Method, device and equipment for simulating generation of radar raw data and medium

Abstract

The method, device, equipment and medium for simulating generation of radar raw data are provided in the embodiments of the present disclosure, and the method comprises the following steps: according to a preset arrangement of a radar, setting a transmitting antenna and a receiving antenna of the radar in a space orthogonal coordinate system, and setting initial positions and corresponding motion parameters of a plurality of targets; based on a waveform parameter of a set transmitting signal, calculating a sampling time length and an FMCW slope; under one sampling time length, each target updates coordinates based on the corresponding motion parameters, and for each transmission path, a time delay corresponding to the transmission path is obtained according to a sum of a distance from the transmitting antenna to the target and a distance from the receiving antenna to the target; according to the time delay, a center frequency, a signal amplitude, the FMCW slope, raw data of the receiving antenna corresponding to each transmission path under a sampling time sequence is obtained. The embodiments of the present disclosure realize simulation of radar raw data, the noise and interference of the obtained data are controllable, and greatly facilitate simulation, debugging and development of algorithms.

Description

Technical Field

[0001] This disclosure relates to the field of millimeter-wave radar technology, and in particular to methods, apparatus, equipment and media for simulating the generation of raw radar data. Background Technology

[0002] Currently, people pay more attention to the millimeter-wave radar algorithm itself, while paying little attention to the input of the algorithm—the raw data. There is also very little information about the generation of raw data for millimeter-wave radar. The generation of raw radar data is a very important step. Only with raw data can the algorithm be simulated, verified, and further developed.

[0003] Currently, many millimeter-wave radar algorithm simulations use actual radar data acquisition in real-world scenarios. This requires a pre-existing hardware platform; developing algorithms for a specific radar would waste considerable time and resources. Secondly, the scenarios required for actual hardware acquisition are often not present in reality, such as a high-speed moving vehicle or a distant target. While target simulators can be used, they are expensive. Thirdly, actual hardware acquisition lacks flexibility; changing the waveform requires modifying, compiling, debugging, and burning the lower-level software, sometimes even modifying the original data acquisition software. Fourthly, real-world data often contains various interferences and noise, which can negatively impact algorithm verification and evaluation.

[0004] Therefore, in the development of millimeter-wave radar algorithms, there is an urgent need for a method that can flexibly and effectively generate raw radar data. Summary of the Invention

[0005] In view of the shortcomings of the prior art described above, the purpose of this disclosure is to provide a method, apparatus, device and medium for simulating the generation of radar raw data.

[0006] The first aspect of this disclosure provides a method for simulating the generation of radar raw data, comprising: step S301: according to the preset arrangement of the radar, setting the transmitting antenna and receiving antenna of the radar in a spatial rectangular coordinate system, and setting the initial positions and corresponding motion parameters of multiple targets; step S302: based on the set waveform parameters of the transmitted signal, calculating the sampling duration and FMCW slope; step S303: under one sampling duration, each target updates its coordinates based on the corresponding motion parameters, by traversing the coordinates of the transmitting antenna, the coordinates of the target, and the coordinates of the receiving antenna at each moment, obtaining the distance from the transmitting antenna to each target and the distance from the receiving antenna to each target, and for each transmission path, obtaining the time delay corresponding to the transmission path based on the sum of the distance from the transmitting antenna to the target and the distance from the receiving antenna to the target, wherein a transmission path refers to the transmission signal from... A transmitting antenna reaches a target, and the transmitted signal then propagates from the target to a receiving antenna, forming a transmitting and receiving path; Step S304: Based on the time delay, the center frequency of the transmitted signal, the signal amplitude of the radar raw data, the FMCW slope of the transmitted signal, and the expression of the radar raw data, the raw data of the receiving antenna corresponding to each transmission path is obtained under the sampling time sequence, and the raw data of the receiving antenna and all transmission paths are summed and saved. The sampling time sequence is obtained based on the number of sampling points and the sampling rate; Step S305: Steps S303 and S304 are executed in each chirp of each frame until the set number of frames is reached. A frame includes multiple chirps, the time interval between chirps is the idle time, the time interval between frames is the frame interval, and the duration of each chirp is the sampling duration.

[0007] In some embodiments of the first aspect, the waveform parameters of the transmitted signal include: center frequency, number of sampling points, number of chirps, number of frames, sampling rate, idle time, bandwidth, frame interval, and speed of light.

[0008] In some embodiments of the first aspect, the radar raw data expression is:

[0009] Among them, A mix f represents the signal amplitude of the raw radar data. c Let K be the center frequency of the transmitted signal, K be the FMCW slope, τ be the time delay, and t be the time delay. m t is the slow time, and t is the fast time. This represents the initial phase of the transmitted signal.

[0010] In some embodiments of the first aspect, the method further includes: distinguishing the signals of each transmit antenna according to a pre-configured transmit / receive strategy.

[0011] In some embodiments of the first aspect, when the transmit / receive strategy is DDMA_MIMO, the step of distinguishing the signals of each transmit antenna according to the pre-configured transmit / receive strategy includes: distinguishing the signals of each transmit antenna according to the initial phase of each transmit antenna on each chirp.

[0012] In some embodiments of the first aspect, the initial phase of each transmitting antenna on each chirp is Where P means dividing the Doppler into P equal domains, m is the transmit antenna number, and h is the chirp number.

[0013] In some embodiments of the first aspect, the algorithm further includes inputting the simulated raw radar data into a signal processing algorithm.

[0014] The second aspect of this disclosure provides a device for simulating and generating radar raw data, comprising: a position setting module, which is used to set the transmitting antenna and receiving antenna of the radar in a spatial rectangular coordinate system according to a preset radar layout, and to set the initial positions and corresponding motion parameters of multiple targets; a waveform parameter setting module, which is used to calculate the sampling duration and FMCW slope based on the set waveform parameters of the transmitted signal; and a time delay calculation module, which is used to update the coordinates of each target based on the corresponding motion parameters within a sampling duration, and to obtain the distance from the transmitting antenna to each target and the distance from the receiving antenna to each target by traversing the coordinates of the transmitting antenna, the target, and the receiving antenna at each moment, and to obtain the time delay corresponding to each transmission path based on the sum of the distances from the transmitting antenna to the target and the receiving antenna to the target for each transmission path, wherein a transmission path refers to the transmission signal from one... A transmit-receive path is formed when a transmitting antenna reaches a target and the transmitted signal then propagates from the target to a receiving antenna. A radar raw data calculation module is used to obtain the raw data corresponding to each transmission path of the receiving antenna under the sampling time sequence based on the time delay, the center frequency of the transmitted signal, the signal amplitude of the radar raw data, the FMCW slope of the transmitted signal, and the radar raw data expression. The module then sums and saves the raw data corresponding to the receiving antenna and all transmission paths. The sampling time sequence is obtained based on the number of sampling points and the sampling rate. An iterative calling module is used to call the time delay calculation module and the radar raw data calculation module within each chirp of each frame to perform calculations until a set number of frames is reached. A frame includes multiple chirps, the time interval between chirps is the idle time, the time interval between frames is the frame interval, and the duration of each chirp is the sampling duration.

