Radar data processing method and device, radar system and storage medium

Abstract

The invention discloses a radar data processing method and device, a radar system and a storage medium. The method is applied to a radar system, the radar system comprises an EDMA and an HWA, and the method comprises the steps that the EDMA obtains radar original data and preprocesses the radar original data to generate Doppler dimension data; and the EDMA stores the Doppler dimension data in an RDM matrix, and triggers the HWA to perform Doppler dimension CFAR on the Doppler dimension data to obtain first target detection information, and stores the first target detection information in a memory of the HWA. According to the scheme, Doppler-dimension CFAR can be completed in the Doppler-dimension data storage process, the Doppler-dimension CFAR does not need to be carried out after the Doppler-dimension data is stored in the RDM matrix, unnecessary memory can be avoided, and the radar data processing time is shortened.

Description

Technical Field

[0001] The present invention relates to the field of radar detection technology, and in particular to a radar data processing method, device, radar system and storage medium. Background Art

[0002] In existing radar systems, the Constant False Alarm Rate (CFAR) module is often implemented in a digital signal processor (DSP) or a high-performance ARM processor through pure software programming. However, pure software programming is often inefficient. With the increasing demand for real-time refresh rates, it is imperative to accelerate the CFAR module that performs a large amount of repeated calculations.

[0003] Since CFAR requires a large amount of calculation and has many repeated cycles, and each calculation often involves the same operation, it becomes crucial to reduce repetitive work and improve efficiency and real-time performance. Summary of the invention

[0004] The present invention provides a radar data processing method, device, radar system and storage medium to reduce the processing time of radar data and improve the processing efficiency and real-time performance of CFAR.

[0005] According to one aspect of the present invention, a radar data processing method is provided, which is applied to a radar system, wherein the radar system includes an enhanced direct memory access controller EDMA and a hardware accelerator HWA, and the method includes:

[0006] The EDMA acquires radar raw data in real time, and pre-processes the radar raw data to generate Doppler dimension data;

[0007] The EDMA stores the Doppler dimension data in a range Doppler map RDM matrix, and triggers the HWA to perform a Doppler dimension constant false alarm rate detection CFAR on the Doppler dimension data to obtain first target detection information, and stores the first target detection information in the memory of the HWA.

[0008] According to another aspect of the present invention, a radar data processing device is provided, which is applied to a radar system, wherein the radar system includes EDMA and HWA, and the device includes:

[0009] A Doppler dimension data acquisition module, used for acquiring radar raw data in real time through the EDMA, and preprocessing the radar raw data to generate Doppler dimension data;

[0010] The first target detection information acquisition module is used to store the Doppler dimension data in the range Doppler map RDM matrix through the EDMA, and trigger the HWA to perform Doppler dimension constant false alarm rate detection CFAR on the Doppler dimension data to obtain first target detection information, and store the first target detection information in the memory of the HWA.

[0011] According to another aspect of the present invention, a radar system is provided, the radar system comprising EDMA and HWA, wherein:

[0012] The EDMA is used to obtain radar raw data and pre-process the radar raw data to generate Doppler dimension data;

[0013] The EDMA is also used to store the Doppler dimension data in a range Doppler map RDM matrix, and simultaneously trigger the HWA to perform Doppler dimension constant false alarm rate detection CFAR on the Doppler dimension data to obtain first target detection information, and store the first target detection information in the memory of the HWA.

[0014] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the radar data processing method described in any embodiment of the present invention when executed.

[0015] The radar data processing scheme of the embodiment of the present invention is applied to a radar system, wherein the radar system includes an enhanced direct memory access controller EDMA and a hardware accelerator HWA, and the method includes: the EDMA acquires radar raw data in real time, and pre-processes the radar raw data to generate Doppler dimension data; the EDMA stores the Doppler dimension data in a range Doppler map RDM matrix, and triggers HWA to perform Doppler dimension constant false alarm rate detection CFAR on the Doppler dimension data to obtain first target detection information, and stores the first target detection information in the memory of the HWA. Through the technical scheme provided by the embodiment of the present invention, the Doppler dimension data can be divided into two paths in parallel, one path performs Doppler dimension CFAR, and the other path is stored in the RDM matrix for subsequent range dimension CFAR processing, so that the Doppler dimension CFAR can be completed during the Doppler dimension data storage process, without waiting until the Doppler dimension data is stored in the RDM matrix before performing the Doppler dimension CFAR, which can avoid unnecessary memory, reduce the processing time of radar data, and improve the processing efficiency and real-time performance of CFAR.

