Method for generating a range-doppler map and related apparatus

Abstract

This application provides a method and related apparatus for generating Rang-Doppler maps. The method includes: acquiring Rang-Doppler maps corresponding to R-path target echo data from a radar and performing digital beamforming to obtain Rang-Doppler maps corresponding to M beams; performing constant false alarm rate (CFAR) detection on the Rang-Doppler maps corresponding to the M beams; for each index position in the Rang-Doppler map, if the RD data corresponding to that index position includes a CFAR point, then the maximum value among the M RD data at that index position is used as the RD data for that index position in the final Rang-Doppler map; if the RD data corresponding to that index position does not include a CFAR point, then the RD data for that index position is determined based on the M RD data corresponding to that index position. This application can reduce transmission time and simultaneously reduce signal-to-noise ratio loss.

Description

Technical Field

[0001] This application relates to the field of radar technology, and in particular to a method and apparatus for generating Rang-Doppler maps. Background Technology

[0002] Millimeter-wave radar possesses advantages such as imaging in complex environments, long-range tracking, and high resolution, making it one of the most effective tools in the field of remote sensing. During the use of radar products, in addition to directly outputting target information, CFAR information and Range-Doppler (RD) maps are also exported as debugging tools for further testing. However, limited by factors such as storage space, update rate, and network speed, the radar's Processing System (PS) cannot receive all the information from the Programmable Logic (PL) end. This results in some loss of information in the radar's output, which is particularly noticeable during the transmission of RD maps.

[0003] Currently, in order to enhance signal power in a specific direction and improve the anti-jamming performance of radar systems, most radars adopt the digital beamforming (DBF) method. However, this method has the following drawbacks in the output RD map scheme:

[0004] 1. All the RD images obtained by digital beamforming at the radar PL end are transmitted to the PS end. However, due to the limitation of network speed, the transmission time must be increased, which results in a long radar update cycle and the inability to display target dynamics in real time.

[0005] 2. While ensuring the radar update rate, digital beamforming is performed at the PL end, but the output is a non-coherent accumulation RD map, which results in a loss of target signal-to-noise ratio and a low detection rate for targets at large angles and long distances. Summary of the Invention

[0006] This application provides a method and related apparatus for generating Rang-Doppler maps to solve the problem of reduced target signal-to-noise ratio while ensuring radar update rate.

[0007] Firstly, this application provides a method for generating a Range-Doppler graph, which is applied to a programmable logic device for radar, comprising:

[0008] The Rang-Doppler diagrams corresponding to the R-path target echo data of the radar are obtained respectively; the Rang-Doppler diagrams include RD data; R≥1;

[0009] Digital beamforming is performed on the Rang-Doppler diagram corresponding to the R-path receiving channel to obtain the Rang-Doppler diagrams corresponding to M beams; M≥1;

[0010] Constant false alarm rate (CFAR) detection is performed on the Rang-Doppler maps corresponding to M beams to obtain the cfar points in the Rang-Doppler maps.

[0011] For each index position in the M Rang-Doppler graphs, if the M RD data corresponding to the index position include a cfar point, then the maximum value among the M RD data corresponding to the index position is used as the RD data of that index position in the final Rang-Doppler graph; if the RD data corresponding to the index position does not include a cfar point, then the RD data of that index position in the final Rang-Doppler graph is determined based on the M RD data corresponding to the index position.

[0012] Secondly, this application provides a Rang-Doppler diagram generation apparatus, which is applied to a programmable logic device for radar, the apparatus comprising:

[0013] The Rang-Doppler diagram generation module is used to acquire Rang-Doppler diagrams corresponding to the R-path target echo data of the radar respectively; the Rang-Doppler diagram includes RD data; R≥1;

[0014] The beamforming module is used to perform digital beamforming on the Rang-Doppler diagram corresponding to the R receiving channels to obtain the Rang-Doppler diagrams corresponding to M beams; M≥1;

[0015] The constant false alarm rate (CFAR) detection module is used to perform CFAR detection on the Rang-Doppler maps corresponding to M beams and obtain the cfar points in the Rang-Doppler maps.

