Target parameter detection method and device, computer device, and storage medium

Abstract

The application relates to a target parameter detection method and device, computer equipment and a storage medium. The method comprises the following steps: acquiring a range-Doppler map generated based on a receiving antenna echo signal; polling each distance dimension in the range-Doppler map respectively to obtain a plurality of cell groups; performing noise threshold detection and energy difference threshold detection on each cell group to determine a target cell group; and determining a distance sequence number and a Doppler sequence number corresponding to the target according to the target cell group. By polling each distance dimension respectively, each cell in the range-Doppler map can be ensured to be detected, so that the target detection rate is improved. Furthermore, the cell group is further screened through noise threshold detection and energy threshold detection, so that the target detection capability is further improved, the false detection and missed detection are avoided, and the target detection rate is improved.

Description

Technical Field

[0001] This application relates to the field of radar technology, and in particular to a target parameter detection method, apparatus, computer equipment, and storage medium. Background Technology

[0002] In frequency modulated continuous wave (FMCW) millimeter-wave radar technology, there are various modulation methods for the transmitting antenna. For example, there is time division multiplexing (TDM) modulation, which uses time division to separate the transmitting antenna; biphase modulation (BPM) modulation, which uses code division to separate the transmitting antenna; and Doppler frequency division multiple access (DDMA) modulation, which uses Doppler frequency division to separate the transmitting antenna.

[0003] In traditional Doppler frequency division multiple access (DDMA) modulation, different phase increments are added to multiple transmit antenna channels, and the signals are transmitted simultaneously across multiple chirs. After reflection from the target, the echo signals are received, and an RD (Range-Doppler) map is formed based on these echo signals. The RD map then shows that the target echo peaks from different transmit antennas are separated. The RD map is then analyzed to determine the target's range and Doppler index. However, existing detection methods have poor target detection capabilities, resulting in false positives and false negatives, thus affecting the target detection rate. Summary of the Invention

[0004] Therefore, it is necessary to provide a target parameter detection method, apparatus, computer equipment, and storage medium to address the aforementioned technical problems.

[0005] In a first aspect, this application provides a target parameter detection method, the method comprising: acquiring a range Doppler map generated based on the echo signal of a receiving antenna; polling each distance dimension of the range Doppler map to obtain multiple cell groups; performing noise threshold detection and energy difference threshold detection on each cell group to determine a target cell group; and determining the range index and Doppler index corresponding to the target based on the target cell group.

[0006] In one embodiment, obtaining the range Doppler map generated based on the echo signals from the receiving antennas includes: obtaining the echo signals received by all receiving antennas; performing a two-dimensional fast Fourier transform on the echo signals of each receiving antenna to obtain the transform data of each receiving antenna; performing non-coherent accumulation on the transform data of each receiving antenna to obtain the range Doppler map; in the range Doppler map, the distance index corresponding to each row of cells is the same, and the Doppler index corresponding to each column of cells is the same; each cell includes the current distance index and the energy value under the current Doppler index.

[0007] In one embodiment, polling each distance dimension of the range-Doppler map to obtain multiple unit groups includes: obtaining the phase increment between multiple transmitting antennas; determining the Doppler spacing of the wave peaks of the same target in the range-Doppler map based on the phase increment; and polling the target in each distance dimension of the range-Doppler map based on the Doppler spacing to obtain multiple unit groups corresponding to each distance dimension.

[0008] In one embodiment, the step of polling each distance dimension in the distance-Doppler map according to the Doppler interval to obtain multiple sets of units corresponding to each distance dimension includes: for each distance dimension, taking each unit as the starting unit and the Doppler interval as the polling interval, determining multiple sets of units corresponding to each distance dimension.

[0009] In one embodiment, the step of performing noise threshold detection and energy difference threshold detection on each of the unit groups to determine the target unit group includes: acquiring the energy value and noise value of each unit in the unit group; determining a first parameter of the corresponding unit group based on the energy value and noise value of each unit; acquiring the maximum energy value and minimum energy value in the unit group; determining a second parameter of the corresponding unit group based on the maximum energy value and minimum energy value; and performing noise threshold detection based on the first parameter and energy difference threshold detection based on the second parameter to determine the target unit group.

