Radar ranging method, system and electronic device

Abstract

The application relates to a radar ranging method, system and electronic device, wherein the method comprises: determining a first distance resolution in a first bandwidth mode and a second distance resolution in a second bandwidth mode; the first distance resolution is smaller than the second distance resolution; obtaining reference energy information corresponding to preset position information based on the first distance resolution; obtaining a target sampling value of the radar in the first distance resolution and sampling position information corresponding to the target sampling value, and calculating an energy comparison result between the target sampling value and the reference energy information based on the sampling position information and the preset position information; determining an actual resolution from the first distance resolution and the second distance resolution based on the energy comparison result, and generating a target ranging result according to the actual resolution. Through the application, the problem that it is difficult to balance smoothness and high precision in the radar ranging process is solved.

Description

Technical Field

[0001] This application relates to the field of radar ranging technology, and in particular to radar ranging methods, systems and electronic devices. Background Technology

[0002] Millimeter-wave radar systems can measure the range, velocity, and angle of targets. For frequency-modulated continuous wave (FMCW) radar, a larger frequency modulation bandwidth results in higher range resolution and more accurate identification of objects at different distances at the same angle. For short-range target resolution, a smaller range resolution is generally desirable, thus requiring a larger radio frequency modulation bandwidth. However, as the radio frequency modulation bandwidth increases, the frequency difference (the difference between the transmitted and echo signals) needs to be larger for targets at the same distance. However, in related technologies, limitations in radome manufacturing processes restrict the radar beam focusing capability, causing detection accuracy to deteriorate with increasing detection distance. This is mainly manifested in two aspects: an increased range of numerical fluctuations on the same horizontal plane and an increased difference between the radar and the target equipment. Consequently, it is difficult to simultaneously achieve stability and high accuracy in radar ranging.

[0003] Currently, no effective solution has been proposed to address the problem of balancing stability and high accuracy in radar ranging in related technologies. Summary of the Invention

[0004] This application provides a radar ranging method, system, and electronic device to at least solve the problem in the related art that it is difficult to balance stability and high accuracy in radar ranging.

[0005] In a first aspect, embodiments of this application provide a radar ranging method, wherein the radar operates in a first bandwidth mode and a second bandwidth mode, and the first bandwidth is greater than the second bandwidth; the method includes:

[0006] Determine a first distance resolution under the first bandwidth mode and a second distance resolution under the second bandwidth mode; wherein the first distance resolution is smaller than the second distance resolution;

[0007] Based on the first distance resolution, obtain reference energy information corresponding to the preset position information;

[0008] The radar acquires the target sample value in the first bandwidth mode and the sampling position information corresponding to the target sample value, and calculates the energy comparison result between the target sample value and the reference energy information based on the sampling position information and the preset position information.

[0009] Based on the energy comparison result, the actual resolution is determined from the first distance resolution and the second distance resolution, and the target ranging result is generated according to the actual resolution.

[0010] In some embodiments, obtaining reference energy information corresponding to preset location information based on the first distance resolution includes:

[0011] Obtain the preset initial energy value;

[0012] The distance division points are determined based on the first distance resolution, the preset position information is determined based on the distance division points, and the reference energy information is determined based on the initial energy value and the preset position information.

[0013] In some embodiments, calculating the energy comparison result between the target sampled value and the reference energy information based on the sampling location information and the preset location information includes:

[0014] Determine the energy mapping relationship between the preset location information and the reference energy information;

[0015] Determine the actual location information in the preset location information that matches the sampling location information, and determine the target reference energy value in the reference energy information that matches the actual location information based on the energy mapping relationship;

[0016] The target sampled value is compared with the target reference energy value to obtain the energy comparison result.

[0017] In some embodiments, generating the target ranging result based on the actual resolution includes:

[0018] Acquire the first initial ranging data of the radar in the first bandwidth mode and the second initial ranging data of the radar in the second bandwidth mode, and determine the actual initial ranging data from the first initial ranging data and the second initial ranging data according to the actual resolution;

[0019] Obtain the spectrum transformation data corresponding to the actual initial ranging data, and determine the number of spectrum sampling points corresponding to the spectrum transformation data;

[0020] The initial maximum sample value is obtained based on the spectrum change data, and the initial maximum value location information corresponding to the initial maximum sample value is obtained. The location range information is determined based on the initial maximum value location information.

[0021] Obtain a preset spectral resolution enhancement factor, and calculate the location index result based on the spectral resolution enhancement factor, the location range information, the initial ranging data, and the number of spectral sampling points;

[0022] The target maximum position information is calculated based on the number of spectrum sampling points, the initial maximum position information, and the position index result. The target ranging result is then generated based on the target maximum position information and the actual resolution.

[0023] In some embodiments, calculating the target maximum value location information based on the number of spectrum sampling points, the initial maximum value location information, and the location index result includes:

[0024] Based on the number of spectrum sampling points and the location index result, trigonometric function calculations are performed to obtain trigonometric function values, and new location information is obtained by modulo calculation based on the trigonometric function values;

[0025] The target maximum value location information is calculated based on the initial maximum value location information and the new location information.

