MIMO radar device

Abstract

A relatively inexpensive MIMO radar device with high angular resolution is provided. The MIMO radar apparatus includes: a transmission device for transmitting a MIMO radar waveform including cycling N waveforms forming the MIMO radar waveform through N transmission channels, N being an integer greater than 1, with a constant relative time shift between the N cyclic waveforms; and a receiving device for receiving a reception signal generated by reflection of the transmitted MIMO radar waveform through N reception channels. The transmitting device comprises a generating means for generating the MIMO radar waveform, generating a reference signal, and providing the generated reference signal to the receiving device. And the receiving equipment is used for performing IQ frequency mixing on the receiving signal according to the reference signal to obtain an intermediate frequency signal, and performing analog-to-digital conversion on the obtained intermediate frequency signal to obtain an analog-to-digital converted receiving signal.

Description

Technical Field

[0001] The present invention relates to a MIMO radar device, and in particular to a digital MIMO radar device suitable for automobile application. Background Art

[0002] Radar devices are widely used to detect objects. For example, in automotive applications, radar devices are used to determine the distance to various objects as part of driver assistance systems. Radar devices have been shown to be helpful in obstacle avoidance and autonomous driving.

[0003] Multiple-Input-Multiple-Output (MIMO) radar devices with multiple transmit and receive antennas offer various advantages in terms of object detection accuracy. Specifically, MIMO radar devices have a virtual large aperture, which enables high angular resolution in a relatively cost-effective manner.

[0004] Analog MIMO radar devices are commonly used for different applications, have relatively simple processing, and are relatively robust to signal saturation caused by nearby highly reflective objects. However, the number of transmitters that can be used is limited. Currently, digital MIMO radar devices may be better than analog devices in terms of object detection accuracy, but are more complex and more expensive than the latter, for example, because the analog-to-digital converters need to be fast and have a high dynamic range to avoid saturation caused by nearby highly reflective objects.

[0005] For example, DE 10 2016 224 945 A1 discloses a digital frequency modulation continuous wave (FMCW) radar device, in which the radar signal is generated digitally, then IQ (in-phase and quadrature) modulated by the transmitting antenna, up-converted, amplified and sent into the air. On the receiver side, the signal is received by the receiving antenna, IQ mixed by a reference signal, passed through a notch filter bank to avoid saturation due to strong reflections from nearby objects, analog-to-digital converted and finally processed by a computing unit. However, the transmission bandwidth increases with the number of transmitting antennas used. In addition, the time and frequency domains of the MIMO waveform are not effectively utilized. This means that the occupied transmission bandwidth is large, which of course requires expensive digital-to-analog converters with high sampling rates. In addition, the need for relatively large transmission bandwidths also poses problems with regard to statutory spectrum regulations. Summary of the invention

[0006] In view of the above circumstances, an object of the present application is to provide a MIMO radar device that enables object detection at low cost and high angular resolution.

[0007] The above and other objects are achieved by the subject matter claimed in the independent claims. Other implementations are apparent from the dependent claims, the description and the drawings.

[0008] According to a first aspect, a MIMO radar apparatus is provided, the MIMO radar apparatus comprising: a transmitting device for transmitting a MIMO radar waveform, including causing N waveforms forming the MIMO radar waveform to circulate through N transmission channels, N being an integer greater than 1, with a constant relative time shift (constant frequency spacing) between the N cyclic waveforms; and a receiving device for receiving a received signal generated by reflections of the transmitted MIMO radar waveform through N receiving channels. The transmitting device comprises a generating device, the generating device being configured to generate the MIMO radar waveform, generate a reference signal (e.g., one of the N waveforms), and provide the generated reference signal to the receiving device. The receiving device is configured to perform IQ mixing (demodulation) on the received signal according to the reference signal to obtain an intermediate frequency signal, and to perform analog-to-digital conversion (through an analog-to-digital converter) on the obtained intermediate frequency signal to obtain an analog-to-digital converted received signal.