[0016] The final Rang-Doppler graph generation module is used to, for each index position in the M Rang-Doppler graphs, if the M RD data corresponding to the index position include a CFAR point, then the maximum value among the M RD data corresponding to the index position is used as the RD data of that index position in the final Rang-Doppler graph; if the RD data corresponding to the index position does not include a CFAR point, then the RD data of that index position in the final Rang-Doppler graph is determined based on the M RD data corresponding to the index position.

[0017] Thirdly, this application provides a radar including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the steps of the method as described in any possible implementation of the first aspect above.

[0018] 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 as described in any possible implementation of the first aspect above.

[0019] This application provides a method and related apparatus for generating Rang-Doppler maps. The method first acquires Rang-Doppler maps corresponding to R-channel target echo data from a radar. Each Rang-Doppler map includes RD data. Then, digital beamforming is performed on the Rang-Doppler maps corresponding to the R-channel receiving channels to obtain Rang-Doppler maps corresponding to M beams. Constant false alarm rate (CFAR) detection is performed on the Rang-Doppler maps corresponding to the M beams to obtain CFAR points in the Rang-Doppler maps. Finally, for each index position in the M Rang-Doppler maps, if the M RD data corresponding to that index position include a CFAR point, the maximum value among the M RD data corresponding to that index position is used as the RD data for that index position in the final Rang-Doppler map. If the RD data corresponding to that index position does not include a CFAR point, the RD data for that index position in the final Rang-Doppler map is determined based on the M RD data corresponding to that index position. This application can output a final Rang-Doppler map of beamforming, thereby reducing transmission time and ensuring radar update rate. At the same time, the final Rang-Doppler map can contain the CFAR points detected by digital beamforming to the greatest extent, thereby reducing the loss of signal-to-noise ratio. Attached Figure Description

[0020] 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.

[0021] Figure 1 This is a flowchart illustrating the implementation of the Rang-Doppler graph generation method provided in this application embodiment;

[0022] Figure 2This is a schematic diagram of the structure of the Rang-Doppler graph generation device provided in the embodiments of this application;

[0023] Figure 3 This is a schematic diagram of the radar provided in an embodiment of this application. Detailed Implementation

[0024] 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.

[0025] To make the objectives, technical solutions, and advantages of this application clearer, the following description will be provided in conjunction with the accompanying drawings and specific embodiments.

[0026] See Figure 1 The flowchart illustrating the implementation of the Rang-Doppler graph generation method provided in this application embodiment is described in detail below:

[0027] S101: Acquire the Rang-Doppler diagrams corresponding to the R-path target echo data of the radar respectively; the Rang-Doppler diagrams include RD data; R≥1.

[0028] Specifically, the method is applied to the programmable logic controller of a radar. The radar provided in this embodiment transmits frequency-modulated continuous wave signals in frames via a transmission channel. The signal bandwidth is B, the frequency modulation duration is T, and one frame contains N... d R frequency-modulated signals. The radar receives the frequency-modulated signals returned after the transmitted signal encounters the target through R receiving channels, and performs mixing, filtering, and ADC sampling on the target echo signals to obtain the target echo data, where the sampling rate is f. s The number of sampling points in a frequency modulation signal is N r =T·f s Therefore, the target echo data received by each receiving channel can be arranged into an N-order sequence. d ×N r The matrix is ​​denoted as S1, S2, ..., S1, where the echo data matrices corresponding to each receiving channel are respectively denoted as S1, S2, ..., S2. R .

[0029] In one possible implementation, the specific implementation process of S101 includes:

[0030] The R-channel target echo data are processed by FFT (Fast Fourier Transform) in both the Doppler and range dimensions to obtain R Rang-Doppler diagrams that correspond one-to-one with the R-channel receiving channels.

[0031] In one possible implementation, the target echo data is N d Line N r The echo data matrix of columns; where N d N represents the number of frequency-modulated signals included in one target echo data stream. r This indicates the number of sampling points included in a frequency modulation signal; the specific implementation process of S101 further includes:

[0032] For each target echo data stream, perform N operations on each row of the echo data matrix for that stream. 1DFFT The point-wise FFT calculation yields a one-dimensional FFT data matrix; then, an N-order FFT is performed on each column of the one-dimensional FFT data matrix. 2DFFT The FFT calculation of the points yields the Rang-Doppler plot corresponding to the echo data matrix of that path.