[0015] A third aspect of this disclosure provides a computer device comprising: a memory and a processor; the memory storing program instructions, and the processor being configured to execute the program instructions to perform a method for simulating the generation of radar raw data as described in any one aspect of the first aspect.

[0016] The fourth aspect of this disclosure provides a computer-readable storage medium storing program instructions that are executed to perform a method for simulating the generation of radar raw data as described in any of the first aspects.

[0017] As described above, this disclosure provides a method, apparatus, device, and medium for simulating radar raw data generation. The method includes: Step S301: According to the preset arrangement of the radar, the transmitting antenna and receiving antenna are set in a spatial rectangular coordinate system, and the initial positions and corresponding motion parameters of multiple targets are set; Step S302: Based on the set waveform parameters of the transmitted signal, the sampling duration and FMCW slope are calculated; Step S303: Under one sampling duration, each target updates its coordinates based on the corresponding motion parameters. By traversing the coordinates of the transmitting antenna, the target, and the receiving antenna at each moment, the distance from the transmitting antenna to each target and the distance from the receiving antenna to each target are obtained. For each transmission path, the time delay corresponding to the transmission path is obtained based on the sum of the distance from the transmitting antenna to the target and the distance from the receiving antenna to the target. This refers to a transmission and reception path formed by the transmitted signal traveling from one transmitting antenna to a target and then from the target to a receiving antenna; Step S304: Based on the time delay, the center frequency of the transmitted signal, the signal amplitude of the radar raw data, the FMCW slope of the transmitted signal, and the expression of the radar raw data, obtain the raw data corresponding to each transmission path of the receiving antenna under the sampling time sequence, and sum and save the raw data corresponding to the receiving antenna and all transmission paths. The sampling time sequence is obtained based on the number of sampling points and the sampling rate; Step S305: Execute steps S303 and S304 in each chirp of each frame until the set number of frames is reached. A frame includes multiple chirps, the time interval between chirps is the idle time, the time interval between frames is the frame interval, and the duration of each chirp is the sampling duration. This embodiment utilizes modeling of the transmitting antenna, receiving antenna, and target to acquire the distances from the transmitting antenna to the target and from the receiving antenna to the target in real time. The obtained distances are then used to calculate the original data of the radar receiving antenna, thus simulating the original radar data. This method acquires millimeter-wave radar data without requiring hardware or actual scene data collection, greatly facilitating algorithm simulation, debugging, and development. It significantly accelerates algorithm development and verification, reduces costs, and the simulated data is ideal, eliminating interference from various factors in reality during algorithm verification. Furthermore, this solution can simulate any radar layout, is simple, and highly versatile. Attached Figure Description

[0018] Figure 1 A schematic diagram illustrating a preset arrangement of radars in one embodiment of this disclosure.

[0019] Figure 2 A schematic diagram of the structure of a computer device according to an embodiment of the present disclosure is shown.

[0020] Figure 3This invention demonstrates a method for simulating the generation of raw radar data in one embodiment of the present disclosure.

[0021] Figure 4 A schematic diagram showing the relative positions of a transmitting antenna and a receiving antenna to a target in one embodiment of the present disclosure.

[0022] Figure 5 A schematic diagram showing the relative positions of a plurality of transmitting antennas and receiving antennas to a target in one embodiment of the present disclosure.

[0023] Figure 6 A schematic diagram of a module for simulating the generation of radar raw data is shown in one embodiment of this disclosure.

[0024] Figure 7 This invention demonstrates a method for simulating the generation of raw radar data in a specific embodiment of the present disclosure. Detailed Implementation

[0025] The following specific examples illustrate the implementation of this disclosure. Those skilled in the art can easily understand other advantages and effects of this disclosure from the information disclosed herein. This disclosure can also be implemented or applied to systems through other different specific embodiments, and various details in this disclosure can also be modified or changed according to different viewpoints and application systems without departing from the spirit of this disclosure. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this disclosure can be combined with each other.

[0026] The embodiments of this disclosure will now be described in detail with reference to the accompanying drawings, so that those skilled in the art to which this disclosure pertains can readily implement it. This disclosure may be embodied in many different forms and is not limited to the embodiments described herein.

[0027] In this disclosure, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic represented in connection with that embodiment or example is included in at least one embodiment or example of this disclosure. Furthermore, the specific features, structures, materials, or characteristics represented may be combined in any suitable manner in any one or a group of embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples represented in this disclosure, as well as the features of those different embodiments or examples.

[0028] Furthermore, the terms "first" and "second" are configured for illustrative purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the representation of this disclosure, "a set" means two or more, unless otherwise explicitly specified.

[0029] For the purpose of clarity, devices unrelated to the description are omitted, and the same or similar components throughout the specification are given the same reference numerals.

[0030] Throughout this specification, when it is said that a device is "connected" to another device, this includes not only "direct connection" but also "indirect connection" by placing other components in between. Furthermore, when it is said that a device "comprises" a certain constituent element, unless otherwise stated otherwise, this does not exclude other constituent elements, but rather implies that other constituent elements may be included.

[0031] While the terms first, second, etc., are used in some examples herein to refer to various elements, these elements should not be limited by these terms. These terms are used only to distinguish one element from another. For example, first interface and second interface, etc., are used. Furthermore, as used herein, the singular forms “a,” “an,” and “the” are intended to also include the plural forms unless the context indicates otherwise. It should be further understood that the terms “comprising,” “including,” indicate the presence of the stated feature, step, operation, element, module, item, kind, and / or group, but do not exclude the presence, occurrence, or addition of one or more other features, steps, operations, elements, modules, items, kinds, and / or groups. The terms “or” and “and / or” as used herein are interpreted as inclusive, or mean any one or any combination thereof. Thus, “A, B, or C” or “A, B, and / or C” means “any one of: A; B; C; A and B; A and C; B and C; A, B, and C.” Exceptions to this definition will only occur if the combination of elements, functions, steps, or operations is inherently mutually exclusive in some way.

[0032] The technical terms used herein are configured only to refer to specific embodiments and are not intended to limit the disclosure. The singular form used herein includes the plural form unless the statement explicitly indicates otherwise. The word "comprising" as used in the specification means to specify a particular characteristic, region, integer, step, operation, element, and / or component, and does not exclude the presence or addition of other characteristics, regions, integers, steps, operations, elements, and / or components.