[0026] In some embodiments, acquiring the first initial ranging data of the radar in the first bandwidth mode and the second initial ranging data of the radar in the second bandwidth mode includes:

[0027] A preset alternation period is determined; the radar is controlled to alternately operate in the first bandwidth mode and the second bandwidth mode within the preset alternation period, and to acquire the first initial ranging data and the second initial ranging data; or,

[0028] Acquire the first initial ranging data of the radar operating in the first bandwidth mode; when the second distance resolution is determined to be the actual resolution, switch the radar's operating mode from the first bandwidth mode to the second bandwidth mode, and acquire the second initial ranging data of the radar operating in the second bandwidth mode.

[0029] In some embodiments, determining the actual resolution from the first distance resolution and the second distance resolution based on the energy comparison result includes:

[0030] Obtain the preset energy difference range;

[0031] If the energy comparison result indicates that the difference between the target sample value and the reference energy information is within the energy difference range, the first distance resolution is determined to be the actual resolution.

[0032] If the energy comparison result indicates that the difference between the target sample value and the reference energy information exceeds the energy difference range, and the target sample value is less than the reference energy information, then the second distance resolution is determined to be the actual resolution.

[0033] If the energy comparison result indicates that the difference between the target sample value and the reference energy information exceeds the energy difference range, and the target sample value is greater than the reference energy information, a ranging anomaly warning message is generated and sent to the radar.

[0034] In some embodiments, generating the target ranging result based on the actual resolution includes:

[0035] The preset distance compensation value and reference surface distance information are obtained, and the target ranging result is calculated based on the actual resolution, the distance compensation value, the reference surface distance information, and the actual initial ranging data of the radar.

[0036] Secondly, embodiments of this application provide a radar ranging system, the system comprising: a radar body and a main control device;

[0037] The main control device is connected to the radar body and is used to execute the radar ranging method as described in the first aspect above.

[0038] Thirdly, embodiments of this application provide an electronic device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the radar ranging method as described in the first aspect above.

[0039] Compared to related technologies, the radar ranging method, system, and electronic device provided in this application have radar operating modes including a first bandwidth mode and a second bandwidth mode, wherein the first bandwidth is greater than the second bandwidth; a first range resolution is determined in the first bandwidth mode, and a second range resolution is determined in the second bandwidth mode; wherein the first range resolution is less than the second range resolution; reference energy information corresponding to preset position information is obtained based on the first range resolution; target sampling values ​​of the radar at the first range resolution and sampling position information corresponding to the target sampling values ​​are obtained, and calculations are performed based on the sampling position information and the preset position information. The energy comparison result between the target sample value and the reference energy information; based on the energy comparison result, the actual resolution is determined from the first range resolution and the second range resolution, and the target ranging result is generated according to the actual resolution; since the radar has a higher distinguishing accuracy for detecting similar targets at the first range resolution than at the second range resolution, segmented distance detection of the target based on different detection accuracies is realized by configuring two different bandwidth working modes for the radar, which effectively solves the problem of difficulty in balancing stability and high accuracy in radar ranging, and realizes a highly stable and high-precision real-time radar ranging method for measuring long distances from short distances.

[0040] Details of one or more embodiments of this application are set forth in the following drawings and description to make other features, objects and advantages of this application more readily apparent. Attached Figure Description

[0041] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0042] Figure 1 This is an application environment diagram of a radar ranging method according to an embodiment of this application;

[0043] Figure 2 This is a flowchart of a radar ranging method according to an embodiment of this application;

[0044] Figure 3 This is a flowchart of another radar ranging method according to an embodiment of this application;

[0045] Figure 4 This is a flowchart of a radar ranging method according to a preferred embodiment of this application;

[0046] Figure 5 This is a flowchart of a signal peak detection algorithm according to a preferred embodiment of this application;

[0047] Figure 6This is a structural block diagram of a radar ranging system according to an embodiment of this application;

[0048] Figure 7 This is a structural diagram of the internal structure of a computer device according to an embodiment of this application. Detailed Implementation

[0049] To make the objectives, technical solutions, and advantages of this application clearer, the application is described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the application. All other embodiments obtained by those skilled in the art based on the embodiments provided in this application without inventive effort are within the scope of protection of this application. Furthermore, it is understood that although the efforts made in such a development process may be complex and lengthy, for those skilled in the art related to the content disclosed in this application, modifications to design, manufacturing, or production based on the technical content disclosed in this application are merely conventional technical means and should not be construed as insufficient disclosure of the content of this application.

[0050] In this application, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment that is mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments without conflict.

[0051] Unless otherwise defined, the technical or scientific terms used in this application shall have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms “a,” “an,” “an,” “the,” and similar words used in this application do not indicate quantity limitation and may indicate singular or plural. The terms “comprising,” “including,” “having,” and any variations thereof used in this application are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or device that includes a series of steps or modules (units) is not limited to the listed steps or units, but may also include steps or units not listed, or may include other steps or units inherent to these processes, methods, products, or devices. The terms “connected,” “linked,” “coupled,” and similar words used in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. “Multiple” used in this application means two or more. “And / or” describes the relationship between related objects, indicating that three relationships may exist; for example, “A and / or B” can represent: A alone, A and B simultaneously, and B alone. The terms “first,” “second,” “third,” etc., used in this application are merely to distinguish similar objects and do not represent a specific ordering of the objects.

