of the aforementioned factors on the radar echo power can be reduced, thereby improving the radar's target detection performance.

[0066] See Figure 3 This is a schematic diagram illustrating the implementation process of the echo power compensation method provided in Embodiment 3 of this application. Figure 3 As shown, the compensation method may include the following steps:

[0067] Step 301: When the radar detects a target, determine the current echo power of the compensation device based on the distance between the radar and the compensation device.

[0068] This step is the same as step 201. For details, please refer to the relevant description of step 201. It will not be repeated here.

[0069] Step 302: Subtract the current echo power of the compensation device from the reference echo power of the compensation device to obtain the change value of the echo power of the compensation device in the current detection.

[0070] This step is the same as step 202, and you can refer to the relevant description of step 202 for details, which will not be repeated here.

[0071] Step 303: If the echo power change value detected by the compensation device in the current test exceeds the preset range, the current echo power of the radar is compensated based on the echo power change value detected by the compensation device in the current test and the echo power change values ​​detected in the previous L tests.

[0072] Where L is a positive integer.

[0073] The calculation method for the echo power change value of the previous L detections is the same as the calculation method for the echo power change value of the current detection, and will not be repeated here.

[0074] Each time the echo power change value is calculated, it can be stored in the radar. The previous L detections are the L closest to the current detection. For example, if the radar stores the echo power change values ​​of seven detections (excluding the current detection), and L is five, then the radar's current echo power can be compensated based on the echo power change values ​​of the five closest detections out of the seven, as well as the echo power change value of the current detection. After compensation, the echo power change value of the current detection can be stored in the radar so that the radar can compensate for the echo power in subsequent target detection processes based on the stored echo power change values.

[0075] As an optional embodiment, the current echo power of the radar is compensated based on the echo power change value detected by the compensation device in the current detection and the echo power change values ​​detected in the previous L detections, including:

[0076] Calculate the weighted average of the echo power change values ​​of the L+1 detections of the compensation device, where the L+1 detections include the current detection and the previous L detections;

[0077] The target echo power of the radar is obtained by adding the weighted average value and the current echo power of the radar.

[0078] Multiply the echo power change values ​​from L+1 detections by the corresponding weights to obtain the sum of echo power change values. Divide the sum of echo power change values ​​by L+1 to obtain the weighted average value mentioned above.

[0079] The weights of the echo power changes from L+1 detections can be preset. Since the echo power change value closer to the current time has a greater correlation with the radar's current echo power, the weights of echo power change values ​​closer to the current time are set higher, and the weights of echo power change values ​​farther from the current time are set lower.

[0080] The weighted average value mentioned above can be understood as the value of the reduction in current echo power caused by interference from factors such as temperature drift, rain, snow, fog attenuation, and device aging. Therefore, by adding the weighted average value above to the current echo power of the radar, we can obtain the echo power after reducing the interference from the above factors, which is the target echo power of the radar.

[0081] Based on Example 2, this embodiment compensates for the current echo power of the radar based on the echo power change values ​​detected multiple times, which can further improve the accuracy of the compensation.

[0082] See Figure 4This is a schematic diagram illustrating the implementation process of the echo power compensation method provided in Embodiment 4 of this application. Figure 4 As shown, the compensation method may include the following steps:

[0083] Step 401: When the radar detects a target, acquire the spectrum information of the intermediate frequency signal for N time periods.

[0084] Here, one time period corresponds to one chirp signal, and N is an integer greater than 1. The intermediate frequency signal of a time period can refer to all intermediate frequency signals within that time period.

[0085] For any given time period, the spectral information of the intermediate frequency (IF) signal during that period can be obtained by performing a Fast Fourier Transform (FFT) on the IF signal within that time period. Since each time period corresponds to a chirp signal, the spectral information of the IF signal during that time period can also be understood as the spectral information of the chirp signal (i.e., the chirp signal corresponding to that time period). The spectral information typically includes the frequency point and the amplitude corresponding to that frequency point.

[0086] Since radar often experiences false alarms and is affected by noise and clutter during actual detection, using only the spectral information of the intermediate frequency signal for one time period to determine the current echo power of the compensation device will result in errors. This embodiment reduces errors and improves the accuracy of the current echo power of the compensation device by using the spectral information of the intermediate frequency signal for at least two time periods to determine the current echo power of the compensation device.

[0087] Step 402: Determine the frequency range of the intermediate frequency signal of the compensation device based on the distance between the radar and the compensation device.