[0009] Each transmit antenna radiates simultaneously. The same waveform circulates through the same transmit channel. For example: at the start of a radar pulse, the nth transmit channel (n=0...N–1) provides a waveform with a frequency nΔf. The frequency of the waveform increases (linearly) over time until a predetermined bandwidth is reached. After reaching the bandwidth, the waveform is further transmitted in the same transmit channel (if the pulse period has not yet ended), starting with a frequency Δf, and the frequency increases (linearly) over time until the pulse period ends. There is a constant time shift for reaching the same frequency between adjacent transmit channels.

[0010] Thus, the MIMO radar device provided herein operates according to both (linear) FMCW modulation and individually cyclic signals (cyclic codes). This configuration makes it possible to use multiple transmitters simultaneously, and a high-density spectrum can be obtained due to the high angular resolution and sensitivity for detecting weakly reflecting objects and the large aperture. Due to the use of cyclic waveforms, a very compact and efficient spectrum can be used, and the transmission bandwidth does not necessarily increase with the number of transmitting antennas used. This facilitates frequency hopping in the allowed spectrum to avoid interference and complies with statutory spectrum regulations.

[0011] According to an implementation, the receiving device of the MIMO radar apparatus according to the first aspect is used to receive s =NΔfThe sampling frequency f sThe obtained intermediate frequency signal is converted into analog-to-digital, where Δf represents the constant frequency interval between the N transmission channels. The specific sampling makes it possible to obtain the range distribution based on the frequency of the received signal and relatively simple spectrum analysis (such as FFT) without complex processing. The details of this specific sampling are described below.

[0012] According to another implementation, all N cyclic waveforms (frequency linearly depends on time) have the same chirp parameters except for the corresponding initial frequency. Specifically, the frequency-time slope of all N waveforms can be the same. The amplitude of all waveforms can also be the same.

[0013] According to another implementation, one of the transmitting device and the receiving device includes a phase shift device, the phase shift device is used to shift the reference signal by 90° to obtain a phase shift reference signal, and the receiving device is used to perform IQ mixing (demodulation) according to the phase shift reference signal. Therefore, this can be appropriately selected from the phase shift reference signal provided by the transmitting device or generated by the receiving device, thereby increasing the flexibility of the overall configuration design.

[0014] According to another implementation, the generating device includes: a digital signal generator for generating a digital transmission signal and a digital-to-analog converter for performing digital-to-analog conversion on the digital transmission signal to obtain an analog transmission signal. In other words, a fully digital MIMO radar device is provided in this implementation. Specifically, the generating device may include a local oscillator, which is used to up-convert the generated digital transmission signal to an expected carrier frequency.

[0015] According to another implementation, the generating device includes a low-pass filter, and the low-pass filter is used to perform low-pass filtering on the analog transmission signal. Low-pass filtering can reduce nonlinearity that may exist in the digital-to-analog conversion signal.

[0016] According to another implementation, the receiving device includes an analog filter bank for filtering the intermediate frequency signal and adjusting the amplitude of the intermediate frequency signal to avoid saturation of the analog-to-digital conversion. Thus, a high dynamic range of objects to be detected can be processed without the need for expensive analog-to-digital converters with very high dynamic ranges. The MIMO radar device is robust to strong reflected signals from nearby objects. In this regard, the use of notch filters may be particularly useful.

[0017] The MIMO radar device described in the first aspect and any one of the above implementations can be used to determine various spatial parameters of the detected object. According to one implementation, the receiving device includes a digital processing unit, which is used to receive the analog-to-digital converted received signal and determine the position of the MIMO radar device or at least one of the distance from the object that generates the reflection of the transmitted MIMO radar waveform based on these signals to the MIMO radar device, the angle with the MIMO radar device, the direction relative to the MIMO radar device, and the speed relative to the MIMO radar device.

[0018] According to a second aspect, a device is provided comprising the MIMO radar apparatus according to the first aspect or any one of the above implementations, wherein the device is one of a vehicle, a car, an automatic guided vehicle, a robot, a home monitoring system, and a health monitoring system. All of these devices can benefit from the high angular resolution of the MIMO radar apparatus implemented according to a relatively inexpensive design.