[0033] Specifically, for each target echo data stream, N is performed on each row of the target echo data in the echo data matrix for that stream. 1DFFT The point-wise FFT calculation yields the one-dimensional FFT data matrix S. 1FFT1 ,S 1FFT2 ...S 1FFTR Then, for the data matrix S after the one-dimensional FFT, 1FFT1 ,S 1FFT2 ...S 1FFTR Perform N operations on each column of data in the database. 2DFFT The point-wise FFT calculation yields the two-dimensional FFT data matrix S. 2FFT1 ,S 2FFT2 ...S 2FFTR Each data matrix after a two-dimensional FFT is a Rang-Doppler graph.

[0034] In this embodiment, the Range-Doppler graph includes RD (range-doppler) data, which is two-dimensional data including range information (range) and velocity information (doppler). The range information is the distance between the radar target and the radar, and the velocity information is the radial velocity between the radar and the radar target.

[0035] S102: Perform digital beamforming on the Rang-Doppler diagram corresponding to the R-path receiving channel to obtain the Rang-Doppler diagrams corresponding to M beams; M≥1.

[0036] In one possible implementation, the specific implementation process of S102 includes:

[0037] The Rang-Doppler diagrams corresponding to the M beams are obtained based on the first formula, where the first formula is:

[0038]

[0039] Among them, W MR S represents the weighting coefficient corresponding to the R-th receiving channel of the M-th beam; 2FFTR Let C represent the Rang-Doppler graph corresponding to the R-th receive channel. M This represents the Rang-Doppler diagram corresponding to the Mth beam.

[0040] Specifically, W represents the weighted matrix, therefore W M C represents the weighting coefficient corresponding to the R-th receiving channel of the M-th beam. M For N 1DFFT ×N 2DFFT The matrix; since the Rang-Doppler graph is a two-dimensional complex matrix, the weight coefficients are complex numbers.

[0041] S103: Perform constant false alarm rate (CFAR) detection on the Rang-Doppler maps corresponding to the M beams to obtain the cfar (Constant False Alarm Rate Detector) points in the Rang-Doppler maps.

[0042] In this embodiment, Amp is used as the target amplitude, and constant false alarm rate (CFAR) detection is performed on the Rang-Doppler maps corresponding to M beams. The RD data with amplitudes greater than Amp in the Rang-Doppler map are used as cfar points.

[0043] S104: For each index position in the M Rang-Doppler graphs, if the M RD data corresponding to the index position include a cfar point, then the maximum value among the M RD data corresponding to the index position is used as the RD data of the index position in the final Rang-Doppler graph; if the RD data corresponding to the index position does not include a cfar point, then the RD data of the index position in the final Rang-Doppler graph is determined based on the M RD data corresponding to the index position.

[0044] Specifically, each Rang-Doppler graph is N 1DFFT row, N 2DFFTThe matrix of columns includes index rows and index columns. For the same index position in M ​​Rang-Doppler graphs, if the multiple RD data corresponding to the index position include RD data with an amplitude greater than Amp, i.e., cfar points, then the RD data corresponding to the maximum amplitude among the multiple RD data corresponding to the index position is taken as the RD data of that index position in the final Rang-Doppler graph.

[0045] If the multiple RD data corresponding to the index position do not include RD data with an amplitude greater than Amp, then the median of the multiple RD data corresponding to the index position is taken as the RD data of the final Rang-Doppler graph for that index position.

[0046] In this way, after determining the RD data of each index position according to the above method, a final Rang-Doppler map can be obtained. The final Rang-Doppler map can retain as many CFAR points as possible, thereby avoiding the loss of target signal-to-noise ratio.

[0047] In one possible implementation, determining the RD data for the index position in the final Rang-Doppler graph based on the M RD data corresponding to the index position in S104 includes:

[0048] The average value of the M RD data corresponding to the index position is taken as the RD data of that index position in the final Rang-Doppler graph.

[0049] In one possible implementation, the method provided in this embodiment further includes:

[0050] The final Rang-Doppler map is sent to the radar's processing system.