[0016] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0018] Figure 1 is a flowchart of a radar data processing method provided according to Embodiment 1 of the present invention;

[0019] Figure 2 is a schematic diagram of a radar data processing process provided according to Embodiment 1 of the present invention;

[0020] Figure 3 is a flowchart of a radar data processing method provided according to Embodiment 2 of the present invention;

[0021] Figure 4 is a schematic diagram of the structure of a radar data processing device provided according to Embodiment 3 of the present invention;

[0022] Figure 5 It is a schematic diagram of the structure of a radar system for implementing the radar data processing method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0023] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0024] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0025] Embodiment 1

[0026] Figure 1 A flowchart of a radar data processing method is provided for the first embodiment of the present invention. This embodiment is applicable to the case of processing radar data. The method can be executed by a radar data processing device. The radar data processing device can be implemented in the form of hardware and / or software. The radar data processing device can be configured in a radar system. The radar system includes an enhanced direct memory access controller EDMA and a hardware accelerator HWA. Figure 1 As shown, the method includes:

[0027] S110 , EDMA acquires radar raw data in real time, and preprocesses the radar raw data to generate Doppler dimension data.

[0028] In an embodiment of the present invention, the radar system includes an enhanced direct memory access controller (Constant FalseAlarm Rate Detector, EDMA) and a hardware accelerator (HardWare Accelerator, HWA). Among them, EDMA is a high-performance, multi-channel, multi-threaded DMA controller that allows users to program the transmission of large amounts of one-dimensional and multi-dimensional data. HWA can perform some large, repetitive, mechanical calculation operations.

[0029] In an embodiment of the present invention, EDMA acquires radar raw data, for example, EDMA extracts radar raw data from a radar data cube (RadarCube), and preprocesses the radar raw data to generate Doppler dimension data. The preprocessing of the radar raw data may include performing a one-dimensional Fast Fourier Transform (FFT) on the radar raw data, and then performing a two-dimensional FFT, modulo and accumulation operation on the result of the one-dimensional FFT, so as to obtain the Doppler dimension data.

[0030] Optionally, the EDMA acquires raw radar data in real time, and pre-processes the raw radar data to generate Doppler dimension data, including: the EDMA acquires raw radar data in a ping-pong operation mode, and pre-processes the raw radar data to generate Doppler dimension data; and stores the Doppler dimension data generated in the ping-pong operation mode and the Doppler dimension data generated in the pong operation mode in a first storage area and a second storage area respectively in a ping-pong storage mode. Exemplarily, Figure 2 A schematic diagram of a radar data processing process provided by an embodiment of the present invention. Figure 2 As shown, EDMA extracts radar raw data from RadarCube in a ping-pong operation mode through the first data reading interface EDMA DataIn1, such as extracting radar raw data of odd columns from RadarCube in a ping-pong operation mode, extracting radar raw data of even columns from RadarCube in a pong operation mode, and performing pre-processing operations such as one-dimensional FFT, two-dimensional FFT, modulus and accumulation on the extracted raw radar data in turn in a ping-pong operation mode to generate Doppler dimension data. The Doppler dimension data generated by the ping-pong operation mode and the Doppler dimension data generated by the pong operation mode are stored in the first storage area M0 and the second storage area M2 respectively in a ping-pong operation mode. Among them, the ping-pong operation is a technology for data flow control, which has the function of saving cache space and forming a two-level pipeline to improve data transmission efficiency. Taking the extraction of radar raw data from RadarCube in a ping-pong operation mode as an example, two threads alternately extract radar raw data of odd columns and radar raw data of even columns from RadarCube, and perform pre-processing operations on the extracted radar raw data of odd columns and radar raw data of even columns alternately. It can be understood that thread 1 extracts radar raw data of odd columns from RadarCube. When the extracted radar raw data of odd columns reaches a preset number, thread 2 extracts radar raw data of even columns from RadarCube, and thread 1 performs preprocessing operations on the extracted radar raw data of odd columns. When the extracted radar raw data of even columns reaches a preset number, thread 1 extracts radar raw data of odd columns from RadarCube again, and thread 2 performs preprocessing operations on the extracted radar raw data of even columns. This repeated cycle is a ping-pong operation.

[0031] S120, the EDMA stores the Doppler dimension data in a range Doppler map RDM matrix, and triggers the HWA to perform a Doppler dimension constant false alarm rate detection CFAR on the Doppler dimension data to obtain first target detection information, and stores the first target detection information in the memory of the HWA.