[0010] In one embodiment, determining the target unit group by performing noise threshold detection based on the first parameter and energy difference threshold detection based on the second parameter includes: if the first parameter is greater than a first threshold, the corresponding unit group satisfies the noise threshold detection; if the second parameter is less than a second threshold, the corresponding unit group satisfies the energy difference threshold detection; and the unit group that simultaneously satisfies the noise threshold detection and the energy difference threshold detection is taken as the target unit group.

[0011] In one embodiment, determining the distance index and Doppler index corresponding to the target based on the target unit group includes: using the distance index of the target unit group as the distance index of the target, and using the Doppler index of the target unit group as the Doppler index of the target.

[0012] Secondly, this application also provides a target parameter detection device, the device comprising: an acquisition module for acquiring a range Doppler map generated based on the echo signal from a receiving antenna; a polling module for polling each range dimension in the range Doppler map to obtain multiple unit groups; a detection module for performing noise threshold detection and energy difference threshold detection on each unit group to determine a target unit group; and a generation module for determining the range index and Doppler index corresponding to the target based on the target unit group.

[0013] Thirdly, this application also provides a computer device. The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the target parameter detection method described in the first aspect.

[0014] Fourthly, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, implements the target parameter detection method of the first aspect described above.

[0015] The aforementioned target parameter detection method, apparatus, computer equipment, and storage medium first acquire a range-Doppler map generated based on the echo signal from the receiving antenna. Then, each range dimension of the range-Doppler map is polled sequentially to obtain multiple cell groups. Noise threshold detection and energy threshold detection are performed on each cell group to determine the target cell group. Finally, based on the target cell group, the range index and Doppler index corresponding to the target are determined. By polling each range dimension sequentially, it is ensured that every cell in the range-Doppler map is detected, thereby improving the target detection rate. Furthermore, noise threshold detection and energy threshold detection further filter the cell groups, thereby further improving the target detection capability, avoiding false detections and missed detections, and increasing the target detection rate. Attached Figure Description

[0016] Figure 1 Here is an example of a distance Doppler image in one embodiment;

[0017] Figure 2 This is a flowchart illustrating a target parameter detection method in one embodiment;

[0018] Figure 3 This is a flowchart illustrating a method for polling the distance dimension in a distance Doppler map in one embodiment.

[0019] Figure 4 This is a schematic diagram illustrating the polling of the distance Doppler graph in one embodiment;

[0020] Figure 5This is a structural block diagram of a target parameter detection device in one embodiment;

[0021] Figure 6 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0023] In this embodiment of the application, in the Doppler frequency division multiple access (DDMA) modulation method, different phase increments are added to multiple transmit antenna channels, and they are transmitted together in multiple consecutive chirs. After reflection from the target, a two-dimensional fast Fourier transform is performed on the echo in both the range and Doppler dimensions, and non-coherent accumulation is performed on different receive antenna channels to form an RD (Range-Doppler) map, i.e., a range-Doppler map. Figure 1 As shown, in the range-Doppler plot, the cells in each row correspond to the same range index, and the cells in each column correspond to the same Doppler index. Each cell represents the current range index and the energy value under the current Doppler index. The horizontal axis represents the Doppler dimension, and the vertical axis represents the range dimension. At this point, the target echo peaks generated by different transmitting antennas can be seen to be separated in the RD plot. For example, for a certain transmitting antenna, its phase deviation in different chirs is as follows:

[0024]

[0025] i = 0, 1, 2, ..., Nchirp-1, where i represents the corresponding chirp index, p is the number of bits in the phase shifter, which depends on the accuracy of the phase shifter in the radar chip, bm = b1, b2, b3, ..., bM, where M is the number of transmitting antennas, and bm typically ranges from [0, 2]. p -1]. In the RD diagram, the target echo peaks corresponding to different transmitting antennas have the same range index, while the Doppler indices maintain a certain spacing in the Doppler dimension. This spacing depends on the magnitude of the phase increment applied to each transmitting antenna in multiple consecutive chirs. In the detection algorithm, all target echo peaks generated by different transmitting antennas need to be detected to find a set of peaks that satisfy the corresponding spacing relationship, which represents the target's range index and Doppler index. After confirming the target's range index and Doppler index, the complex values ​​at the corresponding locations can be extracted. Combined with the layout design of the transmitting and receiving antennas, the azimuth angle can be estimated.

