Radar scanning system and scanning method

Abstract

A radar scanning system and a scanning method are provided. The processing unit of the radar scanning system is configured to perform the following steps in one scanning round: issuing a control signal to cause the radar unit to scan a plurality of predetermined views of the radar unit, and in response to scanning a tracked object in the plurality of predetermined views, recording the coordinates of each tracked object, and based on the coordinates of each tracked object, setting a priority view; and establishing a scanning list, in response to scanning a tracked object in the plurality of predetermined views, setting the scanning list to include the priority view, and controlling the radar unit to scan according to the scanning list and a scanning and processing strategy.

Description

Technical Field

[0001] This invention relates to the field of radar scanning, specifically to techniques using frequency-modulated continuous wave signals and algorithms in radar scanning. Background Technology

[0002] In recent years, radar detection technology has developed rapidly, and related technologies have been gradually applied to patient care, long-term care for the elderly, and infant care. For infants, bedridden patients, or the elderly, radar only needs to detect the area around the bed, and a radar with a fixed pointing area can be used. However, when detecting multiple targets, a typical pointing antenna may encounter a situation where the field of view is insufficient, meaning that some objects will be outside the field of view, or the antenna may be designed with a wide field of view, but the resolution may be insufficient. Summary of the Invention

[0003] In view of this, some embodiments of the present invention provide a radar scanning system, scanning method, computer-readable recording medium with stored program, and non-transitory computer program product to improve the problems of the prior art.

[0004] Some embodiments of the present invention provide a radar scanning system. The radar scanning system includes a radar unit and a processing unit. The radar unit is configured to generate radio frequency signals, radiate the radio frequency signals to the radar's field of view, and receive feedback signals to scan the aforementioned field of view. A processing unit is configured to perform the following steps in one scanning cycle: issuing a control signal to cause the radar unit to scan multiple predetermined fields of view of the radar unit; in response to detecting a tracked object in the predetermined fields of view, the radar unit records the coordinates of each tracked object; the radar unit sets a priority field of view based on the coordinates of each tracked object; and establishing a scan list, in response to detecting a tracked object in the predetermined fields of view, the radar unit sets the scan list to include the priority field of view, and controls the radar unit to scan according to the scan list and a scanning and processing strategy.

[0005] Some embodiments of the present invention provide a scanning method executed by a processing unit. The scanning method includes performing the following steps within a scanning round: issuing a control signal to cause a radar unit to scan multiple predetermined fields of view of the radar unit; and in response to detecting a tracked object in the predetermined fields of view, recording the coordinates of each tracked object and setting a priority field of view based on the coordinates of each tracked object; and establishing a scan list, in response to detecting a tracked object in the predetermined fields of view, setting the scan list to include the priority field of view, and controlling the radar unit to scan according to the scan list and a scanning and processing strategy.

[0006] Some embodiments of the present invention provide a computer-readable medium containing a stored program and a non-transitory computer program product, which can perform the aforementioned scanning method after the processor loads and executes the program.

[0007] Based on the above, the radar scanning system, scanning method, computer-readable recording medium with stored program, and non-transitory computer program product provided in some embodiments of the present invention can expand the detection range of the radar unit by integrating multiple fields of view of the radar unit, and increase the detection efficiency of the radar unit by scanning a specific area at high frequency. Attached Figure Description

[0008] Figure 1 This is a block diagram of a radar scanning system according to an embodiment of the present invention.

[0009] Figure 2 This is a schematic diagram of a radar scanning system according to an embodiment of the present invention.

[0010] Figure 3 This is a schematic diagram of a radar scanning system according to an embodiment of the present invention.

[0011] Figure 4-1 This is a schematic diagram illustrating the adjustment of the field of view according to an embodiment of the present invention.

[0012] Figure 4-2 This is a schematic diagram illustrating the adjustment of the field of view according to an embodiment of the present invention.

[0013] Figure 4-3 This is a schematic diagram illustrating the adjustment of the field of view according to an embodiment of the present invention.

[0014] Figure 5-1 This is a schematic diagram illustrating the operation of a radar scanning system according to some embodiments of the present invention.

[0015] Figure 5-2 This is a schematic diagram illustrating the operation of a radar scanning system according to some embodiments of the present invention.

[0016] Figure 5-3 This is a schematic diagram illustrating the operation of a radar scanning system according to some embodiments of the present invention.

[0017] Figure 6 This is a schematic diagram of the current field of view and the current field of view coordinate system according to an embodiment of the present invention.

[0018] Figure 7 This is a schematic diagram illustrating the current field of view, the total field of view, and the coordinate system of the current field of view according to an embodiment of the present invention.

[0019] Figure 8 This is a schematic diagram illustrating the predetermined field of view and the overall field of view according to an embodiment of the present invention.

[0020] Figure 9 This is a schematic diagram of the predetermined view coordinate system and the total view coordinate system according to an embodiment of the present invention.

[0021] Figure 10 This is a schematic diagram illustrating a new perspective based on an embodiment of the present invention.

[0022] Figure 11 This is a schematic diagram illustrating a scanning and processing strategy according to an embodiment of the present invention.

[0023] Figure 12 This is a schematic diagram illustrating a scanning and processing strategy according to an embodiment of the present invention.

[0024] Figure 13 This is a schematic diagram illustrating the structure of a processing unit according to some embodiments of the present invention.

[0025] Figure 14 This is a flowchart illustrating a scanning method according to some embodiments of the present invention.

[0026] Figure 15 This is a flowchart illustrating a scanning method according to some embodiments of the present invention.

[0027] Figure 16 This is a flowchart illustrating the point cloud map generation process according to an embodiment of the present invention.

[0028] Figure 17 This is a flowchart illustrating a scanning method according to some embodiments of the present invention.

[0029] Figure 18 This is a flowchart illustrating a scanning method according to some embodiments of the present invention.

[0030] Figure 19 This is a flowchart illustrating a scanning method according to some embodiments of the present invention.