[0051] Specifically, the processing system makes subsequent decisions based on the final Rang-Doppler graph, which can improve the accuracy of target detection based on the final Rang-Doppler graph with a high signal-to-noise ratio.

[0052] As can be seen from the above embodiments, the method provided in this embodiment first performs digital beamforming to obtain multiple RD maps. After certain method selection, only one RD map is finally output, which can save storage resources, reduce the demand for network speed, and is no longer limited by the network transmission rate, thereby improving the target update rate. Moreover, compared with the RD map formed by non-coherent accumulation, this embodiment can contain the CFAR points detected by digital beamforming to the greatest extent, and there is basically no loss of signal-to-noise ratio.

[0053] It should be understood that the sequence number of each step in the above embodiments 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 the embodiments of this application.

[0054] The following are device embodiments of this application. For details not described in detail, please refer to the corresponding method embodiments described above.

[0055] Figure 2 A schematic diagram of a Rang-Doppler diagram generation apparatus provided in an embodiment of this application is shown. This apparatus is applied to a programmable logic device for radar. For ease of explanation, only the parts relevant to the embodiments of this application are shown, and are described in detail below:

[0056] like Figure 2 As shown, the Rang-Doppler graph generation device 100 includes:

[0057] Rang-Doppler image generation module 110 is used to acquire Rang-Doppler images corresponding to the R-path target echo data of the radar respectively; the Rang-Doppler image includes RD data; R≥1;

[0058] The beamforming module 120 is used to perform digital beamforming on the Rang-Doppler diagram corresponding to the R receiving channels to obtain the Rang-Doppler diagrams corresponding to M beams; M≥1;

[0059] The constant false alarm rate (CFAR) detection module 130 is used to perform CFAR detection on the Rang-Doppler map corresponding to M beams to obtain the cfar points in the Rang-Doppler map.

[0060] The final Rang-Doppler graph generation module 140 is used to, for each index position in the M Rang-Doppler graphs, if the M RD data corresponding to the index position include a CFAR point, then the maximum value among the M RD data corresponding to the index position is used as the RD data of that index position in the final Rang-Doppler graph; if the RD data corresponding to the index position does not include a CFAR point, then the RD data of that index position in the final Rang-Doppler graph is determined based on the M RD data corresponding to the index position.

[0061] In one possible implementation, the Rang-Doppler graph generation module 110 includes:

[0062] The R-channel target echo data are processed by FFT in both the Doppler and range dimensions to obtain R Rang-Doppler diagrams that correspond one-to-one with the R-channel receiving channels.

[0063] In one possible implementation, the target echo data is N d Line N r The echo data matrix of columns; where N d This indicates the number of frequency-modulated signals included in one target echo data stream, where Nr represents the number of sampling points included in one frequency-modulated signal; the Rang-Doppler graph generation module 110 further includes:

[0064] For each target echo data stream, perform N operations on each row of the echo data matrix for that stream. 1DFFT The point-wise FFT calculation yields a one-dimensional FFT data matrix; then, an N-order FFT is performed on each column of the one-dimensional FFT data matrix. 2DFFT The FFT calculation of the points yields the Rang-Doppler plot corresponding to the echo data matrix of that path.

[0065] In one possible implementation, the beamforming module 120 includes:

[0066] The Rang-Doppler diagrams corresponding to the M beams are obtained based on the first formula, where the first formula is:

[0067]

[0068] Among them, W MR S represents the weighting coefficient corresponding to the R-th receiving channel of the M-th beam; 2FFTR Let C represent the Rang-Doppler graph corresponding to the R-th receive channel. M This represents the Rang-Doppler diagram corresponding to the Mth beam.

[0069] In one possible implementation, the final Rang-Doppler graph generation module 140 includes:

[0070] The average value of the M RD data corresponding to the index position is taken as the RD data of that index position in the final Rang-Doppler graph.

[0071] In one possible implementation, the apparatus for generating the Rang-Doppler graph further includes:

[0072] A communication module is used to send the final Rang-Doppler map to the radar's processing system.