[0019] According to a third aspect, a method for detecting an object by a MIMO radar device is provided. The method includes: generating N waveforms for N transmit channels of the MIMO radar device, N being an integer greater than 1; generating a reference signal (e.g., one of the N waveforms) and phase shifting the reference signal by 90° to obtain a phase-shifted reference signal; transmitting the MIMO radar waveform to the object, including circulating the generated N waveforms forming the MIMO radar waveform through the N transmit channels with a constant relative time shift (constant frequency spacing) between the N circulated waveforms; receiving a received signal generated by reflection of the transmitted MIMO radar waveform from the object through the N receive channels of the MIMO radar device; performing IQ mixing (demodulation) on the received signal according to the reference signal and the phase-shifted reference signal to obtain an intermediate frequency signal; performing analog-to-digital conversion on the obtained intermediate frequency signal to obtain an analog-to-digital converted received signal; processing the analog-to-digital converted received signal to determine at least one of the position of the MIMO radar device, the distance of the object to the MIMO radar device, the angle with the MIMO radar device, the direction relative to the MIMO radar device, and the speed relative to the MIMO radar device.

[0020] According to an implementation of the method of the third aspect, the analog-to-digital conversion of the intermediate frequency signal obtained is based on f s =NΔfThe sampling frequency f s Executed, where Δf represents a constant frequency spacing between N transmission channels and a constant frequency spacing between N transmission channels.

[0021] According to another implementation, all N cyclic waveforms (frequency linearly depends on time) have the same chirp parameters except for the corresponding initial frequency. Specifically, the frequency-time slope of all N waveforms can be the same. The amplitude of all waveforms can also be the same.

[0022] According to another implementation, the method includes: generating a digital transmission signal, and performing digital-to-analog conversion on the digital transmission signal to obtain an analog transmission signal. The generated digital transmission signal may be up-converted by a local oscillator.

[0023] According to another implementation, the method includes low-pass filtering the analog transmission signal.

[0024] According to another implementation, the method includes filtering the intermediate frequency signal and adjusting the amplitude of the intermediate frequency signal to avoid analog-to-digital conversion saturation of an analog filter bank, and the analog filter bank may include a notch filter.

[0025] According to one implementation, the method includes determining, based on the analog-to-digital conversion signal, at least one of a distance from the MIMO radar device to the MIMO radar device, an angle with the MIMO radar device, a direction relative to the MIMO radar device, and a speed relative to the MIMO radar device of an object that generates a reflection of the transmitted MIMO radar waveform.

[0026] The method according to the third aspect and the implementation of the method according to the third aspect provide the same advantages as the MIMO radar device according to the first aspect and its implementation, and can be implemented in the MIMO radar device according to the first aspect and its implementation. The MIMO radar device according to the first aspect and its implementation can be used to perform the method according to the third aspect and its implementation.

[0027] In addition, a computer program product is provided, comprising computer-readable instructions, which are used to execute the steps of the method according to the third aspect and its implementation method when running on a computer.

[0028] The following drawings and descriptions set forth one or more embodiments in detail. Other features, objects, and advantages are apparent from the description, drawings, and claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the accompanying drawings:

[0030] Figure 1 A MIMO radar device according to an embodiment is shown.

[0031] Figure 2A MIMO radar device according to an embodiment is shown.

[0032] Figure 3 A MIMO waveform suitable for operation of a MIMO radar device according to an embodiment is shown.

[0033] Figure 4 The receiver side of the MIMO radar device according to the embodiment is shown with a sampling frequency f s =NΔf for signal sampling.

[0034] Figure 5 A flow chart of a method for detecting an object by a MIMO radar apparatus according to an embodiment is shown. DETAILED DESCRIPTION

[0035] A MIMO radar device and a method for detecting an object using the MIMO radar device are provided, wherein the MIMO radar device has a high angular resolution and thus can obtain a high density map. The MIMO radar device may be particularly advantageous for automotive applications because it can be designed to be relatively compact and inexpensive, facilitating mass production.