[0031] Explanation of reference numerals in the attached figures:

[0032] 100: Radar scanning system;

[0033] 101: Antenna element;

[0034] 102: Front-end unit;

[0035] 103: Processing unit;

[0036] 104: Points to the control unit;

[0037] 105: Radar unit;

[0038] 201: Transmitting antenna element;

[0039] 202: Receiving antenna unit;

[0040] 203: Launching unit;

[0041] 204: Signal generator;

[0042] 205: Receiving unit;

[0043] 206: Demodulation unit;

[0044] 207: Analog-to-digital converter;

[0045] 208-1~208-K: Transmitting antennas;

[0046] 209-1~209-N, 210-1~210-M: Receiving antennas;

[0047] K, N, M: positive integers;

[0048] 401-1~401-5: Antenna group;

[0049] 402: View direction;

[0050] 403: Vertical adjustment mechanism;

[0051] 404: Horizontal adjustment mechanism;

[0052] 500: Point cloud map;

[0053] 501: point;

[0054] 502, 503: Clusters of matter;

[0055] 504: Schematic diagram of the planned field of view;

[0056] 601: The plane of the present view;

[0057] 602, 802, 803, 804, 1201, 1202: Objects;

[0058] 602', 802', 803', 804': Object projection;

[0059] 701, 900: Global view coordinate system;

[0060] 702: Field of view direction;

[0061] 703: The center point of the plane of the current field of view;

[0062] 8011~8019, 801: Plane;

[0063] 8020: A New Vision;

[0064] 1-9: Numbering;

[0065] 901, 902, 903, 1001: Center point;

[0066] 1300: Processing unit;

[0067] 1301: Processor;

[0068] 1302: Internal memory;

[0069] 1303: Non-volatile memory;

[0070] S1401~S1402, S1501~S1502, S1601~S1604, S1701~S1702, S1801, S1901: Steps. Detailed Implementation

[0071] The foregoing and other technical contents, features, and effects of this invention will be clearly presented in the following detailed description of the embodiments with reference to the accompanying drawings. The thickness or dimensions of the elements in the drawings are exaggerated, omitted, or approximated for the understanding and reading of those skilled in the art. Furthermore, the dimensions of each element are not exactly its actual dimensions and are not intended to limit the implementation conditions of this invention. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments in size, without affecting the effects and objectives achieved by this invention, should still fall within the scope of the technical content disclosed in this invention. The same reference numerals will be used to denote the same or similar elements in all drawings. The term "coupled" as used in the following embodiments can refer to any direct or indirect, wired or wireless connection means.

[0072] Figure 1 This is a block diagram of a radar scanning system according to an embodiment of the present invention. Please refer to... Figure 1 The radar scanning system 100 includes a radar unit 105, a processing unit 103, and a pointing control unit 104. The radar unit 105 includes an antenna unit 101 and a front-end unit 102. The antenna unit 101 is configured to radiate radio frequency signals into free space, where the radio frequency signals reflect feedback signals upon impact with objects. The antenna unit 101 receives the feedback signals from the radio frequency signals. The front-end unit 102 is configured to generate the aforementioned radio frequency signals and demodulate and digitize the aforementioned feedback signals to obtain digital feedback signals. The pointing control unit 104 is configured to adjust the field of view (FOV) direction of the radar unit 105 according to control signals. The processing unit 103 is configured to receive the aforementioned digital feedback signals and send control signals to the pointing control unit 104. The field of view direction of the radar unit 105 refers to the center direction of the detectable range of the radar unit 105.

[0073] In some embodiments of the present invention, the aforementioned radio frequency signal is a continuous wave (CW) signal. In some embodiments of the present invention, the aforementioned radio frequency signal is a frequency-modulated continuous wave (FMCW) signal. In some embodiments of the present invention, the aforementioned radio frequency signal is a continuous wave signal with a fixed frequency.

[0074] Figure 2 This is a schematic diagram of a radar scanning system according to an embodiment of the present invention. Please refer to... Figure 2 The aforementioned antenna unit 101 further includes a transmitting antenna unit 201 and a receiving antenna unit 202. The transmitting antenna unit 201 includes multiple transmitting antennas 208-1 to 208-K. The transmitting antennas 208-1 to 208-K radiate the aforementioned radio frequency signal into free space. The receiving antenna unit 202 includes multiple receiving antennas 209-1 to 209-N and 210-1 to 210-M to receive feedback signals. Here, K, N, and M are positive integers representing the number of transmitting antennas 208-1 to 208-K and receiving antennas 209-1 to 209-N and 210-1 to 210-M configured. The actual number depends on the requirements of the radar scanning system 100, and this invention does not impose any limitations on it.

[0075] The design of a typical transmitting antenna needs to consider the frequency of the transmitted signal, the field of view, and the purpose to determine the antenna design. Antenna designs can employ lens antennas, patch antennas, or waveguide leaky-wave antennas. In some embodiments of this invention, transmitting antennas 208-1 to 208-K are patch antennas.

[0076] The design of a typical receiving antenna must consider the frequency of the received signal. To determine the direction of an object, multiple receiving antennas are required. Receiving antennas typically contain multiple beams to receive echoes from objects at different azimuth angles, thereby determining the object's location. The design of the receiving antenna must consider the frequency range of the received radio frequency signal and whether it is necessary to determine the direction of the object under test. If direction determination is required, a design of a single-input multiple-output (SIMO) antenna or a multiple-input multiple-output (MIMO) antenna must be considered. In some embodiments of this invention, receiving antennas 209-1 to 209-N and 210-1 to 210-M are patch antennas, implemented using a printed circuit board.

[0077] The front-end unit 102 includes a signal generator 204, a transmitting unit 203, a receiving unit 205, a demodulation unit 206, and an analog-to-digital converter 207. The signal generator 204 generates a radio frequency (RF) signal and simultaneously transmits it to both the transmitting unit 203 and the demodulation unit 206. The transmitting unit 203 includes a power amplifier (PA) to amplify the RF signal and transmits the amplified RF signal to the transmitting antenna unit 201 to radiate the frequency-modulated signal into free space.

[0078] The receiving unit 205 includes a signal amplifier and a filter to receive the feedback signal received by the antenna unit 101, and to amplify and filter the received feedback signal. The demodulation unit 206 is coupled to the signal generator 204 and the receiving unit 205. The demodulation unit 206 receives the radio frequency signal generated by the signal generator 204 and the feedback signal amplified and filtered by the receiving unit 205, and demodulates the amplified and filtered feedback signal based on the radio frequency signal. The analog-to-digital converter 207 converts the demodulated feedback signal into a digital feedback signal and transmits it to the processing unit 103 for subsequent signal processing.

