Non-uniform waveform-based velocity resolution method, device, equipment and medium

Abstract

The application discloses a velocity deambiguity method and device based on non-uniform waveform, equipment and medium, the method comprises: obtaining a mixed signal, and determining the corresponding digital signal; determine the first to be processed matrix corresponding to the digital signal, and divide the first to be processed matrix into to be applied matrix, and determine the second to be processed matrix corresponding to each to be applied matrix; based on the second to be processed matrix corresponding to each receiving antenna, determine the to be detected matrix, and based on the to be detected matrix, determine the distance unit and the velocity unit, so as to determine the phase of each slope signal corresponding to each transmitting antenna based on the distance unit and the velocity unit; for each transmitting antenna, based on the phase of each slope signal and the corresponding time interval, determine the unambiguous velocity; based on the unambiguous velocity, determine the target velocity and the target distance of the target object. The technical scheme of the embodiment realizes the effect of accurately estimating the velocity and distance of the target object.

Description

Technical Field

[0001] This invention relates to the field of vehicle-mounted radar technology, and in particular to a method, apparatus, device, and medium for velocity defuzzification based on non-uniform waveforms. Background Technology

[0002] In recent years, millimeter-wave radar has rapidly developed in the automotive radar field due to its advantages of low cost and immunity to weather conditions. MIMO radar, in particular, is smaller in size compared to fully arrayed radar antennas, offering higher estimation accuracy for the same size, greatly enhancing the practicality of automotive radar. The speed measurement range of automotive radar is generally no less than -150km / h to 200km / h. However, due to hardware limitations and considerations such as resolution, the frequency sweep time cannot be too short, limiting the number of sampling points in the slow time dimension, thus causing speed ambiguity.

[0003] To address this issue, a common approach is to use a staggered repetition rate method. This involves grouping several adjacent waveform frames together, where the transmitted waveforms of each frame within the group have different and coprime frequencies in the slow time dimension. The maximum unambiguous velocity range is then the least common multiple of the maximum velocity ranges of all frames within the group. The remainder theorem can then be used to resolve velocity ambiguity and obtain the correct velocity result. However, this method requires more frames, reducing the refresh rate and increasing system signal processing time. Furthermore, since range resolution is inversely proportional to bandwidth (wider bandwidth means higher range resolution), and bandwidth is limited by radar hardware such as the intermediate frequency bandwidth, it cannot be too wide, thus restricting the range resolution and affecting test accuracy. Summary of the Invention

[0004] This invention provides a velocity defuzzification method, apparatus, device, and medium based on non-uniform waveforms to achieve good distance and velocity estimation performance. It can accurately estimate the distance and velocity of a target, has high estimation resolution, and does not require simultaneous solving of data between frames, thus saving system cycles.

[0005] According to one aspect of the present invention, a velocity deblurring method based on a non-uniform waveform is provided, the method comprising:

[0006] Acquire at least one set of mixing signals corresponding to the current frame transmission signal, and determine the digital signal corresponding to the at least one set of mixing signals; wherein, the current frame transmission signal includes multiple sets of sawtooth wave transmission signals, each set of sawtooth wave transmission signals has a different starting frequency, each set of sawtooth wave transmission signals consists of ramp signals transmitted by at least one transmitting antenna, and the time interval between each ramp signal is different.

[0007] A first matrix to be processed corresponding to the at least one set of digital signals is determined, and the first matrix to be processed is divided into at least one matrix to be applied according to a first preset rule, and a second matrix to be processed corresponding to each of the matrices to be applied is determined; wherein, the first matrix to be processed is a one-dimensional matrix, the second matrix to be processed is a two-dimensional matrix, and at least one second matrix to be processed corresponds to each receiving antenna;

[0008] Based on at least one second matrix to be processed corresponding to each of the receiving antennas, a matrix to be detected is determined, and based on the matrix to be detected and a preset detection criterion, a range unit and a velocity unit are determined, so as to determine the phase of each ramp signal corresponding to each transmitting antenna based on the range unit and the velocity unit.

[0009] For each of the aforementioned transmitting antennas, based on the phase of each ramp signal corresponding to the current transmitting antenna and the corresponding time interval, the unambiguous velocity corresponding to the current transmitting antenna is determined;

[0010] Based on at least one unambiguous velocity, the target velocity of the target object is determined, and based on the target velocity, a pre-determined beat frequency, and a preset bandwidth, the target distance of the target object is determined.

[0011] According to another aspect of the present invention, a velocity deblurring device based on a non-uniform waveform is provided, the device comprising:

[0012] A mixing signal acquisition module is used to acquire at least one set of mixing signals corresponding to the current frame transmission signal and determine the digital signal corresponding to the at least one set of mixing signals; wherein, the current frame transmission signal includes multiple sets of sawtooth wave transmission signals, each set of sawtooth wave transmission signals has a different starting frequency, each set of sawtooth wave transmission signals is composed of ramp signals transmitted by at least one transmitting antenna, and the time interval between each ramp signal is different.

[0013] The module for determining the matrix to be processed is used to determine a first matrix to be processed corresponding to the at least one set of digital signals, and to divide the first matrix to be processed into at least one matrix to be applied according to a first preset rule, and to determine a second matrix to be processed corresponding to each of the matrices to be applied; wherein the first matrix to be processed is a one-dimensional matrix, the second matrix to be processed is a two-dimensional matrix, and at least one second matrix to be processed corresponds to each receiving antenna.

[0014] The detection matrix determination module is used to determine the detection matrix based on at least one processing matrix corresponding to each of the receiving antennas, and to determine the distance unit and velocity unit based on the detection matrix and a preset detection criterion, so as to determine the phase of each ramp signal corresponding to each transmitting antenna based on the distance unit and the velocity unit.

[0015] The unambiguous velocity determination module is used to determine, for each of the transmitting antennas, the unambiguous velocity corresponding to the current transmitting antenna based on the phase of each ramp signal corresponding to the current transmitting antenna and the corresponding time interval.

[0016] The target distance determination module is used to determine the target speed of a target object based on at least one unambiguous speed, and to determine the target distance of the target object based on the target speed, a pre-determined beat frequency, and a preset bandwidth.