[0088] Considering the impact of radar installation location, radar resolution, and measurement accuracy on target detection, the current echo power of the compensation device can be determined based on the frequency range of the intermediate frequency signal of the compensation device, thereby improving the accuracy of the current echo power of the compensation device.

[0089] Specifically, based on the distance between the radar and the compensation equipment, the distance range between the radar and the compensation equipment can be determined, and based on the distance range between the radar and the compensation equipment, the frequency range of the intermediate frequency signal of the compensation equipment can be determined.

[0090] For example, if the distance between the radar and the compensation device is R, and the range of the distance between the radar and the compensation device is [R-ΔR, R+ΔR] (ΔR is a constant), then the frequency range of the intermediate frequency signal of the compensation device can be [f min ,f max ],

[0091] Step 403: Select the spectral information within the frequency range from the spectral information of the intermediate frequency signal in N time periods to obtain N spectral information within the frequency range.

[0092] Specifically, from the spectral information of an intermediate frequency signal over a given time period, a spectral information within a specific frequency range can be obtained.

[0093] Step 404: Determine the current echo power of the compensation device based on N spectral information points within the frequency range.

[0094] Since the above frequency range is the frequency of the intermediate frequency signal of the compensation device, the spectrum information within the above frequency range includes the spectrum information of the intermediate frequency signal of the compensation device. The spectrum information of the intermediate frequency signal of the compensation device can be filtered out from the spectrum information of each frequency range. Then, the spectrum information of the intermediate frequency signal of the compensation device in N time periods can be obtained. Based on the spectrum information of the intermediate frequency signal of the compensation device in N time periods, the current echo power of the compensation device can be determined.

[0095] As an optional embodiment, the frequency range includes M frequency points, where M is an integer greater than 1. Based on N spectral information points within the frequency range, the current echo power of the compensation device is determined, including:

[0096] Based on N spectral information points within the frequency range, determine the average power corresponding to M frequency points;

[0097] The current echo power of the compensation device is determined based on the average power corresponding to the M frequency points.

[0098] For any frequency point among M frequency points, we can first determine the power corresponding to that frequency point in N time periods from N spectrum information within the frequency range; then we can accumulate the power corresponding to that frequency point in the N time periods, and the accumulated value is the average power corresponding to that frequency point.

[0099] For example, frequency range [f min ,f max The M frequency points within the range are f1, f2, ..., f M , and f i -f i-1 =Δf, i = 2, ..., M, where Δf is the frequency resolution, a constant. Each frequency point corresponds to an amplitude (i.e., power) P in the spectral information of the intermediate frequency signal in each time period. That is, the power corresponding to M frequency points in N time periods can be expressed as follows:

[0100] f1:P 1,1 ,...,P 1,N

[0101] f2:P2,1 ,...,P 2,N ...

[0103] f M :P M,1 ,...,P M,N

[0104] The average power corresponding to the M frequency points is as follows:

[0105]

[0106] As an optional embodiment, determining the current echo power of the compensation device based on the average power corresponding to M frequency points includes:

[0107] Detect whether there are any frequency points among M frequency points whose average power is greater than or equal to a power threshold;

[0108] If there is a frequency point among the M frequency points whose average power is greater than or equal to the power threshold, then the frequency point whose average power is greater than or equal to the power threshold is determined as the first frequency point, and the current echo power of the compensation device is determined based on the average power corresponding to the first frequency point.

[0109] The aforementioned power threshold is used to distinguish the intermediate frequency signal of the compensation device from clutter signals, noise, and some false alarm signals.

[0110] If the first frequency point exists among the M frequency points, it can be determined that the intermediate frequency signal corresponding to the first frequency point may be the intermediate frequency signal of the compensation device. Therefore, the current echo power of the compensation device can be determined based on the average power corresponding to the first frequency point. If the first frequency point does not exist among the M frequency points, it can be determined that the intermediate frequency signal of the compensation device may not exist in the intermediate frequency signal of the N time periods. Step 401 above can be returned to be executed until the first frequency point is detected among the Q frequency points.

[0111] As an optional embodiment, when the number of first frequency points is Q, and Q is an integer greater than 1, the current echo power of the compensation device is determined based on the average power corresponding to the first frequency point, including:

[0112] Based on the average power corresponding to the Q first frequency points, calculate the target value of the average power corresponding to the Q first frequency points. The target value refers to any one of the second-order center distance and the power spectral entropy.