[0036] Figure 1 An embodiment of a MIMO radar device provided herein is shown. Figure 1 The MIMO radar apparatus 100 shown includes a transmitting device 110 and a receiving device 120. The transmitting device 110 and the receiving device 120 may be at least partially logically or physically separated from each other, or at least integrally formed.

[0037] exist Figure 1 In the illustrated embodiment, the transmitting unit 110 is used to transmit a MIMO radar waveform, including circulating N waveforms forming the MIMO radar waveform through N transmission channels (antennas), N being an integer greater than 1, with a constant relative time shift (and frequency spacing) between the N circulating waveforms. The receiving device is used to receive a received signal generated by reflections of the transmitted MIMO radar waveform in the N receiving channels (antennas). The transmitting device 11 includes a generating device 101, which is used to generate a MIMO radar waveform, generate a reference signal (e.g., one of the N waveforms), and provide the generated reference signal to the receiving device.

[0038] The receiving device 120 of the MIMO radar apparatus 100 is used to perform IQ mixing (demodulation) on the received signal according to the reference signal to obtain an intermediate frequency signal, and perform analog-to-digital conversion on the obtained intermediate frequency signal to obtain an analog-to-digital converted received signal.

[0039] Specifically, the receiving device 120 may be used to s =NΔfThe sampling frequency fs The obtained intermediate frequency signal is subjected to analog-to-digital conversion, wherein Δf represents a constant frequency interval between N transmission channels.

[0040] Figure 1 The MIMO radar device 100 shown in FIG. operates according to both FMCW modulation and individual cyclic signals (cyclic codes) to provide a cyclic MIMO waveform. The distance to the detection object can be determined by comparing the frequency of the received signal with a reference signal, which can be selected as one of the waveforms transmitted through the N transmission channels. For static objects, a simple frequency comparison is directly converted to a distance, thereby obtaining a linear time dependence of the chirp frequency transmitted through the N transmission channels. If the detection object moves radially relative to the antenna array, a certain Doppler shift will also occur (the Doppler frequency is added to the received signal), and the Doppler shift carries information about the speed of the moving object.

[0041] Figure 2 A MIMO radar device (eg, Figure 1 Details of an embodiment of a MIMO radar device 100 are shown. Figure 2 The digital FMCW MIMO radar device 200 shown includes a digital signal generator 210, such as a direct digital synthesizer (DDS), for generating a digital signal (chirp) for a transmission channel (antenna) Txn. Each output terminal of the digital signal generator 210 is connected to a digital-to-analog converter 220 for performing digital-to-analog conversion on the digital signal generated by the digital signal generator 210 to obtain an analog signal. The analog signal is filtered by a low-pass filter 230, and each low-pass filtered signal is up-converted to a carrier frequency, such as 76 GHz, by a local oscillator 240.

[0042] One of the up-converted low-pass filtered analog signals is selected as the reference signal Txref. The reference signal and its 90° phase-shifted version are provided to the receiver side of the digital FMCW MIMO radar device 200. The up-converted low-pass filtered analog signal is amplified by the amplifier 250 and transmitted into the air by the transmitting antenna TA. The reflection of the transmitted signal by the object to be detected is received by the receiving antenna RA.

[0043] The MIMO waveform transmitted by the digital FMCW MIMO radar device 200 is generated by circulating the waveform (an amplified up-converted low-pass filtered analog signal obtained from the digital signal generated by the digital signal generator 210) through the transmit channel Txn so that all transmit antennas TA radiate at different frequencies simultaneously. Examples of MIMO waveforms are shown in FIG. Figure 3 As shown. Figure 3In the example shown, 10 transmit channels Tx1 to Tx10 are used, resulting in a bandwidth of the MIMO waveform of 500 MHz. Figure 3 The waveforms transmitted by each transmitting antenna TA of the digital FMCW MIMO radar device 200 during a radar pulse with a pulse period Tp are shown. For each waveform, the oblique lines represent signal transmission, and the pattern area adjacent to the oblique lines represents signal reception by the receiving antenna RA of the digital FMCW MIMO radar device 200.