[0033] Although not explicitly defined, all terms, including technical and scientific terms used herein, shall have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains. Terms defined in commonly used dictionaries shall be further interpreted as having a meaning consistent with the relevant technical literature and the message of the present disclosure, and shall not be over-interpreted as having an ideal or overly formulaic meaning unless otherwise defined.

[0034] Radar includes a transmitting antenna and a receiving antenna; please refer to [link / reference]. Figure 1 , Figure 1 This diagram illustrates a preset radar layout in one embodiment of the present disclosure, including 12 transmitting antennas and 16 receiving antennas. Radar raw data refers to the signal after the received and transmitted signals have been mixed and then filtered by a low-pass filter. Currently, more attention is paid to the radar algorithm itself, with little focus on the algorithm's input (radar raw data). However, the generation of radar raw data is a crucial step; only with raw radar data can the algorithm be simulated, verified, and further developed.

[0035] Currently, many radar algorithm simulations use actual radar data acquisition in real-world scenarios. This requires a pre-existing hardware platform; developing algorithms for a specific radar would waste considerable time and resources. Secondly, the scenarios required for actual hardware acquisition are often not present in reality, such as a high-speed moving vehicle or a distant target. While target simulators can be used, they are expensive. Thirdly, actual hardware acquisition lacks flexibility; changing waveforms requires modifying, compiling, debugging, and burning the lower-level software, sometimes even modifying the original data acquisition software. Fourthly, real-world data often contains various interferences and noise, which can negatively impact algorithm verification and evaluation.

[0036] Therefore, in radar algorithm development, there is an urgent need for a method that can flexibly and effectively generate raw radar data.

[0037] In view of this, the present disclosure provides a scheme for simulating the generation of radar raw data to solve the problems in the related technology.

[0038] like Figure 2 The diagram shown illustrates the structure of a computer device according to an embodiment of the present disclosure.

[0039] The computer device may include, but is not limited to, one or more processing units 216, a system memory 228, and a bus 218 connecting different system components (including the system memory 228 and the processing unit 216). The computer device is used to execute an embodiment of a method for simulating the generation of raw radar data (e.g.,...). Figure 3 The process steps executed by (etc.).

[0040] Bus 218 represents one or more of several bus architectures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of the various bus architectures. For example, these architectures include, but are not limited to, the Industry Standard Architecture (ISA) bus, the Micro Channel Architecture (MAC) bus, the Enhanced ISA bus, the Video Electronics Standards Association (VESA) local bus, and the Peripheral Component Interconnect (PCI) bus.

[0041] Computer devices typically include a variety of computer system-readable media. These media can be any available media that can be accessed by a computer device, including volatile and non-volatile media, and removable and non-removable media.

[0042] System memory 228 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 230 and / or cache memory 232. The computer device may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 234 may be used to read and write non-removable, non-volatile magnetic media (…). Figure 2 Not shown; usually referred to as a "hard drive"). Although Figure 2 Not shown, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk") and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 218 via one or more data media interfaces. System memory 228 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of the embodiments of this application.

[0043] A program / utility 240 having a set (at least one) of program modules 242 may be stored, for example, in system memory 228. Such program modules 242 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include an implementation of a network environment. Program modules 242 typically perform the functions and / or methods described in the embodiments of this application.

[0044] The computer device can also communicate with one or more external devices 214 (e.g., keyboard, monitor 224, etc.). Using these external devices 214, the user can set waveform parameters of the transmitted signal, input the coordinates of the radar's transmitting and receiving antennas, input the initial positions of multiple targets and their corresponding motion parameters, etc. It can also communicate with one or more devices that allow the user to interact with the computer device, and / or with any device that enables the computer device to communicate with one or more other computing devices (e.g., network card, modem, etc.). This communication can be performed through the input / output (I / O) interface 222. Furthermore, the computer device can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 220. As shown, network adapter 220 communicates with other modules of the computer device via bus 218. It should be understood that although... Figure 2 As not shown, it can be used in conjunction with computer equipment with other hardware and / or software modules, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0045] The processing unit 216 includes one or more processors. The processing unit 216 performs various functional applications and data processing by running at least one of the other programs among a plurality of programs stored in the system memory 228, such as implementing any of the radar raw data simulation generation methods provided in the embodiments of this application.

[0046] like Figure 3 The diagram shown illustrates a flowchart of a method for simulating the generation of radar raw data in one embodiment of this disclosure.

[0047] exist Figure 3 The method for simulating the generation of the radar raw data includes steps S301, S302, S303, S304, and S305.

[0048] In some embodiments, raw radar data refers to the signal after the received signal and transmitted signal have been mixed and then filtered by a low-pass filter. The method for simulating the generation of raw radar data can be applied to any type of FMCW (Frequency-Modulated Continuous Wave) radar. It only requires obtaining the preset radar layout and the waveform parameters of the radar's transmitted signal to implement the method for simulating and generating the raw radar data. In the embodiments described herein, an FMCW millimeter-wave radar is used as an example, but this is not a limitation. The raw radar data can be obtained based on the transmitted signal from the radar transmitting antenna and the received signal from the radar receiving antenna.

[0049] In some embodiments, the transmitted signal of the FMCW millimeter-wave radar is:

[0050] s(t)=Asin(2πf c (t m +t)+2π*0.5K*t*t)(1)

[0051] Where A is the amplitude of the transmitted signal, f c Let K be the center frequency of the transmitted signal, K be the slope of the linear frequency modulated signal (FMCW), and t be the slope of the FMCW signal. m Let t be the slow time and t be the fast time. The slow time is the start time of each chrip; for example, the slow time of the h-th chrip is t. m =(t acq +idletime)×(h-1),t acq The sampling duration is denoted as idle time, and fast time refers to the sampling time series, which is obtained from the sampling rate and the number of sampling points.

[0052] The received signal of the FMCW millimeter-wave radar is a function of the time delay of the transmitted signal. Assuming the time delay is τ, the received signal of the FMCW millimeter-wave radar is:

[0053]

[0054] Among them, A R The amplitude of the received signal is τ, and the time delay is τ. This represents the initial phase of the transmitted signal. The signal after mixing the received and transmitted signals and then passing it through a low-pass filter can be expressed as:

[0055]

[0056] Among them, A mix The signal amplitude of the raw radar data, s mix (t) is the original radar data expression, f c Let K be the center frequency of the transmitted signal, K be the FMCW slope, and τ be the time delay.

[0057] Step S301: According to the preset layout of the radar, set the radar's transmitting and receiving antennas in a spatial rectangular coordinate system, and set the initial positions and corresponding motion parameters of multiple targets.

