Methods, apparatus, electronic devices and storage media for detecting target speed

Abstract

This application relates to the field of radar technology, providing a method, apparatus, electronic device, and storage medium for detecting target velocity. The method includes: acquiring an echo signal; processing the echo signal using a preset algorithm to obtain a three-dimensional matrix, the three-dimensional matrix containing ranging, velocity, and angle dimensions; acquiring multiple slices of the three-dimensional matrix in the velocity dimension, and selecting target slices with velocities greater than a preset threshold from the multiple slices based on the velocities corresponding to each slice; and outputting the velocity of the target in the radar system's field of view based on the velocity corresponding to the target slice. Since much noise is reflected from stationary objects, affecting the detection of moving targets, acquiring target slices with velocities greater than a preset threshold and finally outputting the velocity of the target in the radar system's field of view based on the velocity corresponding to the target slice can remove noise reflected from stationary objects, improving the accuracy of radar target detection.

Description

Technical Field

[0001] This application belongs to the field of radar technology, and in particular relates to a method, apparatus, electronic device and storage medium for detecting target velocity. Background Technology

[0002] Currently, in autonomous driving, radar can detect targets such as vehicles and pedestrians on the road based on the wave signals it emits, providing information such as the target's distance, speed, and angle in the sensor's own coordinate system. Radar also has the advantage of operating in all weather conditions and around the clock, thus holding a crucial position. For example, radar can use frequency-modulated continuous wave (FMCW) signals for ranging and speed measurement. By deploying multiple antennas, it measures the angle based on the received signals and the phase difference of the received signals. However, because radar-based target detection data contains a lot of noise, the signal-to-noise ratio is low, resulting in low accuracy in target detection. Summary of the Invention

[0003] This application provides a method, apparatus, electronic device, and storage medium for detecting target velocity, aiming to solve the problem of low accuracy in existing radar-based target detection methods.

[0004] In a first aspect, a method for detecting target velocity, applied to a radar system comprising multiple antennas, the radar system transmitting frequency-modulated continuous waves for ranging, comprising:

[0005] Acquire echo signal;

[0006] The echo signal is processed using a preset algorithm to obtain a three-dimensional matrix, which includes a ranging dimension, a velocity dimension, and an angle dimension.

[0007] Obtain multiple slices of the three-dimensional matrix in the velocity dimension, and select target slices with velocities greater than a preset threshold from the multiple slices according to the velocities corresponding to each slice;

[0008] The speed of the target in the radar system's field of view is output based on the speed corresponding to the target slice.

[0009] In one embodiment, the preset algorithm is the three-dimensional fast Fourier transform algorithm 3D-FFT.

[0010] In one embodiment, processing the echo signal using a preset algorithm to obtain a three-dimensional matrix includes:

[0011] The echo signal was processed using the two-dimensional fast Fourier transform algorithm (2D-FFT) to obtain a distance-velocity map.

[0012] An angle estimation algorithm is used to process the echo signals between the antennas to obtain angle information;

[0013] The three-dimensional matrix is ​​obtained based on the distance-velocity diagram and the angle information.

[0014] In one embodiment, the angle estimation algorithm is one of Beamforming, Capon, or MUSIC algorithms.

[0015] In one embodiment, outputting the velocity of the target under test based on the velocity corresponding to the target slice includes:

[0016] Determine the maximum velocity in the velocity measurement dimension of the three-dimensional matrix;

[0017] The ratio between the speed corresponding to each target slice and the maximum speed is determined as the weighting factor for the speed corresponding to the target slice.

[0018] The velocity of the target to be tested is obtained by weighting the velocity corresponding to each target slice and the corresponding weight factor.

[0019] In one embodiment, the radar system is a millimeter-wave radar system.

[0020] In one embodiment, acquiring the echo signal includes:

[0021] Acquire the echo signal returned by the frequency-modulated continuous wave emitted by the millimeter-wave radar system.