[0052] The radar ranging method provided in this application can be applied to, for example... Figure 1 The application environment shown includes a radar body 102 and a server 104. The radar body 102 can be used in practical ranging applications such as water body measurement. The server 104 can communicate with the radar body 102 via a network. A data storage system can store the data that the server 104 needs to process. The data storage system can be integrated on the server 104 or placed on a cloud or other network server. The radar body 102 has two operating modes: a first bandwidth mode and a second bandwidth mode, where the first bandwidth is greater than the second bandwidth. The server 104 determines a first range resolution in the first bandwidth mode and a second range resolution in the second bandwidth mode, where the first range resolution is less than the second range resolution. Based on the first range resolution, it acquires reference energy information corresponding to preset position information. The server 104 acquires the target sampling value of the radar body 102 in the first bandwidth mode, as well as the sampling position information corresponding to the target sampling value, and calculates the energy comparison result between the target sampling value and the reference energy information based on the sampling position information and the preset position information. Based on the energy comparison result, the server 104 determines the actual resolution from the first and second range resolutions, and finally generates the target ranging result based on the actual resolution.

[0053] Furthermore, the aforementioned application environment may also include terminal device 106; both the radar body 102 and the server 104 can communicate with the user terminal 106 via a network, and the server 104 can send the generated target ranging results to the user terminal 106 for display. The terminal device 106 may be, but is not limited to, various personal computers, laptops, and tablets; the server 104 may be a standalone server or a server cluster composed of multiple servers.

[0054] This embodiment provides a radar ranging method, wherein the radar has a first bandwidth mode and a second bandwidth mode, and the first bandwidth is greater than the second bandwidth. Figure 2 This is a flowchart of a radar ranging method according to an embodiment of this application, such as... Figure 2 As shown, the process includes the following steps:

[0055] Step S210: Determine the first distance resolution under the first bandwidth mode and the second distance resolution under the second bandwidth mode; wherein the first distance resolution is smaller than the second distance resolution.

[0056] In this context, the bandwidth of the pulse signal transmitted by the radar in the first bandwidth mode and the second bandwidth mode can be preset, and the range resolution corresponding to each bandwidth can be calculated; furthermore, the formula for calculating the range resolution Res can be as shown in Formula 1 below:

[0057]

[0058] In the above formula, B represents bandwidth and c represents beam. It can be seen that the higher the bandwidth value, the smaller the corresponding range resolution value, and the higher the radar detection accuracy. That is, the value of the first range resolution calculated based on the first bandwidth is less than the value of the second range resolution calculated based on the second bandwidth.

[0059] Step S220: Based on the first distance resolution, obtain reference energy information corresponding to the preset position information.

[0060] To facilitate accurate determination of the actual energy level of the radar-sampled echo signal in subsequent steps, the radar can be pre-controlled to operate in the aforementioned first bandwidth mode. Ranging test results are acquired in test scenarios such as open areas, and based on these results, reference energy information corresponding to multiple different preset position information is determined. This preset position information can be determined based on the first distance resolution. For example, if the first distance resolution is 0.1m and the radar sensor has a preset sampling point count of 100, the maximum radar detection range at this first distance resolution is 10m. In this case, each preset position information can take values ​​of 0–1m, 1–2m, 2–3m, etc., and the corresponding reference energy information can take values ​​of 1eV, 0.9eV, 0.8eV, etc., respectively.

[0061] Step S230: Obtain the target sample value of the radar in the first bandwidth mode, and the sampling position information corresponding to the target sample value. Based on the sampling position information and the preset position information, calculate the energy comparison result between the target sample value and the reference energy information.

[0062] The aforementioned target sample value refers to the maximum sample value of the signal acquired by the radar in the first bandwidth mode. Specifically, the original data acquired by the radar sensor in the first bandwidth configuration mode, along with the corresponding Fourier transform data, can be obtained first. The target sample value is determined by calculating the maximum value of the modulus in the Fourier transform data, and the location information corresponding to this maximum value is stored synchronously as the aforementioned sampled location information. Then, the location information corresponding to the sampled location information is retrieved from the aforementioned preset location information, and the reference energy information corresponding to this location information is determined. Finally, the target sample value is compared with the determined reference energy information to obtain the aforementioned energy comparison result.

[0063] Step S240: Based on the energy comparison result, determine the actual resolution from the first distance resolution and the second distance resolution, and generate the target ranging result according to the actual resolution.

[0064] Specifically, after determining the first or second range resolution as the actual resolution based on the energy comparison results, the original data acquired by the radar in the corresponding operating mode is determined based on the actual resolution. The target ranging result is then calculated based on the original data and the actual resolution. That is, if the first range resolution is the actual resolution, the target ranging result is calculated based on the first range resolution and the original data acquired by the radar in the first bandwidth mode. If the second range resolution is the actual resolution, the target ranging result is calculated based on the second range resolution and the original data acquired by the radar in the second bandwidth mode.

[0065] Through steps S210 to S240, by determining the energy comparison result between the sampling position information of the radar in the first bandwidth mode and the preset reference energy information, it is determined whether the first range resolution needs to be switched to the second range resolution with a larger value based on the energy comparison result, and finally the target ranging result is generated. Since the radar has a higher distinguishing accuracy for detecting nearby targets under the first range resolution than under the second range resolution, it is possible to perform segmented distance detection of the target based on different detection accuracies by configuring the radar with two different bandwidth working modes. This effectively solves the problem of difficulty in balancing stability and high accuracy in radar ranging, and realizes a highly stable and high-precision real-time radar ranging method that measures far distances from near distances.