[0026] In one embodiment, such as Figure 2 As shown, a target parameter detection method is provided, including the following steps:

[0027] Step 202: Obtain the range Doppler map generated based on the echo signal from the receiving antenna.

[0028] When a radar detects a target, each transmitting antenna is augmented with a different phase increment. The signal is transmitted simultaneously through multiple transmitting antennas across several chirps. After reflection from the target, the signal is received by the receiving antenna. The receiving antenna generates a range-Doppler map based on the received echo signal. In the range-Doppler map, each row of cells corresponds to the same range index, and each column of cells corresponds to the same Doppler index. Each cell represents the corresponding range index and the energy value under the corresponding Doppler index.

[0029] Step 204: Poll each distance dimension in the distance Doppler map to obtain multiple unit groups.

[0030] After obtaining the range Doppler map, each distance dimension in the range Doppler map is polled in turn to obtain multiple cell groups. Each distance dimension consists of all cells in each row of the range Doppler map. Each distance dimension has the same distance index. The polling is performed on the distance dimensions corresponding to each distance index. For example, if the range Doppler map has three distance dimensions, the polling is performed first on the distance dimension with distance index 1, then on the distance dimension with distance index 2, and finally on the distance dimension with distance index 3. Polling on each distance dimension means that within each distance dimension, each cell is used as the starting position of a cell group to poll out multiple cell groups that may contain the target. In other words, each distance dimension has multiple cell groups, and each cell group represents multiple cells that may contain the same target.

[0031] Step 206: Perform noise threshold detection and energy difference threshold detection on each of the aforementioned unit groups to determine the target unit group.

[0032] After identifying multiple cell groups for each distance dimension, noise threshold detection and energy difference threshold detection are performed on each cell group. When both noise threshold detection and energy difference detection are satisfied, the corresponding cell group is designated as the target cell group. In other words, the target cell group contains a target, i.e., a target echo peak exists.

[0033] Step 208: Determine the distance index and Doppler index corresponding to the target based on the target unit group.

[0034] After obtaining the target unit group, the distance index and Doppler index of the target are determined based on the distance index and Doppler index of all units in the target unit group. Specifically, the distance index of the target unit group is used as the distance index of the target, and the Doppler index of the target unit group is used as the Doppler index of the target. Since the unit group polls each distance dimension, all units within the unit group have the same distance index, which is used as the distance index of the target. The Doppler index of each unit within the unit group is obtained separately, and the Doppler indexes of all units are used as the Doppler index of the target.

[0035] The aforementioned target parameter detection method first acquires a range-Doppler map generated based on the echo signal from the receiving antenna. Then, it polls each range dimension of the range-Doppler map to obtain multiple cell groups. For each cell group, noise threshold detection and energy threshold detection are performed to determine the target cell group. Finally, based on the target cell group, the range index and Doppler index corresponding to the target are determined. By polling each range dimension separately, it ensures that every cell in the range-Doppler map is detected, thereby improving the target detection rate. Furthermore, noise threshold detection and energy threshold detection further filter the cell groups, thereby further improving the target detection capability, avoiding false positives and false negatives, and increasing the target detection rate.

[0036] In one embodiment, obtaining the range Doppler map generated based on the echo signals of the receiving antennas includes: obtaining the echo signals received by all receiving antennas; performing a two-dimensional fast Fourier transform on the echo signals of each receiving antenna to obtain the transform data of each receiving antenna; and performing non-coherent accumulation on the transform data of each receiving antenna to obtain the range Doppler map.

[0037] Specifically, in the range-Doppler map, each row of cells corresponds to the same range index, and each column of cells corresponds to the same Doppler index. Each cell includes the current range index and the energy value under the current Doppler index. After receiving the echo signal, the receiving antenna performs ADC sampling and a two-dimensional fast Fourier transform to generate a data matrix, i.e., transformed data. This data matrix is ​​a three-dimensional matrix, consisting of the range dimension, the Doppler dimension, and the receiving antenna dimension. Then, non-coherent accumulation is performed on the transformed data along the receiving antenna dimension, leaving only the range dimension and the Doppler dimension, which is the range-Doppler map. Non-coherent accumulation involves taking the modulus of the complex numbers in the transformed data and then summing them along the receiving antenna dimension to obtain the average.

[0038] In one embodiment, such as Figure 3 As shown, methods for polling the distance dimension in a distance-Doppler map include:

[0039] Step 302: Obtain the phase increment between multiple transmitting antennas.