[0022] Secondly, embodiments of this application provide a device for detecting target velocity, applied to a radar system comprising multiple antennas, wherein the radar system transmits frequency-modulated continuous waves for ranging, including:

[0023] The first acquisition module is used to acquire echo signals;

[0024] The module is used to process the echo signal using a preset algorithm to obtain a three-dimensional matrix, which includes a ranging dimension, a velocity dimension, and an angle dimension.

[0025] The second acquisition module is used to acquire multiple slices of the three-dimensional matrix in the velocity dimension, and to acquire target slices with a velocity greater than a preset threshold from the multiple slices according to the velocity corresponding to each slice.

[0026] The output module is used to output the velocity of the target to be measured in the field of view of the radar system according to the velocity corresponding to the target slice.

[0027] In one embodiment, the preset algorithm is the three-dimensional fast Fourier transform algorithm 3D-FFT.

[0028] In one embodiment, the obtaining module includes:

[0029] The first obtaining unit is used to process the echo signal using the two-dimensional fast Fourier transform algorithm 2D-FFT to obtain a distance-velocity map;

[0030] The second obtaining unit is used to process the echo signals between the antennas using an angle estimation algorithm to obtain angle information;

[0031] The third obtaining unit is used to obtain the three-dimensional matrix based on the distance-velocity map and the angle information.

[0032] In one embodiment, the angle estimation algorithm is one of Beamforming, Capon, or MUSIC algorithms.

[0033] In one embodiment, the output module includes:

[0034] The first determining unit is used to determine the maximum speed in the velocity measurement dimension of the three-dimensional matrix;

[0035] The second determining unit is used to determine the ratio between the speed corresponding to each target slice and the maximum speed as a weighting factor for the speed corresponding to the target slice.

[0036] The fourth obtaining unit is used to obtain the velocity of the target under test by weighting the velocity corresponding to each target slice and the corresponding weight factor.

[0037] In one embodiment, the first acquisition module is specifically used to: acquire the echo signal returned by the frequency-modulated continuous wave emitted by the millimeter-wave radar system.

[0038] Thirdly, embodiments of this application provide an electronic device, 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 method for detecting target speed described above.

[0039] 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 method for detecting target speed.

[0040] Fifthly, embodiments of this application provide a computer program product that, when run on an electronic device, causes the electronic device to perform the steps of the method for detecting the target speed described above.

[0041] The beneficial effects of this application embodiment compared with the prior art are as follows: Echo signals are acquired, and processed using a preset algorithm to obtain a three-dimensional matrix including ranging, velocity, and angle dimensions. Based on the velocities corresponding to multiple slices of the three-dimensional matrix in velocity, target slices exceeding a preset threshold are obtained. Finally, the velocity of the target in the radar system's field of view is output based on the velocity corresponding to the target slice. Since much noise is reflected from stationary objects, affecting the detection of moving targets, acquiring target slices exceeding a preset threshold and outputting the velocity of the target in the radar system's field of view based on the velocity corresponding to the target slice removes noise reflected from stationary objects, thereby improving the accuracy of radar target detection. Attached Figure Description

[0042] 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.

[0043] Figure 1 This is a schematic flowchart of a method for detecting target speed provided in an embodiment of this application;

[0044] Figure 2 This is a schematic diagram of a three-dimensional matrix obtained by processing the echo signal using a preset algorithm according to an embodiment of this application;

[0045] Figure 3 This is a schematic flowchart of step S102 provided in an embodiment of this application;

[0046] Figure 4 This is a schematic flowchart of step S104 provided in an embodiment of this application;

[0047] Figure 5 This is a schematic diagram of the structure of a device for detecting target speed according to another embodiment of this application;

[0048] Figure 6 This is a schematic diagram of the structure of an electronic device provided in another embodiment of this application. Detailed Implementation

[0049] 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.

[0050] It should be understood that, when used in this application 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 a collection thereof.

[0051] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0052] 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]."

[0053] 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.

[0054] 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.

[0055] The method for detecting target speed provided in this application embodiment is applied to a radar system containing multiple antennas. The radar system emits frequency-modulated continuous waves for ranging. The radar system can be a vehicle-mounted radar system. This application embodiment does not impose any restrictions on the specific type of radar system.