[0058] In some embodiments, the preset radar layout refers to the relative positions of the transmitting and receiving antennas in the actual radar. See also... Figure 1 , Figure 1This diagram illustrates a preset arrangement of a radar in one embodiment of the present disclosure. The diagram includes 12 transmitting antennas (a1, a2, a3, a4, a5, a6, a7, a8, a9, a10, a11, a12) and 16 receiving antennas (b1, b2, b3, b4, b5, b6, b7, b8, b9, b10, b11, b12, b13, b14, b15, b16). Knowing the preset radar arrangement, the transmitting and receiving antennas can be arranged in a pre-established Cartesian coordinate system according to this arrangement. Specifically, spatial coordinates are assigned to each transmitting and receiving antenna based on their relative positions, and all transmitting and receiving antennas are arranged in the same plane within the Cartesian coordinate system; for example, all transmitting and receiving antennas can be arranged in the y-z plane, the x-z plane, etc.

[0059] In some embodiments, in order to effectively determine the distance from the transmitting antenna to each target and the distance from the receiving antenna to each target, the initial positions of multiple targets should not be set in the plane where the radar transmitting antenna and receiving antenna are located. Instead, multiple targets should be set in other planes of the spatial rectangular coordinate system. The multiple targets may be in the same plane or not in the same plane.

[0060] Accordingly, motion parameters for each target also need to be set. These parameters can be the same or different. When the motion parameters are the same, the relative positional relationship between a moving radar and a stationary target can be simulated; when the motion parameters are different, the relative positional relationship between a moving radar and both stationary and moving targets can be simulated. The motion parameters include: velocity, direction of motion, and acceleration. For example, a target may have an initial position of (10, 0, 0) in a spatial coordinate system defined by the x, y, and z axes, moving along the positive x-axis at a velocity of 5 m / s (5, 0, 0); and an acceleration of 0 (0, 0, 0). The velocity and acceleration parameters can be flexibly set according to the actual radar application scenario.

[0061] In summary, by setting the radar's transmitting and receiving antennas in a pre-established spatial rectangular coordinate system and setting the initial positions and corresponding motion parameters of multiple targets, the time delay can be calculated at each moment using the distance between the target and the transmitting and receiving antennas, thereby inversely calculating the signal shown in formula (3). This way, the signal shown in formula (3) can be obtained without using the transmitted signal in the actual detection process.

[0062] Step S302: Calculate the sampling duration and FMCW slope based on the waveform parameters of the transmitted signal.

[0063] Specifically, the waveform parameters of the transmitted signal refer to the waveform parameters of the signal emitted by the transmitting antenna in the radar. The waveform parameters of the transmitted signal include: the center frequency (f... c The parameters include: number of sampling points (SamplesN), number of chirps (ChirpsN), number of frames (FrameN), sampling rate (adcrate), idle time (idletime), bandwidth (B), frame interval (t_frame), and speed of light (c). These waveform parameters are determined by the user based on the actual waveform parameters of the signal transmitted by the radar transmitting antenna. The wavelength (λ = c / f) can be calculated based on the set waveform parameters of the transmitted signal. c ), sampling duration (t) acq =SamplesN / adcrate), FMCW slope (K=B / t) acq Data such as: SamplesN (total number of sampling points within a chirp), Chirp count (number of chirps within a frame), Idle time (duration between the end of one chirp and the start of the next), Frame interval (duration between the end of one frame and the start of the next), and Sampling duration (duration within a chirp).

[0064] Step S303: Under one sampling duration, each target updates its coordinates based on the corresponding motion parameters. By traversing the coordinates of the transmitting antenna, the target, and the receiving antenna at each moment, the distance from the transmitting antenna to each target and the distance from the receiving antenna to each target are obtained. For each transmission path, the time delay corresponding to the transmission path is obtained based on the sum of the distances from the transmitting antenna to the target and the distances from the receiving antenna to the target.

[0065] In one embodiment, during the sampling duration (t) acq In the case of (SamplesN / adcrate), each target updates its coordinates based on its corresponding motion parameters. The target's position coordinates change at each time step, and the interval between two adjacent sampling times is t. g = 1 / adcrate. For example, if a target's initial position is (10, 0, 0), it moves along the positive x-axis with a velocity of 5 m / s (5, 0, 0) and an acceleration of 0 (0, 0, 0), then the target's position coordinates at the next sampling time are...

[0066] Based on the premise that the target's coordinates are updated at every moment, the distances from the transmitting antenna to each target and from the receiving antenna to each target are obtained by traversing the coordinates of the transmitting antenna, the target, and the receiving antenna at each moment. For each transmission path, the time delay corresponding to that transmission path is obtained based on the sum of the distances from the transmitting antenna to the target and the distances from the receiving antenna to the target. The time delay corresponding to a transmission path is equal to the ratio of the sum of the distances to the speed of light.

[0067] A transmission path refers to a route formed when a transmitted signal travels from a transmitting antenna to a target, and then from that target to a receiving antenna. For details, please refer to [link to relevant documentation]. Figure 4 , Figure 4 This diagram illustrates the relative positions of a transmitting antenna and a receiving antenna to a target in one embodiment of this disclosure. Since there is only one transmitting antenna, it is not necessary for each receiving antenna to distinguish the transmitted signal. In the diagram, circles represent the target, squares represent the transmitting antennas, and triangles represent the receiving antennas. There are four transmission paths in the diagram. By traversing all the transmitting antennas, receiving antennas, and the target at any given time, the following distances are obtained: f1 between the transmitting antenna (0, 0, 5) and the target (10.03, 0, 0); f2 between the transmitting antenna (0, 0, 5) and the target (11.03, 0, 0); s1 between the target (10.03, 0, 0) and the receiving antenna (0, 5, 4); s2 between the target (10.03, 0, 0) and the receiving antenna (0, 5, 6); s3 between the target (11.03, 0, 0) and the receiving antenna (0, 5, 4); and s4 between the target (11.03, 0, 0) and the receiving antenna (0, 5, 6). Taking the two transmission paths of one receiving antenna (0, 5, 4) as an example, the calculation of the time delays for the other receiving antenna is similar to that for receiving antenna (0, 5, 4). For the target (10.03, 0, 0), first calculate the sum of distance f1 and distance s1, then divide by the speed of light to obtain the time delays corresponding to the receiving antenna (0, 5, 4) and the target (10.03, 0, 0). For the target (11.03, 0, 0), first calculate the sum of distance f2 and distance s3, then divide by the speed of light to obtain the time delays corresponding to the receiving antenna (0, 5, 4) and the target (11.03, 0, 0). After obtaining the time delays for each target, record the time delays.

[0068] In one embodiment, when the simulated radar includes multiple transmitting antennas and multiple receiving antennas, the distance from each transmitting antenna to each target and the distance from each receiving antenna to each target are obtained by traversing the coordinates of all transmitting antennas, the target, and the receiving antennas at each moment. For each transmitting antenna and each receiving antenna, the distance from that transmitting antenna to each target and the distance from that receiving antenna to each target are obtained. For each transmission path, the time delay corresponding to that transmission path is obtained based on the sum of the distances from the transmitting antennas to the targets and the distances from the receiving antennas to the targets in that transmission path. The time delays for each transmission path are then recorded.