[0044] The digital signal generator 210 generates a chirp with a frequency that is linearly dependent on time (increasing with time) and has the same frequency-time slope. The waveform is cycled through the transmission channel Txn with a constant frequency interval Δf (e.g., 50 MHz) and a constant relative time shift between the N cyclic waveforms to achieve the same frequency (see H. Sun, F. Brigui, and M. Lesturgie, "MIMO Radar Waveform Analysis and Comparison", 2014 International Radar Conference, October 13, 2014, pp. 1-6, doi: 10.1109 / RADAR.2014.7060251).

[0045] exist Figure 3 In the example shown, at the start of the radar pulse, the nth transmit channel (n=0...N-1) provides the nth waveform starting at frequency nΔf. The first waveform is provided by the first transmit channel Tx1, starting at Δf and increasing linearly in frequency over time until the pulse period Tp and bandwidth NΔf are reached. The respective frequency of each waveform is temporarily increased until the bandwidth of the MIMO waveform is reached (e.g., 500 MHz), and the same waveform is cycled through the same transmit channel / transmit antenna Tx2...TxN, starting at frequency Δf and increasing temporarily in frequency until nΔf is reached again at the end of the pulse period Tp. Cycling waveform s n There is a relative time shift between (t) to achieve the same frequency: s n (t)~s(t–(n-1)Δt).

[0046] from Figure 3 It can be seen that a very compact spectrum can be obtained, which can be fully used for radar signal processing for object detection. In particular, the required bandwidth can be reduced compared to the bandwidth required according to the disclosure given in DE 10 2016 224 945 A1.

[0047] Produced by reflections of the transmitted MIMO waveform and Figure 2The reception signal received by the reception channel Rxn of the illustrated digital FMCW MIMO radar device 200 is amplified by a (low noise) amplifier 260. Each of the analog reception signals thus amplified is mixed with a reference signal and a 90° phase-shifted reference signal, i.e., IQ demodulation is performed to obtain an intermediate frequency (IQ) signal on the receiver side of the digital FMCW MIMO radar device 200. The intermediate frequency signal is filtered by an analog filter bank 270 including a notch filter, and the intermediate frequency signal thus filtered is analog-to-digital converted by an analog-to-digital converter 280. The analog filter bank 270 is provided to avoid signal saturation in the analog-to-digital converter 280 due to high-amplitude reflections caused by nearby objects.

[0048] The sampling frequency f of the analog-to-digital converter 280 is s can be appropriately chosen as f s =NΔf, where Δf represents the constant frequency spacing between N (e.g., Tx1 to Tx10) transmission channels. Figure 3 and Figure 4 Understand the impact of using this particular sampling frequency. For example, take the Tx1 transmission starting at time t=0 and with frequency f=50 Hz as a reference and the Tx4 transmission for comparison. In the example shown, the frequency signal spacing is Δf=50 MHz and the total number of transmission channels is N=10. In the first time interval T1, the frequency difference between Tx4 and the reference Tx1 is (10-4+1)50 MHz=350 MHz. In the second time interval T2, the frequency of the Tx4 signal is (-4+1)50 MHz=-150 MHz, which is lower than the frequency of the Tx1 reference.

[0049] like Figure 4 As shown, using the sampling rate f s =NΔf, which makes it possible to achieve the same frequency difference between the frequency of the received signal corresponding to the nth transmitted signal Txn and the frequency of the received signal corresponding to the transmitted reference signal Tx in the two time periods T1 and T2, so the entire spectrum can be used for radar data processing. Again, comparing the Tx4 signal with the reference signal TX1, Figure 4 The left column shows the above-mentioned frequency difference of the frequency of the received signal corresponding to the transmitted signal, and the middle column shows the corresponding frequency difference of the intermediate frequency signal before analog-to-digital conversion (downsampling) by the analog-to-digital converter 280 of the digital FMCW MIMO radar device 200. Figure 4 The right column shows that due to the sampling rate f s =NΔf, which can ensure a constant positive frequency difference between the digital down-sampled received signal corresponding to the Tx4 signal and the digital down-sampled received signal corresponding to the Tx1 signal.

[0050] The digital received signal provided by the analog-to-digital converter 280 is input to the digital processing unit 290 for radar data processing.

