Speed determination method and apparatus

Abstract

The embodiment of the application discloses a speed determination method and device, which is applied to a signal transmission device, the signal transmission device comprises P transmitting antennas and Q receiving antennas, P is an integer greater than 1, Q is an integer greater than 1; the signal transmission device determines a target type corresponding to a target detection point in a RD diagram, the target type comprises a single target object or multiple target objects, according to a demisting method corresponding to the target type, determines a mist number and angle information corresponding to each target object, and determines a speed corresponding to each target object according to the mist number and angle information corresponding to each target object. The embodiment can improve the accuracy of the determined speed of the target object.

Description

Technical Field

[0001] This application relates to the field of communication technology, and in particular to a speed determination method and apparatus. Background Technology

[0002] Among the related devices for vehicle driver assistance, signal transmission equipment is one of the more important ones. For example, radar. Signal transmission equipment can detect the speed of surrounding objects (such as obstacles and other vehicles) while the vehicle is in motion. However, the higher the accuracy requirement when the signal transmission equipment determines the speed of the target object, the lower the accuracy of the determined speed of the target object.

[0003] Taking radar as an example, as the requirements for the accuracy of target detection become higher and higher, such as higher angular resolution, millimeter-wave radar has become a commonly used type of radar in vehicles. Millimeter-wave radar can also be divided into several types according to the input and output method. MIMO (multiple-input-multiple-output) radar is a commonly used type of millimeter-wave radar.

[0004] However, when radar detects the speed of a target object, if the speed of the target object exceeds the maximum speed that the radar can detect, the radar cannot accurately measure the speed of the object. Although MIMO radar can improve the detection accuracy, because there are multiple transmitting antennas, and multiple transmitting antennas usually use TDM (time division multiplexing) to transmit signals, compared with radar with a single transmitting antenna, when transmitting the same radar waveform, the more transmitting antennas there are, the longer the interval between the signals transmitted by each antenna, and thus the smaller the maximum speed that can be detected. When detecting the speed of a target object, speed aliasing is more likely to occur, resulting in speed ambiguity and inaccurate detection of the speed of the target object.

[0005] Therefore, accurately detecting the speed of the target object has become an urgent problem to be solved. Summary of the Invention

[0006] This application discloses a speed determination method and apparatus, which can improve the accuracy of determining the speed of a target object.

[0007] This application discloses a speed determination method, characterized in that it is applied to a signal transmission device, the signal transmission device comprising P transmitting antennas and Q receiving antennas, wherein P is an integer greater than 1 and Q is an integer greater than 1; the method includes:

[0008] Fourier transform processing is performed on the original signal data to obtain P*Q range-Doppler RD maps that correspond one-to-one with the P*Q virtual array units; the P*Q virtual array units are composed of the P transmitting antennas and the Q receiving antennas;

[0009] The target RD map is obtained by overlaying the P*Q RD maps;

[0010] Target detection is performed on the target RD map to obtain the position information of the target detection points in the target RD map;

[0011] Based on the location information, extract the RD map amplitude data corresponding to the target detection point from the P*Q RD maps, and perform phase compensation on the RD map amplitude data to obtain the first compensation result data;

[0012] The target type corresponding to the target detection point is determined based on the first compensation result data, and the target type includes a single target object or multiple target objects;

[0013] Based on the defuzzification method corresponding to the target type, determine the fuzz number and angle information corresponding to each target object, and determine the speed corresponding to each target object based on the fuzz number and angle information corresponding to each target object.

[0014] By implementing this embodiment, the target detection point in the target RD map can be determined to correspond to a single target object or multiple target objects based on the first compensation result data. Thus, a deblurring method corresponding to a single target object can be selected to determine the fuzz number and angle information corresponding to the single target, or a deblurring method corresponding to multiple target objects can be selected to determine the fuzz number and angle information corresponding to the multiple targets respectively. A suitable deblurring method can improve the accuracy of the fuzz number and angle information. Since the speed of the target object is determined based on the fuzz number and angle information, the accuracy of the determined speed of the target object can be improved.

[0015] In one embodiment, the first compensation result data includes P*Q first compensation result values ​​corresponding one-to-one with the P*Q virtual array units; determining the target type corresponding to the target detection point based on the first compensation result data includes:

[0016] Based on the Q first compensation result values ​​corresponding to the first transmitting antenna, a first-order phase difference calculation is performed to obtain Q-1 first phase difference values ​​corresponding to the first transmitting antenna; wherein, the Q first compensation result values ​​corresponding to the first transmitting antenna are arranged sequentially according to the sequence numbers of the Q receiving antennas; the first transmitting antenna is any of the aforementioned transmitting antennas;

[0017] The target type corresponding to the target detection point is determined based on the Q-1 first phase difference values ​​corresponding to the P transmitting antennas.

[0018] By implementing this embodiment, the signal transmission device can perform first-order phase difference calculation based on the Q first compensation result values ​​corresponding to the first transmitting antenna to obtain Q-1 first phase difference values ​​corresponding to the first transmitting antenna. Then, based on the Q-1 first phase difference values ​​corresponding to the P transmitting antennas respectively, the target type corresponding to the target detection point can be determined. The calculation process of the first-order phase difference for the first compensation result values ​​of different receiving antennas is relatively simple and can also ensure the accuracy of the target type, thereby improving the convenience of target type determination.

[0019] In one embodiment, determining the target type corresponding to the target detection point based on the Q-1 first phase difference values ​​corresponding to the P transmitting antennas includes:

[0020] The standard deviation of the Q-1 first phase difference values ​​corresponding to the P transmitting antennas is calculated, and the calculation results are compared with a preset threshold.

[0021] If the calculation result is less than the preset threshold, then the target type corresponding to the target detection point is determined to be the single target object;

[0022] If the calculation result is not less than the preset threshold, then the target type corresponding to the target detection point is determined to be one of the multiple target objects.

[0023] In implementing this embodiment, the signal transmission device calculates the standard deviation of Q-1 first phase difference values ​​corresponding to P transmitting antennas. The calculation result can be used to characterize the dispersion of multiple first compensation result values. By comparing the calculation result with a preset threshold, it is equivalent to determining whether the dispersion belongs to the dispersion range corresponding to a single target object or the dispersion range corresponding to multiple target objects. Thus, it can be determined whether the target type corresponding to the target detection point is a single target object or multiple target objects.

[0024] In one embodiment, the P*Q first compensation result values ​​in the first compensation result data are arranged sequentially according to the sequence numbers of the P transmitting antennas, and the Q first compensation result values ​​corresponding to the same transmitting antenna are arranged sequentially according to the sequence numbers of the Q receiving antennas.

[0025] The step of determining the fuzz number and angle information corresponding to each target object according to the defuzzification method corresponding to the target type includes:

[0026] When the target type is the single target object, the second phase difference value between the first first compensation result value corresponding to the j-th transmitting antenna and the Q-th first compensation result value corresponding to the (j-1)-th transmitting antenna is calculated to obtain P-1 second phase difference values; wherein, j is an integer greater than 1 and less than or equal to P;

[0027] Based on the Q-1 first phase difference values ​​and the P-1 second phase difference values ​​corresponding to the P transmitting antennas, the angle information and ambiguity number corresponding to the single target object are determined.

[0028] In implementing this embodiment, when the target object is a single target object, the main computational load in the method for determining the angle information and fuzzy number corresponding to a single target object is the computational load of the phase difference value. The computational load is small, which is simpler and faster than the prior art, and improves the convenience of speed determination.

[0029] In one embodiment, determining the angle information and ambiguity number corresponding to the single target object based on the Q-1 first phase difference values ​​and the P-1 second phase difference values ​​corresponding to the P transmitting antennas includes:

[0030] The average value is obtained by calculating the average of the Q-1 first phase difference values ​​corresponding to the P transmitting antennas;

[0031] An angle estimation process is performed on the first mean to obtain the angle information corresponding to the single target object;

[0032] The average value of the P-1 second phase difference values ​​is calculated to obtain the second average value;

[0033] Based on the first mean and the second mean, the fuzzy number corresponding to the single target object is determined.

[0034] By implementing this embodiment, the signal transmission device can calculate the average of Q-1 first phase difference values ​​corresponding to P transmitting antennas to obtain a first average value, and calculate the average of P-1 second phase difference values ​​to obtain a second average value. Since both the first and second average values ​​are phase data, the ambiguity number and angle information implicit in the phase data can be directly extracted through a preset calculation method, which can improve the convenience of speed determination when the target type is a single target object.

[0035] In one embodiment, after determining the angle information and blur number corresponding to the single target object, the method further includes:

[0036] If the fuzzy number corresponding to a single target object is greater than any preset fuzzy number in the fuzzy number range, then the fuzzy number corresponding to the single target object is subtracted from P to obtain a new fuzzy number corresponding to the single target object; the fuzzy number range is determined based on P.