[0113] Detect whether there is a second frequency point among the Q first frequency points whose target value is less than a specified value;

[0114] If there is a frequency point among the Q first frequency points whose target value is less than the specified value, then the frequency point whose target value is less than the specified value is determined as the second frequency point, and the current echo power of the compensation device is determined according to the average power corresponding to the second frequency point.

[0115] The target value of the average power corresponding to the first frequency point is used to characterize the degree of difference of the intermediate frequency signal corresponding to the first frequency point over N time periods. Since false alarm signals usually do not exist continuously for N time periods, their target value is relatively large; while the intermediate frequency signal of the compensation device exists continuously for N time periods, its target value is relatively small. Therefore, by comparing the target value of the average power corresponding to the first frequency point with the specified value, the intermediate frequency signal of the compensation device can be distinguished from the false alarm signal.

[0116] If a second frequency point exists among the Q first frequency points, then the intermediate frequency signal corresponding to the second frequency point can be determined as the intermediate frequency signal of the compensation device. Therefore, the current echo power of the compensation device can be determined based on the average power corresponding to the second frequency point. If a second frequency point does not exist among the Q first frequency points, then it can be determined that the intermediate frequency signal of the compensation device may not exist among the intermediate frequency signals corresponding to the Q first frequency points. In this case, the process can return to step 401 above until a second frequency point is detected among the Q first frequency points.

[0117] For example, the Q first frequency points are respectively When using the second-order center distance to represent the target value, the target value of the average power corresponding to the Q first frequency points can be expressed as:

[0118]

[0119] in,

[0120] When using another form of second-order center distance to represent the target value, the target value of the average power corresponding to the Q first frequency points can be expressed as:

[0121]

[0122] in,

[0123] When using power spectral entropy to represent the target value, the target value of the average power corresponding to the Q first frequency points can be expressed as:

[0124]

[0125] When there is a second frequency point among the Q first frequency points, the average power corresponding to all the second frequency points can be calculated, and the resulting value is the current echo power of the compensation device.

[0126] For example, the number of second frequency points is η, and the average power corresponding to η second frequency points can be expressed as:

[0127]

[0128] The current echo power of the compensation device can be expressed as:

[0129]

[0130] like Figure 5 The figure shown is an example of the average power corresponding to M frequency points. Figure 5 It is known that the average power of the intermediate frequency signal of the compensation device is the highest. In this embodiment, the intermediate frequency signal of the compensation device can be distinguished from false alarm signals, clutter signals, noise, etc. by using power threshold and specified value.

[0131] Step 405: Subtract the current echo power of the compensation device from the reference echo power of the compensation device to obtain the change value of the echo power of the compensation device in the current detection.

[0132] This step is the same as step 202, and you can refer to the relevant description of step 202 for details, which will not be repeated here.

[0133] Step 406: If the change in echo power detected by the compensation device in the current test exceeds the preset range, then the current echo power of the radar is compensated according to the change in echo power detected by the compensation device in the current test.

[0134] This step is the same as step 203, and you can refer to the relevant description of step 203 for details, which will not be repeated here.

[0135] Based on Embodiments 1 and 2, this embodiment reduces the error in determining the current echo power of the compensation device and improves the accuracy of the current echo power by acquiring the spectrum information of the intermediate frequency signal over multiple time periods.

[0136] Figure 6 This is an example diagram illustrating the equivalent change in transmit power before and after compensation. Figure 6 It is known that radar experiences temperature drift during target detection. This embodiment of the application sets up a compensation device, obtains the echo power change value of the compensation device, and compensates the current echo power of the radar with the echo power change value of the compensation device, thus ensuring radar detection performance and good real-time performance.

[0137] Corresponding to the echo power compensation method described in the above embodiments, Figure 7 A schematic diagram of the echo power compensation device provided in Embodiment 5 of this application is shown. For ease of explanation, only the parts related to the embodiments of this application are shown.

[0138] Reference Figure 7 The compensation device includes:

[0139] The power determination module 71 is used to determine the current echo power of the compensation device based on the distance between the radar and the compensation device when the radar detects a target, wherein the compensation device is located within the detection range of the radar.

[0140] The power calculation module 72 is used to subtract the current echo power of the compensation device from the reference echo power of the compensation device to obtain the change value of the echo power of the compensation device in the current detection.

[0141] The power compensation module 73 is used to compensate the current echo power of the radar based on the echo power change value detected by the compensation device in the current test if the change value of the echo power detected by the compensation device in the current test exceeds a preset range.