[0066] In some embodiments, the above-mentioned acquisition of reference energy information corresponding to preset position information based on the first distance resolution further includes the following steps:

[0067] Step S221: Obtain the preset initial energy value and the distance to the equally divided points.

[0068] The initial energy value can be preset by the staff based on the actual situation. Generally, the initial energy value varies depending on the radar's reflective medium. For example, if the first range resolution is 0.1m, the initial energy value can be set to the signal energy value detected at a distance of 0.1m from the radar. The method for obtaining the range division point can be as follows: the maximum number of range sampling points NR is preset, which is a fixed value determined by the radar system memory and does not change with the range resolution; and the range division point is determined based on the maximum number of range sampling points NR, i.e., the range of the range division point nr is [0, NR).

[0069] Step S222: Determine the preset position information based on the first distance resolution and the distance division points, and determine the reference energy information based on the initial energy value and the preset position information.

[0070] Specifically, the detection range of the radar sensor can be determined based on the first range resolution mentioned above, as shown in Formula 2 below:

[0071] R = Res × NR (Formula 2)

[0072] In the above formula, R represents the maximum detection range that the radar can detect, that is, the range of distance that the radar can detect is [0, R]. It is evident that the smaller the range resolution value, the smaller the corresponding maximum detection range of the radar. Furthermore, different range gate index coordinates can be determined based on the maximum detection range and the range division points, thus obtaining the aforementioned preset position information. The measured range gate energy values ​​corresponding to different preset position information are then obtained through field measurements by staff in an open environment. The corresponding reference energy information is calculated based on the sum of the range gate energy value and the aforementioned initial energy value.

[0073] Through the above embodiments, by determining a preset initial energy value and obtaining reference energy information based on the measured energy value corresponding to different preset location information and the initial energy value, the calculation result of the reference energy information is more accurate, thereby effectively improving the accuracy of the energy comparison result determination and thus improving the accuracy of the radar ranging method.

[0074] In some embodiments, the above-described calculation of the energy comparison result between the target sampled value and the reference energy information based on the sampling location information and the preset location information further includes the following steps: determining the energy mapping relationship between the preset location information and the reference energy information; determining the actual location information in the preset location information that matches the sampling location information, and determining the target reference energy value in the reference energy information that matches the actual location information based on the energy mapping relationship; comparing the target sampled value with the target reference energy value to obtain the energy comparison result.

[0075] The energy mapping relationship described above can be represented in the form of a graph. For example, assuming the first range resolution is 0.1m, the maximum radar detection range is 10m, the maximum number of range sampling points NR = 100, the preset position information can be determined using range gate index coordinates, and the reference energy is the corresponding range gate energy value, then a specific example of the energy mapping table values ​​is shown in Table 1 below:

[0076] Table 1. Examples of Energy Mapping

[0077] Distance gate index coordinates (m) 0～1 1～2 …… 8～9 9～10 Distance gate energy value (eV) 1 0.9 …… 0.1 0

[0078] Specifically, when the range division point values ​​are 0–9, the corresponding range gate index coordinates are 0–1m directly in front of the radar, and the range gate energy value is 1eV; when the range division point values ​​are 10–19, the corresponding range gate index coordinates are 1–2m directly in front of the radar, and the range gate energy value is 0.9eV. This means that approximately every 1m of range gate index coordinates corresponds to an energy difference of 0.1eV. This process continues until the range gate energy values ​​for all range division points are determined. After determining the energy mapping relationship, the actual position information matching the above sampling position information from multiple preset position information can be determined first. For example, if the sampling position information is 5.5m, the matching actual position information of 5–6m can be quickly indexed based on Table 1, and the target reference energy value matching this actual position information can be determined to be 0.5eV based on the energy mapping table. Then, the target sampling value, i.e., the signal peak value collected by the radar, is compared with the target parameter energy value to obtain the energy comparison result.

[0079] Through the above embodiments, the target reference energy value that matches the target sampling value position can be quickly found by utilizing the energy mapping relationship, and the energy value to be compared can be found quickly, thereby effectively improving the radar ranging efficiency.

[0080] In some embodiments, a radar ranging method is provided. Figure 3 This is a flowchart of another radar ranging method according to an embodiment of this application, such as... Figure 3 As shown, the process includes Figure 2 All the steps shown, in addition to the following steps:

[0081] Step S310: Obtain the first initial ranging data of the radar in the first bandwidth mode and the second initial ranging data of the radar in the second bandwidth mode, and determine the actual initial ranging data from the first initial ranging data and the second initial ranging data according to the actual resolution.

[0082] Specifically, the initial ranging data collected by the radar in different bandwidth operating modes are obtained; if the energy comparison is performed through the above steps and the first range resolution is determined to be the actual resolution, then the first initial ranging data collected in the first bandwidth mode is determined to be the actual initial ranging data; if the second range resolution is determined to be the actual resolution, then the second initial ranging data collected in the second bandwidth mode is determined to be the actual initial ranging data.