[0040] Step 304: Determine the Doppler spacing of the wave peaks of the same target in the distance Doppler map based on the phase increment.

[0041] Specifically, the phase increment of the transmitting antenna is according to Configure the settings. i = 0, 1, 2, ..., Nchirp-1, where i represents the corresponding chirp number, p is the number of bits in the phase shifter (depending on the radar chip's phase shifter accuracy), bm = b1, b2, b3, ..., bM, where M is the number of transmitting antennas, and bm typically ranges from [0, 2]. p -1]. Therefore, the peak positions of the same target corresponding to different transmitting antennas in the Doppler image should differ in the Doppler dimension. This refers to the Doppler spacing. Here, m is the antenna number, with a maximum of M being the number of transmitting antennas, NdopFFT is the number of Doppler FFT points, and p is the number of phase shifter bits. For example, if there are three transmitting antennas, with the first antenna having a phase increment of 0, the second antenna having a phase increment of pi / 16, and the third antenna having a phase increment of pi / 4, then in the distance-Doppler dimension, the spacing between the three antennas is: the spacing between the first and second transmitting antennas is pi / 16 / 2 / pi*128 = 4 Doppler numbers, and the spacing between the first and third transmitting antennas is pi / 4 / 2 / pi*128 = 16 Doppler numbers.

[0042] Step 306: Based on the Doppler interval, perform target polling on each distance dimension in the distance-Doppler map to obtain multiple sets of units corresponding to each distance dimension.

[0043] Specifically, for each distance dimension, multiple sets of units are determined by sequentially using each unit as the starting unit and the Doppler interval as the polling interval. When polling each distance dimension (i.e., polling all units with the same distance index), each unit is sequentially used as the starting unit, and the Doppler interval calculated in the previous steps is used as the polling interval, resulting in multiple sets of units for each distance dimension. For example, the first unit is used as the starting unit to filter and determine all units with the corresponding Doppler interval, which is then used as the unit set corresponding to the first unit. The second unit is then used as the starting unit to filter and determine all units with the corresponding Doppler interval, which is then used as the unit set corresponding to the second unit. This process is repeated for each unit under that distance index, using it as the starting unit to determine the corresponding unit set, thus obtaining multiple sets of units for that distance dimension. For example, if there are 128 units under that distance index, when determining all units using the Doppler interval, if the current filtering is not finished when filtering to the 128th unit, the process returns to the first unit to continue filtering.

[0044] In one embodiment, determining a target unit group by performing noise threshold detection and energy difference threshold detection on each of the unit groups includes: acquiring the energy value and noise value of each unit in the unit group; determining a first parameter of the corresponding unit group based on the energy value and noise value of each unit; acquiring the maximum energy value and minimum energy value in the unit group; determining a second parameter of the corresponding unit group based on the maximum energy value and minimum energy value; and determining the target unit group by performing noise threshold detection based on the first parameter and energy difference threshold detection based on the second parameter.

[0045] Specifically, when performing noise threshold detection and energy difference threshold detection on each unit group, the energy value of each unit in the unit group is first obtained. The energy value is the numerical value of each unit. Then, based on the energy value of each unit, the noise value of each unit is calculated using algorithms such as cross-shaped CA-CFA and rectangular window CAFA. The signal-to-noise ratio (SNR) of the corresponding unit is obtained by dividing the energy value by the noise value. The SNR of all units in the unit group is summed to obtain the first parameter of the corresponding unit group. Noise threshold detection is performed based on the first parameter. Next, the energy values ​​of all units in the unit group are obtained, and the maximum and minimum energy values ​​among all units in the unit group are determined. The second parameter is determined by dividing the maximum energy value by the minimum energy value. Energy difference threshold detection is performed based on the second parameter. If the first parameter is greater than the first threshold, the corresponding unit group satisfies the noise threshold detection; if the second parameter is less than the second threshold, the corresponding unit group satisfies the energy difference threshold detection. The unit group that simultaneously satisfies both noise threshold detection and energy difference threshold detection is designated as the target unit group. The first and second thresholds can be set according to actual needs; this embodiment does not impose specific limitations.

