FMCW MIMO radar fast signal processing method and system based on multi-dimensional constant false alarm

Abstract

The invention discloses an FMCW MIMO radar fast signal processing method and system based on a multi-dimensional constant false alarm rate. Aiming at the problems that a traditional radar signal processing method based on distance-Doppler spectrum two-dimensional plane constant false alarm is large in data volume and long in signal processing period, a one-dimensional constant false alarm method is used for extracting a signal with a target before signal processing of each dimension, signals without the target are filtered, and the signal processing efficiency is improved. Therefore, the amount of data entering the next signal processing process is reduced, and the signal processing speed can be remarkably improved.

Description

Technical Field

[0001] The invention belongs to the technical field of millimeter wave radar detection, and in particular to a fast signal processing method and system of FMCW MIMO radar based on multi-dimensional constant false alarm. Background Art

[0002] With the development of industries such as autonomous driving and vehicle-road collaboration, millimeter-wave radar has been widely used in the vehicle-mounted and roadside fields. The traditional CFAR method is based on the RD-MAP results of the two-dimensional FFT of the distance dimension (fast time dimension) and the speed dimension (slow time dimension). CFAR region segmentation is performed on the two-dimensional plane of R (distance) V (speed), and different thresholds are set for each region. Since it is necessary to process all signals of different distances and speeds collected by the radar, the radar signal processing cycle is long and the target detection response delay is large. Especially for sparse target detection scenarios, a large amount of computing resources are wasted in the signal processing process. Summary of the invention

[0003] The object of the present invention is to provide a FMCW MIMO radar fast signal processing method based on multi-dimensional constant false alarm rate to solve the problems existing in the above-mentioned prior art.

[0004] The technical solution to achieve the purpose of the present invention is: on the one hand, a fast signal processing method of FMCWMIMO radar based on multi-dimensional constant false alarm is provided, and the method comprises:

[0005] Step 1, performing a range-dimensional fast Fourier transform on the difference frequency sampling data of each channel of the FMCW MIMO radar;

[0006] Step 2, performing one-dimensional constant false alarm on the distance dimension fast Fourier transform result, and extracting the signal of the target at the corresponding distance;

[0007] Step 3, performing a speed-dimensional fast Fourier transform on the target-existing signal extracted in step 2;

[0008] Step 4, performing one-dimensional constant false alarm on the speed dimension fast Fourier transform result, and extracting the signal of the target corresponding to the speed;

[0009] Step 5, calculating the one-dimensional angle of arrival of the target signal extracted in step 4;

[0010] Step 6, performing one-dimensional constant false alarm on the result of the target first-dimensional angle solution, and extracting the signal corresponding to the first-dimensional angle where the target exists;

[0011] Step 7, extract the distance, speed and first dimension angle of the corresponding target.

[0012] Furthermore, the method further comprises, after step 6, executing:

[0013] For the target signal extracted in step 6, the second dimension angle of arrival calculation is performed.

[0014] Furthermore, the method further comprises: after calculating the second-dimensional angle of arrival of the signal with the target extracted in step 6, executing:

[0015] A one-dimensional constant false alarm is performed on the target's second-dimensional angle solution result to extract the signal corresponding to the target's second-dimensional angle.

[0016] Furthermore, step 7 also includes: extracting a second dimension angle corresponding to the target.

[0017] Furthermore, the channel in step 1 refers to a virtual MIMO channel of an FMCW radar that supports an angle measurement function based on a MIMO system.

[0018] Furthermore, the angle of arrival calculation method adopts one or more of fast Fourier transform, digital beam forming or any other method for angle solution.

[0019] Furthermore, the second-dimensional angle of arrival calculation is for 4D radar, that is, a radar that simultaneously solves different angles of the target in multiple plane coordinate systems.

[0020] On the other hand, a FMCW MIMO radar fast signal processing system based on multi-dimensional constant false alarm is provided, the system comprising:

[0021] The first module is used to perform a distance-dimensional fast Fourier transform on the difference frequency sampling data of each channel of the FMCW MIMO radar;

[0022] The second module is used to perform one-dimensional constant false alarm on the distance dimension fast Fourier transform result and extract the signal of the target at the corresponding distance;

[0023] The third module is used for performing a speed-dimensional fast Fourier transform on the signal of the target existence extracted by the second module;

[0024] The fourth module is used to perform one-dimensional constant false alarm on the result of the fast Fourier transform of the velocity dimension, and extract the signal of the target corresponding to the velocity;

[0025] A fifth module is used to calculate a one-dimensional angle of arrival for the target signal extracted by the fourth module;

[0026] The sixth module is used to perform one-dimensional constant false alarm on the first-dimensional angle solution result of the target, and extract the signal corresponding to the first-dimensional angle where the target exists;

[0027] The seventh module is used to extract the distance, speed and first-dimensional angle of the corresponding target.