[0083] Step S320: Obtain the spectrum transformation data corresponding to the actual initial ranging data, and determine the number of spectrum sampling points corresponding to the spectrum transformation data.

[0084] The aforementioned spectrum transformation data can be data obtained by Fourier transforming the actual initial ranging data. For example, the spectrum transformation data can be 2DFFT data obtained by performing a two-dimensional fast Fourier transform on the actual initial ranging data; and the number of spectrum sampling points corresponding to the spectrum transformation data is the aforementioned maximum number of distance sampling points NR.

[0085] Step S330: Obtain the initial maximum sample value and the initial maximum value location information corresponding to the initial maximum sample value based on the spectrum change data, and determine the location range information based on the initial maximum value location information.

[0086] Specifically, the maximum value and its location in the aforementioned spectral change data are identified to obtain the initial maximum sample value and the initial maximum value location information. Further, the number of expansion range points preset by the staff based on the actual situation can be obtained, for example, 0.05m. Then, the range of values ​​for the initial maximum value location information is expanded according to this expansion range number to determine the aforementioned location range information. The calculation methods for the minimum value location Pos_L and the maximum value location Pos_H in this location range information can be as shown in Formulas 3 and 4 below:

[0087] Pos_L = Max_Index - Num_Ext (Formula 3)

[0088] Pos_H = Max_Index + Num_Ext (Formula 4)

[0089] In the above formula, Num_Ext represents the number of points in the extended range, and Max_Index represents the position information of the initial maximum value.

[0090] Step S340: Obtain the preset spectral resolution enhancement factor, and calculate the location index result based on the spectral resolution enhancement factor, the location range information, the initial ranging data, and the number of spectral sampling points.

[0091] The aforementioned spectral resolution enhancement factor can be preset by the staff based on factors such as the computing power of the radar system hardware and the required accuracy of the ranging data. Generally, the larger the spectral resolution enhancement factor, the higher the data accuracy, but the higher the algorithm requirements for the hardware. For example, the spectral resolution enhancement factor can be set to a value of 30 times or 50 times. Then, the position index result n can be calculated based on this spectral resolution enhancement factor, and the calculation formula is shown in Formula 5 below:

[0092] n=1 / FFTDATANUM×p_idx1 / MUL×p_idx2 Formula 5

[0093] In the above formula, FFTDATANUM is the number of 2DFFT range transform points, i.e., the number of spectrum sampling points mentioned above, and its value is the same as the maximum number of range sampling points NR mentioned above; the range of p_idx1 is from MUL×Pos_L to MUL×Pos_H; MUL is used to represent the spectral resolution improvement factor; the range of p_idx2 is [0, ADCNUM), where ADCNUM is the number of sampling points of the actual initial ranging data obtained in the above steps, and its value is the same as the maximum number of range sampling points NR mentioned above.

[0094] Step S350: Calculate the target maximum position information based on the number of spectrum sampling points, the initial maximum position information, and the position index result; generate the target ranging result based on the target maximum position information and the actual resolution.

[0095] Through steps S310 to S350 above, the signal peak detected by radar ranging is processed by a preset spectral resolution enhancement factor to improve the spectral resolution. This can meet the millimeter-level detection accuracy requirements of radar sensors in application scenarios with characteristic requirements, effectively improve the accuracy of signal peak position information detection, improve radar long-range accuracy, numerical stability, and radar overall processing speed and computing efficiency, thereby further improving the accuracy and efficiency of radar ranging.

[0096] In some embodiments, the calculation of the sampling location information based on the number of spectrum sampling points, the initial maximum value location information, and the location index result further includes the following steps:

[0097] Step S351: Perform trigonometric function calculations based on the number of spectrum sampling points and the location index result to obtain trigonometric function values, and calculate the new location information by taking the modulus of the trigonometric function values.

[0098] Step S352: Calculate the sampling position information based on the initial maximum value position information and the new position information.

[0099] The above-mentioned formulas for calculating trigonometric functions can be shown in formulas 6 and 7 below:

[0100] Table_cos[n] = cos(2 × PI × n / N) Formula 6

[0101] Table_sin[n]=sin(2×PI×n / N) Formula 7

[0102] In the above formula, PI represents pi, and for example, it can be rounded to 7 decimal places; n represents the position index result; and N represents the number of spectrum sampling points. The above formula can then be used to calculate the trigonometric function values ​​matching each position index result. Furthermore, a trigonometric function table can be constructed using the above formula and the calculated trigonometric function values. This table maps the correspondence between index positions and trigonometric function values. Specifically, the corresponding actual trigonometric function value can be found in this trigonometric function table using the position index coordinates. Based on these trigonometric function values, the real part information `real` and the imaginary part information `imag` are calculated, as shown in Formulas 8 and 9 below:

[0103] real = real + adc_data[P_idx2] × Table_cos[n] (Formula 8)

[0104] imag = imag + adc_data[P_idx2] × Table_sin[n] Formula 9

[0105] In the above formula, adc_data[P_idx2] is the array corresponding to the actual initial ranging data. Finally, the new position information can be obtained by calculating the modulus based on the real and imaginary parts of the data. The modulus is calculated as shown in Formula 10 below:

[0106] ABS_Thin = sqrt(real*real + imag*imag) Formula 10

[0107] Let P_idx = P_idx1 - MUL * Pos_L. Store the calculation result of Formula 10 above as an array ABS_Thin[P_idx], using P_idx as the array index. Find the position information of the maximum value in this value, i.e., the new position information Max_Index_New. Then, restore the value of the current maximum value position information using the following formula to obtain the target maximum value position information Max_Index_target, as shown in Formula 11:

[0108] Max_Index_target=Max_Index_New+MUL×Pos_L Formula 11

[0109] Through steps S351 to S352 above, a trigonometric function table is created based on trigonometric function operations, and the calculated index values ​​are used to look up the table, thereby increasing the calculation speed by about 10 times and thus improving the radar ranging efficiency.