[0032] In an embodiment of the present invention, EDMA divides Doppler dimension data into two paths in parallel, one path stores Doppler dimension data in a range Doppler map (Range Doppler Map, RDM) matrix through a data transmission channel, and the other path triggers HWA through EDMA to perform Doppler dimension constant false alarm rate detection (Constant False Alarm Rate, CFAR) on Doppler dimension data to obtain first target detection information. Among them, CFAR is a technology that the radar system uses to distinguish the signal output by the receiver from the background noise under the condition of keeping the false alarm rate constant, determine whether the target signal exists, and maximize the probability of target detection. Doppler dimension CFAR can also be understood as velocity dimension CFAR, that is, based on the CFAR technology, Doppler dimension data is analyzed to determine the radial velocity of the target from the radar.

[0033] Optionally, the EDMA stores the Doppler dimension data in the range Doppler map RDM matrix, and simultaneously triggers the HWA to perform a Doppler dimension constant false alarm rate detection CFAR on the Doppler dimension data to obtain first target detection information, and stores the first target detection information in the memory of the HWA, including: the EDMA alternately reads the Doppler dimension data from the first storage area and the second storage area; stores the alternately read Doppler dimension data in the range Doppler map RDM matrix respectively, and simultaneously triggers the HWA to perform a Doppler dimension CFAR on the Doppler dimension data in a ping-pong operation mode to obtain first target detection information; and stores the first target detection information obtained in the ping-pong operation mode and the first target detection information obtained in the pong operation mode in the third storage area and the fourth storage area of ​​the HWA respectively using a ping-pong storage mode, wherein the third storage area and the fourth storage area are two memory areas in the HWA respectively.

[0034] In the embodiment of the present invention, the EDMA reads Doppler dimension data alternately from the first storage area M0 and the second storage area M2, such as Figure 2As shown, Doppler dimension data are read alternately from the first storage area M0 and the second storage area M2 through the first data transmission interface EDMA DataOut1 of EDMA in a ping-pong operation mode, that is, EMDA reads Doppler dimension data from the first storage area M0 in a ping-pong operation mode, and EMDA reads Doppler dimension data from the second storage area M2 in a pong operation mode. The Doppler dimension data read by EDMA from the first storage area M0 and the second storage area M2 in a ping-pong operation mode are alternately stored in the RDM matrix. For example, the Doppler dimension data read from the first storage area M0 in a ping-pong operation mode can be used as odd-numbered row data in the RDM, and the Doppler dimension data read from the first storage area M2 in a pong operation mode can be used as even-numbered row data in the RDM. At the same time that EDMA reads the Doppler dimension matrix from the first storage area M0 and the second storage area M2 in a ping-pong operation mode, HWA is triggered to perform Doppler dimension CFAR on the Doppler dimension data in a ping-pong operation mode to obtain first target detection information. As shown Figure 2 As shown, EDMA triggers HWA through the EDMA Signature1 interface to perform Doppler dimension CFAR alternately on the Doppler dimension data in a ping-pong operation mode. Exemplarily, EDMA triggers HWA through the EDMA Signature1 interface, so that HWA configures parameters of its internal registers, so that HWA performs Doppler dimension CFAR alternately on the Doppler dimension data in a ping-pong operation mode based on the configured registers. Among them, the first target detection information may include target speed information, SNR information, bit mask and other information corresponding to different distances. HWA stores the first target detection information obtained by the ping-pong operation mode and the first target detection information obtained by the pong operation mode in the third storage area M5 and the fourth storage area M7 of the HWA respectively using the ping-pong storage mode.

[0035] The radar data processing method of the embodiment of the present invention is applied to a radar system, wherein the radar system includes an enhanced direct memory access controller EDMA and a hardware accelerator HWA, and the method includes: the EDMA acquires radar raw data in real time, and pre-processes the radar raw data to generate Doppler dimension data; the EDMA stores the Doppler dimension data in a range Doppler map RDM matrix, and triggers HWA to perform Doppler dimension constant false alarm rate detection CFAR on the Doppler dimension data to obtain first target detection information, and stores the first target detection information in the memory of the HWA. Through the technical solution provided by the embodiment of the present invention, the Doppler dimension data can be divided into two paths in parallel, one path performs Doppler dimension CFAR, and the other path is stored in the RDM matrix for subsequent range dimension CFAR processing, so that the Doppler dimension CFAR can be completed during the Doppler dimension data storage process, without waiting until the Doppler dimension data is stored in the RDM matrix before performing the Doppler dimension CFAR, which can avoid unnecessary memory and reduce the processing time of radar data.

[0036] In some embodiments, after storing the first target detection information in the memory of the HWA, it also includes: the EDMA reads the first target detection information from the memory of the HWA, and stores the first target detection information in the target storage area of ​​the EDMA; when it is determined that the first target detection information is successfully stored in the target storage area, the first target detection information in the memory of the HWA is cleared, and the EDMA is returned to execute real-time acquisition of radar raw data.