[0017] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0018] At least one processor; and

[0019] A memory communicatively connected to the at least one processor; wherein,

[0020] The memory stores a computer program that can be executed by the at least one processor, which enables the at least one processor to perform the velocity defuzzification method based on non-uniform waveforms as described in any embodiment of the present invention.

[0021] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the speed defuzzification method based on non-uniform waveforms as described in any embodiment of the present invention.

[0022] The technical solution of this invention involves acquiring at least one set of mixing signals corresponding to the current frame's transmitted signal, determining the digital signals corresponding to the at least one set of mixing signals, then determining a first matrix to be processed corresponding to the at least one set of digital signals, dividing the first matrix to be processed into at least one matrix to be applied according to a first preset rule, and determining a second matrix to be processed corresponding to each matrix to be applied. Further, based on the at least one matrix to be processed corresponding to each receiving antenna, a matrix to be detected is determined, and based on the matrix to be detected and a preset detection criterion, a range unit and a velocity unit are determined. Based on the range unit and the velocity unit, the phase of each ramp signal corresponding to each transmitting antenna is determined. For each transmitting antenna, based on the current frame's transmitted signal... The phase of each ramp signal corresponding to the antenna and the corresponding time interval are used to determine the unambiguous velocity corresponding to the current transmitting antenna. Based on at least one unambiguous velocity, the target velocity of the target object is determined. Based on the target velocity, the pre-determined beat frequency, and the preset bandwidth, the target distance of the target object is determined. This solves the problems in the prior art, such as reducing the refresh rate, increasing the system signal processing time, and the bandwidth being limited by the intermediate frequency bandwidth of the radar hardware, which prevents it from being too wide and thus the range resolution cannot be too high, affecting the test accuracy. It achieves good range and velocity estimation performance, can accurately estimate the target's range and velocity, has high estimation resolution, and does not require simultaneous solving of data between frames, saving system cycles.

[0023] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a flowchart of a velocity defuzzification method based on a non-uniform waveform provided in Embodiment 1 of the present invention;

[0026] Figure 2 This is a schematic diagram of a sawtooth wave transmission signal provided in Embodiment 1 of the present invention;

[0027] Figure 3 This is a waveform diagram of a transmitted signal according to Embodiment 1 of the present invention;

[0028] Figure 4 This is a schematic diagram of the Fast Fourier Transform process provided in Embodiment 1 of the present invention;

[0029] Figure 5 This is a schematic diagram of a velocity defuzzification device based on a non-uniform waveform according to Embodiment 2 of the present invention;

[0030] Figure 6 This is a schematic diagram of the structure of an electronic device that implements the velocity defuzzification method based on non-uniform waveforms according to embodiments of the present invention. Detailed Implementation

[0031] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0032] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0033] Example 1

[0034] Figure 1 This is a flowchart of a velocity deblurring method based on non-uniform waveforms provided in Embodiment 1 of the present invention. This embodiment is applicable to situations where velocity ambiguity occurs when a radar device performs velocity and distance detection on a target object. The method can be executed by a velocity deblurring device based on non-uniform waveforms, which can be implemented in hardware and / or software and can be configured in a terminal and / or server. Figure 1 As shown, the method includes:

[0035] S110. Obtain at least one set of mixing signals corresponding to the transmitted signal of the current frame, and determine the digital signal corresponding to each set of mixing signals.

[0036] The transmitted signal can be a signal transmitted by a transmitting antenna pre-installed in the radar device. The current frame transmitted signal can be the transmitted signal currently being processed within one cycle. In this embodiment, the current frame transmitted signal includes multiple sets of sawtooth wave transmitted signals, each set of sawtooth wave transmitted signals having a different starting frequency, each set of sawtooth wave transmitted signals consisting of ramp signals transmitted by at least one transmitting antenna, and the time interval between each ramp signal being different.

[0037] The sawtooth wave transmitted signal can be a transmitted signal with a sawtooth shape, composed of ramp signals emitted by at least one transmitting antenna, with a different time interval between each ramp signal. The starting frequency can be the starting frequency corresponding to the first ramp signal in each group of sawtooth wave transmitted signals. Those skilled in the art should understand that the waveform of a sawtooth wave rises linearly, then falls sharply, rises again, falls sharply again, and so on. It is a non-sinusoidal wave, named a sawtooth wave because it has a saw-like waveform, i.e., a repeating structure with a straight diagonal line and a line perpendicular to the horizontal axis. The ramp signal can be any diagonal line in the sawtooth wave transmitted signal. Correspondingly, the time interval between ramp signals can be the distance between any two ramp signals. For example, as shown... Figure 2 The diagram shown is a schematic of a set of sawtooth wave transmission signals, with the diagonal lines representing the ramp signal.

[0038] In this embodiment, the mixed signal can be the signal obtained by mixing the transmitted signal and the corresponding echo signal. In practical applications, when a radar device transmits a transmitted signal of a preset waveform to a target object based on the transmitting antenna, an echo signal is obtained after reflection from the target object. The echo signal and the transmitted signal are then mixed to obtain the mixed signal. Correspondingly, the discrete digital signal can be a signal in which both the independent and dependent variables are discrete.

[0039] In practical applications, at least one frame of transmitted signal can be transmitted to the target object based on the transmitting antenna in the radar device, and an echo signal can be obtained after being reflected by the target object. Then, a mixed signal can be obtained by mixing the transmitted signal and the echo signal.

[0040] Based on this, in acquiring at least one set of mixing signals corresponding to the current frame transmission signal, the method further includes: transmitting at least one frame transmission signal to the target object based on at least one transmitting antenna; for each frame transmission signal, receiving the echo signal corresponding to the current frame transmission signal based on the receiving antenna, and mixing the echo signal with the current frame transmission signal to obtain the mixing signal corresponding to the current frame transmission signal.

[0041] In this embodiment, the transmitting antenna can be a device pre-installed in the radar device for transmitting a preset waveform signal. The target object can be any object whose speed and distance need to be detected based on the radar device. The target object can be any object, optionally any obstacle around the vehicle. The echo signal can be the signal corresponding to the transmitted signal to the target object after being transmitted by the target object.