[0110] In some embodiments, the acquisition of the first initial ranging data of the radar in the first bandwidth mode and the second initial ranging data of the radar in the second bandwidth mode further includes the following steps:

[0111] A preset alternation period is determined; the radar is controlled to alternately operate in the first bandwidth mode and the second bandwidth mode within the preset alternation period, and to acquire the first initial ranging data and the second initial ranging data. The preset alternation period can be pre-set by the operator according to actual conditions; for example, the preset alternation period can be set to alternate between the two modes 10 times within 1 second. In this embodiment, this is equivalent to the radar simultaneously acquiring initial ranging data in both operating modes. Exemplarily, the alternation between the two operating modes can be achieved through a clock and tuner built into the radar sensor.

[0112] Alternatively, the first initial ranging data of the radar operating in the first bandwidth mode can be acquired; when the second range resolution is determined to be the actual resolution, the radar's operating mode is switched from the first bandwidth mode to the second bandwidth mode, and the second initial ranging data of the radar operating in the second bandwidth mode is acquired. Specifically, the radar sensor can be controlled to prioritize acquiring initial ranging data in the large bandwidth mode, i.e., the first bandwidth operating mode. When the maximum energy at the first range resolution is detected to be much lower than the energy reference table through the above steps, the radar is then adaptively switched to the second bandwidth operating mode to acquire initial ranging data through the clock and tuner, and ranging calculation is performed based on the data acquired in the second bandwidth operating mode in subsequent steps; otherwise, the radar sensor does not need to switch operating modes during the ranging process to obtain accurate ranging results.

[0113] Through the above embodiments, by having the radar alternate between two different bandwidth operating modes within a preset alternation period to collect data, or by adaptively switching the operating mode in response to the actual detected resolution, it is possible to configure two different bandwidth operating modes for the radar. This avoids the problem of increased fluctuation values ​​in close-range data caused by increasing the detection range and reducing the operating bandwidth under a single configuration in related technologies. Thus, while ensuring the accuracy of close-range ranging, the radar ranging range can be effectively expanded.

[0114] In some embodiments, determining the actual resolution from the first distance resolution and the second distance resolution based on the energy comparison result further includes the following steps:

[0115] Step S241: Obtain the preset energy difference range. This energy difference range can be preset by the operator, for example, it can be set to ±0.05 eV.

[0116] Step S242: If the energy comparison result indicates that the difference between the target sample value and the reference energy information is within the range of the energy difference, the first distance resolution is determined to be the actual resolution.

[0117] Step S243: If the energy comparison result indicates that the difference between the target sample value and the reference energy information exceeds the energy difference range, and the target sample value is less than the reference energy information, then the second distance resolution is determined to be the actual resolution.

[0118] In step S244, if the energy comparison result indicates that the difference between the target sample value and the reference energy information exceeds the energy difference range, and the target sample value is greater than the reference energy information, it indicates that the current radar may have detected other objects or other abnormal situations. At this time, it is necessary to generate ranging anomaly prompt information and send it to the radar or the terminal equipment connected to it in order to promptly remind the staff to make adjustments and maintenance.

[0119] By setting a certain energy difference range for the energy comparison results through steps S241 to S244, the problem of energy comparison errors caused by slight errors in the calculation process is avoided, the sensitivity of the algorithm is reduced, and the accuracy of radar ranging is further improved.

[0120] In some embodiments, the above-mentioned generation of target ranging results based on the actual resolution further includes the following steps: obtaining a preset distance compensation value and reference surface distance information, and calculating the target ranging result based on the actual resolution, the distance compensation value, the reference surface distance information, and the radar's actual initial ranging data. The distance compensation value and the reference surface distance information can both be preset by the operator according to the actual situation. Further, the actual initial ranging data refers to the actual initial ranging data determined from the ranging data collected by the radar in different bandwidth operating modes based on the actual resolution after determining it through the steps in the above method embodiments; preferably, the actual initial ranging data can be subjected to spectral resolution enhancement processing through the above embodiments to obtain more accurate target maximum value location information Max_Index_target. For example, the above radar sensor can be applied in applications such as water level ranging to measure targets in a one-dimensional direction; the calculation formula for the target ranging result can be as shown in Formula 12 below:

[0121]

[0122] In the above formula, Delta_Level represents the distance compensation value, Reference_Plane represents the distance to the reference plane, and Level represents the subdivision height value of the target being measured, which is the target ranging result mentioned above.

[0123] Through the above embodiments, factors such as distance compensation value and reference surface distance are comprehensively considered, and the target ranging result is finally calculated, thereby effectively reducing the error caused by the actual radar ranging process and further improving the accuracy of radar ranging.