[0037] After HWA continuously performs Doppler dimension CFAR on Doppler dimension data, the acquired first target detection information is stored in the memory corresponding to HWA. The user needs to obtain the first target detection information in a timely manner. However, due to the limited resources of HWA and the continuous transmission of the data processing signal Chirp between frames, there cannot be a long delay in this process, otherwise it will disrupt the timing of the radar and cause detection confusion. Therefore, in an embodiment of the present invention, after the first target detection information is stored in the memory of HWA, EDMA reads the first target detection information from the memory of HWA and stores the first target detection information in the target storage area of ​​EDMA. For example, Figure 2As shown, EDMA reads the first target detection information alternately from the third storage area M5 and the fourth storage area M7 of HWA in a ping-pong operation through the second data transmission interface EDMA DataOut2, and transmits the read first target detection information to the target storage area M8 of EDMA in a ping-pong storage manner. It can be understood that HWA alternately transmits the first target detection information in the third storage area M5 and the fourth storage area M7 to the target storage area M8 of EDMA through the second data transmission interface EDMA DataOut2 of EDMA. When it is determined that the first target detection information in the third storage area M5 and the fourth storage area M7 is successfully stored in the target storage area of ​​EDMA, the first target detection information in the third storage area M5 and the fourth storage area M7 in the memory of HWA is cleared, and the EDMA is returned to execute to obtain the radar raw data. It is understandable that the third storage area M5 and the fourth storage area M7 in the memory of the HWA respectively store the first target detection information corresponding to the radar raw data at the current moment, and should be cleared in time after the first target detection information is successfully transmitted to the target storage area of ​​the EDMA. If it is cleared by software, the real-time and correctness cannot be guaranteed, and it may even affect the function of the radar. Therefore, in the embodiment of the present invention, after the third storage area M5 and the fourth storage area M7 are transmitted to the target storage area of ​​the EDMA through the second data transmission interface EDMA DataOut2 of the EDMA, the first target detection information in the third storage area M5 and the fourth storage area M7 is cleared through the third data transmission interface EDMA DataOut3 of the EDMA, and the operation of obtaining the raw radar data by the EDMA is returned. Exemplarily, EDMA has the function of transporting data, therefore, EDMA sends the first target memory block and the second target memory block that do not store data in EDMA to HWA through the third data transmission interface EDMADataOut3 of EDMA, so as to cover the third storage area in HWA based on the first target memory block, and cover the fourth storage area in HWA based on the second target memory block, thereby realizing the clearing operation of the first target detection information in the third storage area M5 and the fourth storage area M7. Among them, the first target memory block is greater than or equal to the third storage area, and the second target memory block is greater than or equal to the fourth storage area. The advantage of such a setting is that it not only reduces the memory consumption of HWA, but also avoids the first target detection information corresponding to the radar raw data obtained at the next moment from covering the first target detection information corresponding to the radar raw data obtained at the current moment. At the same time, the next step operation can be redirected to EDMA to obtain radar raw data, so that the next round of cycles can be smoothly carried out to ensure the correctness of the entire timing.

[0038] In some embodiments, after storing the first target detection information in the memory of the HWA, it also includes: the EDMA reads the Doppler dimension data from the RDM in a ping-pong operation manner, and triggers the HWA to perform distance dimension CFAR on the Doppler dimension data to obtain second target detection information; the second target detection information obtained by the ping-pong operation manner and the second target detection information obtained by the pong operation manner are respectively stored in the fifth storage area and the sixth storage area using a ping-pong storage method.

[0039] For example, Figure 2 As shown, EDMA reads Doppler dimension data from RDM in a ping-pong operation mode through the second data reading interface EDMA DataIn2, such as reading Doppler dimension data of odd rows from RDM in a ping-pong operation mode, reading Doppler dimension data of even rows from RDM in a pong operation mode, and triggering HWA to perform distance dimension CFAR on the Doppler dimension data read by EDMA from RDM in a ping-pong operation mode to obtain second target detection information. For example, HWA performs distance dimension CFAR on Doppler dimension data of odd rows read from RDM in a ping-pong operation mode, and HWA performs distance dimension CFAR on Doppler dimension data of even rows read from RDM in a pong operation mode, and the second target detection information obtained in the ping-pong operation mode and the second target detection information obtained in the pong operation mode are respectively stored in the fifth storage area M4 and the sixth storage area M6 in a ping-pong storage mode.

[0040] In some embodiments, before the EDMA reads the Doppler dimension data from the RDM in a ping-pong operation manner, it also includes: determining the Doppler dimension position information of the target based on the first target detection information; the EDMA reads the Doppler dimension data from the RDM in a ping-pong operation manner, including: the EDMA reads the Doppler dimension data corresponding to the Doppler dimension position information from the RDM in a ping-pong operation manner.