[0028] Furthermore, the system further comprises:

[0029] Executed after the sixth module:

[0030] The eighth module is used to calculate the second-dimensional angle of arrival for the signal of the target extracted by the sixth module.

[0031] Furthermore, the system further includes: executing after the eighth module:

[0032] The ninth module is used to perform one-dimensional constant false alarm on the target's second-dimensional angle solution result, and extract the signal corresponding to the second-dimensional angle where the target exists.

[0033] Compared with the prior art, the present invention has the following significant advantages: in order to solve the problems of large data volume and long signal processing cycle in the traditional radar signal processing method based on two-dimensional constant false alarm rate of range-Doppler spectrum, a one-dimensional constant false alarm rate method is used before signal processing in each dimension to extract signals with targets and filter signals without targets, thereby reducing the data volume entering the next round of signal processing process and significantly improving the signal processing speed.

[0034] The present invention is further described in detail below in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is the structure diagram of the range-Doppler spectrum, that is, the fast Fourier transform result of the distance dimension (fast time dimension) and the velocity dimension (slow time dimension), which is a two-dimensional plane.

[0036] Figure 2 It is a one-dimensional constant false alarm method, which can extract the signal of the existence of the target after the fast Fourier transform of the distance dimension, the fast Fourier transform of the speed dimension, the calculation of the first dimension angle of arrival, and the calculation of the second dimension angle of arrival.

[0037] Figure 3 The present invention is a flowchart of a fast signal processing method of FMCW MIMO radar based on multi-dimensional constant false alarm rate (CFAR). DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0039] It should be noted that if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0040] In one embodiment, in combination Figure 3 , provides a fast signal processing method for FMCW MIMO radar based on multi-dimensional constant false alarm, the method comprising:

[0041] Step 1: Perform a distance dimension (fast time dimension) fast Fourier transform (FFT) on the difference frequency sampling data of each channel of the FMCW MIMO radar;

[0042] Step 2, performing one-dimensional constant false alarm (first time) on the distance dimension fast Fourier transform result, and extracting the signal of the target at the corresponding distance;

[0043] Step 3, for the target signal extracted in step 2, perform a speed dimension (slow time dimension) fast Fourier transform;

[0044] Here, the fast Fourier transform results of the distance dimension (fast time dimension) and the velocity dimension (slow time dimension) are as follows Figure 1 shown.

[0045] Step 4, performing one-dimensional constant false alarm (second time) on the speed dimension fast Fourier transform result, and extracting the signal of the target corresponding to the speed;

[0046] Step 5, calculating the one-dimensional angle of arrival of the target signal extracted in step 4;

[0047] Step 6, performing one-dimensional constant false alarm (third time) on the result of the first-dimensional angle solution of the target, and extracting the signal corresponding to the first-dimensional angle where the target exists;

[0048] Step 7, extract the distance, speed and first dimension angle of the corresponding target.

[0049] Furthermore, in one embodiment, the method further comprises, after step 6, executing:

[0050] For the target signal extracted in step 6, the second dimension angle of arrival calculation is performed.

[0051] Furthermore, in one embodiment, the method further comprises: after calculating the second dimension angle of arrival of the signal of the target extracted in step 6, executing:

[0052] A one-dimensional constant false alarm (fourth time) is performed on the target's second-dimensional angle solution result to extract the signal corresponding to the target's second-dimensional angle.

[0053] Furthermore, in one of the embodiments, step 7 also includes: extracting a second dimensional angle corresponding to the target.

[0054] Here, the one-dimensional constant false alarm can extract the signal of the target after the distance dimension fast Fourier transform, the speed dimension fast Fourier transform, the first dimension arrival angle calculation, and the second dimension arrival angle calculation, such as Figure 2 shown.

[0055] Furthermore, in one of the embodiments, the channel in step 1 refers to a virtual MIMO channel of an FMCW radar that supports an angle measurement function based on a MIMO system.

[0056] Furthermore, in one of the embodiments, the angle of arrival calculation method adopts one or more of fast Fourier transform, digital beam forming or any other method for angle resolution.

[0057] Furthermore, in one of the embodiments, the second dimension angle of arrival calculation is for a 4D radar, that is, a radar that simultaneously solves different angles of a target in multiple plane coordinate systems.