[0079] In some embodiments of the present invention, signal generator 204 generates a linearly modulated frequency signal with a start frequency of 77 GHz, an end frequency of 81 GHz, and a time period Tc of 40 μs. In some embodiments of the present invention, signal generator 204 generates a linearly modulated frequency signal with a start frequency of 24 GHz, an end frequency of 28 GHz, and a time period Tc of 40 μs. Using the linearly modulated frequency signal and further processing it with appropriate Fast Fourier Transform (FFT) signals, the position and velocity of an object, and even the object's breathing and heartbeat, can be detected. In this embodiment, demodulation unit 206 mixes and combines the frequency-modulated signal generated by signal generator 204 with the feedback signal amplified and filtered by receiving unit 205, filtering out high-frequency signals to generate an intermediate frequency (IF) signal. Analog-to-digital converter 207 converts the IF signal into a digital feedback signal and transmits it to processing unit 103 for subsequent signal processing to obtain the information contained in the feedback signal.

[0080] In some embodiments of the present invention, the signal generator 204 generates a continuous wave signal of a single frequency. The single-frequency continuous wave signal, after being subjected to a Doppler Fast Fourier Transform, can be used to detect phenomena such as breathing and heartbeat. Simultaneously, the aforementioned plurality of transmitting antennas 208-1 to 208-K and plurality of receiving antennas 209-1 to 209-N and 210-1 to 210-M can be used to detect the direction of the object.

[0081] In some embodiments of the present invention, the pointing control unit 104 includes a horizontal direction adjustment drive circuit, a vertical direction adjustment drive circuit, a horizontal direction adjustment mechanism, a vertical direction adjustment mechanism, and a pointing sensor. The pointing control unit 104, according to the instructions of the processing unit 103, controls the field of view of the radar unit 105, performing horizontal and / or vertical direction adjustments. The pointing control unit 104 drives the horizontal direction adjustment mechanism and the vertical direction adjustment mechanism through the horizontal and vertical direction adjustment drive circuits to control the field of view of the radar unit 105. The horizontal and vertical direction adjustment mechanisms include motors and related mechanisms and electromechanical components. The aforementioned motors may be stepper motors or servo motors, and the present invention is not limited thereto. The pointing sensor reports the field of view of the radar unit 105. In this embodiment, the pointing sensor represents the field of view of the radar unit 105 using a set of horizontal and vertical angles. The pointing control unit 104 confirms whether the pointing instruction from the processing unit 103 has been completed based on the aforementioned set of horizontal and vertical angles. It is also worth noting that if the field of view of radar unit 105 is ±60° horizontally and ±60° vertically, then if the field of view of radar unit 105 is to be expanded to ±90° horizontally and ±90° vertically, then the pointing control unit 104 needs to be able to adjust the field of view direction of radar unit 105 by ±30° horizontally and ±30° vertically.

[0082] It should be noted that since the pointing control unit 104 can control the field of view of the radar unit 105, this increases the detectable range of the radar unit 105. In this invention, the current field of view of the radar unit 105 is called the current field of view (FOV). The detectable range achievable by controlling the field of view direction of the radar unit 105 is called the total field of view (FOV). Taking the aforementioned field of view of the radar unit 105 as ±60° horizontally and ±60° vertically, and expanding the field of view of the radar unit 105 to ±90° horizontally and ±90° vertically by controlling the field of view direction of the radar unit 105 as an example, the total field of view of the radar unit 105 is ±90° horizontally and ±90° vertically. One current field of view of the radar unit 105 is ±60° horizontally and ±60° vertically. Another current field of view of the radar unit 105 is ±60° horizontally and ±30° vertically.

[0083] Figure 3 This is a schematic diagram of a radar scanning system according to an embodiment of the present invention. Figure 4-1 and Figure 4-2 This is a schematic diagram illustrating the adjustment of the field of view according to an embodiment of the present invention. Please also refer to... Figure 3 , Figure 4-1 and Figure 4-2 .like Figure 3As shown, radar element 105 is a multi-faceted antenna group (such as four-faced, six-faced, or eight-faced), and antenna element 101 includes multiple antenna groups arranged in a ring (such as...). Figure 3 (As shown). In Figure 3 In the illustrated structure, the pointing control unit 104 selects and switches to the antenna group corresponding to the desired field of view, thereby adjusting the field of view direction of the radar unit 105. Used in... Figure 3 The illustrated structure allows for rapid adjustment of the field of view of radar unit 105 without the need for an electromechanical drive mechanism. For example... Figure 4-1 and Figure 4-2 As shown, when the pointing control unit 104 selects antenna groups 401-1 to 401-5, the field of view of the radar unit 105 is field of view direction 1. When the pointing control unit 104 selects antenna groups 401-2 to 401-5, the field of view of the radar unit 105 is field of view direction 2.

[0084] Figure 4-3 This is a schematic diagram illustrating the field of view adjustment according to an embodiment of the present invention. The pointing control unit 104 performs horizontal pointing control on the horizontal pointing mechanism 404 and the vertical pointing control on the vertical pointing mechanism 403 via a horizontal pointing drive circuit and a vertical pointing drive circuit, adjusting the direction of the antenna unit 101 to control the field of view direction 402 of the radar unit 105. The horizontal pointing mechanism 404 and the vertical pointing mechanism 403 include motors and related mechanisms and electronic / electrical components. It is worth noting that in this embodiment, when the pointing control unit 104 adjusts the field of view direction 402 of the radar unit 105, it maintains the field of view direction 402 pointing towards the center point of the field of view of the radar unit 105.

[0085] Figure 6 This is a schematic diagram of the current field of view and the current field of view coordinate system according to an embodiment of the present invention. Figure 7 This is a schematic diagram illustrating the current field of view, the overall field of view, and the coordinate system of the current field of view according to an embodiment of the present invention. Please also refer to... Figure 6 and Figure 7 By projecting the object (object 602) detected within the current field of view of the radar unit 105 of the radar scanning system 100 onto the plane 601 corresponding to the current field of view (object projection 602'), a one- or two-dimensional coordinate system can be given to the object detected within the current field of view of the radar unit 105, which is called the current field of view coordinate system. Figure 7 For example, plane 601 corresponding to the current field of view can be defined as a two-dimensional coordinate system using angles. The first dimension is the horizontal angle, ranging from ±50°. The second dimension is the vertical angle, ranging from ±40°. The field of view direction 702 corresponds to the origin 703 of the current field of view coordinate system.

[0086] like Figure 7As illustrated, the total field of view obtained by controlling the field of view direction of radar unit 105 can also be defined by an angle into a corresponding total field of view coordinate system 701. The first dimension of the total field of view coordinate system 701 is the horizontal angle, ranging from ±90°. The second dimension is the vertical angle, also ranging from ±90°. Knowing the coordinate position of the origin 703 of the current field of view coordinate system corresponding to the current field of view plane 601 within the total field of view coordinate system 701 allows for easy conversion between the current field of view coordinates and the total field of view coordinate system 701.