[0041] Exemplarily, the first target detection information is analyzed, and the Doppler dimension position information of the existing target is determined based on the first target detection information. For example, the first target detection information generated by the CFAR of the Doppler dimension is traversed, and the Doppler index in the first target detection information that determines the existence of the target is set to 1, and it is stored in the relevant memory. According to the Doppler index being set to 1, the EDMA reads the Doppler dimension data corresponding to the Doppler index being set to 1 from the RDM in a ping-pong operation mode, so as to perform a distance dimension CFAR on the read Doppler dimension data. Since the ping-pong operation mode is adopted, when the number of Doppler dimension position information of the existing target is an odd number, the Doppler dimension position information of the existing target can be artificially repeatedly added to make the number of Doppler dimension position information of the existing target an even number, so that the EDMA can read the Doppler dimension data corresponding to the Doppler dimension position information from the RDM in a ping-pong operation mode.

[0042] In some embodiments, the first target detection information includes target speed information corresponding to different first distances, and the second target detection information includes target distance information corresponding to different first speeds; after acquiring the second target detection information, it also includes: the EDMA reads the second target detection information from the fifth storage area and the sixth storage area; for each target speed information corresponding to the first distance in the first target detection information, the second distance corresponding to the target speed information is searched from the second target detection information, and when the first distance is consistent with the second distance, the first distance and the corresponding target speed information are used as the target detection information corresponding to the radar raw data; or, for each target distance information corresponding to the first speed in the second target detection information, the second speed corresponding to the target distance information is searched from the first target detection information, and when the first speed is consistent with the second speed, the first speed and the corresponding target distance information are used as the target detection information corresponding to the radar raw data.

[0043] In an embodiment of the present invention, the first target detection information is target detection information generated by performing CFAR of the Doppler dimension on the Doppler dimension data generated in real time, and therefore, the first target detection information includes target speed information corresponding to different distances. For the convenience of description, each distance involved in the first target detection information is referred to as a first distance. The second target detection information is target detection information generated by performing CFAR of the distance dimension on the Doppler dimension data generated in real time, and therefore, the second target detection information includes target distance information corresponding to different speeds. Similarly, for the convenience of description, each speed involved in the second target detection information is referred to as a first speed. EDMA reads the second target detection information from the fifth storage area and the sixth storage area, and for each target speed information corresponding to the first distance in the first target detection information, searches for the second distance corresponding to the target speed information from the second target detection information, and when the first distance is consistent with the second distance, uses the first distance and the corresponding target speed information as the target detection information corresponding to the radar raw data. Optionally, for each target distance information corresponding to the first speed in the second target detection information, the second speed corresponding to the target distance information can be searched from the first target detection information, and when the first speed is consistent with the second speed, the first speed and the corresponding target distance information are used as the target detection information corresponding to the radar raw data. It can be understood that when the first target detection information is compared with the second target detection information, when the distance and the corresponding target speed information in the first target detection information are consistent with the speed and the corresponding target distance information in the second target detection information, the consistent distance information and speed information are used as the final target detection information corresponding to the radar raw data.

[0044] Embodiment 2

[0045] Figure 3 Flow chart of a radar data processing method provided in Embodiment 2 of the present invention. Figure 3 As shown, the method includes:

[0046] S310, EDMA obtains raw radar data in a ping-pong operation manner, and pre-processes the raw radar data to generate Doppler dimension data.

[0047] S320: Store the Doppler dimension data generated in the ping-pong operation mode and the Doppler dimension data generated in the pong operation mode in a first storage area and a second storage area respectively in a ping-pong storage mode.

[0048] For example, Figure 2As shown, EDMA extracts radar raw data from RadarCube in a ping-pong operation mode through the first data reading interface EDMA DataIn1, and performs preprocessing operations on the extracted raw radar data to generate Doppler dimension data. The Doppler dimension data generated in the ping-pong operation mode is stored in the first storage area M0, and the Doppler dimension data generated in the pong operation mode is stored in the second storage area M2.

[0049] S330, EDMA reads Doppler dimension data alternately from the first storage area and the second storage area, stores the alternately read Doppler dimension data into the range Doppler map RDM matrix respectively, and simultaneously triggers HWA to perform Doppler dimension CFAR on the Doppler dimension data in a ping-pong operation to obtain first target detection information.

[0050] S340: Store the first target detection information obtained in the ping-pong operation mode and the first target detection information obtained in the pong operation mode in the third storage area and the fourth storage area of ​​the HWA respectively in a ping-pong storage mode.