[0042] In practical applications, the radar device can be configured with different transmission parameters to transmit frequency-hopping waveforms in groups towards a target. Specifically, a single frame of transmitted signal can include multiple groups of sawtooth wave transmission signals. Each group of sawtooth wave transmission signals can include ramp signals transmitted by at least one transmitting antenna, and the time intervals between each ramp signal are unequal. Furthermore, the starting frequency of each group of sawtooth wave transmission signals is different. For example,... Figure 3 The diagram shown illustrates the waveform of a single frame of transmitted signal. The waveform used is based on a MIMO radar array and employs time-division multiplexing to transmit sawtooth wave signals with equal ramp durations. There are M transmitting antennas and N receiving antennas. One frame of transmitted signal is divided into N... s The signal is transmitted in groups of sawtooth waves, each group consisting of q ramp signals. Each group of ramp signals corresponds to M transmitting antennas, and the number of ramp signals transmitted by each antenna are q1, q2, ..., qM, respectively. That is, q = q1 + q2 + ... + qM, and there are a total of q*N ramp signals in one frame. s There are 10 ramp signals. The duration of each individual ramp signal within each group is the same, t. s The ramp bandwidth is B fast For fast time-dimension bandwidth, the time interval between any two ramp signals within the group is not equal, and is T respectively. s1 ,T s2 ,…,T s(q-1) The interval between the last ramp signal in each group and the first ramp signal in the next group is T. sq It should be noted that each group of sawtooth wave transmission signals has the same form, based on M transmitting antennas arranged in the same order, transmitting the same ramp signal. However, the difference between groups lies in the starting frequency of each group's ramp signal. That is, the center frequencies of the ramps at the same position within a group differ by ΔB, meaning the overall center frequencies between groups differ by ΔB. Therefore, the slow time dimension bandwidth is B. slow =ΔB*(N) s -1), and B slow Greater than B fast .

[0043] Furthermore, after the target object transmits the signal, for each frame of transmitted signal, the receiving antenna receives the echo signal corresponding to the current frame of transmitted signal, and the echo signal is mixed with the current frame of transmitted signal to obtain the mixed signal corresponding to the current frame of transmitted signal. Then, the discrete digital signal corresponding to the mixed signal is determined.

[0044] Optionally, determining the digital signal corresponding to the mixing signal includes: performing analog-to-digital conversion on the mixing signal to obtain the digital signal corresponding to the mixing signal.

[0045] Those skilled in the art will understand that analog-to-digital conversion (ADC) refers to the process of converting a continuous analog signal into a discrete digital signal. ADC typically includes four steps: sampling, holding, quantization, and encoding.

[0046] In practice, after obtaining the mixing signal, the mixing signal can be processed by analog-to-digital conversion based on analog-to-digital conversion devices or other analog-to-digital conversion methods to convert the mixing signal into a discrete digital signal.

[0047] It should be noted that those skilled in the art should understand that, during rapid scanning, the formula for distance accuracy can be... Where ΔR1 represents the distance accuracy during rapid scanning, c represents the center frequency, and B fast The formula for representing the bandwidth in the fast time dimension is: [Formula for distance accuracy during slow scanning] Where ΔR2 represents the distance accuracy during slow scanning, c represents the center frequency, and B slow This represents the bandwidth in the fast time dimension. For example, for... Figure 3 The waveform shown has a distance accuracy of [value] during rapid scanning. Distance accuracy during slow scan is Therefore, the ratio between the two scanning accuracies can be obtained as follows: That is, while the bandwidth is expanded by γ times, the distance resolution is enhanced by γ times.

[0048] S120. Determine a first matrix to be processed corresponding to at least one set of digital signals, divide the first matrix to be processed into at least one matrix to be applied according to a first preset rule, and determine a second matrix to be processed corresponding to each matrix to be applied.

[0049] In this embodiment, the first matrix to be processed can be a matrix obtained after processing a digital signal, wherein the first matrix to be processed is a one-dimensional matrix. The first preset rule can be a pre-set partitioning rule used to divide the one-dimensional matrix obtained after processing.

[0050] In practical applications, after obtaining at least one set of digital signals, at least one set of digital signals can be processed to obtain the first matrix to be processed.

[0051] Optionally, determining a first matrix to be processed corresponding to at least one set of digital signals includes: performing a fast Fourier transform on at least one set of digital signals to obtain the first matrix to be processed.

[0052] Those skilled in the art should understand that the Fast Fourier Transform (FFT) is a fast algorithm for the Discrete Fourier Transform. It is obtained by improving the algorithm of the Discrete Fourier Transform based on the odd, even, imaginary, and real characteristics of the Discrete Fourier Transform.

[0053] In practice, after obtaining at least one set of digital signals, each set of digital signals can be processed by Fast Fourier Transform to obtain the first matrix to be processed.

[0054] For example, such as Figure 4 The diagram shown illustrates a fast Fourier transform of a digital signal in a receiving channel. If the duration is t... s The number of sampling points on the ramp signal is Nramp points. Performing a Fast Fourier Transform (FFT) on each ramp signal at Nramp points yields a one-dimensional FFT matrix, which is the first matrix to be processed. If there are N receiving antennas, there are also N receiving channels. For the digital signals in all N receiving channels, [the following steps are performed]. Figure 4 The Fast Fourier Transform shown can yield N one-dimensional Fast Fourier Transform matrices, thus enabling the Fast Fourier Transform in the distance dimension.

[0055] Furthermore, after the first matrix to be processed, it can be divided according to a first preset rule to obtain at least one matrix to be applied. Optionally, it can be divided according to the time interval between ramp signals, assigning data with the same time interval to the same data matrix. Since the time interval between two adjacent ramp signals is different, the first matrix to be processed can be divided into multiple matrices to be applied, and the number of matrices to be applied is the same as the number of ramp signals corresponding to each group. For example, continuing with the above example, the size of a single matrix to be applied after separation is Nramp×N. s If the time interval of the ramp signal corresponding to each group is q, then for each receiving channel, there are q matrices to be applied.