[0069] Specifically, please refer to Figure 5 , Figure 5 This diagram illustrates the relative positions of multiple transmitting and receiving antennas to a target in one embodiment of the present disclosure. Figure 5The diagram includes two transmitting antennas, transmitting antenna (0, 0, 5) and transmitting antenna (0, 0, 6), and contains 8 transmission paths. By traversing the coordinates of all transmitting antennas, the target, and the receiving antennas at any given time, the distances from each transmitting antenna to each target and from each receiving antenna to each target are obtained. Specifically, the distances f1 between transmitting antenna (0, 0, 5) and target (10.03, 0, 0), f2 between transmitting antenna (0, 0, 5) and target (11.03, 0, 0), and f3 between transmitting antenna (0, 0, 6) and target (10.03, 0, 0) are obtained. Distance f3, distance f4 between transmitting antenna (0, 0, 6) and target (11.03, 0, 0), distance s1 between target (10.03, 0, 0) and receiving antenna (0, 5, 4), distance s2 between target (10.03, 0, 0) and receiving antenna (0, 5, 6), distance s3 between target (11.03, 0, 0) and receiving antenna (0, 5, 4), distance s4 between target (11.03, 0, 0) and receiving antenna (0, 5, 6). Taking one receiving antenna (0, 5, 4) as an example, the time delay calculation for the other receiving antenna is similar to that for receiving antenna (0, 5, 4). For the target (10.03, 0, 0) and transmitting antenna (0, 0, 5), first calculate the sum of distance f1 and distance s1, then divide by the speed of light to obtain the time delay corresponding to the target (10.03, 0, 0). For the target (11.03, 0, 0) and transmitting antenna (0, 0, 5), first calculate the sum of distance f2 and distance s3, then divide by... The speed of light is used to obtain the time delay corresponding to the target (11.03, 0, 0). For the target (10.03, 0, 0) and the transmitting antenna (0, 0, 6), first calculate the sum of distance f3 and distance s1, then divide by the speed of light to obtain the time delay corresponding to the target (10.03, 0, 0). For the target (11.03, 0, 0) and the transmitting antenna (0, 0, 6), first calculate the sum of distance f4 and distance s3, then divide by the speed of light to obtain the time delay corresponding to the target (11.03, 0, 0). After obtaining each time delay, record them.

[0070] It should be noted that although the calculation is performed within a sampling duration, the actual calculation time does not need to exceed the sampling duration (t). acq =SamplesN / adcrate) time, the actual calculation time required is the running time of the simulation software (e.g., MATLAB software).

[0071] Step S304: Based on the time delay, the center frequency of the transmitted signal, the signal amplitude of the radar raw data, the FMCW slope of the transmitted signal, and the radar raw data expression, obtain the raw data of the receiving antenna corresponding to each transmission path under the sampling time sequence, and sum and save the raw data of the receiving antenna and all transmission paths. The sampling time sequence is obtained based on the number of sampling points and the sampling rate.

[0072] In one embodiment, for one of the receiving antennas in the radar, based on the formula

[0073] Based on the time delay τ and center frequency f corresponding to each transmission path c Signal amplitude A mix FMCW slope K, initial phase of the transmitted signal The original data for each transmission path corresponding to the receiving antenna is obtained under the sampling time series (fast time t). The original data for this receiving antenna and all transmission paths are summed and saved. The calculation method for other receiving antennas is similar. The time delay τ can be obtained according to step S303, and the center frequency f... c Signal amplitude A mix The FMCW slope K can be obtained from step S302, and the signal amplitude A of the original radar data. mix It is generally set to 1, the initial phase of the transmitted signal. This can be preset. For example, when there are multiple transmit antennas, the same initial phase can be configured, and the multiple transmit antennas will not transmit signals simultaneously. Alternatively, when multiple transmit antennas transmit signals simultaneously, a different initial phase can be configured for each transmit antenna. Specifically, when the transmit / receive strategy is DDMA_MIMO (Doppler Diversity Multiple Access Multiple-Input Multiple-Output), the initial phase of each transmit antenna on each chirp is... Where P means dividing the Doppler into P fields, m is the transmit antenna number (m is an integer), and h is the chirp number (h is an integer); specifically, P can be 16, that is, dividing the Doppler into 16 fields.

[0074] The sampling time series is obtained based on the number of sampling points and the sampling rate, and the sampling period t is obtained based on the sampling rate. g =1 / adcrate, sampling is performed within each chirp according to the sampling period and the number of sampling points, that is, sampling is performed within each chirp according to the sampling time sequence. The slow time is the start time of each chirp. For example, the slow time of the h-th chirp is t. m =(t acq+idletime)×(h-1).

[0075] In one specific embodiment, such as Figure 5 As shown, when summing the original data from the receiving antenna (0, 5, 6), the time delay τ1 is obtained by summing the distances from the transmitting antenna (0, 0, 6) to the target (10.03, 0, 0) and the receiving antenna (0, 5, 6). The original data s is then obtained based on the time delay τ1. mix (t)1, using the distances from the transmitting antenna (0, 0, 6) to the target (11.03, 0, 0) and the receiving antenna (0, 5, 6), the time delay τ2 is calculated, and the original data s is obtained based on the time delay τ2. mix (t)2, using the distances from the transmitting antenna (0, 0, 5) to the target (10.03, 0, 0) and the receiving antenna (0, 5, 6), the time delay τ3 is calculated, and the original data s is obtained based on the time delay τ3. mix (t)3, using the distances from the transmitting antenna (0, 0, 5) to the target (11.03, 0, 0) and the receiving antenna (0, 5, 6), the time delay τ4 is calculated, and the original data s is obtained based on the time delay τ4. mix (t)4, sum the original data corresponding to the receiving antenna (0, 5, 6) and all transmission paths to obtain s. mix (t)1+s mix (t)2+s mix (t)3+s mix (t)4, s mix (t)1+s mix (t)2+s mix (t)3+s mix (t)4 Save.

[0076] In one embodiment, when there are multiple transmit antennas, the actual radar needs to distinguish the signals from each transmit antenna according to a pre-configured transmit / receive strategy, and the simulated radar also needs to have the same transmit / receive strategy as the actual radar. For example, the transmission times of each transmit antenna are different. Also, when multiple transmit antennas transmit simultaneously, different initial phases can be configured for each transmit antenna. Specifically, when the transmit / receive strategy is DDMA_MIMO (Doppler Diversity Multiple Access Multiple-Input Multiple-Output), the signals from each transmit antenna are distinguished according to the initial phase of each transmit antenna on each chirp. For example, the initial phase of each transmit antenna on each chirp is... Where P means dividing the Doppler into P fields, m is the transmit antenna number (m is an integer), and h is the chirp number (h is an integer); specifically, P can be 16, that is, dividing the Doppler into 16 fields.