[0037] If the fuzzy number corresponding to the single target object is less than any preset fuzzy number in the range of fuzzy numbers, then add P to the fuzzy number corresponding to the single target object to obtain a new fuzzy number corresponding to the single target object.

[0038] By implementing this embodiment, the signal transmission device can modify the fuzzy number and obtain a new fuzzy number when the fuzzy number corresponding to a single target object is not within the range of fuzzy numbers, so that the final obtained fuzzy number can be within the range of fuzzy numbers, thereby improving the accuracy of the fuzzy number.

[0039] In one embodiment, the plurality of target objects includes two target objects, and determining the blur number and angle information corresponding to each target object according to the deblurring method corresponding to the target type includes:

[0040] When the target type is the plurality of target objects, phase compensation is performed on the first compensation result data according to the fuzzy number range to obtain the second compensation result data; the fuzzy number range includes F preset fuzzy numbers;

[0041] Based on the second compensation result data, generate F spectrograms that correspond one-to-one with the F preset fuzzy numbers;

[0042] Based on the F spectrograms, multiple simulated data are determined, and each simulated data includes a preset ambiguity number, a frequency point, and a corresponding amplitude value;

[0043] The multiple simulated data are combined in pairs to obtain multiple combined data. Each combined data is input into the simulation model. The simulation model simulates the signal transmission scenario based on the input combined data to obtain the simulated original signal data corresponding to each of the multiple combined data.

[0044] The target combined data is determined based on the analog original signal data corresponding to the multiple combined data and the original signal data;

[0045] Based on the two simulation data contained in the target combination data, determine the fuzzy number and angle information corresponding to the two target objects respectively.

[0046] In implementing this embodiment, when there are multiple target objects, phase compensation is performed by testing each of the F preset ambiguity numbers in the ambiguity number range, a spectrum diagram is generated and multiple frequency points are determined, and then target combination data is determined through simulation steps such as simulation data determination, simulation data combination, and simulation scenario. This is equivalent to testing the two most suitable preset ambiguity numbers and the two most suitable frequency points through simulation scenario, thereby determining the ambiguity numbers and angle information corresponding to the two target objects, improving the accuracy of the ambiguity numbers and angle information corresponding to the target objects.

[0047] In one embodiment, determining the target combined data based on the analog original signal data corresponding to the plurality of combined data and the original signal data includes:

[0048] Calculate the error between the analog original signal data corresponding to each combination of data and the original signal data, and determine the error value corresponding to each of the multiple combination of data;

[0049] The error values ​​corresponding to the multiple combined data are compared, and the combined data with the smallest error value is determined as the target combined data.

[0050] In implementing this embodiment, the signal transmission device compares the data with the first compensation result data, calculates the error value corresponding to each combination of data, and determines the combination of data with the smallest error value as the target combination of data. This makes the target combination of data more accurate, thereby improving the accuracy of the analog numbers and angle information determined based on the target combination of data.

[0051] In one embodiment, determining multiple simulation data based on the F spectrograms includes:

[0052] In each spectrum diagram, the first R amplitude values ​​and their corresponding frequency points are determined according to the order of amplitude values ​​from largest to smallest; where R is an integer greater than 2.

[0053] Based on the preset ambiguity number corresponding to each of the spectrum diagrams, and the R amplitude values ​​and corresponding frequency points determined in each of the spectrum diagrams, F*R analog data are determined.

[0054] By implementing this embodiment, the signal transmission device can select R frequency points with larger amplitude values ​​to determine F*R analog data, which can reduce the amount of data, thereby reducing the amount of calculation and improving the efficiency of speed determination.

[0055] This application discloses a speed determination device applied to a signal transmission device, the signal transmission device including P transmitting antennas and Q receiving antennas, where P is an integer greater than 1 and Q is an integer greater than 1; the device includes:

[0056] The RD map determination module is used to perform Fourier transform processing on the original signal data to obtain P*Q range-Doppler RD maps that correspond one-to-one with P*Q virtual array units; the P*Q virtual array units are composed of P transmitting antennas and Q receiving antennas;

[0057] The RD diagram overlay module is used to overlay the P*Q RD diagrams to obtain the target RD diagram;

[0058] The target detection module is used to perform target detection on the target RD map to obtain the position information of the target detection points in the target RD map;

[0059] The data extraction module is used to extract the RD map amplitude data corresponding to the target detection point from the P*Q RD maps according to the location information, and to perform phase compensation on the RD map amplitude data to obtain the first compensation result data;

[0060] The type determination module is used to determine the target type corresponding to the target detection point based on the first compensation result data, wherein the target type includes a single target object or multiple target objects;

[0061] The velocity determination module is used to determine the fuzz number and angle information of each target object according to the defuzzification method corresponding to the target type, and to determine the velocity of each target object according to the fuzz number and angle information of each target object.

[0062] By implementing this embodiment, the target detection point in the target RD map can be determined to correspond to a single target object or multiple target objects based on the first compensation result data. Thus, a defuzzification method corresponding to a single target object can be selected to determine the fuzz number and angle information corresponding to the single target, or a defuzzification method corresponding to multiple target objects can be selected to determine the fuzz number and angle information corresponding to the multiple targets respectively. A suitable defuzzification method can improve the accuracy of the fuzz number and angle information. Since the speed of the target object is determined based on the fuzz number and angle information, the accuracy of the determined speed of the target object can be improved.

[0063] This application discloses a signal transmission device, including:

[0064] Memory containing executable program code;

[0065] A processor coupled to the memory;

[0066] The processor calls the executable program code stored in the memory to execute the method described in any of the above embodiments.

[0067] This application discloses a computer-readable storage medium storing a computer program, wherein when executed by a processor, the computer program causes the processor to perform any of the methods described in the above embodiments.

[0068] Through the speed determination method and apparatus disclosed in the embodiments of this application, the signal transmission device can perform Fourier transform processing on the original signal data to obtain P*Q range Doppler images corresponding one-to-one with P*Q virtual array units. The P*Q virtual array units are composed of P transmitting antennas and Q receiving antennas included in the signal transmission device. Then, the P*Q range Doppler images are superimposed to obtain a target range Doppler image. The signal transmission device then performs target detection on the target range Doppler image to obtain the position information of the target detection point in the target range Doppler image. Based on the position information, the amplitude data of the range Doppler image corresponding to the target detection point can be extracted from the P*Q range Doppler images, and phase compensation is performed on the amplitude data of the range Doppler image to obtain a first compensation result data. The signal transmission device can determine the target type corresponding to the target detection point as a single target object or multiple target objects based on the first compensation result data. Based on the defuzzification method corresponding to the target type, the fuzziness number and angle information corresponding to each target object can be determined, and the speed corresponding to each target object can be determined based on the fuzziness number and angle information corresponding to each target object. By implementing this embodiment, the target detection point in the target RD map can be determined to correspond to a single target object or multiple target objects based on the first compensation result data. Thus, a deblurring method corresponding to a single target object can be selected to determine the fuzz number and angle information corresponding to the single target, or a deblurring method corresponding to multiple target objects can be selected to determine the fuzz number and angle information corresponding to the multiple targets respectively. A suitable deblurring method can improve the accuracy of the fuzz number and angle information, and the speed of the target object is determined based on the fuzz number and angle information, thereby improving the accuracy of the determined speed of the target object. Attached Figure Description

[0069] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0070] Figure 1 This is a schematic diagram illustrating an application scenario of a speed determination method disclosed in an embodiment of this application;

[0071] Figure 2 This is a flowchart illustrating a speed determination method disclosed in an embodiment of this application;

[0072] Figure 3This is a flowchart illustrating another speed determination method disclosed in an embodiment of this application;

[0073] Figure 4-A This is a schematic diagram of calculating a first phase difference value disclosed in an embodiment of this application;

[0074] Figure 4-B This is a schematic diagram of calculating the second phase difference value disclosed in the application embodiment;

[0075] Figure 4-C This is a schematic diagram of a spectrum diagram disclosed in an embodiment of this application;

[0076] Figure 5 This is a modular schematic diagram of a speed determining device disclosed in an embodiment of this application;

[0077] Figure 6 This is a structural block diagram of a signal transmission device disclosed in an embodiment of this application. Detailed Implementation

[0078] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0079] It should be noted that the terms "comprising" and "having" and any variations thereof in the embodiments of 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 units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to these processes, methods, products, or devices.

[0080] It is understood that the terms "first," "second," etc., used in this application may be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another. For example, without departing from the scope of this application, a first mean may be referred to as a second mean, and similarly, a second mean may be referred to as a first mean. Both the first mean and the second mean are means, but they are not the same mean.