[0056] In practice, after obtaining at least one matrix to be applied, each matrix can be processed again to obtain a second matrix to be processed corresponding to each applied matrix. The second matrix to be processed is a two-dimensional matrix.

[0057] Optionally, determining the second matrix to be processed corresponding to each matrix to be applied includes: for each matrix to be applied, performing a fast Fourier transform on the current matrix to be applied to obtain the second matrix to be processed corresponding to the current matrix to be applied.

[0058] In practical applications, after obtaining at least one matrix to be applied, a fast Fourier transform can be performed on each matrix to obtain a second matrix to be processed corresponding to each matrix to be applied.

[0059] It should be noted that since the matrix to be applied is a two-dimensional matrix, the second matrix to be processed after performing a fast Fourier transform on the matrix to be applied is also a two-dimensional matrix.

[0060] For example, continuing with the example above, the number of sampling points for the matrix to be applied is now N. s For each point, perform N operations on each matrix to be applied. s The fast Fourier transform of each point yields a two-dimensional fast Fourier transform matrix, which is the second matrix to be processed, thus completing the fast Fourier transform in the velocity dimension.

[0061] S130. Based on at least one second matrix to be processed for each receiving antenna, determine the matrix to be detected, and based on the matrix to be detected and a preset detection criterion, determine the range element and velocity element, so as to determine the phase of each ramp signal corresponding to each transmitting antenna based on the range element and velocity element.

[0062] It should be noted that for each receiving antenna, at least one second matrix to be processed can be obtained. When determining the matrix to be detected, in order to improve the detection signal-to-noise ratio, the second matrices to be processed corresponding to each receiving antenna can be aggregated, and the matrix to be detected can be determined based on the aggregated multiple second matrices to be processed. For example, continuing with the above example, if the number of second matrices to be processed corresponding to one receiving antenna is q, and the number of receiving antennas is N, then the total number of second matrices to be processed is N×q.

[0063] In this embodiment, the matrix to be detected can be the matrix used for velocity and range measurements based on a radar device. The preset detection criterion can be a pre-set criterion used to select points from the matrix to be detected. Optionally, the preset detection criterion can be a Constant False Alarm (CFAR) detection criterion. Those skilled in the art should understand that CFAR is a technique used by a radar system to distinguish between the signal and noise output by the receiver while maintaining a constant false alarm probability to determine the presence of a target signal. The range element can be any value in the range dimension of the matrix to be detected. The velocity element can be any value in the velocity dimension of the matrix to be detected. In other words, the range element can be the index of any point in the matrix to be applied in the range dimension, and the velocity element can be the index of that point in the velocity dimension.

[0064] In practical applications, after obtaining at least one second matrix to be processed, these second matrices can be processed to obtain the matrix to be detected.

[0065] Optionally, the matrix to be detected is determined based on at least one second matrix to be processed corresponding to each receiving antenna, including: dividing the at least one second matrix to be processed corresponding to each receiving antenna according to a second preset rule to obtain at least one set of matrices to be processed; for each set of matrices to be processed, determining the norm of each second matrix to be processed in the current set of matrices to be processed, and summing each norm to obtain a matrix to be used; and determining the matrix to be detected based on each matrix to be used.

[0066] In this embodiment, the second preset rule can be a pre-set criterion used to divide the second matrix to be processed corresponding to each receiving antenna during the process of determining the matrix to be detected. Optionally, the second preset rule can be to divide the second matrix to be processed corresponding to each receiving antenna according to the type of transmitting antenna. Those skilled in the art should understand that a norm is a function with the concept of "length" and is often used to measure the length or size of each vector in a vector space (or matrix). For example, let a matrix be A = (a ij ) n×n ∈C n×n ,make Among them, ‖A‖ F Let represent the norm of matrix A.

[0067] In practice, firstly, at least one second matrix to be processed corresponding to each receiving antenna is summarized. Then, the summarized second matrices to be processed are divided according to the type of transmitting antenna. The second matrices to be processed corresponding to the same transmitting antenna are grouped together, thus obtaining at least one set of matrices to be processed. Each matrix to be processed includes at least one second matrix to be processed. For example, if the number of second matrices to be processed is N×q and the number of transmitting antennas is M, then the N×q second matrices to be processed can be divided into M sets of matrices to be processed.

[0068] Furthermore, for each set of matrices to be processed, we can first determine each second matrix to be processed included in the current set of matrices to be processed, and then determine the norm corresponding to each second matrix to be processed. Further, by adding the norms, we can obtain a numerical matrix, which is the matrix to be used. After obtaining each matrix to be used, we can randomly select one matrix to be used from each matrix to be used and use it as the matrix to be detected. Alternatively, based on user needs or big data analysis, we can determine one matrix to be used from each matrix to be used and use it as the matrix to be detected.

[0069] In this embodiment, after obtaining the matrix to be detected, the matrix can be processed by selecting points based on preset detection criteria to determine the target points. The vector value of the target point in the distance dimension is used as the distance unit, and the vector value of the target point in the velocity dimension is used as the velocity unit.

[0070] In practical applications, after obtaining the range unit and velocity unit, the phase of the corresponding ramp signal for each transmitting antenna can be determined based on the range unit and velocity unit.

[0071] In this embodiment, after determining the range unit and velocity unit, for each receiving antenna, data consistent with the target point corresponding to the range unit and velocity unit can be determined from each of the second processing matrices corresponding to the current receiving antenna, and this data can be used as the data value to be processed. For example, if the range unit is r... i The velocity element is v i Meanwhile, if there are q second matrices to be processed, then (r) can be extracted from these q second matrices. i v iData from each location yields q data points. After processing all receiving antennas, N×q data points are obtained. These data points can then be organized into q vectors, each with a dimension of 1×N. Further, a Fast Fourier Transform (FFT) is performed on each vector to obtain q complex matrices. The maximum value in each complex matrix is ​​then determined. Since the FFT-transformed matrix is ​​a complex matrix, each vector within it is a complex number. After determining the maximum value in each complex matrix, q phase values ​​can be obtained based on the conversion relationship between complex numbers and phase. These q phases can be used as the phases of each ramp signal included in each group of sawtooth wave transmitted signals, that is, the phases of the corresponding ramp signals corresponding to each transmitting antenna, for example, the phases of each transmitting antenna TX1, TX2, ..., TX. M Corresponding to q1, q2...qM phases respectively, the q1 phases of TX1 are... The q2 phases of TX2 are Categorized in order, TX M The qM phases are

[0072] S140. For each transmitting antenna, based on the phase of each ramp signal corresponding to the current transmitting antenna and the corresponding time interval, determine at least one unambiguous velocity corresponding to the current transmitting antenna.