[0046] This application provides a target parameter detection method, as detailed below:

[0047] Step 1: Perform a two-dimensional fast Fourier transform on the radarcube of the echo signal received by the receiving antenna and perform non-coherent accumulation on different receiving antennas to obtain the range Doppler map, where radarcube is the data matrix generated after each frame of echo signal received by the receiving antenna is sampled by ADC.

[0048] Step 2: Poll each range bin of the range-Doppler map. There are multiple cells in the same range bin, the number of which is equal to the number of FFT points in the Doppler dimension. In the range-Doppler map, the cells in each row have the same distance index, that is, within the same range bin, the cells in each column have the same Doppler index. Each cell includes the current distance index and the energy value under the current Doppler index.

[0049] Step 3: According to the DDMA design, search all cells in the range bin to obtain cell groups, and perform threshold detection on each cell group. The transmit antenna phase increment is calculated according to... If configured accordingly, the peak positions of the same target in the Doppler image corresponding to different transmitting antennas should differ in the Doppler dimension. Taking the first transmitting antenna as a reference, m is the antenna number, the maximum number of antennas is Tx M, NdopFFT is the number of Doppler FFT points, and p is the number of phase shifter bits.

[0050] The specific search process is shown in Figure 4. The distance dimension with distance number t1 is polled in turn. First, the first unit is taken as the starting unit. △bin(2) is the distance between the peak position of the first transmitting antenna and the peak position of the second transmitting antenna in the doppler dimension; △bin(M-1) is the distance between the peak position of the first transmitting antenna and the peak position of the (M-1)th transmitting antenna in the doppler dimension; △bin(M) is the distance between the peak position of the first transmitting antenna and the peak position of the Mth transmitting antenna in the doppler dimension. Then, all the remaining units are taken as the starting units respectively. According to the above Doppler spacing, multiple sets of units are obtained. Figure 4 The distance dimension with distance index t1 is polled in a loop, starting from the sixth cell. If △bin(M) has not reached the corresponding spacing in the last cell of the current row, the loop returns to the starting cell of the current row. Figure 4 The distance dimension with distance index tNdopfft is polled in a loop, with the 128th cell as the starting cell. If the corresponding spacing is not reached in the last cell of the current row, △bin(2) will loop back to the starting cell of the current row.

[0051] For each cell in a range bin, its signal-to-noise ratio (SNR) is SNR(i) = F(i) / Noise(i), i = 1 to NdopFFT, where F(i) is the signal energy value of the cell, and Noise(i) is the local noise value corresponding to the cell. This local noise value can be calculated in various ways, commonly using methods such as cross-shaped CA-CFAR and rectangular window CA-CFAR. Since each range bin contains NdopFFT cells, NdopFFT searches are needed for each range bin to obtain an NdopFFT cell group. During each search, the sum of the SNR of all searched cells is calculated. If the Doppler index is greater than NdopFFT during the search, the loop returns to the beginning of the current range bin. For the i-th search, the sum of the SNR is:

[0052]

[0053] This includes the signal-to-noise ratio (SNR) of the cells corresponding to multiple Doppler indices that meet the DDMA design spacing. Then, a threshold detection is performed based on the sum of the SNRs to determine if SNR_SUM(i) is greater than a set threshold value Thre, thus determining whether the first threshold is met. It is also necessary to determine whether the energy values ​​of each cell in the current cell group are close to each other, because the detection and reflection energy of different transmitting antennas for the same target should be consistent. Therefore, the energy values ​​of all cells in the cell group are obtained, resulting in a set of energy values ​​Fset(i) = {F(n) | n = i + Δbin(m), m = 1, 2, ..., M}. The maximum and minimum energy values ​​are determined from this set, and the energy difference of the cell group is then:

[0054]

[0055] Simultaneously, it's necessary to determine whether F_ratio is less than the threshold value Thre_ratio to ascertain whether the second threshold is met. In other words, when multiple cell groups are found, it's necessary to determine whether the corresponding cell group belongs to the actual detection target, requiring the following two conditions to be met simultaneously:

[0056]

[0057]

[0058] Thre and Thre_ratio can be chosen based on experience. Generally, Thre is set to 13dB and Thre_ratio to 3.

[0059] Step 4: When the conditions in Step 3 are met, it can be confirmed that there is a target in the unit group. The Doppler index of all units in the unit group is used as the Doppler index of the target, and the distance index of the unit group is used as the distance index of the target.