[0051] like Figure 2 As shown, EDMA reads Doppler dimension data alternately from the first storage area M0 and the second storage area M2 through the first data transmission interface EDMA DataOut1, and stores the read Doppler dimension data alternately in the RDM matrix. While EDMA reads the Doppler dimension matrix from the first storage area M0 and the second storage area M2, EDMA triggers HWA through the EDMASignature1 interface to perform Doppler dimension CFAR alternately on the Doppler dimension data in a ping-pong operation mode to obtain first target detection information. HWA uses a ping-pong operation mode to store the acquired first target detection information in the third storage area M5 and the fourth storage area M7 in HWA, respectively.

[0052] S350: EDMA reads the first target detection information from the third storage area and the fourth storage area of ​​HWA, and stores the first target detection information into the target storage area of ​​EDMA.

[0053] S360: When it is determined that the first target detection information is successfully stored in the target storage area, the EDMA clears the first target detection information in the third storage area and the fourth storage area of ​​the HWA, and returns to execute S310.

[0054] like Figure 2As shown, EDMA reads the first target detection information alternately from the third storage area M5 and the fourth storage area M7 of HWA in a ping-pong operation through the second data transmission interface EDMA DataOut2, and transmits the read first target detection information to the target storage area M8 of EDMA. When EDMA determines that the first target detection information in the third storage area M5 and the fourth storage area M7 is successfully stored in the target storage area M8 of EDMA, it clears the first target detection information in the third storage area M5 and the fourth storage area M7 through the third data transmission interface EDMA DataOut3 of EDMA, and returns to execute EDMA to obtain the original radar data in a ping-pong operation.

[0055] S370 , EDMA reads Doppler dimension data from RDM in a ping-pong operation manner, and triggers HWA to perform range dimension CFAR on the Doppler dimension data to obtain second target detection information.

[0056] S380. HWA stores the second target detection information obtained in the ping-pong operation mode and the second target detection information obtained in the pong operation mode in the fifth storage area and the sixth storage area respectively by using a ping-pong storage mode.

[0057] like Figure 2 As shown, EDMA reads Doppler dimension data from RDM in ping-pong operation mode through the second data reading interface EDMA DataIn2, and triggers HWA to perform distance dimension CFAR on the Doppler dimension data read by EDMA from RDM in ping-pong operation mode through EDMA Signature2 interface to obtain second target detection information. HWA stores the second target detection information obtained in ping-pong operation mode and the second target detection information obtained in pong operation mode in the fifth storage area M4 and the sixth storage area M6 of HWA respectively.

[0058] S390 . EDMA reads second target detection information from the fifth storage area and the sixth storage area.

[0059] S3100, EDMA searches for the second distance corresponding to the target speed information from the second target detection information for each first distance in the first target detection information, and when the first distance is consistent with the second distance, uses the first distance and the corresponding target speed information as the target detection information corresponding to the radar raw data; or, for each first speed in the second target detection information, searches for the second speed corresponding to the target distance information from the first target detection information, and when the first speed is consistent with the second speed, uses the first speed and the corresponding target distance information as the target detection information corresponding to the radar raw data.

[0060] like Figure 2 As shown, EDMA stores the determined target detection information in the target detection structure M10.

[0061] The technical solution provided by the embodiment of the present invention can divide the Doppler dimension data into two paths in parallel, one path performs Doppler dimension CFAR, and the other path is stored in the RDM matrix for subsequent distance dimension CFAR processing, so that the Doppler dimension CFAR can be completed during the Doppler dimension data storage process, without waiting for the Doppler dimension data to be stored in the RDM matrix before performing the Doppler dimension CFAR, thus avoiding unnecessary memory, reducing the processing time of radar data, and improving the processing efficiency and real-time performance of CFAR. In addition, by clearing the first target detection information in the HWA memory, not only the memory consumption of HWA is reduced, but also the first target detection information corresponding to the radar raw data obtained at the next moment can be avoided from overwriting the first target detection information corresponding to the radar raw data obtained at the current moment. At the same time, the next step operation can be redirected to the EDMA to obtain the radar raw data, so that the next cycle can be smoothly carried out, and the correctness of the entire timing can be ensured.

[0062] Embodiment 3

[0063] Figure 4 Schematic diagram of the structure of a radar data processing device provided in Embodiment 2 of the present invention. The device is applied to a radar system, wherein the radar system includes EDMA and HWA, such as Figure 4 As shown, the device comprises:

[0064] A Doppler dimension data acquisition module 410 is used to acquire radar raw data in real time through the EDMA, and pre-process the radar raw data to generate Doppler dimension data;

[0065] The first target detection information acquisition module 420 is used to store the Doppler dimension data in the range Doppler map RDM matrix through the EDMA, and trigger the HWA to perform Doppler dimension constant false alarm rate detection CFAR on the Doppler dimension data to obtain first target detection information, and store the first target detection information in the memory of the HWA.