[0081] In related technologies, because the maximum detectable velocity of MIMO radar is relatively small, the velocity of the target object detected by MIMO radar may be aliased. That is, the true velocity of the target object may be the detected velocity plus an integer multiple of the maximum velocity. This integer multiple refers to the Doppler ambiguity number, or ambiguity number. Therefore, in order to determine the true velocity of the target object, related technologies mainly determine the ambiguity number through the following methods:

[0082] 1. Different radar wave types are emitted intermittently by each transmitting antenna, such as two different periods of LFMCW (Linear Frequency Continuous Modulation), combined with CRT (Chinese Remainder Theorem) to resolve ambiguities; 2. A velocity extension algorithm based on the Doppler phase offset compensation assumption is used to compensate using different ambiguity assumptions, and the maximum amplitude of the angle estimate under each ambiguity assumption is recorded. When the correct ambiguity compensation is applied, the maximum amplitude of the angle estimate can be greater than the maximum amplitude of the angle estimate under other ambiguity assumptions, thus enabling the estimation of angle information and Doppler ambiguity; 3. A velocity extension algorithm based on the target tracking assumption is used to track the target object using the Kalman tracking algorithm. When the target object is associated, several different velocity assumptions provided by the target detection layer are processed. Finally, a certain evaluation algorithm is used to judge the credibility of each velocity assumption, thereby determining the target's movement velocity.

[0083] However, these methods all have drawbacks. The first method, when combined with CRT, requires associating target points pointing to the same target across different waveforms. However, in complex environments, it's difficult to correctly associate target points, rendering this method ineffective. The second method is effective for deblurring when a single target point corresponds to a single target; however, it fails when multiple targets correspond to the same target point during detection. This target point refers to the point detected in the range-Doppler map (RD map), which will be explained further below. The third method has a relatively long deblurring time and requires multiple frames of data, resulting in lower accuracy when deblurring the velocity of target objects within a single frame of data.

[0084] This application discloses a speed determination method and apparatus, which can improve the accuracy of determining the speed of a target object.

[0085] The following will be described in detail with reference to the accompanying drawings.

[0086] like Figure 1 As shown, Figure 1This is a schematic diagram of an application scenario for a speed determination method disclosed in an embodiment of this application. The application scenario includes a signal transmission device 110 and a target object 120. The signal transmission device 110 may include a radar. The signal transmission device 110 includes a transmitting antenna and a transmitting antenna. The transmitting antenna of the signal transmission device 110 can transmit a signal, which may include electromagnetic waves. When the transmitted signal reaches the target object 120, it is reflected by the target object 120 and becomes an echo signal. The receiving antenna of the signal transmission device 110 can receive the echo signal and perform corresponding processing to obtain the target information of the target object 120. The target information may include, but is not limited to, the speed information of the target object 120, the distance between the target object 120 and the signal transmission device 110, etc.

[0087] The signal transmission device 110 may include P transmitting antennas and Q receiving antennas, where P is an integer greater than 1 and Q is an integer greater than 1. For example, P can be 3 and Q can be 4, meaning the signal transmission device 110 may include 3 transmitting antennas and 4 receiving antennas. The P transmitting antennas can transmit signals in time division multiplexing (TDM) mode, meaning that different transmitting antennas start transmitting signals at different times, and only one transmitting antenna transmits a signal at any given time.

[0088] Optionally, the P transmitting antennas can transmit signals sequentially. Specifically, the P transmitting antennas can transmit signals in multiple rounds. During each round of signal transmission, the P transmitting antennas can transmit signals sequentially according to a preset transmission sequence. Optionally, the preset transmission sequence can be a sequence composed of the spatial positions of the P transmitting antennas. For example, if the spatial positions of the P transmitting antennas are arranged in a sequence T1, T2, T3...TP, the P transmitting antennas will transmit signals in each round sequentially according to the transmission sequence T1, T2, T3...TP. Optionally, the preset transmission sequence can be a transmission sequence determined according to other rules. As an example, when P is 3, the transmission sequence formed by the spatial arrangement of the three transmitting antennas is T1, T2, T3. In each round of signal transmission, the transmission signals will be sent sequentially in the order of "T1, T2, T3". Alternatively, the transmission sequence formed by the spatial arrangement of the three transmitting antennas is T1, T3, T2, and in each round of signal transmission, the transmission signals will be sent sequentially in the order of "T1, T3, T2". This application does not limit the transmission sequence.

[0089] After P transmitting antennas send signals, each of the Q receiving antennas can receive the echo signal corresponding to each transmitted signal. The P transmitting antennas and Q receiving antennas can form P*Q virtual array units, each of which corresponds to a channel from the transmitting antenna to the receiving antenna. This is equivalent to the signal transmission device 110 including one transmitting antenna and P*Q receiving antennas, which can be considered uniformly distributed within the device. For each transmitted signal sent by the single transmitting antenna, the P*Q receiving antennas can receive the corresponding echo signal. As an example, the signal transmission device 110 can include 3 transmitting antennas and 4 receiving antennas, with the 3 transmitting antennas labeled A, B, and C, and the 4 receiving antennas labeled 1, 2, 3, and 4. This is equivalent to the signal transmission device 110 including 12 virtual array units, labeled A1, A2, A3, A4, B1, B2, B3, B4, C1, C2, C3, and C4.

[0090] like Figure 2 As shown, Figure 2 This is a flowchart illustrating a speed determination method disclosed in an embodiment of this application. This speed determination method can be applied to the signal transmission device described in the above embodiments, and may include the following steps:

[0091] Step 210: Perform Fourier transform processing on the original signal data to obtain P*Q distance-Doppler RD maps corresponding one-to-one with P*Q virtual array units.

[0092] P transmitting antennas can send multiple rounds of transmitted signals, which may include LFMCW. Q receiving antennas can sample the echo signal corresponding to each transmitted signal multiple times. The original signal data may refer to the data obtained by the signal transmission device after preprocessing the echo signals received by the Q receiving antennas. The original signal data may include P*Q original signal values, each of which may correspond to four dimensions, including the transmitting antenna number, the receiving antenna number, the number of rounds of transmitted signals sent by the transmitting antenna, and the number of samples taken by the receiving antenna number. Specifically, the original signal data is shown in Equation (1).

[0093] s = r(k, m, p, q) Equation (1)

[0094] Where s represents the original signal value corresponding to the kth sample of the echo signal corresponding to the mth round of transmission signal received by the qth receiving antenna from the pth transmitting antenna, q is the receiving antenna number, q = 0, 1, 2, 3...Q-1, p is the transmitting antenna number, p = 0, 1, 2, 3...P-1, k is the number of samples for the receiving antenna number, k = 0, 1, 2, 3...K-1, K is the total number of samples for the echo signal corresponding to each transmitting signal by the receiving antenna, m is the number of rounds of transmission signal sent by the transmitting antenna, m = 0, 1, 2, 3...M-1, M is the total number of rounds of transmission signal sent by the P transmitting antennas.

[0095] In this context, the P transmitting antennas and Q receiving antennas can form P*Q virtual array units. Optionally, P*Q can be equal to L. Therefore, by reducing the dimension of the original signal value, the original signal value can correspond to three dimensions: the virtual array unit number, the number of rounds of transmitting signals from the transmitting antenna, and the number of samples from the receiving antenna. That is, the P transmitting antennas and Q receiving antennas can form L virtual array units. Thus, the data in equation (1) can be transformed into the data shown in equation (2).

[0096] s = r(k, m, l) Equation (2)

[0097] Where l is the virtual array cell number, l = 0, 1, 2, 3...L-1.

[0098] The signal transmission device can perform Fourier transform processing on the original signal data. This Fourier transform processing can include Fast Fourier Transform processing. Optionally, the signal transmission device can perform distance Fourier transform processing on the original signal data in the dimension of the number of samples, that is, process k, and then perform Doppler Fourier transform processing on the original signal data in the dimension of the number of rounds, that is, process m. This can obtain P*Q distance-Doppler RD maps corresponding one-to-one with P*Q virtual array units, or it can be said that L distance-Doppler RD maps corresponding one-to-one with L virtual array units are obtained.

[0099] In terms of data format, the signal transmission device performs Fourier transform processing on the original signal data to obtain RD map amplitude data. The RD map amplitude data can include multiple RD map amplitude values, which can also correspond to three dimensions, namely the virtual array cell number, the distance number, and the Doppler number. Specifically, the RD map amplitude data can be as shown in equation (3).

[0100]

[0101] in, This refers to the distance index in the RD graph. Let be the number of points for the first Fourier transform. Based on this number of points, the signal transmission device can perform a distance Fourier transform on the original signal data in the dimension of the number of samples. The Doppler number in the RD diagram. Let S be the number of points for the second Fourier transform. Based on this number of points, the signal transmission device can perform distance Fourier transform processing on the original signal data in the dimension of round number. S represents the distance index on the RD graph corresponding to the l-th virtual array unit. Doppler serial number is The amplitude value of the RD plot corresponding to the point.