[0073] As can be seen from the above embodiments, the device provided in this embodiment first performs digital beamforming to obtain multiple RD maps. After a certain method selection, only one RD map is finally output, which can save storage resources, reduce network speed requirements, and is no longer limited by network transmission speed, thereby improving the target update rate. Moreover, compared with the RD map formed by non-coherent accumulation, this embodiment can contain the CFAR points detected by digital beamforming to the greatest extent, and there is basically no loss of signal-to-noise ratio.

[0074] Figure 3 This is a schematic diagram of the radar provided in an embodiment of this application. For example... Figure 3 As shown, the radar 3 in this embodiment includes: a processor 30, a memory 31, and a computer program 32 stored in the memory 31 and executable on the processor 30. When the processor 30 executes the computer program 32, it implements the steps in the various Rang-Doppler graph generation method embodiments described above, for example... Figure 2 Steps S101 to S104 are shown. Alternatively, when the processor 30 executes the computer program 32, it implements the functions of each module / unit in the above-described device embodiments, for example... Figure 2 The functions of modules 110 to 140 are shown.

[0075] For example, the computer program 32 can be divided into one or more modules / units, which are stored in the memory 31 and executed by the processor 30 to complete / implement the solution provided in this application. The one or more modules / units can be a series of computer program instruction segments capable of performing specific functions, which describe the execution process of the computer program 32 in the radar 3. For example, the computer program 32 can be divided into... Figure 2 Modules 110 to 140 are shown.

[0076] The radar 3 may include, but is not limited to, a processor 30 and a memory 31. Those skilled in the art will understand that... Figure 3 This is merely an example of radar 3 and does not constitute a limitation on radar 3. 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.

[0077] The processor 30 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.

[0078] The memory 31 can be an internal storage unit of the radar 3, such as a hard disk or memory of the radar 3. The memory 31 can also be an external storage device of the radar 3, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the radar 3. Furthermore, the memory 31 can include both internal storage units and external storage devices of the radar 3. The memory 31 is used to store the computer program and other programs and data required by the radar. The memory 31 can also be used to temporarily store data that has been output or will be output.

[0079] 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.

[0080] 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.

[0081] 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.

[0082] 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.

[0083] 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.

[0084] Furthermore, the functional units in the various embodiments of this application 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.

[0085] 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 above-described 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 Rang-Doppler diagram generation 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, a recording medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium, etc. It should be noted that the content contained in the computer-readable medium may be appropriately added to or subtracted from the content as required by the legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium may not include electrical carrier signals and telecommunication signals.

[0086] Furthermore, the features of the embodiments shown in the accompanying drawings or the various embodiments mentioned in this specification should not be construed as independent embodiments. Rather, each feature described in one example of an embodiment can be combined with one or more other desired features from other embodiments to produce other embodiments not described in words or with reference to the accompanying drawings.

[0087] 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 generating a Rang-Doppler graph, characterized in that, The method is applied to the programmable logic controller of radar, including: The radar receives the frequency-modulated signals returned after the transmitted signal encounters the target through R receiving channels. The target echo signals are then mixed, filtered, and sampled by an ADC to obtain the target echo data. The Rang-Doppler diagrams corresponding to the R target echo data of the radar are obtained respectively. The Rang-Doppler diagrams include RD data. ; Digital beamforming is performed on the Rang-Doppler diagram corresponding to the R-path receiving channel to obtain the Rang-Doppler diagrams corresponding to M beams; ; Constant false alarm rate (CFAR) detection is performed on the Rang-Doppler maps corresponding to M beams to obtain the cfar points in the Rang-Doppler maps. For each index position in the M Rang-Doppler graphs, if the M RD data corresponding to the index position include a CFAR point, then the maximum value among the M RD data corresponding to the index position is used as the RD data of that index position in the final Rang-Doppler graph; if the RD data corresponding to the index position does not include a CFAR point, then the RD data of that index position in the final Rang-Doppler graph is determined based on the M RD data corresponding to the index position; the step of determining the RD data of that index position in the final Rang-Doppler graph based on the M RD data corresponding to the index position includes: obtaining the median among the multiple RD data corresponding to the index position as the RD data of that index position in the final Rang-Doppler graph; wherein, the final Rang-Doppler graph is an RD graph.