[0056] To illustrate the technical solution described in this application, specific embodiments are described below.

[0057] Please see Figure 1 This application provides a method for detecting the speed of a target, comprising:

[0058] Step S101: Obtain the echo signal.

[0059] Specifically, the radar system transmits a frequency-modulated continuous wave via its transmitting antenna; and receives the echo signal returned based on the transmitted frequency-modulated continuous wave via its receiving antenna. The radar system can be a lidar system, a millimeter-wave radar system, or an ultrasonic radar system, etc.

[0060] In one embodiment, the radar system is a millimeter-wave radar system. Because millimeter waves have characteristics such as short wavelength, wide bandwidth, narrow wave speed, and strong resistance to weather interference, millimeter-wave radar systems can be used in autonomous driving applications.

[0061] In one embodiment, acquiring the echo signal includes: acquiring the echo signal returned based on the frequency-modulated continuous wave emitted by the millimeter-wave radar system.

[0062] Specifically, the millimeter-wave radar system transmits a frequency-modulated continuous wave through its transmitting antenna; and receives the echo signal returned based on the transmitted frequency-modulated continuous wave through its receiving antenna.

[0063] Step S102: The echo signal is processed using a preset algorithm to obtain a three-dimensional matrix, which includes a ranging dimension, a velocity dimension, and an angle dimension.

[0064] Specifically, based on the echo signal received by the receiving antenna in the radar system, the echo signal is processed using a preset algorithm to determine three-dimensional data including the target's distance, speed, and angle. A three-dimensional matrix can be obtained based on the three-dimensional data.

[0065] In one embodiment, the preset algorithm is the three-dimensional fast Fourier transform algorithm 3D-FFT.

[0066] Specifically, features that are not obvious in the time domain become apparent in the frequency domain. By using a three-dimensional Fast Fourier Transform (3D-FFT) algorithm to process the signal from the perspectives of range, velocity, and angle, the spectrum of the corresponding signal can be obtained and the characteristics of the echo information can be analyzed to determine the range, velocity, and angle information. The FMCW signal transmitted by the radar transmitting antenna is divided into many chirs. The AD sampling results of the intermediate frequency signal (IF signal) obtained from each returned chirp are subjected to Fast Fourier Transform (FFT). The target position is calculated based on the obtained peak frequency. This process is called range Fourier Transform (FFT). Based on the Doppler shift caused by the target's motion velocity, the results of the range FFT for all chirs in a single antenna are subjected to chirp-to-chirp FFT, i.e., Doppler Fast Fourier Transform (FFT). The target velocity is calculated based on the obtained peak frequency. Based on the phase difference between different receiving antennas caused by the target's angle, an angle Fourier transform (Angle FFT) is performed between the signals from different antennas. The target angle is then calculated based on the obtained peak frequency (Angle FFT result). Due to the separability of the Fourier transform, the above process can be regarded as a 3D-FFT. Distance, velocity, and angle information can be obtained through the three-dimensional Fast Fourier Transform (3D-FFT) algorithm.

[0067] In an application scenario, such as Figure 2 The diagram shows a three-dimensional matrix obtained by processing the echo signal using a preset algorithm (such as 3D-FFT). The three-dimensional matrix includes a ranging dimension, a velocity dimension, and an angle dimension. Each dimension includes multiple slices, and each slice contains different data information. For example, multiple slices in the velocity dimension include multiple velocity information.

[0068] In another embodiment, such as Figure 3 As shown, step S102 includes steps S1021 to S1023:

[0069] Step S1021: The echo signal is processed using the two-dimensional fast Fourier transform algorithm 2D-FFT to obtain a distance-velocity map.

[0070] Specifically, the echo signal can first be processed using a two-dimensional Fast Fourier Transform (2D-FFT) algorithm to obtain a range-velocity map. This involves performing an FFT (Fast Fourier Transform) on the AD sampling results of the intermediate frequency (IF) signal from each returned chirp, calculating the target position based on the obtained peak frequency; this process is called range FFT. Based on the Doppler shift caused by the target's velocity, an inter-chirp FFT is performed on the results of the range FFT for all chirps in a single antenna, i.e., a Doppler Fast Fourier Transform (Doppler FFT). The target velocity is calculated based on the obtained peak frequency (Doppler FFT result). This process can be considered as one 2D-FFT. Based on the 2D-FFT, range-velocity data can be obtained, and a two-dimensional range-velocity matrix can be generated from this data.