[0102] Step 220: Overlay the P*Q RD maps to obtain the target RD map.

[0103] To save storage space and improve computational efficiency, the signal transmission device can superimpose P*Q RD images to obtain a target RD image. The signal-to-noise ratio of this target RD image is also improved compared to the P*Q RD images, thereby improving the accuracy of target detection in step 230. Superposition can include incoherent superposition.

[0104] Step 230: Perform target detection on the target RD map to obtain the location information of the target detection points in the target RD map.

[0105] Signal transmission equipment can perform target detection on the target RD map using CFAR (Constant False Alarm Rate) to obtain the location information of the target detection point in the target RD map. This location information may include the target distance index and the target Doppler index. The target detection point may include one or more.

[0106] It should be noted that, under the same distance index and Doppler index, there may be multiple target objects. That is to say, a target detection point in the target RD map may correspond to multiple target objects. These multiple target objects may have different actual speed, angle information and other data. However, due to the possibility of speed aliasing when detecting the speed of the target objects, multiple target objects may also correspond to the same distance index. In related technologies, under the condition that there are certain requirements for the speed of deblurring, there is no deblurring method that can handle the case where the target detection point corresponds to multiple target objects and the case where the target detection point corresponds to a single target object.

[0107] Step 240: Based on the location information, extract the RD map amplitude data corresponding to the target detection point from P*Q RD maps, and perform phase compensation on the RD map amplitude data to obtain the first compensation result data.

[0108] Since the P*Q RD maps and the target RD map are of the same size, and the target RD map is obtained by superimposing the P*Q RD maps, the location information of the target detection point corresponds to a point in any of the P*Q RD maps. The target transmission device can extract the RD map amplitude data corresponding to the target detection point from the P*Q RD maps based on the location information. This RD map amplitude data can include the RD map amplitude value corresponding to the target detection point in each RD map; that is, the RD map amplitude data can include the amplitude values ​​of P*Q RD maps. As an example, the location information of the target detection point includes the target distance sequence number. and target Doppler serial number The amplitude data of the RD map corresponding to the target detection point can be shown in equation (4).

[0109]

[0110] Where S(l) is the distance index in the RD graph corresponding to the l-th virtual array unit. And Doppler serial number is The amplitude value of the RD plot corresponding to the point.

[0111] The signal transmission device can perform phase compensation on the RD map amplitude data corresponding to the target detection point to obtain the first compensation result data. Specifically, the target transmission device can perform phase compensation on the RD map amplitude value corresponding to the target detection point in each RD map to obtain P*Q RD maps. Figure 1 The first compensation result value corresponds one-to-one with each of the P*Q virtual array units. These multiple first compensation result values ​​can be combined to form the first compensation result data. As an example, the first compensation result data can be expressed as follows: That is, the first compensation result value corresponding one-to-one with each of the P*Q virtual array units. Optionally, the first compensation result data can also be expressed as... (p, q) represents the first compensation result value corresponding to the p-th transmitting antenna and the q-th receiving antenna.

[0112] Optionally, the signal transmission device can determine the first compensation value corresponding to each RD diagram based on the Doppler index of the target detection point and the transmitting antenna index corresponding to the virtual array unit. Then, based on the first compensation value corresponding to each RD diagram, phase compensation is performed on the amplitude value of the RD diagram corresponding to the target detection point in each RD diagram. The method by which the signal transmission device determines the first compensation value corresponding to each RD diagram can be as shown in equation (5).

[0113]

[0114] Where j is the imaginary unit, and O(l) is the first compensation value corresponding to the RD diagram of the l-th virtual array unit. By performing phase compensation on the amplitude value of the RD diagram corresponding to the target detection point in each RD diagram, the spatial structure error caused by treating P transmitting antennas and Q receiving antennas in the signal transmission device as P*Q virtual array units can be eliminated, thereby improving the accuracy of determining the target type in step 250.

[0115] Step 250: Determine the target type corresponding to the target detection point based on the first compensation result data.

[0116] When a target detection point corresponds to a single target object, multiple transmitting antennas transmit signals using TDM (Transmit-Device Modeling). The echo signal corresponding to the single target object typically arrives at each receiving antenna sequentially. The phase in the first compensation result data corresponding to the target detection point is usually linear, meaning the phase dispersion of each first compensation result value is small. However, when a target detection point corresponds to multiple target objects, the echo signals corresponding to each target object are superimposed and arrive at each receiving antenna, resulting in a more chaotic phase in the first compensation result data corresponding to the target detection point, meaning the phase dispersion of each first compensation result value is larger. The transmission device can determine the target type corresponding to the target detection point based on the dispersion of the multiple first compensation result values ​​included in the first compensation result data. This target type can include a single target object or multiple target objects.

[0117] Step 260: Determine the fuzz number and angle information of each target object according to the defuzzification method corresponding to the target type, and determine the speed of each target object according to the fuzz number and angle information of each target object.

[0118] The signal transmission device may have a pre-set deblurring method for a single target object and a deblurring method for multiple target objects. The deblurring method for a single target object and the deblurring method for multiple target objects may be different. Furthermore, the embodiments of this application do not impose any restrictions on the deblurring method for a single target object and the deblurring method for multiple target objects, and can be set according to specific circumstances.

[0119] The signal transmission device, based on the defuzzification method corresponding to the target type, can determine the fuzzy number and angle information for each target object. Based on the fuzzy number, the device can determine the magnitude of the target object's true velocity relative to the device in the direction of the signal transmission equipment. Based on the angle information, it can determine the angle between the target object and the device, thus determining the velocity corresponding to each target object. The meaning of the fuzzy number is as described above, and the angle information refers to the angle between the target object and the signal transmission equipment.

[0120] In this embodiment, the signal transmission device can perform Fourier transform processing on the original signal data to obtain P*Q range Doppler images corresponding one-to-one with P*Q virtual array units. The P*Q virtual array units are composed of P transmitting antennas and Q receiving antennas included in the signal transmission device. The P*Q range Doppler images are then superimposed to obtain a target range Doppler image. The signal transmission device then performs target detection on the target range Doppler image to obtain the position information of the target detection point in the target range Doppler image. Based on the position information, the amplitude data of the range Doppler image corresponding to the target detection point can be extracted from the P*Q range Doppler images, and phase compensation can be performed on the amplitude data of the range Doppler image to obtain the first compensation result data. The signal transmission device can determine whether the target type corresponding to the target detection point is a single target object or multiple target objects based on the first compensation result data. Based on the defuzzification method corresponding to the target type, the fuzziness number and angle information corresponding to each target object can be determined, and the velocity corresponding to each target object can be determined based on the fuzziness number and angle information corresponding to each target object. By implementing this embodiment, the target detection point in the target RD map can be determined to correspond to a single target object or multiple target objects based on the first compensation result data. Thus, a deblurring method corresponding to a single target object can be selected to determine the fuzz number and angle information corresponding to the single target, or a deblurring method corresponding to multiple target objects can be selected to determine the fuzz number and angle information corresponding to the multiple targets respectively. A suitable deblurring method can improve the accuracy of the fuzz number and angle information, and the speed of the target object is determined based on the fuzz number and angle information, thereby improving the accuracy of the determined speed of the target object.

[0121] like Figure 3 As shown, Figure 3 This is a flowchart illustrating another speed determination method disclosed in an embodiment of this application. To simplify the content, steps 210 to 240 above are omitted before step 302. This speed determination method can be applied to the signal transmission device in the above embodiment, and the speed determination method may include the following steps:

[0122] Step 302: Perform first-order phase difference calculation based on the Q first compensation result values ​​corresponding to the first transmitting antenna to obtain Q-1 first phase difference values ​​corresponding to the first transmitting antenna; the first transmitting antenna can be any transmitting antenna.

[0123] The first transmitting antenna can form Q virtual array units with Q receiving antennas. Each of these Q array units corresponds to one of the Q first compensation result values. Therefore, the first transmitting antenna can correspond to these Q first compensation result values, and the Q first compensation result values ​​corresponding to the first transmitting antenna can be arranged sequentially according to the sequence numbers of the Q receiving antennas. As an example, when Q is 4, the sequence numbers of the four receiving antennas are q1, q2, q3, and q4, and the sequence number of the first transmitting antenna is p1. The Q first compensation result values ​​corresponding to the first transmitting antenna can be arranged sequentially as follows:

[0124] The signal transmission device performs first-order differential phase calculation based on the Q first compensation result values ​​corresponding to the first transmitting antenna. Specifically, the signal transmission device can subtract the phase of the next first compensation result value from the phase of each first compensation result value to obtain a first phase difference value. The Q first compensation result values ​​can be subtracted pairwise, Q-1 times, to obtain the Q-1 first phase difference values ​​corresponding to the first transmitting antenna. For example... Figure 4-A As shown, Figure 4-A This is a schematic diagram of calculating the first phase difference value disclosed in an embodiment of this application. When P is 3 and Q is 4, the four first compensation result values ​​corresponding to the three transmitting antennas are as follows: Figure 4-A The arrangement shown in the diagram indicates the direction of the arrows, for example, the phase difference calculation. and Perform phase difference calculation. and Perform phase difference calculation.