[0142] Optionally, the power compensation module 73 described above is specifically used for:

[0143] The current echo power of the radar is compensated based on the echo power change value detected by the compensation device in the current detection and the echo power change value detected in the previous L detections, where L is an integer greater than zero.

[0144] Optionally, the power compensation module 73 described above is specifically used for:

[0145] Calculate the weighted average of the echo power change values ​​of the L+1 detections of the compensation device, wherein the L+1 detections include the current detection and the previous L detections;

[0146] The target echo power of the radar is obtained by adding the weighted average value and the current echo power of the radar.

[0147] Optionally, the power determination module 71 includes:

[0148] The information acquisition submodule is used to acquire the spectrum information of the intermediate frequency signal for N time periods when the radar detects a target. Each time period corresponds to a Chirp signal, and N is an integer greater than 1.

[0149] The frequency determination submodule is used to determine the frequency range of the intermediate frequency signal of the compensation device based on the distance between the radar and the compensation device;

[0150] The information selection submodule is used to select spectral information within the frequency range from the spectral information of the intermediate frequency signal in the N time periods, respectively, to obtain N spectral information within the frequency range;

[0151] The power determination submodule is used to determine the current echo power of the compensation device based on N spectral information located within the frequency range.

[0152] Optionally, the frequency range includes M frequency points, where M is an integer greater than 1, and the power determination submodule includes:

[0153] The first determining unit is used to determine the average power corresponding to the M frequency points based on N spectral information located within the frequency range;

[0154] The second determining unit is used to determine the current echo power of the compensation device based on the average power corresponding to the M frequency points.

[0155] Optionally, the second determining unit mentioned above includes:

[0156] The detection subunit is used to detect whether there are any frequency points among the M frequency points whose average power is greater than or equal to a power threshold;

[0157] The processing subunit is configured to determine, if there is a frequency point among the M frequency points whose average power is greater than or equal to the power threshold, as the first frequency point, and determine the current echo power of the compensation device based on the average power corresponding to the first frequency point.

[0158] Optionally, when the number of the first frequency points is Q, and Q is an integer greater than 1, the above processing subunit is specifically used for:

[0159] Based on the average power corresponding to the Q first frequency points, calculate the target value of the average power corresponding to the Q first frequency points, where the target value refers to any one of the second-order center distance and the power spectral entropy.

[0160] Detect whether there is a frequency point among the Q first frequency points whose target value is less than a specified value;

[0161] If there is a frequency point among the Q first frequency points whose target value is less than the specified value, then the frequency point whose target value is less than the specified value is determined as the second frequency point, and the current echo power of the compensation device is determined according to the average power corresponding to the second frequency point.

[0162] It should be noted that the information interaction and execution process between the above-mentioned devices / units are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method embodiments section, and they will not be repeated here.

[0163] Figure 8 This is a schematic diagram of the radar structure provided in Embodiment Six of this application. Figure 8 As shown, the radar 8 of this embodiment includes: one or more processors 80 (only one is shown in the figure), a memory 81, and a computer program 82 stored in the memory 81 and executable on the processors 80. When the processor 80 executes the computer program 82, it implements the steps in the various method embodiments described above.

[0164] The radar 8 may include, but is not limited to, a processor 80 and a memory 81. Those skilled in the art will understand that... Figure 8 This is merely an example of radar 8 and does not constitute a limitation on radar 8. It may include more or fewer components than shown, or combine certain components, or different components. For example, the radar may also include input / output devices, network access devices, buses, etc.

[0165] The processor 80 may be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0166] The memory 81 can be an internal storage unit of the radar 8, such as a hard disk or memory. The memory 81 can also be an external storage device of the radar 8, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the radar 8. Furthermore, the memory 81 can include both internal storage units and external storage devices. The memory 81 is used to store the computer program and other programs and data required by the radar. The memory 81 can also be used to temporarily store data that has been output or will be output.

[0167] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above device can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0168] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps described in the various method embodiments above.

[0169] This application also provides a computer program product that, when run on a radar, enables the radar to perform the steps described in the above-described method embodiments.

[0170] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0171] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0172] In the embodiments provided in this application, it should be understood that the disclosed apparatus / radar and method can be implemented in other ways. For example, the apparatus / radar embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0173] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0174] If the integrated module / unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electrical carrier signals and telecommunication signals.