[0073] In this embodiment, the unambiguous velocity can be the radial velocity value of the target object relative to the next pulse, which can be measured by the Doppler radar. Those skilled in the art should understand that when detecting the velocity of any target object based on a radar device, if the target object moves too far within the time interval of two pulses, its true phase shift exceeds 180 degrees. In this case, a phase shift value less than 180 degrees will be assigned, and the velocity value corresponding to this phase shift will also be less than the maximum unambiguous velocity, resulting in an incorrect velocity, i.e., velocity ambiguity. The maximum unambiguous velocity is defined as the radial velocity value of the target object corresponding to a 180-degree pulse phase shift, where the maximum pulse phase shift from one pulse to the next that the Doppler radar can measure is 180 degrees.

[0074] In practical applications, after determining the phase of each ramp signal corresponding to each transmitting antenna, the phase difference between two adjacent ramp signals of the current transmitting antenna can be determined for each transmitting antenna. For example, if the current transmitting antenna is TX... M Then, the phase difference between the corresponding p-th ramp signal and the (p+1)-th ramp signal can be expressed by the following formula:

[0075]

[0076] in, This represents the phase difference between the p-th ramp signal and the (p+1)-th ramp signal. This represents the phase of the (p+1)th ramp signal. This represents the phase of the p-th ramp signal.

[0077] Furthermore, after determining the phase difference between two adjacent ramp signals in the current transmitting antenna, the unambiguous velocity corresponding to the current transmitting antenna can be determined based on these phase differences and the corresponding time intervals.

[0078] Optionally, determining the unambiguous velocity corresponding to the current transmitting antenna based on the phase of each ramp signal corresponding to the current transmitting antenna and the corresponding time interval includes: determining at least one unambiguous coefficient corresponding to the transmitting antenna based on the phase of each ramp signal corresponding to the transmitting antenna and the corresponding time interval; determining at least one velocity to be applied corresponding to the transmitting antenna based on the at least one unambiguous coefficient, the phase of each ramp signal and the corresponding time interval; and averaging the at least one velocity to be applied to obtain the unambiguous velocity.

[0079] In this embodiment, the unambiguity coefficient can be a coefficient used to solve for the unambiguous velocity.

[0080] In practical applications, for each transmitting antenna, after determining the phase of each ramp signal in the current transmitting antenna, the phase difference between two adjacent ramp signals in the current transmitting antenna can be determined. Then, based on the phase difference between two adjacent ramp signals and the corresponding time interval, the unambiguity coefficient corresponding to each phase difference can be determined.

[0081] For example, using a transmitting antenna TX M For example, the phase difference between the corresponding p-th ramp signal and the (p+1)-th ramp signal is: Meanwhile, the time interval between the p-th ramp signal and the (p+1)-th ramp signal is T. sMp The velocity solution formula obtained based on the phase difference defuzzification can be expressed as follows:

[0082]

[0083] Among them, v' Mp Indicates the speed to be applied, v Mp This represents the velocity obtained directly based on the phase difference. V max_Mp This represents the maximum unambiguous velocity range corresponding to the phase difference. c represents the speed of light, n Mp The unambiguity coefficient corresponding to the phase difference is represented by f0, which represents the center frequency of the sawtooth wave transmitted signal.

[0084] Theoretically, the phase difference between any two current transmitting antennas and The corresponding application speed should have the following relationship:

[0085] v Mp +n Mp *V max_Mp =v Mj +n Mj *V max_Mj (2)

[0086] in,

[0087] Correspondingly, the phases also have the following relationship:

[0088]

[0089] By combining formulas (2) and (3), the unambiguity coefficient n can be obtained. Mp and n Mj .

[0090] Furthermore, after obtaining the unambiguous coefficients corresponding to each phase difference, these coefficients can be substituted into the solution formula (1) for the applied speed to obtain the applied speeds corresponding to the transmitting antenna. Then, by summing the applied speeds and dividing the sum by the quantity of applied speeds, the unambiguous speed v corresponding to the transmitting antenna can be obtained. M .

[0091] It should be noted that by performing the above deambiguation operation on each transmitting antenna separately, the unambiguous velocity corresponding to each transmitting antenna can be obtained. For example, the velocity corresponding to each transmitting antenna TX1-TX2... M The corresponding unambiguous velocities are v1-v M .

[0092] S150. Based on at least one unambiguous velocity, determine the target velocity of the target object, and based on the target velocity, a pre-determined beat frequency, and a preset bandwidth, determine the target distance of the target object.

[0093] In this embodiment, the target object can be an object that requires speed and distance detection based on a radar device. The target speed is the precise speed after deblurring.

[0094] It should be noted that, after obtaining at least one unambiguous speed, in order to improve the accuracy of speed deambiguation, each unambiguous speed can be verified, and unambiguous speeds that do not meet the verification conditions can be removed. Thus, the target speed can be determined based on the remaining at least one unambiguous speed.

[0095] Optionally, determining the target speed of the target object based on at least one unambiguous speed includes: verifying at least one unambiguous speed based on preset speed coarse estimation conditions to obtain at least one speed to be processed, and performing average processing on the at least one speed to be processed to obtain a coarsely estimated speed; and determining the target speed according to preset speed fine estimation conditions and the coarsely estimated speed.