[0066] Optionally, the device further comprises:

[0067] a first target detection information storage module, configured to, after storing the first target detection information in the memory of the HWA, cause the EDMA to read the first target detection information from the memory of the HWA and store the first target detection information in a target storage area of ​​the EDMA;

[0068] The first target detection information clearing module is used to clear the first target detection information in the memory of the HWA when it is determined that the first target detection information is successfully stored in the target storage area, and return to execute the EDMA to obtain radar raw data in real time.

[0069] Optionally, the Doppler dimension data acquisition module is used to:

[0070] The EDMA acquires raw radar data in a ping-pong operation mode, and pre-processes the raw radar data to generate Doppler dimension data;

[0071] The Doppler dimension data generated in the ping-pong operation mode and the Doppler dimension data generated in the pong operation mode are respectively stored in the first storage area and the second storage area in a ping-pong storage manner.

[0072] Optionally, the first target detection information acquisition module is used to:

[0073] The EDMA reads the Doppler dimension data from the first storage area and the second storage area alternately;

[0074] The alternately read Doppler dimension data are stored in the range Doppler map RDM matrix respectively, and the HWA is triggered to perform Doppler dimension CFAR on the Doppler dimension data in a ping-pong operation mode at the same time to obtain the first target detection information;

[0075] The first target detection information obtained in the ping-pong operation mode and the first target detection information obtained in the pong operation mode are respectively stored in the third storage area and the fourth storage area of ​​the HWA in a ping-pong storage manner.

[0076] Optionally, the device further comprises:

[0077] A second target detection information acquisition module, configured to, after storing the first target detection information in the memory of the HWA, cause the EDMA to read the Doppler dimension data from the RDM in a ping-pong operation manner, and trigger the HWA to perform a distance dimension CFAR on the Doppler dimension data to acquire second target detection information;

[0078] The second target detection information storage module is used to store the second target detection information obtained by the ping-pong operation mode and the second target detection information obtained by the pong operation mode in the fifth storage area and the sixth storage area respectively by using the ping-pong storage mode.

[0079] Optionally, the device further comprises:

[0080] a Doppler dimension position information determination module, configured to determine the Doppler dimension position information of a target according to the first target detection information before the EDMA reads the Doppler dimension data from the RDM in a ping-pong operation manner;

[0081] The second target detection information acquisition module is used to:

[0082] The EDMA reads the Doppler dimension data corresponding to the Doppler dimension position information from the RDM in a ping-pong operation manner.

[0083] Optionally, the first target detection information includes target speed information corresponding to different first distances, and the second target detection information includes target distance information corresponding to different first speeds; and further includes:

[0084] A detection information reading module, used for the EDMA to read the second target detection information from the fifth storage area and the sixth storage area;

[0085] a detection information determination module, configured to search, for each first distance in the first target detection information, for a second distance corresponding to the target speed information; and when the first distance is consistent with the second distance, use the first distance and the corresponding target speed information as the target detection information corresponding to the radar raw data; or

[0086] For each target distance information corresponding to the first speed in the second target detection information, the second speed corresponding to the target distance information is searched from the first target detection information; when the first speed is consistent with the second speed, the first speed and the corresponding target distance information are used as the target detection information corresponding to the radar raw data.

[0087] The radar data processing device provided in the embodiment of the present invention can execute the radar data processing method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0088] Embodiment 4

[0089] Figure 5 FIG. 1 is a schematic diagram showing a structure of a radar system 10 that can be used to implement an embodiment of the present invention. Figure 5As shown, the radar system includes EDMA and HWA, wherein: the EDMA is used to obtain radar raw data, and pre-process the radar raw data to generate Doppler dimension data; the EDMA is also used to store the Doppler dimension data in the range Doppler map RDM matrix, and at the same time trigger HWA to perform Doppler dimension constant false alarm rate detection CFAR on the Doppler dimension data to obtain first target detection information, and store the first target detection information in the memory of the HWA.

[0090] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0091] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0092] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0093] To provide interaction with a user, the systems and techniques described herein may be implemented on a radar system having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which a user can provide input to the radar system. Other types of devices may also be used to provide interaction with a user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0094] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0095] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0096] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0097] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A radar data processing method, characterized in that: Applied to a radar system, the radar system includes an enhanced direct memory access controller EDMA and a hardware accelerator HWA, and the method includes: The EDMA acquires radar raw data in real time, and pre-processes the radar raw data to generate Doppler dimension data; The EDMA stores the Doppler dimension data in a range Doppler map RDM matrix, and triggers the HWA to perform a Doppler dimension constant false alarm rate detection CFAR on the Doppler dimension data to obtain first target detection information, and stores the first target detection information in the memory of the HWA.