[0087] Figure 8 This is a schematic diagram illustrating the predetermined field of view and the overall field of view according to an embodiment of the present invention. Figure 9 This is a schematic diagram illustrating the predetermined viewpoint coordinate system and the overall viewpoint coordinate system according to an embodiment of the present invention. Figure 8 and Figure 9 In the illustrated embodiment, the field of view of radar unit 105 is ±30° horizontally and ±30° vertically. Please refer to... Figure 8 In this embodiment, the pointing control unit 104 controls the field of view of the radar unit 105, scanning in nine directions, thus resulting in nine corresponding current fields of view. By selecting planes 8011, 8012, 8013, 8014, 8015, 8016, 8017, 8018, 8019 corresponding to each current field of view, as well as the aforementioned field of view of the radar unit 105 (horizontal ±30°, vertical ±30°), a current field of view coordinate system can be assigned to each current field of view of the radar unit 105. The first dimension of each current field of view coordinate system is the horizontal angle, ranging from ±30°; the second dimension of each current field of view coordinate system is the vertical angle, also ranging from ±30°. These current field of view coordinate systems are numbered 1 to 9.

[0088] The aforementioned nine current horizons constitute a total horizon of radar unit 105. Plane 801 is the union of planes 8011, 8012, 8013, 8014, 8015, 8016, 8017, 8018, and 8019. Using plane 801 and the aforementioned horizons of radar unit 105 (horizontal ±30°, vertical ±30°), a total horizon coordinate system 900 can be defined. The first dimension of the total horizon coordinate system 900 is the horizontal angle, ranging from ±90°; the second dimension is the vertical angle, also ranging from ±90°. Projecting the objects detected within each current horizon of radar unit 105 of radar scanning system 100 onto the corresponding plane of the current horizon gives each detected object a two-dimensional coordinate corresponding to the current horizon coordinate system. Figure 8 and Figure 9For example, object 804 is projected onto plane 8011 (object projection 804'), object 803 is projected onto plane 8015 (object projection 803'), and object 802 is projected onto plane 8019 (object projection 802'). Objects 804, 803, and 802 each have a two-dimensional coordinate in their respective current view coordinate system.

[0089] Furthermore, as long as the coordinates of the center points of planes 8011, 8012, 8013, 8014, 8015, 8016, 8017, 8018, and 8019 corresponding to each current horizon are known in the total horizon coordinate system 900, the current horizon coordinate systems 1 to 9 can be easily converted to the total horizon coordinate system 900.

[0090] by Figure 8 and Figure 9 For example, object 804 is projected onto plane 8011 (object projection 804'), and in the current view coordinate system 1, object 804 has coordinates (20°, 0°). The center point 901 of plane 8011 has coordinates (-60°, 60°) in the global view coordinate system 900. Therefore, the coordinates of object 804 in the global view coordinate system 900 can be easily obtained as (-40°, 60°). Based on the same principle, the coordinates of objects 803 and 802 in the global view coordinate system 900 can be obtained by using the coordinate positions of the center points 902 of plane 8015 and 903 of plane 8019 in the global view coordinate system 900.

[0091] The following is a detailed description, with reference to the accompanying drawings, of the scanning methods of some embodiments of the present invention and how the various modules of the radar scanning system 100 work together.

[0092] Figure 5-1 , Figure 5-2 and Figure 5-3 This is a schematic diagram illustrating the operation of a radar scanning system 100 according to some embodiments of the present invention. Figure 14 The above is a flowchart illustrating a scanning method according to some embodiments of the present invention. Please also refer to... Figure 5-1 , Figure 5-2 , Figure 5-3 and Figure 14 The radar scanning system 100 repeatedly radiates radio frequency signals to target multiple predetermined horizons ( Figure 5-1The processing unit 103 scans the predetermined field of view (schematic diagram 504) and obtains a feedback signal, wherein the radio frequency signal is the aforementioned linear modulation frequency signal. The processing unit 103 performs steps S1401 to S1402 within one scanning round corresponding to the aforementioned scanning of multiple predetermined fields of view. In step S1401, the processing unit 103 issues a control signal to cause the radar unit 105 to scan the multiple predetermined fields of view. In response to detecting a tracked object in these predetermined fields of view, the processing unit 103 records the coordinates of each tracked object and sets a priority field of view based on the coordinates of each tracked object. In step S1402, the processing unit 103 establishes a scan list. In response to detecting a tracked object in these predetermined fields of view, the processing unit 103 sets the scan list to include the aforementioned priority field of view set based on the tracked object. The processing unit 103 controls the radar unit 105 to scan according to the scan list and the scanning and processing strategy.

[0093] Steps S1401 and S1402 are further illustrated below with some embodiments of the present invention.

[0094] Figure 15 This is a flowchart illustrating a scanning method according to some embodiments of the present invention. Please refer to [link / reference]. Figure 15 ,exist Figure 15 In the illustrated embodiment, step S1401 further includes steps S1501 to S1502. In step S1501, processing unit 103 generates a point cloud map 500 based on the aforementioned feedback signal of the predetermined field of view in the current scan. The point cloud map 500 includes a plurality of points 501. In step S1502, processing unit 103 performs cluster analysis on the point cloud map 500 according to a clustering algorithm to classify the aforementioned plurality of points 501 into at least one cluster corresponding to the predetermined field of view in the current scan.

[0095] exist Figures 5-1 to 5-3 In the illustrated embodiment, the processing unit 103 classifies the aforementioned plurality of points 501 into clusters 502 and 503 corresponding to a predetermined field of view in the current scan. The processing unit 103 then determines, based on clusters 502 and 503, whether a tracked object has been detected within the predetermined field of view in the current scan. Figure 5-1 In one embodiment, the processing unit 103 detects two tracked objects in a predetermined field of view during the current scan.

[0096] In some embodiments of the present invention, if there are no object clusters in the point cloud map 500 corresponding to the predetermined field of view in the current scan, or if the range of the classified object clusters is less than a preset value, the processing unit 103 determines that no tracked object has been detected in the predetermined field of view corresponding to the current scan.

[0097] In some embodiments of the present invention, the processing unit 103 determines whether a tracked object is detected in a predetermined field of view during the current scan based on whether the clusters 502 and 503 have physiological characteristics such as heartbeat or respiration. If the clusters 502 and 503 have physiological characteristics such as heartbeat or respiration, the processing unit 103 determines that a tracked object is detected in a predetermined field of view during the current scan.