[0096] For example, arbitrarily select one of the unambiguous velocities v K For the remaining v1-v K-1 ,v K+1 -v M The speed is verified, and the specific verification process is as follows: If the current unambiguous speed being verified is v M , and the transmitting antenna TX K The corresponding set of phase differences and the corresponding time intervals are as follows: and T sKj The corresponding unambiguity coefficient n Kj The maximum range of values ​​is -N Kj -N Kj This range is determined by the maximum unambiguous speed range, i.e., the maximum speed measurement range within the current time interval. In -N Kj -N Kj Traverse n Kj Then we can find:

[0097]

[0098] Where, Δv MKj Indicates v M With v K The speed difference between them.

[0099] Furthermore, the speed difference is compared with a preset speed difference threshold. Perform a comparison; if in -N Kj -N Kj There are n Kj Meet the conditions If the condition is met, the verification is considered successful; otherwise, the verification is considered to have failed. (Based on TX) K The q included in K Performing the same operation on each phase difference and its corresponding time interval, we obtain... when If all verifications are successful, then the unambiguous speed v is determined. M Verification successful. Based on the above verification method, v1-v were verified sequentially. K-1 ,v K+1 -v MBy performing verification, discarding unambiguous velocities that fail verification, and averaging the values ​​of at least one unambiguous velocity that succeeds in verification, a rough estimate of the target object's velocity v can be obtained. re .

[0100] Furthermore, after obtaining the rough speed estimate, a fine speed estimate can be performed. Those skilled in the art should understand that the formula for the maximum speed measurement range is: When T sj The larger the value, the smaller the corresponding maximum test range. At this time, the speed accuracy is higher. Therefore, the maximum time interval can be selected from the time intervals of each ramp signal, and the speed can be precisely estimated based on the maximum time interval and the corresponding phase difference.

[0101] For example, if the maximum time interval is T sj The corresponding phase difference Then it can be based on T sj , And a rough estimate of speed v re Determine the unambiguous coefficient n j And determine when n j When the velocity is an integer, it can be taken as the target velocity. The velocity estimation formula can be expressed as follows:

[0102]

[0103] Where v represents the target velocity,

[0104] In this embodiment, after obtaining the target velocity of the target object, the target distance of the target object can be determined based on the target velocity, a pre-determined beat frequency, and a preset bandwidth. Beat refers to the signal response after the interference wave is received and output. When two wave signals of different frequencies interact, the periodic change in amplitude occurs, with the amplitude increasing or decreasing periodically according to the difference between the two frequencies, resulting in wave amplitude modulation and fluctuations. The beat frequency can be the frequency corresponding to the occurrence of the beat phenomenon. For example, for a fast-scanning waveform in a fast time dimension, the bandwidth is B. fast The duration of the ramp signal is t. s Therefore, the formula for beat frequency can be: Among them, f b The frequency of the beat is represented by R, the target distance is represented by f. d This represents the Doppler frequency caused by the target's velocity. The distance accuracy obtained based on the above beat frequency formula is: This formula shows that the larger the bandwidth, the smaller the corresponding distance accuracy; in other words, the larger the bandwidth, the higher the distance accuracy. See again... Figure 3 It can be seen that B slow Greater than Bfast Therefore, the target distance can be determined based on the bandwidth in the slow time dimension, where the bandwidth is B. slow The duration of the ramp signal is T = (t s1 +t s2 +t s3 +…+t sq )*N s ,therefore, Based on this formula, the target distance of the target object can be obtained as follows:

[0105] The technical solution of this invention involves acquiring at least one set of mixing signals corresponding to the current frame's transmitted signal, determining the digital signals corresponding to the at least one set of mixing signals, then determining a first matrix to be processed corresponding to the at least one set of digital signals, dividing the first matrix to be processed into at least one matrix to be applied according to a first preset rule, and determining a second matrix to be processed corresponding to each matrix to be applied. Further, based on the at least one matrix to be processed corresponding to each receiving antenna, a matrix to be detected is determined, and based on the matrix to be detected and a preset detection criterion, a range unit and a velocity unit are determined. Based on the range unit and the velocity unit, the phase of each ramp signal corresponding to each transmitting antenna is determined. For each transmitting antenna, based on the current frame's transmitted signal... The phase of each ramp signal corresponding to the antenna and the corresponding time interval are used to determine the unambiguous velocity corresponding to the current transmitting antenna. Based on at least one unambiguous velocity, the target velocity of the target object is determined. Based on the target velocity, the pre-determined beat frequency, and the preset bandwidth, the target distance of the target object is determined. This solves the problems in the prior art, such as reducing the refresh rate, increasing the system signal processing time, and the bandwidth being limited by the intermediate frequency bandwidth of the radar hardware, which prevents it from being too wide and thus the range resolution cannot be too high, affecting the test accuracy. It achieves good range and velocity estimation performance, can accurately estimate the target's range and velocity, has high estimation resolution, and does not require simultaneous solving of data between frames, saving system cycles.

[0106] Example 2

[0107] Figure 5 This is a schematic diagram of a velocity defuzzification device based on a non-uniform waveform provided in Embodiment 2 of the present invention. Figure 5 As shown, the device includes: a mixing signal acquisition module 210, a matrix determination module 220, a detection matrix determination module 230, an unambiguous speed determination module 240, and a target distance determination module 250.

[0108] The mixing signal acquisition module 210 is used to acquire at least one set of mixing signals corresponding to the current frame transmission signal and determine the digital signal corresponding to the at least one set of mixing signals; wherein the current frame transmission signal includes multiple sets of sawtooth wave transmission signals, each set of sawtooth wave transmission signals has a different starting frequency, each set of sawtooth wave transmission signals is composed of ramp signals transmitted by at least one transmitting antenna, and the time interval between each ramp signal is different.

[0109] The matrix determination module 220 is used to determine a first matrix to be processed corresponding to the at least one set of digital signals, divide the first matrix to be processed into at least one matrix to be applied according to a first preset rule, and determine a second matrix to be processed corresponding to each of the matrices to be applied; wherein the first matrix to be processed is a one-dimensional matrix, the second matrix to be processed is a two-dimensional matrix, and at least one second matrix to be processed corresponds to each receiving antenna.