[0058] In one embodiment, a FMCW MIMO radar fast signal processing system based on multi-dimensional constant false alarm is provided, the system comprising:

[0059] The first module is used to perform a distance-dimensional fast Fourier transform on the difference frequency sampling data of each channel of the FMCW MIMO radar;

[0060] The second module is used to perform one-dimensional constant false alarm on the distance dimension fast Fourier transform result and extract the signal of the target at the corresponding distance;

[0061] The third module is used for performing a speed-dimensional fast Fourier transform on the signal of the target existence extracted by the second module;

[0062] The fourth module is used to perform one-dimensional constant false alarm on the result of the fast Fourier transform of the velocity dimension, and extract the signal of the target corresponding to the velocity;

[0063] A fifth module is used to calculate a one-dimensional angle of arrival for the target signal extracted by the fourth module;

[0064] The sixth module is used to perform one-dimensional constant false alarm on the first-dimensional angle solution result of the target, and extract the signal corresponding to the first-dimensional angle where the target exists;

[0065] The seventh module is used to extract the distance, speed and first-dimensional angle of the corresponding target.

[0066] Furthermore, in one embodiment, the system further comprises:

[0067] Executed after the sixth module:

[0068] The eighth module is used to calculate the second-dimensional angle of arrival for the signal of the target extracted by the sixth module.

[0069] Furthermore, in one embodiment, the system further includes: executing after the eighth module:

[0070] The ninth module is used to perform one-dimensional constant false alarm on the target's second-dimensional angle solution result, and extract the signal corresponding to the second-dimensional angle where the target exists.

[0071] For the specific definition of the FMCW MIMO radar fast signal processing system based on multi-dimensional constant false alarm, please refer to the definition of the FMCW MIMO radar fast signal processing method based on multi-dimensional constant false alarm in the above text, which will not be repeated here. Each module in the above-mentioned FMCW MIMO radar fast signal processing system based on multi-dimensional constant false alarm can be implemented in whole or in part by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory in the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0072] In one embodiment, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the following is achieved:

[0073] Step 1, performing a range-dimensional fast Fourier transform on the difference frequency sampling data of each channel of the FMCW MIMO radar;

[0074] Step 2, performing one-dimensional constant false alarm on the distance dimension fast Fourier transform result, and extracting the signal of the target at the corresponding distance;

[0075] Step 3, performing a speed-dimensional fast Fourier transform on the target-existing signal extracted in step 2;

[0076] Step 4, performing one-dimensional constant false alarm on the speed dimension fast Fourier transform result, and extracting the signal of the target corresponding to the speed;

[0077] Step 5, calculating the one-dimensional angle of arrival of the target signal extracted in step 4;

[0078] Step 6, performing one-dimensional constant false alarm on the result of the target first-dimensional angle solution, and extracting the signal corresponding to the first-dimensional angle where the target exists;

[0079] Step 7, calculating the second dimension angle of arrival for the target signal extracted in step 6;

[0080] Step 8, performing one-dimensional constant false alarm on the result of the second-dimensional angle solution of the target, and extracting the signal corresponding to the second-dimensional angle where the target exists;

[0081] Step 9, extract the distance, speed, first dimension angle and second dimension angle of the corresponding target.

[0082] For the specific definition of each step, please refer to the definition of the FMCW MIMO radar fast signal processing method based on multi-dimensional constant false alarm rate in the above text, which will not be repeated here.

[0083] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the computer program implements:

[0084] Step 1, performing a range-dimensional fast Fourier transform on the difference frequency sampling data of each channel of the FMCW MIMO radar;

[0085] Step 2, performing one-dimensional constant false alarm on the distance dimension fast Fourier transform result, and extracting the signal of the target at the corresponding distance;

[0086] Step 3, performing a speed-dimensional fast Fourier transform on the target-existing signal extracted in step 2;

[0087] Step 4, performing one-dimensional constant false alarm on the speed dimension fast Fourier transform result, and extracting the signal of the target corresponding to the speed;

[0088] Step 5, calculating the one-dimensional angle of arrival of the target signal extracted in step 4;

[0089] Step 6, performing one-dimensional constant false alarm on the result of the target first-dimensional angle solution, and extracting the signal corresponding to the first-dimensional angle where the target exists;

[0090] Step 7, calculating the second dimension angle of arrival for the target signal extracted in step 6;

[0091] Step 8, performing one-dimensional constant false alarm on the result of the second-dimensional angle solution of the target, and extracting the signal corresponding to the second-dimensional angle where the target exists;

[0092] Step 9, extract the distance, speed, first dimension angle and second dimension angle of the corresponding target.