[0098] Figure 16 This is a flowchart illustrating the point cloud generation process according to an embodiment of the present invention. In this embodiment, the radio frequency signal is the aforementioned linear frequency modulated continuous wave signal, and as... Figure 16 As shown, the aforementioned step S1501 also includes steps S1601 to S1604. In step S1601, the processing unit 103 performs range processing and Doppler processing on the original data block formed by the digital feedback signal to obtain a processed data block. The range processing includes Range Fast Fourier Transform (Range FFT), and the Doppler processing includes Doppler Fast Fourier Transform (Doppler FFT). As previously described, the demodulation unit 206 mixes and combines the frequency-modulated signal generated by the signal generator 204 with the feedback signal amplified and filtered by the receiving unit 205, filtering out high frequencies to generate an intermediate frequency (IF) signal. This IF signal is then converted into a digital signal via an analog-to-digital converter. To detect objects within different ranges (distances), the digital signal converted from the IF signal undergoes Fast Fourier Transform processing. Each peak value after processing represents an object at a corresponding distance. This is called Range Fast Fourier Transform. For a target of interest, range-based fast Fourier transforms can be repeatedly performed until sufficient data is available for a second-stage fast Fourier transform. The result of this second-stage fast Fourier transform is a two-dimensional complex-valued matrix, the peaks of which correspond to the Doppler frequency displacement of the moving target. This method is called the Doppler fast Fourier transform.

[0099] In step S1602, processing unit 103 performs moving target indication (MTI) on the processed data block to remove stationary points in the processed data block. In step S1603, after the aforementioned step S1602, processing unit 103 uses a detection algorithm to remove points generated by noise background in the processed data block.

[0100] It is worth noting that in some embodiments of the present invention, the aforementioned detection algorithm is a Constant False Alarm Rate (CFAR) algorithm. In other embodiments of the present invention, the detection algorithm is selected from one of the following groups: Cell-averaging CFAR (CA-CFAR), Greatest-Of-Cell-Average CFAR (GOCA-CFAR), Smallest-Of-Cell-Average CFAR (SOCA-CFAR), and Ordered Statistic CFAR (OS-CFAR).

[0101] In step S1604, after the aforementioned step S1603, the processed data block undergoes angle processing to produce the following... Figure 5-1 The point cloud diagram 500 is shown. Angle processing includes Angle Fast Fourier Transform (Angle FFT). When two objects are at equal distances and have the same velocity relative to the radar scanning system 100, range FFT and Doppler FFT are ineffective. Therefore, the angle of arrival (AoA) needs to be estimated. Since the distance from the object to each antenna is different, the estimation of the angle of arrival is based on the phasor change of the range FFT or Doppler FFT peaks, which requires at least two receiving antennas. Similarly, the angle estimation problem can be solved by performing a Fast Fourier Transform on the phasor sequence corresponding to the peaks of the two-dimensional Fast Fourier Transforms (range FFT and Doppler FFT). This method is called Angle Fast Fourier Transform.

[0102] In some embodiments of the present invention, the clustering algorithm in step S1502 is a density-based spatial clustering of applications with noise (DBSCAN) algorithm. In some embodiments of the present invention, the metric of the aforementioned density-based spatial clustering algorithm is as described in Equation 1 below, to reduce the contribution of the vertical z-axis (vertical axis) in the clustering:

[0103] D(p,q)=(p x -q x ) 2 +(p y -q y ) 2+α*(p z -q z ) 2 , ………(Equation 1)

[0104] Where α is a real value less than 1, px and qx are the x-coordinates of points p and q respectively, py and qy are the y-coordinates of points p and q respectively, and pz and qz are the z-coordinates of points p and q respectively.

[0105] In some embodiments of the present invention, α is selected as 0.05, and in some embodiments of the present invention, α is selected as 0.25.

[0106] In some embodiments of the present invention, the clustering algorithm is selected as peak grouping, modified density-based spatial clustering of applications with noise (modified DBSCAN), or hierarchical density-based spatial clustering of applications with noise (HDBSCAN).

[0107] In some embodiments of the present invention, the position of each cluster is determined by the physical center of the cluster. In some embodiments of the present invention, the physical center of the cluster is the centroid of the corresponding point clouds of the cluster. In some embodiments of the present invention, such as Figure 5-2 As shown, each cluster includes an outer frame. The processing unit 103 uses the center point of the outer frame of each cluster as the physical center of each cluster to determine the position of each cluster. The processing unit 103 then uses the position of the cluster as the coordinates of the tracked object recorded in step S1401.

[0108] In some embodiments of the present invention, the aforementioned outer frame is rectangular. In some embodiments of the present invention, the aforementioned outer frame is circular. In some embodiments of the present invention, the aforementioned outer frame is elliptical.

[0109] It is worth noting that in the aforementioned embodiment, the radar scanning system 100 periodically radiates a linearly modulated frequency signal to detect the area ( Figure 5-1 The radar scanning system 100 can also use a fixed-frequency continuous wave signal to scan the detection area (see schematic diagram 504) and obtain a feedback signal. Figure 5-1The detection area (schematic 504) is scanned to obtain a feedback signal. At this time, the processing unit 103 performs Doppler processing and angle processing on the original data block formed by the digital feedback signal to generate a two-dimensional point cloud map. The processing unit 103 then performs cluster analysis on the aforementioned two-dimensional point cloud map according to a clustering algorithm to classify the points in the aforementioned two-dimensional point cloud map into at least one cluster corresponding to the predetermined field of view in the current scan.

[0110] Please also refer to Figure 9 and Figure 14 In some embodiments of the present invention, the priority horizon in step S1401 includes the horizon within which the tracked object is scanned. The scanning and processing strategy in step S1402 includes scanning the priority horizon a predetermined number of times.

[0111] For example, in step S1401, the processing unit 103 uses the nine current horizons corresponding to planes 8011 to 8019 as predetermined horizons. It scans these nine current horizons sequentially in the order of planes 8011, 8012, 8013, 8014, 8015, 8016, 8017, 8018, and 8019. In this example, the processing unit 103 scans for tracked objects in the predetermined horizons corresponding to planes 8011, 8015, and 8019. The tracked objects scanned are object 802, object 803, and object 804. The processing unit 103 records the coordinates of object 802, object 803, and object 804, and sets the predetermined horizons corresponding to planes 8011, 8015, and 8019 as priority horizons.

[0112] In step S1402, the processing unit 103 establishes a scan list and adds the predetermined horizons of planes 8011, 8015, and 8019 to the scan list. The processing unit 103 then scans the priority horizons a predetermined number of times (e.g., twice).