[0110] The detection matrix determination module 230 is used to determine the detection matrix based on at least one processing matrix corresponding to each of the receiving antennas, and to determine the distance unit and velocity unit based on the detection matrix and a preset detection criterion, so as to determine the phase of each ramp signal corresponding to each transmitting antenna based on the distance unit and the velocity unit.

[0111] The unambiguous velocity determination module 240 is used to determine, for each of the transmitting antennas, the unambiguous velocity corresponding to the current transmitting antenna based on the phase of each ramp signal corresponding to the current transmitting antenna and the corresponding time interval.

[0112] The target distance determination module 250 is used to determine the target speed of a target object based on at least one unambiguous speed, and to determine the target distance of the target object based on the target speed, a pre-determined beat frequency, and a preset bandwidth.

[0113] The technical solution of this invention involves acquiring at least one set of mixing signals corresponding to the current frame's transmitted signal, determining the digital signals corresponding to the at least one set of mixing signals, then determining a first matrix to be processed corresponding to the at least one set of digital signals, dividing the first matrix to be processed into at least one matrix to be applied according to a first preset rule, and determining a second matrix to be processed corresponding to each matrix to be applied. Further, based on the at least one matrix to be processed corresponding to each receiving antenna, a matrix to be detected is determined, and based on the matrix to be detected and a preset detection criterion, a range unit and a velocity unit are determined. Based on the range unit and the velocity unit, the phase of each ramp signal corresponding to each transmitting antenna is determined. For each transmitting antenna, based on the current frame's transmitted signal... The phase of each ramp signal corresponding to the antenna and the corresponding time interval are used to determine the unambiguous velocity corresponding to the current transmitting antenna. Based on at least one unambiguous velocity, the target velocity of the target object is determined. Based on the target velocity, the pre-determined beat frequency, and the preset bandwidth, the target distance of the target object is determined. This solves the problems in the prior art, such as reducing the refresh rate, increasing the system signal processing time, and the bandwidth being limited by the intermediate frequency bandwidth of the radar hardware, which prevents it from being too wide and thus the range resolution cannot be too high, affecting the test accuracy. It achieves good range and velocity estimation performance, can accurately estimate the target's range and velocity, has high estimation resolution, and does not require simultaneous solving of data between frames, saving system cycles.

[0114] Optionally, the device further includes: a signal transmission module and a mixing signal determination module.

[0115] A signal transmission module is used to transmit at least one frame of transmission signal to a target object based on at least one transmission antenna;

[0116] The mixing signal determination module is used to, for each frame of transmitted signal, receive the echo signal corresponding to the current frame of transmitted signal based on the receiving antenna, and perform mixing processing on the echo signal and the current frame of transmitted signal to obtain the mixing signal corresponding to the current frame of transmitted signal.

[0117] Optionally, the mixing signal acquisition module 210 includes: a mixing signal conversion unit.

[0118] A frequency mixing signal conversion unit is used to perform analog-to-digital conversion processing on the frequency mixing signal to obtain a digital signal corresponding to the frequency mixing signal.

[0119] Optionally, the matrix determination module 220 includes: a first matrix determination unit.

[0120] The first matrix determination unit is used to perform fast Fourier transform processing on the at least one set of discrete digital signals to obtain the first matrix to be processed.

[0121] Optionally, the matrix determination module 220 includes: a second matrix determination unit.

[0122] The second matrix determination unit is used to perform a fast Fourier transform on the current matrix to be applied for each of the matrices to be applied, so as to obtain a second matrix to be processed corresponding to the current matrix to be applied.

[0123] Optionally, the matrix determination module 230 includes: a matrix set determination unit, a matrix to be used determination unit, and a matrix to be detected determination unit.

[0124] A matrix set determination unit is used to divide the set of matrices to be processed according to a second preset rule to obtain at least one matrix set; wherein each set of matrices to be processed includes at least one second matrix to be processed;

[0125] The matrix to be used determination unit is used to determine the norm of each second matrix to be processed in the current set of matrices to be processed for each set of matrices to be processed, and to sum the norms to obtain the matrix to be used;

[0126] The detection matrix determination unit is used to determine the detection matrix based on each of the matrices to be used.

[0127] Optionally, the unambiguous speed determination module 240 includes: an unambiguous coefficient determination unit, a speed determination unit to be applied, and an unambiguous speed determination unit.

[0128] The unambiguity coefficient determination unit is used to determine at least one unambiguity coefficient corresponding to the transmitting antenna based on the phase of each ramp signal corresponding to the transmitting antenna and the corresponding time interval.

[0129] The application speed determination unit is used to determine at least one application speed corresponding to the transmitting antenna based on the at least one unambiguous coefficient, the phase of each of the ramp signals and the corresponding time interval.

[0130] An unambiguous speed determination unit is used to perform averaging on the at least one speed to be applied in order to obtain the unambiguous speed.

[0131] Optionally, the target distance determination module 250 includes: a coarse velocity determination unit and a target velocity determination unit.

[0132] The coarse speed estimation unit is used to verify the at least one unambiguous speed based on preset speed coarse estimation conditions to obtain at least one speed to be processed, and to perform average processing on the at least one speed to be processed to obtain a coarse speed.

[0133] The target speed determination unit is used to determine the target speed based on preset speed fine estimation conditions and the coarse estimated speed.

[0134] The velocity deblurring device based on non-uniform waveforms provided in the embodiments of the present invention can execute the velocity deblurring method based on non-uniform waveforms provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0135] Example 3

[0136] Figure 6 A schematic diagram of an electronic device 10 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of radar sensors, such as automotive radar sensors and other similar computing devices. The electronic device can also represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0137] like Figure 6 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0138] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0139] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as a speed deblurring method based on non-uniform waveforms.

[0140] In some embodiments, the velocity deblurring method based on non-uniform waveforms can be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the velocity deblurring method based on non-uniform waveforms described above can be performed. Alternatively, in other embodiments, processor 11 can be configured to perform the velocity deblurring method based on non-uniform waveforms by any other suitable means (e.g., by means of firmware).

[0141] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0142] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0143] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0144] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., an LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including voice input, speech input, or other methods).