[0051] It should be noted that Figure 2 The digital signal generator 210, the digital-to-analog converter 220, the low-pass filter 230, the local oscillator 240, the amplifier 250 and the transmitting antenna TA shown may be included in Figure 1 In the transmitting device 110 of the MIMO radar apparatus 100 shown in FIG. Figure 2 The receiving antenna RA, amplifier 260, analog filter bank 270, analog-to-digital converter 280, and digital processing unit 280 shown in FIG. 2 may include Figure 1 In the receiving device 120 of the MIMO radar device 100 shown in FIG. In addition, if appropriate, Figure 2 The various components shown in the drawings may be logically and / or physically distributed or formed integrally with each other.

[0052] Figure 5 An embodiment of a method 500 for detecting an object by a MIMO radar device is shown. Detecting an object may include determining a position of the MIMO radar device or at least one of a distance from the MIMO radar device, an angle from the MIMO radar device, a direction relative to the MIMO radar device, and a speed relative to the MIMO radar device of an object that produces a reflection of the transmitted MIMO radar waveform.

[0053] exist Figure 5 In step S510 of the method 500 shown, N waveforms are generated for N transmit channels of the MIMO radar device, N being an integer greater than 1. In addition, the method 500 includes generating a reference signal (e.g., one of the N waveforms) in step S520, and phase shifting the reference signal by 90° to obtain a phase-shifted reference signal. In addition, the method 500 includes transmitting S530 the MIMO radar waveform to the object to be detected, which includes circulating the generated N waveforms forming the MIMO radar waveform through the N transmit channels with a constant relative time shift (and frequency spacing) between the N circulating waveforms.

[0054] The received signals resulting from the reflections of the transmitted MIMO radar waveform from the object are received S540 via the N receive channels of the MIMO radar device. These received signals are IQ mixed (demodulated) S550 based on the reference signal and the phase shifted reference signal to obtain intermediate frequency signals. These intermediate frequency signals are analog-to-digital converted S560 (possibly after being filtered by an analog filter bank including a notch filter) to obtain analog-to-digital converted received signals. The analog-to-digital converted received signals may be obtained by downsampling the (filtered) intermediate frequency signals, with a sampling frequency f sIt is obtained by fs=NΔf, where Δf represents the constant frequency interval between the N transmission channels and the constant frequency interval between the N transmission channels. The analog-to-digital converted received signal is processed S570 to determine, for example, at least one of the position of the MIMO radar device, the distance of the object to the MIMO radar device, the angle with the MIMO radar device, the direction relative to the MIMO radar device, and the speed relative to the MIMO radar device.

[0055] For example, Figure 1 The MIMO radar device 100 or Figure 2 The MIMO radar device 200 shown can be used to perform Figure 5 The method 500 shown in FIG. 1 and the method may be performed in Figure 1 The MIMO radar device 100 or Figure 2 The MIMO radar device 200 is shown as being implemented therein.

[0056] All embodiments discussed above are not intended to be limiting, but rather to be examples for illustrating the features and advantages of the present invention. It should be understood that some or all of the above features may also be combined in different ways.

Claims

1. A multiple-input multiple-output (MIMO) radar device (100, 200), characterized in that: include: A transmitting device (110) for transmitting a MIMO radar waveform, comprising cycling N waveforms forming the MIMO radar waveform through N transmission channels, N being an integer greater than 1, with a constant relative time shift between the N cycling waveforms; A receiving device (120) for receiving, via N receiving channels, a received signal generated by reflections of the transmitted MIMO radar waveform; in, The transmitting device (110) comprises a generating device (101), wherein the generating device (101) is used to generate the MIMO radar waveform, generate a reference signal, and provide the generated reference signal to the receiving device (120); The receiving device (120) is used to perform IQ mixing on the received signal according to the reference signal to obtain an intermediate frequency signal, and perform analog-to-digital conversion on the obtained intermediate frequency signal to obtain an analog-to-digital converted received signal.

2. The radar device (100, 200) according to claim 1, characterized in that The receiving device (120) is used to s =NΔfThe sampling frequency f s The obtained intermediate frequency signal is subjected to analog-to-digital conversion, wherein Δf represents a constant frequency interval between the N transmission channels.