[0113] In the foregoing embodiment, the scanning order of the processing unit 103 in the foregoing scanning round is: plane 8011->plane 8012->plane 8013->plane 8014->plane 8015->plane 8016->plane 8017->plane 8018->plane 8019->plane 8011->plane 8015->plane 8019->plane 8011->plane 8015->plane 8019.

[0114] It is worth noting that the predetermined number of scans can be set according to the needs of the site, and does not necessarily have to be twice. Furthermore, although the preceding embodiments scanned nine predetermined horizons in the order of plane 8011->plane 8012->plane 8013->plane 8014->plane 8015->plane 8016->plane 8017->plane 8018->plane 8019, other sequences are also possible, such as plane 8011->plane 8014->plane 8017->plane 8012->plane 8015->plane 8018->plane 8013->plane 8016->plane 8019. This invention is not limited to these sequences.

[0115] Figure 10 This is a schematic diagram illustrating a new perspective based on an embodiment of the present invention. Figure 17 The following is a flowchart illustrating a scanning method according to some embodiments of the present invention. Please also refer to... Figure 10 , Figure 14 and Figure 17 In some embodiments of the present invention, step S1401 includes steps S1701 and S1702. In step S1701, in response to the presence of two objects in the tracked object such that the distance between the two objects is less than a preset distance, the processing unit 103 establishes a new field of view based on the field of view range of the radar unit 105, so that the new field of view covers both objects. In step S1702, the processing unit 103 sets the aforementioned new field of view as one of the priority fields of view.

[0116] In some embodiments, the aforementioned preset distance is the size of the field of view of the radar unit 105.

[0117] The following is Figure 10Taking an example, the processing unit 103 uses the nine current view boundaries corresponding to planes 8011 to 8019 as predetermined view boundaries. It scans these nine current view boundaries sequentially in the order of planes 8011, 8012, 8013, 8014, 8015, 8016, 8017, 8018, and 8019. The processing unit 103 scans and detects the tracked objects within the predetermined view boundaries corresponding to planes 8011, 8015, and 8019. The detected tracked objects are object 802, object 803, and object 804. In step S1701, processing unit 103 converts the coordinates of objects 802 and 803 into coordinates of the global field of view coordinate system 900. Based on the coordinates of objects 802 and 803 in the global field of view coordinate system 900, processing unit 103 determines that the distance between objects 802 and 803 is less than the field of view of radar unit 105. Therefore, processing unit 103 establishes a new field of view 8020 to cover objects 803 and 804. The new field of view 8020 has a center point 1001. In step S1702, processing unit 103 sets the new field of view 8020 as one of the priority fields of view.

[0118] In this embodiment, when processing unit 103 executes step S1401, since the new horizon 8020 already covers objects 803 and 804, processing unit 103 does not set the predetermined horizons corresponding to planes 8011 and 8015 as priority horizons. Processing unit 103 sets the predetermined horizon of corresponding plane 8019 as one of the priority horizons. Therefore, the priority horizons include the new horizon 8020 and the predetermined horizon of corresponding plane 8019. In step S1402, processing unit 103 establishes a scan list and adds the new horizon 8020 and the predetermined horizon of corresponding plane 8019 to the scan list. Processing unit 103 then scans the priority horizons a predetermined number of times (e.g., twice).

[0119] In the foregoing embodiment, the scanning order of the processing unit 103 in the foregoing scanning round is: plane 8011->plane 8012->plane 8013->plane 8014->plane 8015->plane 8016->plane 8017->plane 8018->plane 8019->new horizon 8020->plane 8019->new horizon 8020->plane 8019.

[0120] Figure 11 This is a schematic diagram illustrating a scanning and processing strategy according to an embodiment of the present invention. Please also refer to... Figure 11 and Figure 14In some embodiments of the present invention, the priority horizon in step S1401 includes the horizons in which the tracked object is scanned within these predetermined horizons. The scan list contains all predetermined horizons. The scanning and processing strategy includes scanning predetermined horizons but the processing unit 103 only processes priority horizon data of the priority horizons. In some embodiments of the present invention, the priority horizon data of the priority horizons is a feedback signal corresponding to the priority horizon.

[0121] by Figure 11 For example, in step S1401, the processing unit 103 uses the nine current horizons corresponding to planes 8011 to 8019 as predetermined horizons. It scans these nine current horizons sequentially in the order of planes 8011, 8012, 8013, 8014, 8015, 8016, 8017, 8018, and 8019. In this example, the processing unit 103 scans for tracked objects in the predetermined horizons corresponding to planes 8011, 8015, and 8019. The tracked objects scanned are object 802, object 803, and object 804. The processing unit 103 records the coordinates of object 802, object 803, and object 804, and sets the predetermined horizons corresponding to planes 8011, 8015, and 8019 as priority horizons.

[0122] In step S1402, the processing unit 103 uses the nine current horizons corresponding to planes 8011 to 8019 as a scan list. That is, the processing unit 103 will also scan the nine current horizons corresponding to planes 8011 to 8019 sequentially a predetermined number of times (e.g., twice). However, in these two scans, the processing unit 103 only processes the priority horizon data of the priority horizons and does not process data that is not a priority horizon. Figure 8 In this example, processing unit 103 only processes priority view data corresponding to the predetermined view boundaries of planes 8011, 8015, and 8019. The aforementioned embodiments are applicable to devices with a fixed scanning order.

[0123] Figure 12 This is a schematic diagram illustrating a scanning and processing strategy according to an embodiment of the present invention. Figure 18 The following is a flowchart illustrating a scanning method according to some embodiments of the present invention. Please also refer to... Figure 12 , Figure 14 as well as Figure 18 In this embodiment, step S1402 includes step S1801. In step S1801, in response to no tracked object being scanned in the predetermined field of view, the processing unit 103 sets the scan list to include the entrance / exit field of view. Furthermore, the aforementioned scanning and processing strategy includes scanning the entrance / exit field of view a predetermined number of times.

[0124] by Figure 12For example, in step S1401, the processing unit 103 uses the nine current horizons corresponding to planes 8011 to 8019 as predetermined horizons. It scans these nine current horizons sequentially in the order of planes 8011, 8012, 8013, 8014, 8015, 8016, 8017, 8018, and 8019. Since the processing unit 103 does not detect the tracked object within the predetermined horizons, in step S1702, the processing unit 103 sets the scan list to include entrance / exit horizons (the predetermined horizons corresponding to plane 8011 and plane 8019), and the scanning and processing strategy includes scanning the entrance / exit horizons a predetermined number of times (e.g., twice).