[0071] Step S1022: The echo signals between the antennas are processed using an angle estimation algorithm to obtain angle information.

[0072] Specifically, after obtaining the distance and velocity information, the angle information can be obtained by processing the echo signals between the antennas according to the angle estimation algorithm.

[0073] In one embodiment, the angle estimation algorithm is one of Beamforming, Capon, or MUSIC algorithms.

[0074] Step S1023: Obtain the three-dimensional matrix based on the distance-velocity diagram and the angle information.

[0075] Specifically, a two-dimensional distance-velocity matrix can be obtained from the distance-velocity data. Based on the two-dimensional distance-velocity matrix and the angle information obtained from the angle estimation algorithm, a three-dimensional matrix can be obtained by determining the distance, velocity, and angle of the target.

[0076] Step S103: Obtain multiple slices of the three-dimensional matrix in the velocity dimension, and obtain a target slice with a velocity greater than a preset threshold from the multiple slices according to the velocity corresponding to each slice.

[0077] Specifically, the three-dimensional matrix includes multiple slices in the velocity dimension. Based on the velocity information corresponding to each slice, the slice with a velocity greater than a preset threshold is selected as the target slice. The preset threshold can be set according to the actual application and is not limited here.

[0078] Step S104: Output the velocity of the target to be measured in the field of view of the radar system according to the velocity corresponding to the target slice.

[0079] Specifically, since much noise is reflected from stationary objects, affecting the detection of moving targets, the velocity information in the corresponding slices of the velocity measurement dimension is used to acquire target slices with velocities greater than a preset threshold. The velocity of the target in the radar system's field of view is then determined based on the velocity corresponding to the target slices. This removes noise reflected from stationary objects, improving the accuracy of radar target detection.

[0080] In one embodiment, such as Figure 4 As shown, the velocity of the target to be measured is output according to the velocity corresponding to the target slice, including steps S1041 to S1043:

[0081] Step S1041: Determine the maximum speed in the velocity measurement dimension of the three-dimensional matrix.

[0082] Specifically, the speed measurement dimension includes multiple speed information of the target, and the maximum speed among all speeds in the speed measurement dimension can be determined first.

[0083] Step S1042: The ratio between the speed corresponding to each target slice and the maximum speed is determined as the weighting factor of the speed corresponding to the target slice.

[0084] Specifically, the target slice is the cut edge of the target after removing reflections from stationary objects that affect the detection of moving targets. Therefore, the ratio between the speed corresponding to each target slice and the maximum speed is used as the weighting factor corresponding to that target slice to calculate the final speed of the target. This allows the final speed to be calculated by combining multiple speeds of the target, making the speed calculation more accurate.

[0085] Step S1043: The velocity of the target to be tested is obtained by weighting the velocity corresponding to each target slice and the corresponding weight factor.

[0086] Specifically, the velocity corresponding to each target slice is multiplied by the weighting factor corresponding to that target slice, and then the results are added together to determine the velocity of the target to be measured.

[0087] This application embodiment can acquire echo signals, process the echo signals using a preset algorithm, and obtain a three-dimensional matrix including ranging, velocity, and angle dimensions. Based on the velocities corresponding to multiple slices of the three-dimensional matrix in the velocity dimension, target slices greater than a preset threshold are obtained. Finally, the velocity of the target in the radar system's field of view is output based on the velocity corresponding to the target slice. Since much noise is reflected from stationary objects, affecting the detection of moving targets, acquiring target slices greater than a preset threshold and outputting the velocity of the target in the radar system's field of view based on the velocity corresponding to the target slice removes noise reflected from stationary objects, thereby improving the accuracy of radar target detection.