2. The method for generating a Rang-Doppler graph according to claim 1, characterized in that, The acquisition of the R-path target echo data corresponding to the radar R-paths and the R-path target echo data includes: The R-channel target echo data are processed by FFT in both the Doppler and range dimensions to obtain R Rang-Doppler diagrams that correspond one-to-one with the R-channel receiving channels.

3. The method for generating a Rang-Doppler graph according to claim 2, characterized in that, The target echo data is N. d Line N r The echo data matrix of columns; where N d This indicates the number of frequency-modulated signals included in one target echo data stream, where Nr represents the number of sampling points included in one frequency-modulated signal. The FFT processing of the R target echo data in both the Doppler and range dimensions yields R Rang-Doppler maps corresponding one-to-one with the R receiving channels, including: For each target echo data stream, perform the following steps on each row of the echo data matrix: The point-wise FFT calculation yields a one-dimensional FFT data matrix; then, each column of the one-dimensional FFT data matrix is ​​processed... The FFT calculation of the points yields the Rang-Doppler plot corresponding to the echo data matrix of that path.

4. The method for generating a Rang-Doppler graph according to claim 1, characterized in that, The step of performing digital beamforming on the Rang-Doppler diagrams corresponding to the R receiving channels to obtain Rang-Doppler diagrams corresponding to M beams includes: The Rang-Doppler diagrams corresponding to the M beams are obtained based on the first formula, where the first formula is: in, W MR This represents the weighting coefficient corresponding to the R-th receiving channel of the M-th beam; This represents the Rang-Doppler graph corresponding to the R-th receive channel. This represents the Rang-Doppler diagram corresponding to the Mth beam.

5. The method for generating a Rang-Doppler graph according to claim 1, characterized in that, The process of determining the RD data at the final Rang-Doppler graph based on the M RD data corresponding to the index position includes: The average value of the M RD data corresponding to the index position is taken as the RD data of that index position in the final Rang-Doppler graph.

6. The method for generating a Rang-Doppler graph according to claim 1, characterized in that, The method further includes: The final Rang-Doppler map is sent to the radar's processing system.

7. A device for generating a Rang-Doppler graph, characterized in that, The device is applied to a programmable logic controller for radar, and the device includes: The Rang-Doppler graph generation module is used to receive the frequency-modulated signals returned after the transmitted signal encounters the target through R receiving channels, and to obtain the target echo data after mixing, filtering, and ADC sampling of the target echo signal. It is also used to obtain the Rang-Doppler graphs corresponding to the R target echo data of the radar respectively; the Rang-Doppler graph includes RD data. ; The beamforming module is used to perform digital beamforming on the Rang-Doppler diagram corresponding to the R receiving channels to obtain the Rang-Doppler diagrams corresponding to M beams. ; The constant false alarm rate (CFAR) detection module is used to perform CFAR detection on the Rang-Doppler maps corresponding to M beams and obtain the cfar points in the Rang-Doppler maps. The final Rang-Doppler graph generation module is used to, for each index position in the M Rang-Doppler graphs, if the M RD data corresponding to the index position include a CFAR point, then the maximum value among the M RD data corresponding to the index position is used as the RD data of that index position in the final Rang-Doppler graph; if the RD data corresponding to the index position does not include a CFAR point, then the RD data of that index position in the final Rang-Doppler graph is determined based on the M RD data corresponding to the index position. Specifically, the final Rang-Doppler graph generation module is used to: when determining the RD data of that index position in the final Rang-Doppler graph based on the M RD data corresponding to the index position, obtain the median among the multiple RD data corresponding to the index position as the RD data of that index position in the final Rang-Doppler graph; wherein, the final Rang-Doppler graph is an RD graph.

8. The apparatus for generating a Rang-Doppler graph according to claim 7, characterized in that, The Rang-Doppler graph generation module includes: The R-channel target echo data are processed by FFT in both the Doppler and range dimensions to obtain R Rang-Doppler diagrams that correspond one-to-one with the R-channel receiving channels.

9. 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 method for generating the Rang-Doppler graph as described in any one of claims 1 to 6.

10. 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 method for generating the Rang-Doppler graph as described in any one of claims 1 to 6.

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