[0125] The so-called entrance / exit viewpoints are the predetermined viewpoints (corresponding to the nine predetermined viewpoints of planes 8011 to 8019) that are marked by processing unit 103 as covering the entrance / exit of an object. Processing unit 103 can set those predetermined viewpoints as entrance / exit viewpoints during system setup. Processing unit 103 can also record predetermined viewpoints where an object appears from nothing or disappears during scanning to serve as entrance / exit viewpoints. Figure 12 For example, the processing unit 103 detects that in the field of view of the corresponding plane 8011, an object 1201 appears from nothing, and in the field of view of the corresponding plane 8019, an object 1202 disappears from existence. Therefore, the predetermined field of view of the corresponding plane 8011 and the predetermined field of view of the corresponding plane 8019 are recorded as the entrance / exit field of view.

[0126] In step S1402, the processing unit 103 establishes a scan list and adds the predetermined boundaries of the corresponding planes 8011 and 8019 to the scan list. The processing unit 103 then scans the entrance / exit boundaries a predetermined number of times (e.g., twice).

[0127] In this embodiment, the scanning sequence of the processing unit 103 in the aforementioned scanning round is: plane 8011->plane 8012->plane 8013->plane 8014->plane 8015->plane 8016->plane 8017->plane 8018->plane 8019->plane 8011->plane 8019->plane 8011->plane 8019.

[0128] Figure 19 The following is a flowchart illustrating a scanning method according to some embodiments of the present invention. Please also refer to... Figure 14 as well as Figure 19In this embodiment, step S1402 includes step S1901. In step S1901, in response to scanning a tracked object within a predetermined field of view, the processing unit 103 sets the scan list to include the entrance / exit field of view. Furthermore, the aforementioned scanning and processing strategy includes a priority scan field of view and a predetermined number of scans (e.g., 2 times) of the entrance / exit field of view.

[0129] For example, in step S1401, the processing unit 103 uses the nine current horizons corresponding to planes 8011 to 8019 as predetermined horizons. It scans these nine current horizons sequentially in the order of planes 8011, 8012, 8013, 8014, 8015, 8016, 8017, 8018, and 8019. In this embodiment, the processing unit 103 scans for the tracked object in the predetermined horizons corresponding to planes 8011 and 8015. The tracked objects scanned are object 803 and object 804. The processing unit 103 records the coordinates of object 803 and object 804 and sets the predetermined horizons corresponding to planes 8011 and 8015 as priority horizons.

[0130] Processing unit 103 records the predetermined view boundary corresponding to plane 8019 as the entrance / exit view boundary. Therefore, in step S1402, processing unit 103 establishes a scan list and adds the predetermined view boundaries corresponding to planes 8011, 8015, and 8019 to the scan list. Processing unit 103 then scans the priority view boundary and the entrance / exit view boundary a predetermined number of times (e.g., twice).

[0131] Figure 13 This is a schematic diagram illustrating the structure of a processing unit 1300 according to some embodiments of the present invention. Figure 13 As shown, at the hardware level, the processing unit 1300 includes a processor 1301, internal memory 1302, and non-volatile memory 1303. The internal memory 1302 is, for example, random-access memory (RAM). Of course, the processing unit 1300 may also include other hardware required for its functions.

[0132] Internal memory 1302 and non-volatile memory 1303 are used to store programs, which may include program code, and the program code includes computer operation instructions. Internal memory 1302 and non-volatile memory 1303 provide instructions and data to processor 1301. Processor 1301 reads the corresponding computer program from non-volatile memory 1303 into internal memory 1302 and then runs it. Processor 1301 is specifically used to execute... Figures 14 to 19 The steps described herein.

[0133] Processor 1301 may be an integrated circuit chip with signal processing capabilities. In implementation, the methods and steps disclosed in the foregoing embodiments can be performed by the integrated logic circuitry in the hardware of processor 1301 or by instructions in software form. Processor 1301 may be a general-purpose processor, including a Central Processing Unit (CPU), a Tensor Processing Unit (TPU), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, capable of implementing or executing the methods and steps disclosed in the foregoing embodiments.

[0134] In some embodiments of the present invention, a computer-readable recording medium storing a program is also provided. This computer-readable recording medium stores at least one instruction, which, when executed by the processor 1301 of the processing unit 1300, enables the processor 1301 of the processing unit 1300 to perform the aforementioned... Figures 14 to 19 The steps described.

[0135] Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other internal memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transfer media that can be used to store data that can be accessed by a computing device. As defined herein, computer-readable media does not include transient media, such as modulated data signals and carrier waves.

[0136] Based on the above, the radar scanning system, scanning method, computer-readable recording medium with stored program, and non-transitory computer program product provided in some embodiments of the present invention can expand the detection range of the radar unit by integrating multiple fields of view of the radar unit, and increase the detection efficiency of the radar unit by scanning a specific area at high frequency.

[0137] Although the present invention has been disclosed above by way of embodiments, it is not intended to limit the present invention. Anyone skilled in the art can make some modifications and refinements without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims.

Claims

1. A radar scanning system, comprising: A radar unit, configured to generate a radio frequency signal, radiate the radio frequency signal to a field of view of the radar unit, and receive a feedback signal to scan the field of view; and A processing unit is configured to perform the following steps within a scan round: (a) A control signal is issued to cause the radar unit to scan a plurality of predetermined horizons of the radar unit, and in response to the detection of at least one tracked object in the plurality of predetermined horizons, a coordinate of each of the at least one tracked object is recorded, and at least one priority horizon is set based on the coordinate of each of the at least one tracked object. as well as (b) Establish a scan list, and in response to scanning the at least one tracked object in the plurality of predetermined fields of view, set the scan list to include the at least one priority field of view, and control the radar unit to scan according to the scan list and a scanning and processing strategy.

2. The radar scanning system of claim 1, wherein the at least one priority field of view includes at least one first field of view of the at least one tracked object scanned in the predetermined field of view, and the scanning and processing strategy includes scanning the at least one priority field of view a predetermined number of times.

3. The radar scanning system of claim 1, wherein step (a) comprises: In response to the presence of two objects among the at least one tracked object such that a distance between the two objects is less than a preset distance, a new field of view is established based on a field of view of the radar unit, such that the new field of view covers the two objects; and The new horizon is set as one of the at least one preferred horizon.