[0060] Step 5: After obtaining the Doppler index and range index of the target, the complex values ​​can be extracted from the original radarcube for subsequent angular dimension processing. This processing is routine and will not be described in detail here.

[0061] This embodiment ensures that every cell in the range Doppler map is detected by polling each distance dimension separately, thereby improving the target detection rate. Furthermore, noise threshold detection and energy threshold detection are used to further filter cell groups, thereby enhancing the target detection capability, avoiding false positives and false negatives, and ultimately increasing the target detection rate.

[0062] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0063] Based on the same inventive concept, this application also provides a target parameter detection device for implementing the target parameter detection method described above. The solution provided by this device is similar to the implementation described in the above method; therefore, the specific limitations in one or more target parameter detection device embodiments provided below can be found in the limitations of the target parameter detection method described above, and will not be repeated here.

[0064] In one embodiment, such as Figure 5 As shown, a target parameter detection device is provided, including: an acquisition module 100, a polling module 200, a detection module 300, and a generation module 400, wherein:

[0065] The acquisition module 100 is used to acquire the range Doppler map generated based on the echo signal from the receiving antenna.

[0066] The polling module 200 is used to poll each distance dimension of the distance Doppler map to obtain multiple unit groups.

[0067] The detection module 300 is used to perform noise threshold detection and energy difference threshold detection on each of the unit groups to determine the target unit group.

[0068] The generation module 400 is used to determine the distance index and Doppler index corresponding to the target based on the target unit group.

[0069] The acquisition module 100 is also used to acquire the echo signals received by all receiving antennas; perform a two-dimensional fast Fourier transform on the echo signal of each receiving antenna to obtain the transform data of each receiving antenna; perform non-coherent accumulation on the transform data of each receiving antenna to obtain a range Doppler map; in the range Doppler map, the distance index corresponding to each row of cells is the same, and the Doppler index corresponding to each column of cells is the same; each cell includes the current distance index and the energy value under the current Doppler index.

[0070] The polling module 200 is also used to obtain the phase increment between the multiple transmitting antennas; determine the Doppler spacing of the wave peaks of the same target in the range Doppler map based on the phase increment; and poll the target in each distance dimension of the range Doppler map based on the Doppler spacing to obtain multiple sets of unit groups corresponding to each distance dimension.

[0071] The polling module 200 is also used to determine multiple sets of units corresponding to each distance dimension by taking each unit as the starting unit and the Doppler interval as the polling interval for each distance dimension.

[0072] The detection module 300 is further configured to acquire the energy value and noise value of each unit in the unit group; determine the first parameter of the corresponding unit group based on the energy value and noise value of each unit; acquire the maximum energy value and minimum energy value in the unit group; determine the second parameter of the corresponding unit group based on the maximum energy value and minimum energy value; perform noise threshold detection based on the first parameter and energy difference threshold detection based on the second parameter to determine the target unit group.

[0073] The detection module 300 is further configured to: if the first parameter is greater than the first threshold, then the corresponding unit group satisfies the noise threshold detection; if the second parameter is less than the second threshold, then the corresponding unit group satisfies the energy difference threshold detection; and to take the unit group that simultaneously satisfies the noise threshold detection and the energy difference threshold detection as the target unit group.

[0074] The generation module 400 is further configured to use the distance index of the target unit group as the distance index of the target, and the Doppler index of the target unit group as the Doppler index of the target.

[0075] Each module in the aforementioned target parameter detection device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0076] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 6As shown, the computer device includes a processor, memory, and a network interface connected via a system bus. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database stores data used in executing the target parameter detection method described above. The network interface communicates with external terminals via a network connection. When the computer program is executed by the processor, it implements a target parameter detection method.

[0077] Those skilled in the art will understand that Figure 6 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0078] In one embodiment, a computer device is provided, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the steps corresponding to any of the methods in the above embodiments:

[0079] Obtain the range Doppler map generated based on the echo signal from the receiving antenna;

[0080] Each distance dimension in the distance Doppler map is polled to obtain multiple cell groups;

[0081] For each of the aforementioned unit groups, noise threshold detection and energy difference threshold detection are performed to determine the target unit group;

[0082] Based on the target unit group, determine the distance index and Doppler index corresponding to the target.