[0124] The embodiments of this application will be described in detail below with reference to practical application scenarios. Figure 4 This is a flowchart of a radar ranging method according to a preferred embodiment of this application, such as... Figure 4 As shown, the process includes the following steps:

[0125] Step S401: Set two radar pulse signal transmission bandwidths of different sizes to generate two sets of radar operating modes under different bandwidths, namely the first bandwidth mode and the second bandwidth mode, where the first bandwidth is greater than the second bandwidth.

[0126] Step S402: Determine the corresponding range resolution based on different bandwidths, and solve for the corresponding maximum radar detection range.

[0127] Step S403: Construct an energy mapping table for the first bandwidth mode based on the above solution information, determine the energy comparison result corresponding to the signal peak of the radar in the first bandwidth mode based on the energy mapping table, and determine the actual resolution based on the energy comparison result.

[0128] Step S404: Based on the actual resolution, acquire the raw data and 2DFFT data collected by the radar in the corresponding working mode, find the maximum value and its position in the 2DFFT data, and perform spectral resolution enhancement to obtain more accurate target maximum value position information.

[0129] Step S405: Calculate the target ranging result based on the target maximum value location information and the actual resolution.

[0130] Furthermore, Figure 5 This is a flowchart of a signal peak detection algorithm according to a preferred embodiment of this application, such as... Figure 5 As shown, the process includes the following steps:

[0131] Step S501: Determine the number of points to expand the range; wherein, based on the determined number of points to expand the range, the range of the maximum value location information can be expanded to obtain the corresponding location range information.

[0132] Step S502: Construct a trigonometric function table; wherein, the trigonometric function table is used to map the correspondence between index positions and trigonometric function values.

[0133] Step S503: Using the above formula 5, calculate the position index result based on the spectral resolution enhancement factor, position range information, initial ranging data and the number of spectral sampling points. Based on the position index result, look up the trigonometric function table to determine the corresponding trigonometric function value.

[0134] Step S504: Calculate the real and imaginary part information based on the above trigonometric function values, and calculate the modulus; find the maximum modulus value and its position information and update it to obtain the target maximum value position information, thereby realizing the accurate detection of the peak position of the radar echo signal.

[0135] It should be noted that the steps shown in the above process or in the flowchart of the accompanying figures can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0136] This embodiment also provides a radar ranging system. Figure 6 This is a structural block diagram of a radar ranging system according to an embodiment of this application, such as... Figure 6 As shown, the system includes a radar body 102 and a main control device 62. The main control device 62, connected to the radar body 102, is used to execute the steps in any of the above method embodiments. The main control device 62 can be a microcontroller, a main control chip, a computer, or a server, or other hardware device used to control the radar process. Further, data transmission can occur between the main control device 62 and the radar body 102 via a transmission device; in one embodiment, the transmission device may include a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet; in another embodiment, the transmission device may be a Radio Frequency (RF) module, used for wireless communication with the Internet. Alternatively, the main control device 62 can also be directly integrated and deployed on the radar body 102.

[0137] Through the above embodiments, the main control device 102 determines the sampling position information of the radar body 62 in the first bandwidth mode and the energy comparison result between it and the preset reference energy information. Based on the energy comparison result, it is determined whether the first range resolution needs to be switched to the second range resolution with a larger value. Finally, the target ranging result is generated. Since the radar has a higher distinguishing accuracy for detecting close targets under the first range resolution than under the second range resolution, it is possible to perform segmented distance detection of the target based on different detection accuracies by configuring the radar with two different bandwidth working modes. This effectively solves the problem of difficulty in balancing stability and high accuracy in radar ranging, and realizes a highly stable and high-precision real-time radar ranging system that measures far distances from near distances.

[0138] In some embodiments, a computer device is provided, which may be a server. Figure 7 This is a structural diagram of the internal structure of a computer device according to an embodiment of this application, such as... Figure 7 As shown, the computer device includes a processor, memory, network interface, and database connected via a system bus. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database stores target ranging results. The network interface communicates with external terminals via a network connection. When the processor executes the computer program, it implements the aforementioned radar ranging method.

[0139] Those skilled in the art will understand that Figure 7 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0140] This embodiment also provides an electronic device, including a memory and a processor, wherein the memory stores a computer program and the processor is configured to run the computer program to perform the steps in any of the above method embodiments.

[0141] Optionally, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor and the input / output device is connected to the processor.

[0142] Optionally, in this embodiment, the processor can be configured to perform the following steps via a computer program:

[0143] S1, determine the first distance resolution under the first bandwidth mode and the second distance resolution under the second bandwidth mode; wherein the first distance resolution is smaller than the second distance resolution.

[0144] S2, based on the first distance resolution, obtain reference energy information corresponding to the preset position information.

[0145] S3, acquire the target sample value of the radar in the first bandwidth mode, and the sampling position information corresponding to the target sample value, and calculate the energy comparison result between the target sample value and the reference energy information based on the sampling position information and the preset position information.

[0146] S4. Based on the energy comparison result, determine the actual resolution from the first distance resolution and the second distance resolution, and generate the target ranging result according to the actual resolution.

[0147] It should be noted that the specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementations, and will not be repeated here.