[0125] Step 304: Determine the target type corresponding to the target detection point based on the Q-1 first phase difference values ​​corresponding to the P transmitting antennas. If the target type is a single target object, the signal transmission device can execute step 306; if the target type is multiple target objects, the signal transmission device can execute step 310.

[0126] Among them, the Q-1 first phase difference values ​​corresponding to the P transmitting antennas can include P*(Q-1) first phase difference values. Specifically, the Q-1 first phase difference values ​​corresponding to the P transmitting antennas can form the first vector data d1, as shown in equation (6).

[0127]

[0128] in, The phase of the first compensation result value corresponding to the virtual array unit with transmit antenna number 0 and receive antenna number 0.

[0129] In one embodiment, the signal transmission device can calculate the standard deviation of Q-1 first phase difference values ​​corresponding to P transmitting antennas, and compare the calculation result with a preset threshold. If the calculation result is less than the preset threshold, the target type corresponding to the target detection point is determined to be a single target object; if the calculation result is not less than the preset threshold, the target type corresponding to the target detection point is determined to be multiple target objects. The preset threshold can be a threshold obtained after conducting multiple experiments on the signal transmission device. Specifically, the signal transmission device can calculate the standard deviation of the first vector data d1 to obtain the corresponding calculation result.

[0130] In implementing this embodiment, the signal transmission device calculates the standard deviation of Q-1 first phase difference values ​​corresponding to P transmitting antennas. The calculation result can be used to characterize the dispersion of multiple first compensation result values. By comparing the calculation result with a preset threshold, it is equivalent to determining whether the dispersion belongs to the dispersion range corresponding to a single target object or the dispersion range corresponding to multiple target objects. Thus, it can be determined whether the target type corresponding to the target detection point is a single target object or multiple target objects.

[0131] In this embodiment, the signal transmission device can perform first-order phase difference calculation based on the Q first compensation result values ​​corresponding to the first transmitting antenna to obtain Q-1 first phase difference values ​​corresponding to the first transmitting antenna. Then, based on the Q-1 first phase difference values ​​corresponding to the P transmitting antennas respectively, the target type corresponding to the target detection point is determined. The calculation process of the first-order phase difference for the first compensation result values ​​of different receiving antennas is relatively simple and can ensure the accuracy of the target type, thereby improving the convenience of target type determination.

[0132] Step 306: Calculate the second phase difference value between the first first compensation result value corresponding to the j-th transmitting antenna and the Q-th first compensation result value corresponding to the (j-1)-th transmitting antenna, so as to obtain P-1 second phase difference values; where j is an integer greater than 1 and less than or equal to P.

[0133] When the target type is a single target object, the signal transmission device can arrange the P*Q first compensation result values ​​in the first compensation result data sequentially according to the sequence numbers of the P transmitting antennas, and the Q first compensation result values ​​corresponding to the same transmitting antenna sequentially according to the sequence numbers of the Q receiving antennas. That is, the sequence number of the transmitting antenna corresponding to the first Q first compensation result values ​​in the P*Q first compensation result values ​​is the sequence number of the first transmitting antenna in the P transmitting antennas, and these Q first compensation result values ​​are arranged sequentially according to the sequence numbers of the Q receiving antennas. The sequence number of the transmitting antenna corresponding to the next Q first compensation result values ​​is the sequence number of the second transmitting antenna in the P transmitting antennas, and so on, until the sequence number of the transmitting antenna corresponding to the last Q first compensation result values ​​is the sequence number of the Qth transmitting antenna in the P transmitting antennas.

[0134] As an example, when P is 2 and Q is 4, the two transmitting antennas are numbered p1 and p2, the four receiving antennas are numbered q1, q2, q3, and q4, and the first transmitting antenna is numbered p1. The Q first compensation result values ​​corresponding to the first transmitting antenna can be arranged sequentially as follows: like Figure 4-B As shown, Figure 4-B This is a schematic diagram of calculating the second phase difference value disclosed in the application embodiment. When P is 3 and Q is 4, the four first compensation result values ​​corresponding to the three transmitting antennas are as follows: Figure 4-B The arrangement shown in the diagram indicates the direction of the arrows, for example, the phase difference calculation. (1,0) and Perform phase difference calculation. and Perform phase difference calculation.

[0135] The signal transmission device can subtract the phase of the first compensation result value corresponding to the j-th transmitting antenna from the phase of the first compensation result value corresponding to the j-1 transmitting antenna to obtain the second phase difference value between the j-th transmitting antenna and the j-1 transmitting antenna. Therefore, P transmitting antennas can obtain P-1 second phase difference values, which can form the second vector data d2, as shown in equation (7).

[0136]

[0137] Step 308: Determine the angle information and ambiguity number corresponding to a single target object based on the Q-1 first phase difference values ​​and P-1 second phase difference values ​​corresponding to the P transmitting antennas respectively.

[0138] When the target type is a single target object, the first vector data d1 is composed of Q-1 first phase difference values ​​corresponding to P transmitting antennas, and the second vector data d2 is composed of P-1 second phase difference values. Since the data type of the first phase difference values ​​included in the first vector data d1 is phase, and phase is usually related to angle information and velocity information, the signal transmission device can perform angle estimation processing based on the first vector data d1 to obtain the angle information corresponding to the single target object. Then, based on the first vector data d1 and the second vector data d2, the ambiguity number of the single target object is extracted.

[0139] In one embodiment, the signal transmission device can calculate the average of Q-1 first phase difference values ​​corresponding to P transmitting antennas to obtain a first average value, perform angle estimation processing on the first average value to obtain the angle information corresponding to a single target object, calculate the average of P-1 second phase difference values ​​to obtain a second average value, and determine the ambiguity number corresponding to a single target object based on the first average value and the second average value.

[0140] The signal transmission device can perform angle estimation processing on the first mean value according to a preset angle estimation formula to obtain the angle information corresponding to a single target object. Optionally, the signal transmission device can obtain the array cell spacing of the virtual array unit and the carrier wavelength of the received echo signal, and input the first mean value, array cell spacing, and carrier wavelength into the preset angle estimation formula to obtain the angle information corresponding to a single target object. The array cell spacing of the virtual array unit refers to the distance between the virtual array unit and its adjacent virtual array unit. Specifically, the signal transmission device can divide the product of the first mean value and the carrier wavelength by the product of pi and twice the array cell spacing to obtain the first division result, and then use the first division result as the input of the arcsine function to obtain the angle information corresponding to a single target object. The preset angle estimation formula can be shown in Equation (8).

[0141]

[0142] Where θ represents the angle information corresponding to a single target object, and arcsin is the arcsine function. λ is the first mean, λ is the carrier wavelength, D is the array cell spacing, and π is pi.

[0143] The signal transmission device can also extract the fuzzy number corresponding to a single target object based on the first mean and the second mean according to the preset fuzzy number extraction formula. Specifically, the signal transmission device can calculate the difference between the second mean and the first mean, then divide the difference by twice pi to obtain the second division result, then multiply the second division result by the number of transmitting antennas, and finally round the multiplication result to obtain the fuzzy number corresponding to a single target object. The preset fuzzy number extraction formula can be shown in equation (9).

[0144]

[0145] Where f is the fuzzy number corresponding to a single target object. The first mean, The second mean is given, P is the number of transmitting antennas, and [·] is the rounding operation, used to round the result of the expression within the parentheses to the nearest integer.

[0146] By implementing this embodiment, the signal transmission device can calculate the average of Q-1 first phase difference values ​​corresponding to P transmitting antennas to obtain a first average value, and calculate the average of P-1 second phase difference values ​​to obtain a second average value. Since both the first and second average values ​​are phase data, the ambiguity number and angle information implicit in the phase data can be directly extracted through a preset calculation method, which can improve the convenience of speed determination when the target type is a single target object.

[0147] It should be noted that due to the periodicity of the phase, the ambiguity number corresponding to a single target object determined based on the phase data may not be within the ambiguity number range. The ambiguity number range can be determined based on the number of transmitting antennas. Specifically, when the number of transmitting antennas is even, the ambiguity number range can include... For example, when P is 4, the ambiguity number range includes -2, -1, 0, and 1. When the number of transmitting antennas is odd, the ambiguity number range can include... For example, when P is 5, the range of fuzzy numbers includes -2, -1, 0, 1, and 2.