[0077] In one embodiment, the received signal for each target and each transmitting antenna in the sampling time series is obtained based on the time delay, center frequency, signal amplitude, FMCW slope, and initial phase corresponding to each transmitting antenna and each target. Specifically, when the simulated radar uses different initial phases to distinguish the transmitting antennas, the different initial phases are also substituted into formula (2) to obtain the received signal.

[0078] Step S305: Perform the above two steps in each chirp of each frame until the set number of frames is reached. Here, a frame includes multiple chirps, the time interval between chirps is the idle time, the time interval between frames is the frame interval, and the duration of each chirp is the sampling duration.

[0079] In one embodiment, the number of frames, the number of chirps in a frame, the frame interval, and the idle time are pre-input waveform parameters, and the sampling duration is obtained according to step S302. Step S305 includes: steps S3051, S3052, and S3053.

[0080] Step S3051: Increment the chirp count by 1 and determine whether the chirp count has reached the set number of chirps.

[0081] In one specific embodiment, the initial value of the chirp count is 0. After executing steps S303 and S304 once, the raw data within a chirp is obtained, that is, the raw data under one sampling duration. At this time, the chirp count needs to be incremented by 1, and then it is determined whether the chirp count has reached the set number of chirps. The set number of chirps refers to how many chirps are in one frame.

[0082] Step S3052: If the number of chirps has not been reached, update the coordinates between chirps and repeat steps S303, S304, and S3051. Otherwise, increment the frame count by 1 and determine whether the set number of frames has been reached.

[0083] In one embodiment, if the chirp count has not reached the set number of chirps, the target needs to update the coordinates between chirps and then repeat steps S303, S304, and S3051. Here, the coordinate update between chirps refers to the target moving according to the corresponding motion parameters for the idle time. Since the idle time is the interval between chirps, the distances from the transmitting antenna to each target and the distances from the receiving antenna to each target during this period are not used to calculate the delay and the corresponding raw data. If the set number of chirps has been reached, the frame count needs to be incremented by 1, and it needs to be determined whether the set number of frames has been reached.

[0084] Step S3053: The process ends when the set number of frames is reached; otherwise, the coordinates between frames are updated based on the frame interval, and steps S303, S304, S3051, and S3052 are repeated.

[0085] The initial value of the frame count is 0. The frame count is incremented by 1 after the chirp count reaches the set number of chirps. The process ends when the set number of frames is reached; otherwise, the coordinates are updated between frames based on the frame interval, the chirp count is cleared to 0, and steps S303, S304, S3051, and S3052 are repeated. If the chirp count is not cleared at the beginning of each frame, the determination can be made by checking whether the remainder after dividing the chirp count by the set number of chirps reaches the set number of chirps.

[0086] In one embodiment, after obtaining interference-free and noise-free raw radar data, the generated interference-free and noise-free raw radar data is input into a signal processing algorithm. This enables the development and debugging of the signal processing algorithm, facilitating its simulation. The signal processing algorithm includes: target detection, velocity deblurring, and DOA estimation algorithms. Because the generated raw data is free of various interferences and noises, the impact of interference and noise on the verification and evaluation of the signal processing algorithm is greatly reduced.

[0087] Please see Figure 7 , Figure 7 This invention demonstrates a method for simulating the generation of raw radar data in a specific embodiment of this disclosure, which generates raw data for a DDMIMO radar using MATLAB software. The entire method is implemented in MATLAB software.

[0088] Step S701: Initialize waveform parameters.

[0089] When initializing waveform parameters, first set the waveform parameters of the transmitted signal according to the table below.

[0090]

[0091]

[0092] Then, based on the waveform parameters of the transmitted signal, the wavelength (λ = c / f) is calculated. c ), sampling duration (t) acq =SamplesN / adcrate), chirp duration (t) c =t acq +idletime), FMCW slope (K=B / t) acq ).

[0093] Step S702: Set the positions of the transmitting antenna and the receiving antenna.

[0094] Specifically, a spatial rectangular coordinate system is established, and the coordinates of each antenna are set in the spatial rectangular coordinate system according to the actual arrangement of the transmitting and receiving antennas (e.g., M transmitting N receiving). The transmitting and receiving antennas are in the y_z plane.

[0095] Step S703: Configure the send and receive strategy.

[0096] Taking the DDMIMO transmission and reception strategy as an example, the initial phase of each transmit antenna on each chirp is calculated. The phase shift of each transmit antenna on a certain chirp is ψ = 360*(m-1)*h / P, where P refers to dividing the Doppler into P equal domains, m is the transmit antenna number, and h is the chirp number. Each antenna is configured according to the value of this formula.

[0097] Step S704: Create multiple targets in the coordinate system and set the corresponding motion parameters for each target.

[0098] Specifically, the motion parameters include velocity, acceleration, and direction of motion. Creating multiple targets in the coordinate system means configuring an initial position for each target.

[0099] Step S705: According to the transmit / receive strategy, traverse all receiving antennas, transmitting antennas, and targets, calculate the distance from the transmitting antenna to the target at the current time, calculate the distance from the receiving antenna to the target, sum the two distances to obtain the total distance, obtain the target's time delay based on the total distance, obtain the corresponding radar raw data of the receiving antenna, transmitting antenna, and target based on the target's time delay, and then sum all the data of the receiving antenna according to the traversal situation to obtain all the data of the receiving antenna and save it.

[0100] Specifically, based on the transmission and reception strategy, all receiving antennas, transmitting antennas, and the target are traversed. The distance from the transmitting antenna to the target at the current time is calculated, as is the distance from the receiving antenna to the target. These two distances are summed to obtain the total distance. The target's time delay is then calculated based on the total distance, according to the formula... Obtain the raw radar data corresponding to the receiving antenna, transmitting antenna, and target, where A mix It can be set to 1, f c The center frequency is given from the waveform parameter table in the first step, K is given from the slope of the FMCW in the second step, τ is the calculated time delay, and t m For slow time, t is fast time. The sampling time sequence (fast time t) is given by SamplesN and sampling rate from the waveform parameter table in step S701. Then, based on the traversal, all data of the receiving antenna are summed to obtain all data of the receiving antenna. This data is saved. The same operation is performed on the data of other receiving antennas.

[0101] Step S706: Increment the chirp count by 1.

[0102] Step S707: Determine whether the number of chirps (ChirpsN) has been reached. If it has, proceed to step S708. If it has not been reached, proceed to step S710 to update the target motion state between chirps, and continue to proceed to step S705 to generate the data for the next chirp.

[0103] Step S708: Increment the frame count by 1.

[0104] Step S709: Determine whether the frame number (FrameN) has been reached. If it has, the process ends. Otherwise, proceed to step S711 to update the target motion state between frames, and repeat steps S705, S706, S707, and S710 to generate data for the next frame.