[0145] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., providing information for vehicle actions), or computing systems that include middleware components (e.g., providing raw information for data fusion), or computing systems that include frontend components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., Ethernet communication, CAN communication).

[0146] A computing system may include clients and servers. Clients and servers are generally located far apart and typically interact through a communication network. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other.

[0147] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0148] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A non-uniform waveform based velocity resolution method, characterized by, include: Acquire at least one set of mixing signals corresponding to the current frame transmission signal, and determine the digital signal corresponding to the at least one set of mixing signals; wherein, the current frame transmission signal includes multiple sets of sawtooth wave transmission signals, each set of sawtooth wave transmission signals has a different starting frequency, each set of sawtooth wave transmission signals consists of ramp signals transmitted by at least one transmitting antenna, and the time interval between each ramp signal is different. A first matrix to be processed corresponding to the at least one set of digital signals is determined, and the first matrix to be processed is divided into at least one matrix to be applied according to a first preset rule, and a second matrix to be processed corresponding to each of the matrices to be applied is determined; wherein, the first matrix to be processed is a one-dimensional matrix, the second matrix to be processed is a two-dimensional matrix, and at least one second matrix to be processed corresponds to each receiving antenna; Based on at least one second matrix to be processed corresponding to each of the receiving antennas, a matrix to be detected is determined, and based on the matrix to be detected and a preset detection criterion, a range unit and a velocity unit are determined, so as to determine the phase of each ramp signal corresponding to each transmitting antenna based on the range unit and the velocity unit. For each of the aforementioned transmitting antennas, based on the phase of each ramp signal corresponding to the current transmitting antenna and the corresponding time interval, the unambiguous velocity corresponding to the current transmitting antenna is determined; Based on at least one unambiguous velocity, the target velocity of the target object is determined, and based on the target velocity, a pre-determined beat frequency, and a preset bandwidth, the target distance of the target object is determined.

2. The method of claim 1, wherein, Also includes: At least one frame of transmission signal is transmitted to the target object based on at least one transmitting antenna; For each frame of transmitted signal, the receiving antenna receives the echo signal corresponding to the current frame of transmitted signal, and the echo signal is mixed with the current frame of transmitted signal to obtain a mixed signal corresponding to the current frame of transmitted signal.

3. The method of claim 1, wherein, Determining the digital signal corresponding to the mixing signal includes: The mixing signal is subjected to analog-to-digital conversion to obtain a digital signal corresponding to the mixing signal.

4. The method of claim 1, wherein, Determining the first matrix to be processed corresponding to the at least one set of digital signals includes: The first matrix to be processed is obtained by performing a Fast Fourier Transform on the at least one set of digital signals.

5. The method of claim 1, wherein, The determination of the second matrix to be processed corresponding to each of the matrices to be applied includes: For each of the matrices to be applied, a fast Fourier transform is performed on the current matrix to be applied to obtain a second matrix to be processed corresponding to the current matrix to be applied.

6. The method of claim 1, wherein, The step of determining the detection matrix based on at least one second matrix to be processed corresponding to each of the receiving antennas includes: The second matrices to be processed corresponding to each of the matrices to be applied are divided according to a second preset rule to obtain at least one set of matrices; wherein each set of matrices to be processed includes at least one second matrix to be processed. For each set of matrices, determine the norm of each second matrix to be processed in the current set of matrices to be processed, and sum the norms to obtain the matrix to be used; The matrix to be detected is determined based on each of the matrices to be used.

7. The method of claim 1, wherein, The determination of the unambiguous velocity corresponding to the current transmitting antenna based on the phase of each ramp signal corresponding to the current transmitting antenna and the corresponding time interval includes: Based on the phase of each ramp signal corresponding to the transmitting antenna and the corresponding time interval, at least one unambiguous coefficient corresponding to the transmitting antenna is determined. Based on the at least one unambiguous coefficient, the phase of each of the ramp signals, and the corresponding time interval, at least one speed to be applied corresponding to the transmitting antenna is determined; The at least one speed to be applied is averaged to obtain the unambiguous speed.

8. The method of claim 1, wherein, Determining the target velocity of the target object based on at least one unambiguous velocity includes: The at least one unambiguous speed is verified based on a preset speed coarse estimation condition to obtain at least one speed to be processed, and the at least one speed to be processed is averaged to obtain a coarse estimated speed. The target speed is determined based on the preset speed estimation conditions and the coarse speed estimation.

9. A non-uniform waveform based velocity resolution ambiguity device, characterized by, include: A mixing signal acquisition module is used to acquire at least one set of mixing signals corresponding to the current frame transmission signal and determine the digital signal corresponding to the at least one set of mixing signals; wherein, the current frame transmission signal includes multiple sets of sawtooth wave transmission signals, each set of sawtooth wave transmission signals has a different starting frequency, each set of sawtooth wave transmission signals is composed of ramp signals transmitted by at least one transmitting antenna, and the time interval between each ramp signal is different. The module for determining the matrix to be processed is used to determine a first matrix to be processed corresponding to the at least one set of digital signals, and to divide the first matrix to be processed into at least one matrix to be applied according to a first preset rule, and to determine a second matrix to be processed corresponding to each of the matrices to be applied; wherein the first matrix to be processed is a one-dimensional matrix, the second matrix to be processed is a two-dimensional matrix, and at least one second matrix to be processed corresponds to each receiving antenna. The detection matrix determination module is used to determine the detection matrix based on at least one processing matrix corresponding to each of the receiving antennas, and to determine the distance unit and velocity unit based on the detection matrix and a preset detection criterion, so as to determine the phase of each ramp signal corresponding to each transmitting antenna based on the distance unit and the velocity unit. The unambiguous velocity determination module is used to determine, for each of the transmitting antennas, the unambiguous velocity corresponding to the current transmitting antenna based on the phase of each ramp signal corresponding to the current transmitting antenna and the corresponding time interval. The target distance determination module is used to determine the target speed of a target object based on at least one unambiguous speed, and to determine the target distance of the target object based on the target speed, a pre-determined beat frequency, and a preset bandwidth.

10. An electronic device, comprising: The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the speed defuzzification method based on non-uniform waveforms as described in any one of claims 1-8.

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