[0148] In one embodiment, after determining the angle information and ambiguity number corresponding to a single target object, the signal transmission device can determine whether the ambiguity number corresponding to the single target object is within the ambiguity number range. If the ambiguity number corresponding to the single target object is not within the ambiguity number range, it can determine whether the ambiguity number corresponding to the single target object is greater than or less than any preset ambiguity number within the ambiguity number range, and determine a new ambiguity number, until the new ambiguity number falls within the ambiguity number range. If the ambiguity number corresponding to the single target object is greater than any preset ambiguity number within the ambiguity number range, then P is subtracted from the ambiguity number corresponding to the single target object to obtain a new ambiguity number corresponding to the single target object. If the ambiguity number corresponding to the single target object is less than any preset ambiguity number within the ambiguity number range, then P is added to the ambiguity number corresponding to the single target object to obtain a new ambiguity number corresponding to the single target object.

[0149] By implementing this embodiment, the signal transmission device can modify the fuzzy number and obtain a new fuzzy number when the fuzzy number corresponding to a single target object is not within the range of fuzzy numbers, so that the final obtained fuzzy number can be within the range of fuzzy numbers, thereby improving the accuracy of the fuzzy number.

[0150] In this embodiment, the signal transmission device can calculate the second phase difference value between the first first compensation result value corresponding to the j-th transmitting antenna and the Q-th first compensation result value corresponding to the (j-1)-th transmitting antenna to obtain P-1 second phase difference values. Then, based on the Q-1 first phase difference values ​​and P-1 second phase difference values ​​corresponding to the P transmitting antennas respectively, the angle information and ambiguity number corresponding to a single target object are determined. When the target object is a single target object, the main computational load in the method for determining the angle information and ambiguity number corresponding to a single target object is the computational load of the phase difference value. The computational load is small, which is simpler and faster than the prior art, and improves the convenience of speed determination.

[0151] Step 310: Perform phase compensation on the first compensation result data according to the fuzzy number range to obtain the second compensation result data; the fuzzy number range includes F preset fuzzy numbers.

[0152] When there are multiple target objects, the signal transmission device can determine the second compensation data corresponding to the F preset ambiguity numbers based on the range of ambiguity numbers. Then, it can perform phase compensation F times on the P*Q first compensation result values ​​included in the first compensation result data to obtain the second compensation result data. The second compensation result data includes P*Q*F second compensation result values. Since P*Q equals L, the second compensation result data includes L*F second compensation result values. The second compensation result corresponds to two dimensions, which include the virtual array unit number and the preset ambiguity number.

[0153] Among them, the F preset ambiguity numbers are determined based on the number P of transmitting antennas, as detailed in the above embodiment, and will not be repeated here. Since the transmitting antenna number corresponding to the first compensation result value also needs to be considered when performing phase compensation on each first compensation result value, the second compensation data corresponding to each preset ambiguity number includes P second compensation values. The signal transmission device can determine the P second compensation values ​​corresponding to each preset ambiguity number based on each preset ambiguity number and the P transmitting antenna numbers. Specifically, the signal transmission device can use each preset ambiguity number and the P transmitting antenna numbers as inputs to the preset second compensation value formula to obtain the P second compensation values ​​corresponding to each preset ambiguity number, as shown in equation (10).

[0154]

[0155] Where o(l, p) is the second compensation value corresponding to the l-th first compensation result value, f is the preset ambiguity number, p is the transmit antenna number corresponding to the l-th first compensation result value, that is, the transmit antenna number corresponding to the l-th antenna array unit, and P is the number of transmit antennas.

[0156] Step 312: Based on the second compensation result data, generate F spectrograms that correspond one-to-one with the F preset ambiguity numbers.

[0157] The signal transmission device can perform Fourier transform processing on the second compensation result data in the dimension of ambiguity number to obtain F spectrograms that correspond one-to-one with F preset ambiguity numbers. The spectrogram includes multiple frequency points, each frequency point corresponds to an amplitude value, that is, there is a correspondence between frequency points, amplitude values, and preset ambiguity numbers. The number of frequency points is the same as the number of points processed by the Fourier transform.

[0158] Step 314: Determine multiple simulated data based on F spectrograms. Each simulated data includes a preset ambiguity number, frequency point, and corresponding amplitude value.

[0159] The signal transmission device can select analog data that meets preset conditions from each spectrogram, thereby determining multiple analog data from F spectrograms. Optionally, the preset conditions can be conditions on amplitude values.

[0160] In one embodiment, the first R amplitude values ​​and their corresponding frequency points in each spectrum are determined in descending order of amplitude value. Based on a preset ambiguity number for each spectrum and the determined R amplitude values ​​and their corresponding frequency points in each spectrum, F*R analog data points are determined. Here, R is an integer greater than 2, and R can be preset. Specifically, the signal transmission device can arrange the amplitude values ​​of each frequency point in descending order based on the amplitude values ​​in each spectrum, thereby determining the first R amplitude values ​​and their corresponding frequency points in each spectrum. For example... Figure 4-C As shown, Figure 4-C This is a schematic diagram of a spectrum diagram disclosed in an embodiment of this application, wherein the maximum amplitude value in the spectrum diagram corresponds to point 410, and the frequency point corresponding to point 410 is the frequency point corresponding to the maximum amplitude value.

[0161] By implementing this embodiment, the signal transmission device can select R frequency points with larger amplitude values ​​to determine F*R analog data, which can reduce the amount of data, thereby reducing the amount of calculation and improving the efficiency of speed determination.

[0162] Step 316: Combine multiple simulated data in pairs to obtain multiple combined data. Input each combined data into the simulation model. The simulation model simulates the signal transmission scenario based on the input combined data to obtain the simulated original signal data corresponding to each of the multiple combined data.

[0163] It should be noted that in this embodiment, multiple target objects include two target objects. Therefore, multiple simulated data are combined in pairs to simulate the signal transmission scenario. This is because it is rare for the number of target objects to exceed two. In reality, one target detection point usually corresponds to one target object or two target objects. Therefore, in this embodiment, multiple simulated data are combined in pairs without considering the number of target objects. Furthermore, the combined data obtained by grouping two simulated data points together is less than the combined data obtained by grouping at least three simulated data points together, which can improve the efficiency of speed determination. In addition, even when the number of target objects exceeds two, the pairwise combination method can find the two target objects with the largest amplitude values, thereby achieving speed deblurring for some target objects.

[0164] The signal transmission device can combine multiple analog data in pairs to obtain multiple combined data. For example, combining 5 analog data in pairs can yield 10 combined data. This application embodiment does not restrict the order of the pairwise combinations. Since each analog data includes a preset ambiguity number, a frequency point, and a corresponding amplitude value, the signal transmission device can determine the speed based on the preset ambiguity number and the angle information based on the frequency point. That is, the signal transmission device can determine the simulated target object information corresponding to each analog data. This simulated target object information includes the speed of the simulated target object and the direction of the simulated target object relative to the signal transmission device. Each combined data includes two analog data, so the simulated signal transmission scenario corresponding to each combined data includes two simulated target objects. The signal transmission device inputs each combined data into the simulation model, and the simulation model simulates the signal transmission scenario corresponding to each combined data based on the input combined data.

[0165] The signal transmission device can determine the information of two simulated target objects corresponding to a combination of data, and simulate the original signal data in the simulated signal transmission scenario through a simulation model. The simulated original signal data can be the data obtained after preprocessing the echo signals reflected back from the two simulated target objects.

[0166] Step 318: Determine the target combined data based on the analog original signal data and the original signal data corresponding to the multiple combined data respectively.

[0167] In one embodiment, the signal transmission device can calculate the error between the analog original signal data and the original signal data corresponding to each combination data, determine the error value corresponding to each combination data, compare the error values ​​corresponding to each combination data, and determine the combination data with the smallest corresponding error value as the target combination data.

[0168] Each combination of data includes analog original signal data corresponding to P*Q virtual array units. Each analog original signal value in each combination of data is subtracted from the corresponding original signal value in the original signal data to obtain P*Q first differences for each combination of data. The L2 norm of each P*Q first difference is calculated, and the square of the L2 norm is used as the error value for each combination of data.

[0169] By implementing this embodiment, the signal transmission device compares the original signal data with the data to calculate the error value corresponding to each combination of data, thereby determining the combination of data with the smallest error value as the target combination of data. This makes the target combination of data more accurate, thereby improving the accuracy of the analog numbers and angle information determined based on the target combination of data.

[0170] Step 320: Based on the two simulation data contained in the target combination data, determine the fuzzy number and angle information corresponding to the two target objects respectively.

[0171] Since the simulated original signal data determined in the simulated signal transmission scenario corresponding to the target combination data is closest to the original signal data actually received by each virtual array unit, it can be considered that the two simulated target objects included in the simulated signal transmission scenario correspond to the two target objects in the current scenario. The signal transmission device can use the two preset ambiguity numbers of the two simulated data contained in the target combination data as the simulated numbers corresponding to the two target objects respectively, and then determine the angle information corresponding to the two target objects respectively based on the two frequency points of the two simulated data.