[0105] This disclosure provides a method for simulating the generation of radar raw data, the method comprising: step S301: according to the preset arrangement of the radar, setting the radar's transmitting antenna and receiving antenna in a spatial rectangular coordinate system, and setting the initial positions and corresponding motion parameters of multiple targets; step S302: based on the set waveform parameters of the transmitted signal, calculating the sampling duration and FMCW slope; step S303: under one sampling duration, each target updates its coordinates based on the corresponding motion parameters, by traversing the coordinates of the transmitting antenna, the target, and the receiving antenna at each moment, obtaining the distance from the transmitting antenna to each target and the distance from the receiving antenna to each target, and for each transmission path, based on the sum of the distances from the transmitting antenna to the target and the distances from the receiving antenna to the target... Step S304: Obtain the time delay corresponding to the transmission path; Step S305: Based on the time delay, the center frequency of the transmitted signal, the signal amplitude of the radar raw data, the FMCW slope of the transmitted signal, and the expression of the radar raw data, obtain the raw data of the receiving antenna corresponding to each transmission path under the sampling time sequence, and sum and save the raw data of the receiving antenna and all transmission paths. The sampling time sequence is obtained based on the number of sampling points and the sampling rate; Step S306: Execute steps S307 and S308 in each chirp of each frame until the set number of frames is reached. A frame includes multiple chirps, the time interval between chirps is the idle time, the time interval between frames is the frame interval, and the duration of each chirp is the sampling duration. This embodiment utilizes modeling of the transmitting antenna, receiving antenna, and target to acquire the distances from the transmitting antenna to the target and from the receiving antenna to the target in real time. The obtained distances are then used to calculate the original data of the radar receiving antenna, thus simulating the original radar data. This method acquires millimeter-wave radar data without requiring hardware or actual scene data collection, greatly facilitating algorithm simulation, debugging, and development. It significantly accelerates algorithm development and verification, reduces costs, and the simulated data is ideal, eliminating interference from various factors in reality during algorithm verification. Furthermore, this solution can simulate any radar layout, is simple, and highly versatile.

[0106] like Figure 6 The diagram shows a schematic of a radar raw data simulation generation device according to an embodiment of this disclosure. It should be noted that the principle and technical implementation of the control device can refer to the radar raw data simulation generation method in previous embodiments, therefore, it will not be repeated in this embodiment.

[0107] The radar raw data simulation generation device 600 includes:

[0108] The position setting module 601 is used to set the transmitting antenna and receiving antenna of the radar in a spatial rectangular coordinate system according to the preset arrangement of the radar, and to set the initial position and corresponding motion parameters of multiple targets.

[0109] The waveform parameter setting module 602 is used to calculate the sampling duration and FMCW slope based on the waveform parameters of the transmitted signal set.

[0110] The delay calculation module 603 is used to update the coordinates of each target based on the corresponding motion parameters within a sampling duration. By traversing the coordinates of the transmitting antenna, the target, and the receiving antenna at each moment, the distance from the transmitting antenna to each target and the distance from the receiving antenna to each target are obtained. For each transmission path, the delay corresponding to the transmission path is obtained based on the sum of the distances from the transmitting antenna to the target and the distances from the receiving antenna to the target. Here, a transmission path refers to a transmission route formed by the transmitted signal from one transmitting antenna to one target and then the transmitted signal from the target to one receiving antenna.

[0111] Radar raw data calculation module 604 is used to obtain the raw data of the receiving antenna corresponding to each transmission path under the sampling time sequence based on the time delay, the center frequency of the transmitted signal, the signal amplitude of the radar raw data, the FMCW slope of the transmitted signal, and the radar raw data expression, and to sum and save the raw data of the receiving antenna and all transmission paths. The sampling time sequence is obtained based on the number of sampling points and the sampling rate.

[0112] The iterative calling module 605 is used to call the delay calculation module and the radar raw data calculation module in each chirp of each frame to perform calculations until the set number of frames is reached. A frame includes multiple chirps, the time interval between chirps is the idle time, the time interval between frames is the frame interval, and the duration of each chirp is the sampling duration.

[0113] It should be noted that, in Figure 6The various functional modules in the embodiments can be implemented, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, they can be implemented, in whole or in part, in the form of a program instruction product. A program instruction product includes one or a set of program instructions. When the program instructions are loaded and executed on a computer, all or part of the flow or function according to this disclosure is generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The program instructions can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another.

[0114] and, Figure 6 The apparatus disclosed in the embodiments can be implemented through other modular division methods. The apparatus embodiments shown above are merely illustrative. For example, the module division is only a logical functional division, and in actual implementation, there may be other division methods. For example, a group of modules or modules may be combined or dynamically integrated into another system, or some features may be ignored or not executed. Furthermore, the shown or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between devices or modules may be electrical or other forms.

[0115] in addition, Figure 6 The functional modules and sub-modules in the embodiments can be dynamically integrated within a single processing unit, or each module can exist physically independently, or two or more modules can be dynamically integrated within a single unit. These dynamic units can be implemented in hardware or as software functional modules. If these dynamic units are implemented as software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. This storage medium can be a read-only memory, a hard disk, or an optical disk, etc.

[0116] It should be specifically noted that the flowchart representations of the embodiments described above in this disclosure can be understood as representing modules, segments, or portions of code comprising one or more sets of executable instructions configured to implement specific logical functions or processes. Furthermore, the scope of the preferred embodiments of this disclosure includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved.

[0117] For example, the order of the steps in the embodiments may vary in specific scenarios and is not limited to the above representation.

[0118] This disclosure may also provide a computer-readable storage medium storing program instructions, which, when executed, produce a method embodiment for simulating radar raw data (e.g., ...).Figure 3 The process steps executed by (etc.).

[0119] That is, the method steps in the above embodiments are implemented as software or computer code that can be stored in a recording medium (such as CD ROM, RAM, floppy disk, hard disk or magneto-optical disk), or implemented as computer code that is originally stored in a remote recording medium or a non-transitory machine-readable medium and will be stored in a local recording medium after being downloaded via a network, so that the method represented herein can be stored in such software processing on a recording medium using a general-purpose computer, a special processor or programmable or special hardware (such as ASIC or FPGA).