[0083] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps corresponding to any of the methods in the above embodiments:

[0084] Obtain the range Doppler map generated based on the echo signal from the receiving antenna;

[0085] Each distance dimension in the distance Doppler map is polled to obtain multiple cell groups;

[0086] For each of the aforementioned unit groups, noise threshold detection and energy difference threshold detection are performed to determine the target unit group;

[0087] Based on the target unit group, determine the distance index and Doppler index corresponding to the target.

[0088] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0089] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0090] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0091] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for detecting target parameters, characterized in that, The method includes: Obtain the range Doppler map generated based on the echo signal from the receiving antenna; Each distance dimension in the distance Doppler map is polled to obtain multiple cell groups; For each of the aforementioned unit groups, noise threshold detection and energy difference threshold detection are performed to determine the target unit group; Based on the target unit group, determine the distance index and Doppler index corresponding to the target; The step of polling each distance dimension in the range-Doppler map to obtain multiple cell groups includes: obtaining the phase increment between multiple transmitting antennas; determining the Doppler spacing of the wave peaks of the same target in the range-Doppler map based on the phase increment; and polling the target in each distance dimension in the range-Doppler map based on the Doppler spacing to obtain multiple cell groups corresponding to each distance dimension. The step of polling each distance dimension in the distance-Doppler map according to the Doppler interval to obtain multiple sets of units corresponding to each distance dimension includes: for each distance dimension, taking each unit as the starting unit and the Doppler interval as the polling interval, determining multiple sets of units corresponding to each distance dimension.

2. The method according to claim 1, characterized in that, The acquisition of the range Doppler map generated based on the echo signal from the receiving antenna includes: Acquire the echo signals received by all receiving antennas; Perform a two-dimensional fast Fourier transform on the echo signal of each receiving antenna to obtain the transform data of each receiving antenna. The transformed data of each receiving antenna is non-coherently accumulated to obtain a range-Doppler map; in the range-Doppler map, the units in each row have the same range index, and the units in each column have the same Doppler index; each unit includes the current range index and the energy value under the current Doppler index.

3. The method according to claim 2, characterized in that, The step of performing noise threshold detection and energy difference threshold detection on each of the aforementioned unit groups to determine the target unit group includes: Obtain the energy and noise values ​​of each cell in the cell group; Based on the energy value and noise value of each unit, determine the first parameter of the corresponding unit group; Obtain the maximum and minimum energy values ​​in the unit group; The second parameter of the corresponding unit group is determined based on the maximum and minimum energy values. The target unit group is determined by performing noise threshold detection based on the first parameter and energy difference threshold detection based on the second parameter.

4. The method according to claim 3, characterized in that, The step of determining the target unit group by performing noise threshold detection based on the first parameter and energy difference threshold detection based on the second parameter includes: If the first parameter is greater than the first threshold, then the corresponding unit group satisfies the noise threshold detection. If the second parameter is less than the second threshold, then the corresponding unit group satisfies the energy difference threshold detection. The group of units that simultaneously satisfy the noise threshold detection and energy difference threshold detection is designated as the target group of units.

5. The method according to claim 3, characterized in that, The step of determining the distance index and Doppler index corresponding to the target based on the target unit group includes: The distance index of the target unit group is used as the distance index of the target, and the Doppler index of the target unit group is used as the Doppler index of the target.

6. A target parameter detection device, characterized in that, The device includes: The acquisition module is used to acquire the range Doppler map generated based on the echo signal from the receiving antenna; The polling module is used to poll each distance dimension of the distance Doppler map to obtain multiple unit groups; The detection module is used to perform noise threshold detection and energy difference threshold detection on each of the aforementioned unit groups to determine the target unit group; The generation module is used to determine the distance index and Doppler index corresponding to the target based on the target unit group; The step of polling each distance dimension in the range-Doppler map to obtain multiple cell groups includes: obtaining the phase increment between multiple transmitting antennas; determining the Doppler spacing of the wave peaks of the same target in the range-Doppler map based on the phase increment; and polling the target in each distance dimension in the range-Doppler map based on the Doppler spacing to obtain multiple cell groups corresponding to each distance dimension. The step of polling each distance dimension in the distance-Doppler map according to the Doppler interval to obtain multiple sets of units corresponding to each distance dimension includes: for each distance dimension, taking each unit as the starting unit and the Doppler interval as the polling interval, determining multiple sets of units corresponding to each distance dimension.

7. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 5.

Images