[0093] The above description of the embodiments is to facilitate the understanding and use of the invention patent by ordinary technicians in the technical field. It is obvious that those familiar with the technology in this field can easily make various modifications to these embodiments and apply the general principles described herein to other embodiments without creative work. Therefore, the invention patent is not limited to the above embodiments. Improvements and modifications made by those skilled in the art based on the disclosure of the invention patent and not departing from the scope of the invention patent should be within the protection scope of the invention patent.

Claims

1. A fast signal processing method for FMCW MIMO radar based on multi-dimensional constant false alarm, characterized in that: The method comprises: Step 1, performing a range-dimensional fast Fourier transform on the difference frequency sampling data of each channel of the FMCW MIMO radar; Step 2, performing one-dimensional constant false alarm on the distance dimension fast Fourier transform result, and extracting the signal of the target at the corresponding distance; Step 3, performing a speed-dimensional fast Fourier transform on the target-existing signal extracted in step 2; Step 4, performing one-dimensional constant false alarm on the speed dimension fast Fourier transform result, and extracting the signal of the target corresponding to the speed; Step 5, calculating the one-dimensional angle of arrival of the target signal extracted in step 4; Step 6, performing one-dimensional constant false alarm on the result of the target first-dimensional angle solution, and extracting the signal corresponding to the first-dimensional angle where the target exists; Step 7, extract the distance, speed and first dimension angle of the corresponding target.

2. The FMCW MIMO radar fast signal processing method based on multi-dimensional constant false alarm according to claim 1, characterized in that: The method further comprises, after step 6, executing: For the target signal extracted in step 6, the second dimension angle of arrival calculation is performed.

3. The FMCW MIMO radar fast signal processing method based on multi-dimensional constant false alarm according to claim 2, characterized in that: The method further comprises: after calculating the second dimension angle of arrival of the signal of the target extracted in step 6, executing: A one-dimensional constant false alarm is performed on the target's second-dimensional angle solution result to extract the signal corresponding to the target's second-dimensional angle.

4. The FMCW MIMO radar fast signal processing method based on multi-dimensional constant false alarm according to claim 3 is characterized in that: Step 7 also includes: extracting the second dimension angle corresponding to the target.

5. The FMCW MIMO radar fast signal processing method based on multi-dimensional constant false alarm according to claim 1, characterized in that: The channel described in step 1 refers to a virtual MIMO channel of an FMCW radar that supports an angle measurement function based on a MIMO system.

6. The FMCW MIMO radar fast signal processing method based on multi-dimensional constant false alarm according to claim 1 or 2, characterized in that: The angle of arrival calculation method adopts one or more of fast Fourier transform, digital beam forming or any other method for angle solution.

7. The FMCW MIMO radar fast signal processing method based on multi-dimensional constant false alarm according to claim 2, characterized in that: The second-dimensional angle of arrival calculation is for 4D radar, that is, a radar that simultaneously solves different angles of the target in multiple plane coordinate systems.

8. A FMCW MIMO radar fast signal processing system based on a multi-dimensional constant false alarm rate according to the method of any one of claims 1 to 7, characterized in that: The system includes sequentially executing: The first module is used to perform a distance-dimensional fast Fourier transform on the difference frequency sampling data of each channel of the FMCW MIMO radar; The second module is used to perform one-dimensional constant false alarm on the distance dimension fast Fourier transform result and extract the signal of the target at the corresponding distance; The third module is used for performing a speed-dimensional fast Fourier transform on the signal of the target existence extracted by the second module; The fourth module is used to perform one-dimensional constant false alarm on the result of the fast Fourier transform of the velocity dimension, and extract the signal of the target corresponding to the velocity; A fifth module is used to calculate a one-dimensional angle of arrival for the target signal extracted by the fourth module; The sixth module is used to perform one-dimensional constant false alarm on the first-dimensional angle solution result of the target, and extract the signal corresponding to the first-dimensional angle where the target exists; The seventh module is used to extract the distance, speed and first-dimensional angle of the corresponding target.

9. The FMCW MIMO radar fast signal processing system based on multi-dimensional constant false alarm according to claim 8, characterized in that: The system further comprises: Executed after the sixth module: The eighth module is used to calculate the second-dimensional angle of arrival for the signal of the target extracted by the sixth module.

10. The FMCW MIMO radar fast signal processing system based on multi-dimensional constant false alarm according to claim 9, characterized in that: The system further includes: executing after the eighth module: The ninth module is used to perform one-dimensional constant false alarm on the target's second-dimensional angle solution result, and extract the signal corresponding to the second-dimensional angle where the target exists.

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