[0120] In summary, the embodiments of this disclosure provide a method, apparatus, device, and medium for simulating radar raw data generation. The method includes: Step S301: According to the preset arrangement of the radar, the transmitting antenna and receiving antenna are set in a spatial rectangular coordinate system, and the initial positions and corresponding motion parameters of multiple targets are set; Step S302: Based on the set waveform parameters of the transmitted signal, the sampling duration and FMCW slope are calculated; Step S303: Under one sampling duration, the coordinates of each target are updated based on the corresponding motion parameters. By traversing the coordinates of the transmitting antenna, the coordinates of the target, and the coordinates of the receiving antenna at each moment, the distance from the transmitting antenna to each target and the distance from the receiving antenna to each target are obtained. For each transmission path, the distance from the transmitting antenna to the target and the distance from the receiving antenna to the target are calculated. The sum of the distances to the targets yields the time delay corresponding to the transmission path; Step S304: Based on the time delay, the center frequency of the transmitted signal, the signal amplitude of the radar raw data, the FMCW slope of the transmitted signal, and the expression of the radar raw data, the raw data of the receiving antenna corresponding to each transmission path is obtained under the sampling time sequence, and the raw data of the receiving antenna and all transmission paths are summed and saved. The sampling time sequence is obtained based on the number of sampling points and the sampling rate; Step S305: Steps S303 and S304 are executed in each chirp of each frame until the set number of frames is reached. A frame includes multiple chirps, the time interval between chirps is the idle time, the time interval between frames is the frame interval, and the duration of each chirp is the sampling duration. This embodiment utilizes modeling of the transmitting antenna, receiving antenna, and target to acquire the distances from the transmitting antenna to the target and from the receiving antenna to the target in real time. The obtained distances are then used to calculate the original data of the radar receiving antenna, thus simulating the original radar data. This method acquires millimeter-wave radar data without requiring hardware or actual scene data collection, greatly facilitating algorithm simulation, debugging, and development. It significantly accelerates algorithm development and verification, reduces costs, and the simulated data is ideal, eliminating interference from various factors in reality during algorithm verification. Furthermore, this solution can simulate any radar layout, is simple, and highly versatile.

[0121] The above embodiments are merely illustrative of the principles and effects of this disclosure and are not intended to limit this disclosure. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this disclosure. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this disclosure should still be covered by the claims of this disclosure.

Claims

1. A method for simulating and generating raw radar data, characterized in that, include: Step S301: According to the preset layout of the radar, set the radar's transmitting and receiving antennas in a spatial rectangular coordinate system, and set the initial positions and corresponding motion parameters of multiple targets; Step S302: Calculate the sampling duration and FMCW slope based on the waveform parameters of the transmitted signal set; Step S303: During a sampling period, each target updates its coordinates based on the corresponding motion parameters. By traversing the coordinates of the transmitting antenna, the target, and the receiving antenna at each moment, the distance from the transmitting antenna to each target and the distance from the receiving antenna to each target are obtained. For each transmission path, the time delay corresponding to the transmission path is obtained based on the sum of the distance from the transmitting antenna to the target and the distance from the receiving antenna to the target. Here, a transmission path refers to a transmission route formed by the transmitted signal from one transmitting antenna to one target and then the transmitted signal propagates from the target to one receiving antenna. Step S304: Based on the time delay, the center frequency of the transmitted signal, the signal amplitude of the radar raw data, the FMCW slope of the transmitted signal, and the radar raw data expression, obtain the raw data of the receiving antenna corresponding to each transmission path under the sampling time sequence, and sum and save the raw data of the receiving antenna and all transmission paths. The sampling time sequence is obtained based on the number of sampling points and the sampling rate. Step S305: Execute steps S303 and S304 within each chirp of each frame until the set number of frames is reached. Here, a frame includes multiple chirps, the time interval between chirps is the idle time, the time interval between frames is the frame interval, and the duration of each chirp is the sampling duration.

2. The method for simulating and generating radar raw data according to claim 1, characterized in that, The waveform parameters of the transmitted signal include: center frequency, number of sampling points, number of chirps, number of frames, sampling rate, idle time, bandwidth, frame interval, and speed of light.

3. The method for simulating and generating radar raw data according to claim 1, characterized in that, The original radar data expression is: Among them, A mix f represents the signal amplitude of the raw radar data. c Let K be the center frequency of the transmitted signal, K be the FMCW slope, τ be the time delay, and t be the time delay. m t is the slow time, and t is the fast time. This represents the initial phase of the transmitted signal.

4. The method for simulating and generating radar raw data according to claim 1, characterized in that, When the simulated radar includes multiple transmitting antennas, it also includes: distinguishing the signals of each transmitting antenna according to a pre-configured transmit / receive strategy.

5. The method for simulating and generating radar raw data according to claim 4, characterized in that, When the transmit / receive strategy is DDMA_MIMO, the step of distinguishing the signals of each transmit antenna according to the pre-configured transmit / receive strategy includes: distinguishing the signals of each transmit antenna according to the initial phase of each transmit antenna on each chirp.

6. The method for simulating and generating radar raw data according to claim 5, characterized in that, The initial phase of each transmitting antenna on each chirp is: Where P means dividing the Doppler into P equal domains, m is the transmit antenna number, and h is the chirp number.

7. The method for simulating and generating radar raw data according to claim 1, characterized in that, Also includes: The simulated raw radar data is input into the signal processing algorithm.

8. A device for simulating and generating radar raw data, characterized in that, include: The position setting module is used to set the radar's transmitting and receiving antennas in a spatial rectangular coordinate system according to the radar's preset layout, and to set the initial positions and corresponding motion parameters of multiple targets. A waveform parameter setting module is used to calculate the sampling duration and FMCW slope based on the set waveform parameters of the transmitted signal. The delay calculation module is used to update the coordinates of each target based on the corresponding motion parameters within a sampling duration. By traversing the coordinates of the transmitting antenna, the target, and the receiving antenna at each moment, the distance from the transmitting antenna to each target and the distance from the receiving antenna to each target are obtained. For each transmission path, the delay corresponding to the transmission path is obtained based on the sum of the distances from the transmitting antenna to the target and the distances from the receiving antenna to the target. Here, a transmission path refers to a transmission route formed by the transmitted signal from one transmitting antenna to one target and then the transmitted signal from the target to one receiving antenna. The radar raw data calculation module is used to obtain the raw data of the receiving antenna corresponding to each transmission path under the sampling time sequence based on the time delay, the center frequency of the transmitted signal, the signal amplitude of the radar raw data, the FMCW slope of the transmitted signal, and the radar raw data expression, and to sum and save the raw data of the receiving antenna and all transmission paths. The sampling time sequence is obtained based on the number of sampling points and the sampling rate. The iterative calling module is used to call the delay calculation module and the radar raw data calculation module in each chirp of each frame to perform calculations until the set number of frames is reached. A frame includes multiple chirps, the time interval between chirps is the idle time, the time interval between frames is the frame interval, and the duration of each chirp is the sampling duration.

9. A computer device, characterized in that, include: Memory and processor; The memory stores program instructions, and the processor is configured to run the program instructions to perform a method for simulating the generation of radar raw data as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The system stores program instructions that are executed to perform a method for simulating the generation of radar raw data as claimed in any one of claims 1 to 7.

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