2. The method according to claim 1, characterized in that After storing the first target detection information in the memory of the HWA, the method further includes: The EDMA reads the first target detection information from the memory of the HWA and stores the first target detection information into a target storage area of ​​the EDMA; When it is determined that the first target detection information is successfully stored in the target storage area, the first target detection information in the memory of the HWA is cleared, and the EDMA is returned to execute to obtain radar raw data in real time.

3. The method according to claim 1, characterized in that The EDMA acquires radar raw data in real time, and pre-processes the radar raw data to generate Doppler dimension data, including: The EDMA acquires raw radar data in a ping-pong operation mode, and pre-processes the raw radar data to generate Doppler dimension data; The Doppler dimension data generated in the ping-pong operation mode and the Doppler dimension data generated in the pong operation mode are respectively stored in the first storage area and the second storage area in a ping-pong storage manner.

4. The method according to claim 3, characterized in that The EDMA stores the Doppler dimension data in a range Doppler map RDM matrix, and triggers the HWA to perform Doppler dimension constant false alarm rate detection CFAR on the Doppler dimension data to obtain first target detection information, and stores the first target detection information in the memory of the HWA, including: The EDMA reads the Doppler dimension data from the first storage area and the second storage area alternately; The alternately read Doppler dimension data are stored in the range Doppler map RDM matrix respectively, and the HWA is triggered to perform Doppler dimension CFAR on the Doppler dimension data in a ping-pong operation mode at the same time to obtain the first target detection information; The first target detection information obtained in the ping-pong operation mode and the first target detection information obtained in the pong operation mode are respectively stored in the third storage area and the fourth storage area of ​​the HWA in a ping-pong storage manner.

5. The method according to claim 1, characterized in that: After storing the first target detection information in the memory of the HWA, the method further includes: The EDMA reads the Doppler dimension data from the RDM in a ping-pong operation manner, and triggers the HWA to perform range dimension CFAR on the Doppler dimension data to obtain second target detection information; The second target detection information obtained in the ping-pong operation mode and the second target detection information obtained in the pong operation mode are respectively stored in the fifth storage area and the sixth storage area in a ping-pong storage manner.

6. The method according to claim 5, characterized in that Before the EDMA reads the Doppler dimension data from the RDM in a ping-pong operation mode, the method further includes: Determine Doppler position information of a target according to the first target detection information; The EDMA reads the Doppler dimension data from the RDM in a ping-pong operation, including: The EDMA reads the Doppler dimension data corresponding to the Doppler dimension position information from the RDM in a ping-pong operation manner.

7. The method according to claim 5 or 6, characterized in that: The first target detection information includes target speed information corresponding to different first distances, and the second target detection information includes target distance information corresponding to different first speeds; After obtaining the second target detection information, the method further includes: The EDMA reads the second target detection information from the fifth storage area and the sixth storage area; For each target speed information corresponding to the first distance in the first target detection information, searching the second target detection information for the second distance corresponding to the target speed information, and when the first distance is consistent with the second distance, using the first distance and the corresponding target speed information as the target detection information corresponding to the radar raw data; or For each target distance information corresponding to the first speed in the second target detection information, the second speed corresponding to the target distance information is searched from the first target detection information; when the first speed is consistent with the second speed, the first speed and the corresponding target distance information are used as the target detection information corresponding to the radar raw data.

8. A radar data processing device, characterized in that: Applied to a radar system, the radar system includes EDMA and HWA, and the device includes: A Doppler dimension data acquisition module, used for acquiring radar raw data in real time through the EDMA, and preprocessing the radar raw data to generate Doppler dimension data; The first target detection information acquisition module is used to store the Doppler dimension data in the range Doppler map RDM matrix through the EDMA, and trigger the HWA to perform Doppler dimension constant false alarm rate detection CFAR on the Doppler dimension data to obtain first target detection information, and store the first target detection information in the memory of the HWA.

9. A radar system, characterized in that: The radar system includes EDMA and HWA, wherein: The EDMA is used to obtain radar raw data and pre-process the radar raw data to generate Doppler dimension data; The EDMA is also used to store the Doppler dimension data in a range Doppler map RDM matrix, and simultaneously trigger the HWA to perform Doppler dimension constant false alarm rate detection CFAR on the Doppler dimension data to obtain first target detection information, and store the first target detection information in the memory of the HWA.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the radar data processing method according to any one of claims 1 to 7 when executed.

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