3. The radar device (100, 200) according to one of the preceding claims, characterized in that The reference signal is one waveform among the N waveforms.

4. The radar device (100, 200) according to one of the preceding claims, characterized in that All N waveforms have the same chirp parameters except for their corresponding initial frequencies.

5. The radar device (100, 200) according to one of the preceding claims, characterized in that One of the transmitting device (110) and the receiving device (120) comprises a phase shift device for shifting the reference signal by 90° to obtain a phase-shifted reference signal, wherein the receiving device (120) is used to perform the IQ mixing according to the phase-shifted reference signal.

6. The radar device (100, 200) according to one of the preceding claims, characterized in that The generating device (101) comprises: a digital signal generator (210) for generating a digital transmission signal and a digital-to-analog converter (220) for performing digital-to-analog conversion on the digital transmission signal to obtain an analog transmission signal.

7. The radar device (100, 200) according to claim 6, characterized in that: The generating device (101) comprises a local oscillator (240), and the local oscillator (240) is used to up-convert the generated digital transmission signal.

8. The radar device (100, 200) according to claim 6 or 7, characterized in that: The generating device (101) comprises a low-pass filter (230), and the low-pass filter is used to perform low-pass filtering on the analog transmission signal.

9. The radar device (100, 200) according to one of the preceding claims, characterized in that The receiving device (120) comprises an analog filter group (270), and the analog filter group (270) is used to filter the intermediate frequency signal and adjust the amplitude of the intermediate frequency signal to avoid analog-to-digital conversion saturation.

10. The radar device (100, 200) according to claim 9, characterized in that: The analog filter bank (270) includes a notch filter.

11. The radar device (100, 200) according to one of the preceding claims, characterized in that The receiving device (120) comprises a digital processing unit (290) for receiving the digital-to-analog converted received signal and determining at least one of the position of the MIMO radar device (100, 200), the distance from an object generating a reflection of the transmitted MIMO radar waveform to the MIMO radar device (100, 200), the angle with respect to the MIMO radar device (100, 200), the direction relative to the MIMO radar device (100, 200) and the speed relative to the MIMO radar device (100, 200).

12. A device comprising a MIMO radar device (100, 200) according to one of the preceding claims, characterized in that The device is one of a vehicle, a car, an automatic guided vehicle, a robot, a home monitoring system, and a health monitoring system.

13. A method for detecting an object by means of a MIMO radar device (100, 200), characterized in that: include: Generating N waveforms (S510) for N transmission channels of the MIMO radar device (100, 200), where N is an integer greater than 1; Generate a reference signal, and phase-shift the reference signal by 90° to obtain a phase-shifted reference signal (S520); transmitting a MIMO radar waveform to the object (S530), including cycling the generated N waveforms forming the MIMO radar waveform through the N transmit channels with a constant relative time shift between the N cycled waveforms; receiving, through N receiving channels of the MIMO radar device (100, 200), a reception signal generated by reflection of the transmitted MIMO radar waveform from an object (S540); Performing IQ mixing on the received signal according to the reference signal and the phase-shifted reference signal (S550) to obtain an intermediate frequency signal; Performing analog-to-digital conversion on the obtained intermediate frequency signal (S560) to obtain an analog-to-digital converted received signal; The analog-to-digital converted received signal (S570) is processed to determine at least one of the position of the MIMO radar device, the distance of the object from the MIMO radar device (100, 200), the angle of the object to the MIMO radar device (100, 200), the direction relative to the MIMO radar device (100, 200), and the speed relative to the MIMO radar device (100, 200).

14. The method according to claim 13, characterized in that The analog-to-digital conversion of the intermediate frequency signal is based on f s =NΔfThe sampling frequency f s Executed, wherein Δf represents a constant frequency interval between the N transmitting channels and a constant frequency interval between the N receiving channels.

15. A computer program product, characterized in that The method comprises computer readable instructions for executing the steps of the method according to one of claims 13 and 14 when executed on a computer.

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