[0172] In this embodiment of the application, when the target type is multiple target objects, phase compensation is performed by testing F preset ambiguity numbers in the ambiguity number range one by one, then a spectrum diagram is generated and multiple frequency points are determined. Then, through simulation steps such as simulation data determination, simulation data combination, and simulation scenario, the target combination data is determined. This is equivalent to testing the two most suitable preset ambiguity numbers and the two most suitable frequency points through simulation scenario, thereby determining the ambiguity numbers and angle information corresponding to the two target objects, improving the accuracy of the ambiguity numbers and angle information corresponding to the target objects.

[0173] like Figure 5 As shown, Figure 5 This is a modular schematic diagram of a speed determination device disclosed in an embodiment of this application. The speed determination device 500 is applied to the signal transmission device in the above embodiment. The speed determination device 500 may include an RD map determination module 510, an RD map overlay module 520, a target detection module 530, a data extraction module 540, a type determination module 550, and a speed determination module 560, wherein:

[0174] The RD map determination module 510 is used to perform Fourier transform processing on the original signal data to obtain P*Q range-Doppler RD maps that correspond one-to-one with P*Q virtual array units; the P*Q virtual array units are composed of P transmitting antennas and Q receiving antennas;

[0175] The RD diagram overlay module 520 is used to overlay P*Q RD diagrams to obtain the target RD diagram;

[0176] The target detection module 530 is used to perform target detection on the target RD map to obtain the position information of the target detection points in the target RD map;

[0177] The data extraction module 540 is used to extract the RD map amplitude data corresponding to the target detection point from P*Q RD maps according to the location information, and to perform phase compensation on the RD map amplitude data to obtain the first compensation result data.

[0178] The type determination module 550 is used to determine the target type corresponding to the target detection point based on the first compensation result data. The target type includes a single target object or multiple target objects.

[0179] The velocity determination module 560 is used to determine the fuzzy number and angle information of each target object according to the defuzzification method corresponding to the target type, and to determine the velocity of each target object according to the fuzzy number and angle information of each target object.

[0180] In one embodiment, the first compensation result data includes P*Q first compensation result values ​​corresponding one-to-one with P*Q virtual array units; the type determination module 550 is further configured to perform first-order phase difference calculation based on the Q first compensation result values ​​corresponding to the first transmitting antenna to obtain Q-1 first phase difference values ​​corresponding to the first transmitting antenna; wherein, the Q first compensation result values ​​corresponding to the first transmitting antenna are arranged sequentially according to the sequence numbers of the Q receiving antennas; the first transmitting antenna is any transmitting antenna; and the target type corresponding to the target detection point is determined based on the Q-1 first phase difference values ​​corresponding to the P transmitting antennas respectively.

[0181] In one embodiment, the type determination module 550 is further configured to calculate the standard deviation of the Q-1 first phase difference values ​​corresponding to the P transmitting antennas respectively, and compare the calculation result with a preset threshold; if the calculation result is less than the preset threshold, the target type corresponding to the target detection point is determined to be a single target object; if the calculation result is not less than the preset threshold, the target type corresponding to the target detection point is determined to be multiple target objects.

[0182] In one embodiment, the P*Q first compensation result values ​​in the first compensation result data are arranged sequentially according to the sequence numbers of the P transmitting antennas, and the Q first compensation result values ​​corresponding to the same transmitting antenna are arranged sequentially according to the sequence numbers of the Q receiving antennas; the velocity determination module 560 is further configured to, when the target type is a single target object, calculate the second phase difference value between the first first compensation result value corresponding to the j-th transmitting antenna and the Q-th first compensation result value corresponding to the (j-1)-th transmitting antenna, so as to obtain P-1 second phase difference values; where j is an integer greater than 1 and less than or equal to P; and determine the angle information and ambiguity number corresponding to the single target object based on the Q-1 first phase difference values ​​and P-1 second phase difference values ​​corresponding to the P transmitting antennas respectively.

[0183] In one embodiment, the velocity determination module 560 is further configured to calculate the average of Q-1 first phase difference values ​​corresponding to P transmitting antennas to obtain a first average; perform angle estimation processing on the first average to obtain angle information corresponding to a single target object; calculate the average of P-1 second phase difference values ​​to obtain a second average; and determine the ambiguity number corresponding to a single target object based on the first average and the second average.

[0184] In one embodiment, the speed determination module 560 is further configured to: if the fuzzy number corresponding to a single target object is greater than any preset fuzzy number in the fuzzy number range, subtract P from the fuzzy number corresponding to the single target object to obtain a new fuzzy number corresponding to the single target object; the fuzzy number range is determined based on P; if the fuzzy number corresponding to a single target object is less than any preset fuzzy number in the fuzzy number range, add P to the fuzzy number corresponding to the single target object to obtain a new fuzzy number corresponding to the single target object.

[0185] In one embodiment, the multiple target objects include two target objects. The velocity determination module 560 is further configured to, when the target type is multiple target objects, perform phase compensation on the first compensation result data according to the ambiguity number range to obtain the second compensation result data; the ambiguity number range includes F preset ambiguity numbers; generate F spectrograms corresponding one-to-one with the F preset ambiguity numbers according to the second compensation result data; determine multiple simulated data according to the F spectrograms, each simulated data including a preset ambiguity number, a frequency point, and a corresponding amplitude value; combine the multiple simulated data in pairs to obtain multiple combined data; input each combined data into a simulation model; simulate a signal transmission scenario according to the input combined data through the simulation model to obtain simulated original signal data corresponding to the multiple combined data; determine the target combined data according to the simulated original signal data and the original signal data corresponding to the multiple combined data; and determine the ambiguity number and angle information corresponding to the two target objects according to the two simulated data contained in the target combined data.

[0186] In one embodiment, the speed determination module 560 is further configured to calculate the error between the analog original signal data and the original signal data corresponding to each combination data, determine the error values ​​corresponding to the multiple combination data respectively, compare the error values ​​corresponding to the multiple combination data respectively, and determine the combination data with the smallest corresponding error value as the target combination data.

[0187] In one embodiment, the speed determination module 560 is further configured to determine the first R amplitude values ​​and corresponding frequency points in each spectrum diagram in descending order of amplitude values; R is an integer greater than 2; and to determine F*R analog data based on the preset fuzzy number corresponding to each spectrum diagram and the R amplitude values ​​and corresponding frequency points determined in each spectrum diagram.

[0188] In this embodiment, the signal transmission device can perform Fourier transform processing on the original signal data to obtain P*Q range Doppler images corresponding one-to-one with P*Q virtual array units. The P*Q virtual array units are composed of P transmitting antennas and Q receiving antennas included in the signal transmission device. The P*Q range Doppler images are then superimposed to obtain a target range Doppler image. The signal transmission device then performs target detection on the target range Doppler image to obtain the position information of the target detection point in the target range Doppler image. Based on the position information, the amplitude data of the range Doppler image corresponding to the target detection point can be extracted from the P*Q range Doppler images, and phase compensation can be performed on the amplitude data of the range Doppler image to obtain the first compensation result data. The signal transmission device can determine whether the target type corresponding to the target detection point is a single target object or multiple target objects based on the first compensation result data. Based on the defuzzification method corresponding to the target type, the fuzziness number and angle information corresponding to each target object can be determined, and the velocity corresponding to each target object can be determined based on the fuzziness number and angle information corresponding to each target object. By implementing this embodiment, the target detection point in the target RD map can be determined to correspond to a single target object or multiple target objects based on the first compensation result data. Thus, a deblurring method corresponding to a single target object can be selected to determine the fuzz number and angle information corresponding to the single target, or a deblurring method corresponding to multiple target objects can be selected to determine the fuzz number and angle information corresponding to the multiple targets respectively. A suitable deblurring method can improve the accuracy of the fuzz number and angle information, and the speed of the target object is determined based on the fuzz number and angle information, thereby improving the accuracy of the determined speed of the target object.

[0189] like Figure 6 As shown, in one embodiment, a signal transmission device is provided, which may include:

[0190] Memory 610 storing executable program code;

[0191] Processor 620 coupled to memory 610;

[0192] The processor 620 calls the executable program code stored in the memory 610 to implement the speed determination method provided in the above embodiments.

[0193] The memory 610 may include random access memory (RAM) or read-only memory (ROM). The memory 610 can be used to store instructions, programs, code, code sets, or instruction sets. The memory 610 may include a program storage area and a data storage area. The program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as touch functionality, sound playback functionality, image playback functionality, etc.), and instructions for implementing the various method embodiments described above. The data storage area may also store data created during the use of the signal transmission device.