[0175] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A method for compensating echo power, characterized in that, The compensation method includes: When the radar detects a target, the current echo power of the compensation device is determined based on the distance between the radar and the compensation device, wherein the compensation device is located within the radar's sensing range. Subtracting the current echo power of the compensation device from the reference echo power of the compensation device yields the change in echo power detected by the compensation device in the current test. If the change in echo power detected by the compensation device in the current instance exceeds a preset range, the current echo power of the radar is compensated based on the change in echo power detected by the compensation device in the current instance. When the radar detects a target, determining the current echo power of the compensation device based on the distance between the radar and the compensation device includes: When the radar detects a target, it acquires the spectrum information of the intermediate frequency signal for N time periods, where each time period corresponds to a chirp signal, and N is an integer greater than 1. The frequency range of the intermediate frequency signal of the compensation device is determined based on the distance between the radar and the compensation device. From the spectral information of the intermediate frequency signal in the N time periods, spectral information within the frequency range is selected respectively to obtain N spectral information within the frequency range; The current echo power of the compensation device is determined based on N spectral information values ​​within the frequency range.

2. The compensation method as described in claim 1, characterized in that, The step of compensating the current echo power of the radar based on the echo power change value detected by the compensation device in the current detection includes: The current echo power of the radar is compensated based on the echo power change value detected by the compensation device in the current detection and the echo power change value detected in the previous L detections, where L is an integer greater than zero.

3. The compensation method as described in claim 2, characterized in that, The step of compensating the radar's current echo power based on the echo power change value detected by the compensation device in the current detection and the echo power change values ​​detected in the previous L detections includes: Calculate the weighted average of the echo power change values ​​of the L+1 detections of the compensation device, wherein the L+1 detections include the current detection and the previous L detections; The target echo power of the radar is obtained by adding the weighted average value and the current echo power of the radar.

4. The compensation method as described in claim 1, characterized in that, The frequency range includes M frequency points, where M is an integer greater than 1. Determining the current echo power of the compensation device based on N spectral information points within the frequency range includes: Based on N spectral information points located within the frequency range, determine the average power corresponding to the M frequency points; The current echo power of the compensation device is determined based on the average power corresponding to the M frequency points.

5. The compensation method as described in claim 4, characterized in that, Determining the current echo power of the compensation device based on the average power corresponding to the M frequency points includes: Detect whether there are any frequency points among the M frequency points whose average power is greater than or equal to a power threshold; If there is a frequency point among the M frequency points whose average power is greater than or equal to a power threshold, then the frequency point whose average power is greater than or equal to the power threshold is determined as the first frequency point, and the current echo power of the compensation device is determined according to the average power corresponding to the first frequency point.

6. The compensation method as described in claim 5, characterized in that, When the number of the first frequency points is Q, and Q is an integer greater than 1, determining the current echo power of the compensation device based on the average power corresponding to the first frequency point includes: Based on the average power corresponding to the Q first frequency points, calculate the target value of the average power corresponding to the Q first frequency points, where the target value refers to any one of the second-order center distance and the power spectral entropy. Detect whether there is a frequency point among the Q first frequency points whose target value is less than a specified value; If there is a frequency point among the Q first frequency points whose target value is less than the specified value, then the frequency point whose target value is less than the specified value is determined as the second frequency point, and the current echo power of the compensation device is determined according to the average power corresponding to the second frequency point.

7. A device for compensating echo power, characterized in that, The compensation device includes: A power determination module is used to determine the current echo power of the compensation device based on the distance between the radar and the compensation device when the radar detects a target, wherein the compensation device is located within the detection range of the radar; The power calculation module is used to subtract the current echo power of the compensation device from the reference echo power of the compensation device to obtain the change value of the echo power of the compensation device in the current detection. The power compensation module is used to compensate the current echo power of the radar based on the echo power change value detected by the compensation device in the current test if the change value of the echo power detected by the compensation device in the current test exceeds a preset range. The power determination module includes: The information acquisition submodule is used to acquire the spectrum information of the intermediate frequency signal for N time periods when the radar detects a target. Each time period corresponds to a Chirp signal, and N is an integer greater than 1. The frequency determination submodule is used to determine the frequency range of the intermediate frequency signal of the compensation device based on the distance between the radar and the compensation device; The information selection submodule is used to select spectral information within the frequency range from the spectral information of the intermediate frequency signal in the N time periods, respectively, to obtain N spectral information within the frequency range; The power determination submodule is used to determine the current echo power of the compensation device based on N spectral information located within the frequency range.

8. A radar comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the compensation method as described in any one of claims 1 to 6.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the compensation method as described in any one of claims 1 to 6.

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