4. The radar scanning system of claim 1, wherein the at least one priority field of view includes at least one first field of view of the at least one tracked object scanned in the predetermined field of view, the scan list includes the predetermined field of view, and the scanning and processing strategy includes scanning the predetermined field of view but the processing unit only processes one priority field of view data corresponding to the at least one priority field of view.

5. The radar scanning system of claim 1, wherein step (b) comprises: In response to the absence of the at least one tracked object in the plurality of predetermined viewpoints, the scan list is configured to include an entrance / exit viewpoint, wherein the entrance / exit viewpoint is a first viewpoint among the plurality of predetermined viewpoints that is marked by the processing unit as covering the entrance / exit of an object; the scanning and processing strategy includes scanning the entrance / exit viewpoint a predetermined number of times.

6. The radar scanning system of claim 1, wherein step (b) comprises: In response to the at least one tracked object scanned in the plurality of predetermined horizons, the scan list is set to include an entrance / exit horizon, wherein the entrance / exit horizon is a first horizon among the plurality of predetermined horizons that is marked by the processing unit as covering the entrance / exit of an object; the scanning and processing strategy includes scanning the at least one priority horizon and the entrance / exit horizon a predetermined number of times.

7. The radar scanning system of claim 1, wherein step (a) comprises: (a1) Generate a point cloud map for the feedback signal of each of the predetermined horizons; as well as (a2) Perform cluster analysis on the point cloud generated by the feedback signal of each of the predetermined horizons according to a clustering algorithm to determine whether the at least one tracked object is scanned in the plurality of predetermined horizons.

8. The radar scanning system as described in claim 7, wherein, The radio frequency signal is a frequency-modulated continuous wave signal, and step (a1) includes: (a11) Perform a range processing and a Doppler processing on the original data block formed by the feedback signal to obtain a processed data block; (a12) Provide an active target indication to the processed data block to remove stationary points in the processed data block; (a13) After step (a12), a detection algorithm is used to remove points generated by the noisy background from the processed data block; and (a14) After step (a13), the processed data block is subjected to an angle processing to generate the point cloud map.

9. The radar scanning system of claim 1, wherein the radar scanning system comprises: A pointing control unit is configured to adjust a field of view of the radar unit according to the control signal, wherein when the pointing control unit adjusts the radar unit, the field of view is maintained pointing to a center point of the field of view of the radar unit.

10. The radar scanning system of claim 1, wherein the radar unit comprises an antenna unit and a front-end unit, the antenna unit being configured to radiate the radio frequency signal into free space and receive the feedback signal, and the front-end unit being configured to generate the radio frequency signal and demodulate and digitize the feedback signal to obtain a digital feedback signal.

11. A scanning method applicable to a radar scanning system, executed by a processing unit, the radar scanning system comprising: A radar unit is configured to generate a radio frequency signal, radiate the radio frequency signal to a field of view of the radar unit, and receive a feedback signal to scan the field of view; as well as The processing unit; The scanning method includes: Perform the following steps within a single scan round: (a) A control signal is issued to cause the radar unit to scan a plurality of predetermined horizons of the radar unit, and in response to the detection of at least one tracked object in the plurality of predetermined horizons, a coordinate of each of the at least one tracked object is recorded, and at least one priority horizon is set based on the coordinate of each of the at least one tracked object. as well as (b) Establish a scan list, and in response to scanning the at least one tracked object in the plurality of predetermined fields of view, set the scan list to include the at least one priority field of view, and control the radar unit to scan according to the scan list and a scanning and processing strategy.

12. The scanning method of claim 11, wherein the at least one priority horizon includes at least one first horizon in the predetermined horizon that scans the at least one tracked object, and the scanning and processing strategy includes scanning the at least one priority horizon a predetermined number of times.

13. The scanning method of claim 11, wherein step (a) comprises: In response to the presence of two objects among the at least one tracked object such that a distance between the two objects is less than a preset distance, a new field of view is established based on a field of view of the radar unit, such that the new field of view covers the two objects; and The new horizon is set as one of the at least one preferred horizon.

14. The scanning method of claim 11, wherein the at least one priority horizon includes at least one first horizon among the plurality of predetermined horizons that scans the at least one tracked object, the scan list includes the plurality of predetermined horizons, and the scanning and processing strategy includes scanning the plurality of predetermined horizons but the processing unit only processes one priority horizon data corresponding to the at least one priority horizon.

15. The scanning method of claim 11, wherein step (b) comprises: In response to the absence of the at least one tracked object in the plurality of predetermined viewpoints, the scan list is configured to include an entrance / exit viewpoint, wherein the entrance / exit viewpoint is a first viewpoint among the plurality of predetermined viewpoints that is marked by the processing unit as covering the entrance / exit of an object; the scanning and processing strategy includes scanning the entrance / exit viewpoint a predetermined number of times.

16. The scanning method of claim 11, wherein step (b) comprises: In response to the detection of at least one tracked object in the plurality of predetermined horizons, the scan list is set to include an entrance / exit horizon, wherein the entrance / exit horizon is a first horizon among the plurality of predetermined horizons that is marked by the processing unit as covering the entrance / exit of an object; the scanning and processing strategy includes scanning the at least one priority horizon and the entrance / exit horizon a predetermined number of times.

17. The scanning method of claim 11, wherein step (a) comprises: (a1) Generate a point cloud map for the feedback signal of each of the predetermined horizons; as well as (a2) Perform cluster analysis on the point cloud generated by the feedback signal of each of the predetermined horizons according to a clustering algorithm to determine whether the at least one tracked object is scanned in the plurality of predetermined horizons.

18. The scanning method as described in claim 17, wherein, The clustering algorithm is selected from one of the algorithm groups consisting of free peak clustering algorithm, density space-based clustering algorithm, improved density space-based clustering algorithm, and hierarchical density space-based clustering algorithm.

19. The scanning method as described in claim 17, wherein, The radio frequency signal is a frequency-modulated continuous wave signal, and step (a1) includes: (a11) Perform a range processing and a Doppler processing on the original data block formed by the feedback signal to obtain a processed data block; (a12) Provide an active target indication to the processed data block to remove stationary points in the processed data block; (a13) After step (a12), a detection algorithm is used to remove points generated by the noisy background from the processed data block; and (a14) After step (a13), the processed data block is subjected to an angle processing to generate the point cloud map.

20. The scanning method as described in claim 19, wherein, The detection algorithm selects one of the following groups: free fixed false alarm rate, average fixed false alarm rate, maximum average fixed false alarm rate, minimum average fixed false alarm rate, and ordered statistical fixed false alarm rate.

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