[0194] Processor 620 may include one or more processing cores. Processor 620 connects various parts within the signal transmission device using various interfaces and lines, and performs various functions and processes data by running or executing instructions, programs, code sets, or instruction sets stored in memory 610, and by calling data stored in memory 610. Optionally, processor 620 may be implemented using at least one hardware form of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). Processor 620 may integrate one or a combination of several of the following: Central Processing Unit (CPU), Graphics Processing Unit (GPU), and modem. The CPU primarily handles the operating system, user interface, and applications; the GPU is responsible for rendering and drawing the displayed content; and the modem handles wireless communication. It is understood that the modem may also not be integrated into processor 620 and may be implemented separately using a communication chip.

[0195] Understandably, the signal transmission device may include more or fewer structural elements than those shown in the block diagram above, such as a power module, physical buttons, a WiFi (Wireless Fidelity) module, a speaker, a Bluetooth module, a sensor, etc., and may not be limited thereto.

[0196] This application discloses a computer-readable storage medium storing a computer program that causes a computer to perform the methods described in the above embodiments.

[0197] Furthermore, this application further discloses a computer program product that, when run on a computer, enables the computer to execute all or part of the steps in any of the speed determination methods described in the above embodiments.

[0198] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, including read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electrically-Erasable Programmable Read-Only Memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, disk storage, magnetic tape storage, or any other computer-readable medium capable of carrying or storing data.

[0199] The above provides a detailed description of a speed determination method and apparatus disclosed in the embodiments of this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A method for determining speed, characterized in that, The method is applied to a signal transmission device, which includes P transmitting antennas and Q receiving antennas, where P is an integer greater than 1 and Q is an integer greater than 1; the method includes: Fourier transform processing is performed on the original signal data to obtain P*Q range-Doppler RD maps that correspond one-to-one with the P*Q virtual array units; the P*Q virtual array units are composed of the P transmitting antennas and the Q receiving antennas; The target RD map is obtained by overlaying the P*Q RD maps; Target detection is performed on the target RD map to obtain the position information of the target detection points in the target RD map; Based on the location information, extract the RD map amplitude data corresponding to the target detection point from the P*Q RD maps, and perform phase compensation on the RD map amplitude data to obtain the first compensation result data; The target type corresponding to the target detection point is determined based on the first compensation result data, and the target type includes a single target object or multiple target objects; Based on the defuzzification method corresponding to the target type, determine the fuzz number and angle information corresponding to each target object, and determine the speed corresponding to each target object based on the fuzz number and angle information corresponding to each target object.

2. The method according to claim 1, characterized in that, The first compensation result data includes P*Q first compensation result values ​​corresponding one-to-one with the P*Q virtual array units; determining the target type corresponding to the target detection point based on the first compensation result data includes: Based on the Q first compensation result values ​​corresponding to the first transmitting antenna, a first-order phase difference calculation is performed to obtain Q-1 first phase difference values ​​corresponding to the first transmitting antenna; wherein, the Q first compensation result values ​​corresponding to the first transmitting antenna are arranged sequentially according to the sequence numbers of the Q receiving antennas; the first transmitting antenna is any of the aforementioned transmitting antennas; The target type corresponding to the target detection point is determined based on the Q-1 first phase difference values ​​corresponding to the P transmitting antennas.

3. The method according to claim 2, characterized in that, The step of determining the target type corresponding to the target detection point based on the Q-1 first phase difference values ​​corresponding to the P transmitting antennas includes: The standard deviation of the Q-1 first phase difference values ​​corresponding to the P transmitting antennas is calculated, and the calculation results are compared with a preset threshold. If the calculation result is less than the preset threshold, then the target type corresponding to the target detection point is determined to be the single target object; If the calculation result is not less than the preset threshold, then the target type corresponding to the target detection point is determined to be one of the multiple target objects.

4. The method according to claim 2, characterized in that, The P*Q first compensation result values ​​in the first compensation result data are arranged sequentially according to the sequence numbers of the P transmitting antennas, and the Q first compensation result values ​​corresponding to the same transmitting antenna are arranged sequentially according to the sequence numbers of the Q receiving antennas. The step of determining the fuzz number and angle information corresponding to each target object according to the defuzzification method corresponding to the target type includes: When the target type is the single target object, the second phase difference value between the first first compensation result value corresponding to the j-th transmitting antenna and the Q-th first compensation result value corresponding to the (j-1)-th transmitting antenna is calculated to obtain P-1 second phase difference values; wherein, j is an integer greater than 1 and less than or equal to P; Based on the Q-1 first phase difference values ​​and the P-1 second phase difference values ​​corresponding to the P transmitting antennas, the angle information and ambiguity number corresponding to the single target object are determined.

5. The method according to claim 4, characterized in that, The step of determining the angle information and ambiguity number corresponding to the single target object based on the Q-1 first phase difference values ​​and the P-1 second phase difference values ​​corresponding to the P transmitting antennas includes: The average value is obtained by calculating the average of the Q-1 first phase difference values ​​corresponding to the P transmitting antennas; An angle estimation process is performed on the first mean to obtain the angle information corresponding to the single target object; The average value of the P-1 second phase difference values ​​is calculated to obtain the second average value; Based on the first mean and the second mean, the fuzzy number corresponding to the single target object is determined.

6. The method according to claim 4 or 5, characterized in that, After determining the angle information and ambiguity number corresponding to the single target object, the method further includes: If the fuzzy number corresponding to a single target object is greater than any preset fuzzy number in the fuzzy number range, then the fuzzy number corresponding to the single target object is subtracted from P to obtain a new fuzzy number corresponding to the single target object; the fuzzy number range is determined based on P. If the fuzzy number corresponding to the single target object is less than any preset fuzzy number in the range of fuzzy numbers, then add P to the fuzzy number corresponding to the single target object to obtain a new fuzzy number corresponding to the single target object.

7. The method according to any one of claims 1 to 3, characterized in that, The plurality of target objects includes two target objects. The step of determining the blur number and angle information corresponding to each target object according to the deblurring method corresponding to the target type includes: When the target type is the plurality of target objects, phase compensation is performed on the first compensation result data according to the fuzzy number range to obtain the second compensation result data; the fuzzy number range includes F preset fuzzy numbers; Based on the second compensation result data, generate F spectrograms that correspond one-to-one with the F preset fuzzy numbers; Based on the F spectrograms, multiple simulated data are determined, and each simulated data includes a preset ambiguity number, a frequency point, and a corresponding amplitude value; The multiple simulated data are combined in pairs to obtain multiple combined data. Each combined data is input into the simulation model. The simulation model simulates the signal transmission scenario based on the input combined data to obtain the simulated original signal data corresponding to each of the multiple combined data. The target combined data is determined based on the analog original signal data corresponding to the multiple combined data and the original signal data; Based on the two simulation data contained in the target combination data, determine the fuzzy number and angle information corresponding to the two target objects respectively.

8. The method according to claim 7, characterized in that, The step of determining the target combined data based on the analog original signal data corresponding to the multiple combined data and the original signal data includes: Calculate the error between the analog original signal data corresponding to each combination of data and the first compensation result data, and determine the error value corresponding to each of the multiple combination data; The error values ​​corresponding to the multiple combined data are compared, and the combined data with the smallest error value is determined as the target combined data.

9. The method according to claim 7, characterized in that, The determination of multiple simulation data based on the F spectrograms includes: In each spectrum diagram, the first R amplitude values ​​and their corresponding frequency points are determined according to the order of amplitude values ​​from largest to smallest; where R is an integer greater than 2. Based on the preset ambiguity number corresponding to each of the spectrum diagrams, and the R amplitude values ​​and corresponding frequency points determined in each of the spectrum diagrams, F*R analog data are determined.

10. A speed determining device, characterized in that, This device is applied to a signal transmission equipment, which includes P transmitting antennas and Q receiving antennas, where P is an integer greater than 1 and Q is an integer greater than 1; the device includes: The RD map determination module is used to perform Fourier transform processing on the original signal data to obtain P*Q range-Doppler RD maps that correspond one-to-one with P*Q virtual array units; the P*Q virtual array units are composed of P transmitting antennas and Q receiving antennas; The RD diagram overlay module is used to overlay the P*Q RD diagrams to obtain the target RD diagram; The target detection module is used to perform target detection on the target RD map to obtain the position information of the target detection points in the target RD map; The data extraction module is used to extract the RD map amplitude data corresponding to the target detection point from the P*Q RD maps according to the location information, and to perform phase compensation on the RD map amplitude data to obtain the first compensation result data; The type determination module is used to determine the target type corresponding to the target detection point based on the first compensation result data, wherein the target type includes a single target object or multiple target objects; The velocity determination module is used to determine the fuzz number and angle information of each target object according to the defuzzification method corresponding to the target type, and to determine the velocity of each target object according to the fuzz number and angle information of each target object.

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