[0148] Furthermore, in conjunction with the radar ranging methods in the above embodiments, this application embodiment can provide a storage medium for implementation. This storage medium stores a computer program; when executed by a processor, the computer program implements any of the radar ranging methods in the above embodiments.

[0149] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0150] Those skilled in the art should understand that the technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments have been described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0151] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A radar ranging method, characterized in that, The radar operates in two modes: a first bandwidth mode and a second bandwidth mode, wherein the first bandwidth is greater than the second bandwidth; the method includes: Determine a first distance resolution under the first bandwidth mode and a second distance resolution under the second bandwidth mode; wherein the first distance resolution is smaller than the second distance resolution; Based on the first distance resolution, obtain reference energy information corresponding to the preset position information; The radar acquires the target sample value in the first bandwidth mode and the sampling position information corresponding to the target sample value, and calculates the energy comparison result between the target sample value and the reference energy information based on the sampling position information and the preset position information. Based on the energy comparison result, the actual resolution is determined from the first distance resolution and the second distance resolution, and the target ranging result is generated according to the actual resolution.

2. The radar ranging method according to claim 1, characterized in that, The step of obtaining reference energy information corresponding to the preset position information based on the first distance resolution includes: Obtain the preset initial energy value and the distance to the equally divided points; The preset position information is determined based on the first distance resolution and the distance division points, and the reference energy information is determined based on the initial energy value and the preset position information.

3. The radar ranging method according to claim 2, characterized in that, The step of calculating the energy comparison result between the target sampled value and the reference energy information based on the sampling location information and the preset location information includes: Determine the energy mapping relationship between the preset location information and the reference energy information; Determine the actual location information in the preset location information that matches the sampling location information, and determine the target reference energy value in the reference energy information that matches the actual location information based on the energy mapping relationship; The target sampled value is compared with the target reference energy value to obtain the energy comparison result.

4. The radar ranging method according to claim 1, characterized in that, The step of generating target ranging results based on the actual resolution includes: Acquire the first initial ranging data of the radar in the first bandwidth mode and the second initial ranging data of the radar in the second bandwidth mode, and determine the actual initial ranging data from the first initial ranging data and the second initial ranging data according to the actual resolution; Obtain the spectral change data corresponding to the actual initial ranging data, and determine the number of spectral sampling points corresponding to the spectral change data; The initial maximum sample value is obtained based on the spectrum change data, and the initial maximum value location information corresponding to the initial maximum sample value is obtained. The location range information is determined based on the initial maximum value location information. Obtain a preset spectral resolution enhancement factor, and calculate the location index result based on the spectral resolution enhancement factor, the location range information, the initial ranging data, and the number of spectral sampling points; The target maximum position information is calculated based on the number of spectrum sampling points, the initial maximum position information, and the position index result. The target ranging result is then generated based on the target maximum position information and the actual resolution.

5. The radar ranging method according to claim 4, characterized in that, The step of calculating the target maximum value location information based on the number of spectrum sampling points, the initial maximum value location information, and the location index result includes: Based on the number of spectrum sampling points and the location index result, trigonometric function calculations are performed to obtain trigonometric function values, and new location information is obtained by modulo calculation based on the trigonometric function values; The target maximum value location information is calculated based on the initial maximum value location information and the new location information.

6. The radar ranging method according to claim 4, characterized in that, The step of acquiring the first initial ranging data of the radar in the first bandwidth mode and the second initial ranging data of the radar in the second bandwidth mode includes: A preset alternation period is determined; the radar is controlled to alternately operate in the first bandwidth mode and the second bandwidth mode within the preset alternation period, and to acquire the first initial ranging data and the second initial ranging data; or, Acquire the first initial ranging data of the radar operating in the first bandwidth mode; when the second distance resolution is determined to be the actual resolution, switch the radar's operating mode from the first bandwidth mode to the second bandwidth mode, and acquire the second initial ranging data of the radar operating in the second bandwidth mode.

7. The radar ranging method according to claim 1, characterized in that, Determining the actual resolution from the first distance resolution and the second distance resolution based on the energy comparison result includes: Obtain the preset energy difference range; If the energy comparison result indicates that the difference between the target sample value and the reference energy information is within the energy difference range, the first distance resolution is determined to be the actual resolution. If the energy comparison result indicates that the difference between the target sample value and the reference energy information exceeds the energy difference range, and the target sample value is less than the reference energy information, then the second distance resolution is determined to be the actual resolution. If the energy comparison result indicates that the difference between the target sample value and the reference energy information exceeds the energy difference range, and the target sample value is greater than the reference energy information, a ranging anomaly warning message is generated and sent to the radar.

8. The radar ranging method according to any one of claims 1 to 7, characterized in that, The step of generating target ranging results based on the actual resolution includes: The preset distance compensation value and reference surface distance information are obtained, and the target ranging result is calculated based on the actual resolution, the distance compensation value, the reference surface distance information, and the actual initial ranging data of the radar.

9. A radar ranging system, characterized in that, The system includes: a radar body and a main control device; The main control device is connected to the radar body and is used to execute the radar ranging method as described in any one of claims 1 to 8.

10. An electronic device comprising a memory and a processor, characterized in that, The memory stores a computer program, and the processor is configured to run the computer program to perform the radar ranging method according to any one of claims 1 to 8.

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