[0088] Corresponding to the method for detecting target velocity described in the above embodiments, Figure 5 A structural block diagram of a target velocity detection device according to an embodiment of this application is shown. For ease of explanation, only the parts relevant to the embodiment of this application are shown. The target velocity detection device is integrated into a radar system containing multiple antennas. The radar system transmits frequency-modulated continuous waves for ranging. The target velocity detection device 500 includes:

[0089] The first acquisition module 501 is used to acquire echo signals;

[0090] The module 502 is used to process the echo signal using a preset algorithm to obtain a three-dimensional matrix, which includes a ranging dimension, a velocity dimension, and an angle dimension.

[0091] The second acquisition module 503 is used to acquire multiple slices of the three-dimensional matrix in the velocity dimension, and to acquire a target slice greater than a preset threshold from the multiple slices according to the velocity corresponding to each slice.

[0092] The output module 504 is used to output the velocity of the target to be measured in the field of view of the radar system according to the velocity corresponding to the target slice.

[0093] In one embodiment, the preset algorithm is the three-dimensional fast Fourier transform algorithm 3D-FFT.

[0094] In one embodiment, the obtaining module includes:

[0095] The first obtaining unit is used to process the echo signal using the two-dimensional fast Fourier transform algorithm 2D-FFT to obtain a distance-velocity map;

[0096] The second obtaining unit is used to process the echo signals between the antennas using an angle estimation algorithm to obtain angle information;

[0097] The third obtaining unit is used to obtain the three-dimensional matrix based on the distance-velocity map and the angle information.

[0098] In one embodiment, the angle estimation algorithm is one of Beamforming, Capon, or MUSIC algorithms.

[0099] In one embodiment, the output module includes:

[0100] The first determining unit is used to determine the maximum speed in the velocity measurement dimension of the three-dimensional matrix;

[0101] The second determining unit is used to determine the ratio between the speed corresponding to each target slice and the maximum speed as a weighting factor for the speed corresponding to the target slice.

[0102] The fourth obtaining unit is used to obtain the velocity of the target under test by weighting the velocity corresponding to each target slice and the corresponding weight factor.

[0103] In one embodiment, the first acquisition module is specifically used to: acquire the echo signal returned by the frequency-modulated continuous wave emitted by the millimeter-wave radar system.

[0104] This application embodiment acquires echo signals and processes them using a preset algorithm to obtain a three-dimensional matrix including ranging, velocity, and angle dimensions. Based on the velocities corresponding to multiple slices of the three-dimensional matrix, target slices exceeding a preset threshold are obtained. Finally, the velocity of the target in the radar system's field of view is output based on the velocity corresponding to the target slice. Since much noise is reflected from stationary objects, affecting the detection of moving targets, acquiring target slices exceeding a preset threshold and outputting the velocity of the target in the radar system's field of view based on the velocity corresponding to the target slice removes noise reflected from stationary objects, thereby improving the accuracy of radar target detection.

[0105] like Figure 6 As shown, one embodiment of the present invention also provides an electronic device 600 including: a processor 601, a memory 602, and a computer program 603 stored in the memory 602 and executable on the processor 601, such as a program for detecting target speed. When the processor 601 executes the computer program 603, it implements the steps in the various method embodiments for detecting target speed described above. When the processor 601 executes the computer program 603, it implements the functions of each module in the various device embodiments described above, for example... Figure 5 The functions of modules 501 to 504 are shown.

[0106] For example, the computer program 603 can be divided into one or more modules, which are stored in the memory 602 and executed by the processor 601 to complete the present invention. The one or more modules can be a series of computer program instruction segments capable of performing specific functions, which describe the execution process of the computer program 603 in the electronic device 600. For example, the computer program 603 can be divided into a first acquisition module, a obtaining module, a second acquisition module, and an output module. The specific functions of each module have been described in the above embodiments and will not be repeated here.

[0107] The electronic device may include, but is not limited to, a processor 601 and a memory 602. Those skilled in the art will understand that... Figure 6This is merely an example of electronic device 600 and does not constitute a limitation on electronic device 600. It may include more or fewer components than shown, or combine certain components, or different components. For example, the electronic device may also include input / output devices, network access devices, buses, etc.

[0108] The processor 601 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.

[0109] The memory 602 can be an internal storage unit of the electronic device 600, such as a hard disk or memory of the electronic device 600. The memory 602 can also be an external storage device of the electronic device 600, such as a plug-in hard disk, smart media card (SMC), secure digital card (SD), flash card, etc., equipped on the electronic device 600. Furthermore, the memory 602 can include both internal and external storage units of the electronic device 600. The memory 602 is used to store the computer program and other programs and data required by the electronic device. The memory 602 can also be used to temporarily store data that has been output or will be output.

[0110] 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 system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0111] 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.

[0112] 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 implementations should not be considered beyond the scope of this invention.

[0113] In the embodiments provided by this invention, it should be understood that the disclosed devices / electronic devices and methods can be implemented in other ways. For example, the device / electronic device 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 devices or units may be electrical, mechanical, or other forms.

[0114] 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.

[0115] Furthermore, the functional units in the various embodiments of the present invention 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.

[0116] If the integrated module 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.

[0117] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention 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 the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A method for detecting target velocity, applied to a radar system comprising multiple antennas, said radar system transmitting frequency-modulated continuous waves for ranging, characterized in that, include: Acquire echo signal; The echo signal is processed using a preset algorithm to obtain a three-dimensional matrix, which includes a ranging dimension, a velocity dimension, and an angle dimension. Obtain multiple slices of the three-dimensional matrix in the velocity dimension, and select target slices with velocities greater than a preset threshold from the multiple slices according to the velocities corresponding to each slice; The speed of the target in the radar system's field of view is output based on the speed corresponding to the target slice. The velocity of the target to be measured is output based on the velocity corresponding to the target slice, including: Determine the maximum velocity in the velocity measurement dimension of the three-dimensional matrix; The ratio between the speed corresponding to each target slice and the maximum speed is determined as the weighting factor for the speed corresponding to the target slice. The velocity of the target to be tested is obtained by weighting the velocity corresponding to each target slice and the corresponding weight factor.

2. The method according to claim 1, characterized in that, The preset algorithm is the three-dimensional fast Fourier transform algorithm 3D-FFT.

3. The method according to claim 1, characterized in that, The process of processing the echo signal using a preset algorithm to obtain a three-dimensional matrix includes: The echo signal was processed using the two-dimensional fast Fourier transform algorithm (2D-FFT) to obtain a distance-velocity map. An angle estimation algorithm is used to process the echo signals between the antennas to obtain angle information; The three-dimensional matrix is ​​obtained based on the distance-velocity diagram and the angle information.

4. The method according to claim 3, characterized in that, The angle estimation algorithm is one of Beamforming, Capon, or MUSIC algorithms.

5. The method according to claim 1, characterized in that, The radar system is a millimeter-wave radar system.

6. The method according to claim 5, characterized in that, The acquisition of the echo signal includes: Acquire the echo signal returned by the frequency-modulated continuous wave emitted by the millimeter-wave radar system.

7. A device for detecting target velocity, applied to a radar system comprising multiple antennas, the radar system transmitting frequency-modulated continuous waves for ranging, characterized in that, include: The first acquisition module is used to acquire echo signals; The module is used to process the echo signal using a preset algorithm to obtain a three-dimensional matrix, which includes a ranging dimension, a velocity dimension, and an angle dimension. The second acquisition module is used to acquire multiple slices of the three-dimensional matrix in the velocity dimension, and to acquire target slices with a velocity greater than a preset threshold from the multiple slices according to the velocity corresponding to each slice. The output module is used to output the velocity of the target to be measured in the field of view of the radar system according to the velocity corresponding to the target slice; The output module includes: The first determining unit is used to determine the maximum speed in the velocity measurement dimension of the three-dimensional matrix; The second determining unit is used to determine the ratio between the speed corresponding to each target slice and the maximum speed as a weighting factor for the speed corresponding to the target slice. The fourth obtaining unit is used to obtain the velocity of the target under test by weighting the velocity corresponding to each target slice and the corresponding weight factor.

8. An electronic device 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 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 method as described in any one of claims 1 to 6.

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