Full-waveform radar data fitting method, device, equipment and medium

Abstract

The invention relates to the technical field of data processing, in particular to a full-waveform radar data fitting method, device and equipment and a medium, and the method comprises the steps: controlling a transmitting wave transmitted when a full-waveform radar carries out distance detection, and obtaining each receiving wave detected by the full-waveform radar; sampling the transmitted wave and each received wave according to a set sampling period to obtain a first digital signal of the transmitted wave and a received wave digital signal of each received wave, and determining a second digital signal corresponding to the first digital signal from the received wave digital signal of each received wave; performing curve fitting on the first digital signal to obtain a first curve corresponding to the first digital signal; performing curve fitting on the second digital signal to obtain a second curve corresponding to the second digital signal; determining the detection distance of the full-waveform radar based on the first curve and the second curve; according to the invention, on the premise of ensuring the ranging accuracy, the full-waveform radar data processing speed is improved.

Description

Technical Field

[0001] The present invention relates to the field of data processing technology, and in particular to a full-waveform radar data fitting method, device, equipment and medium. Background Art

[0002] With the development of LiDAR, the requirements for radar measurement accuracy and detection performance are getting higher and higher. The conventional measurement method is to determine the distance of the target through the maximum sampling value point of the power spectrum after pulse compression, which is the so-called maximum value method. Affected by parameters such as sampling rate and FFT points, the distance information obtained by the maximum value method may have large errors. In order to improve the ranging accuracy of radar, interpolation and least squares fitting are used in the market. However, the implementation and calculation of these methods are very large. Summary of the invention

[0003] In view of this, the purpose of the embodiments of the present invention is to provide a full-waveform radar data fitting method, device, equipment and medium to solve one or more technical problems existing in the prior art and provide at least one beneficial option or create conditions.

[0004] On the one hand, an embodiment of the present invention provides a full waveform radar data fitting method, the method comprising the following steps: Controlling the transmission wave emitted by the full-waveform radar when performing distance detection, and obtaining each receiving wave detected by the full-waveform radar; wherein the transmission wave and the receiving wave are both full-waveform laser radar waves; The transmission wave and each of the reception waves are sampled according to a set sampling period to obtain a first digital signal of the transmission wave and a reception wave digital signal of each of the reception waves, and a second digital signal corresponding to the first digital signal is determined from the reception wave digital signal of each of the reception waves; Performing curve fitting on the first digital signal to obtain a first curve corresponding to the first digital signal; performing curve fitting on the second digital signal to obtain a second curve corresponding to the second digital signal; The detection distance of the full waveform radar is determined based on the first curve and the second curve.

[0005] Optionally, determining the second digital signal corresponding to the first digital signal from the received wave digital signals of each of the received waves includes: Acquire a transmission time interval of the transmission wave, and determine each receiving wave within the transmission time interval; For each received wave digital signal of the received wave, obtaining an amplitude peak value of the received wave digital signal; The amplitude peak values ​​of each of the received wave digital signals are compared, and the received wave digital signal with the largest amplitude peak value is used as the second digital signal corresponding to the first digital signal.

[0006] Optionally, performing curve fitting on the first digital signal to obtain a first curve corresponding to the first digital signal includes: Determine a sampling period where the amplitude peak of the first digital signal is located; Determine the sampling periods on the left and right sides of the sampling period, and obtain the sampling amplitude values ​​on the left and right sides of the sampling period; The amplitude peak value and the two amplitude values ​​are subjected to curve fitting to obtain a first curve corresponding to the first digital signal.

[0007] Optionally, performing curve fitting on the second digital signal to obtain a second curve corresponding to the second digital signal includes: Determine a sampling period where the amplitude peak of the second digital signal is located; Determine two sampling periods on the left and right sides of the sampling period, and obtain sampling amplitude values ​​on the left and right sides of the sampling period; The amplitude peak value and the two amplitude values ​​are subjected to curve fitting to obtain a second curve corresponding to the second digital signal.

[0008] Optionally, determining two sampling periods on the left and right sides of the sampling period and acquiring sampling amplitude values ​​on the left and right sides of the sampling period includes: Extract at least one sampling period from the left and right sides adjacent to the sampling period respectively; Determine the central sampling time point of at least one extracted sampling period, average the amplitude values ​​of at least one extracted sampling period to obtain the amplitude mean corresponding to the central sampling time point, and use the central sampling time point and the corresponding amplitude mean as the sampling amplitude values ​​on the left and right sides of the sampling period.

[0009] Optionally, determining the detection distance of the full waveform radar based on the first curve and the second curve includes: respectively determining a peak point of the first curve and a peak point of the second curve; The distance between the peak point of the first curve and the peak point of the second curve is used as the detection distance of the full waveform radar.

[0010] Optionally, the method further comprises: Acquire an operating frequency range of the full-waveform radar, and dynamically adjust the operating frequency of the full-waveform radar within the operating frequency range according to the detection distance and the operating frequency range; Obtaining the detection distance of the full-waveform radar at the plurality of operating frequencies; Analyzing the plurality of detection distances to determine a change in the detection distance of the full waveform radar at different operating frequencies; A variation curve of the detection distance is determined based on variation values ​​of the detection distance of the full waveform radar at different operating frequencies, and an operating frequency corresponding to a minimum value in the variation curve is selected as an optimal operating frequency of the full waveform radar.

[0011] On the other hand, an embodiment of the present invention provides a full waveform radar data fitting device, including: The first module is used to control the transmission wave emitted by the full-waveform radar when performing distance detection, and obtain each receiving wave detected by the full-waveform radar; wherein the transmission wave and the receiving wave are both full-waveform laser radar waves; The second module is used to sample the transmission wave and each of the receiving waves according to a set sampling period, obtain a first digital signal of the transmission wave and a receiving wave digital signal of each of the receiving waves, and determine a second digital signal corresponding to the first digital signal from the receiving wave digital signal of each of the receiving waves; A third module is used to perform curve fitting on the first digital signal to obtain a first curve corresponding to the first digital signal; and perform curve fitting on the second digital signal to obtain a second curve corresponding to the second digital signal; The fourth module is used to determine the detection distance of the full waveform radar based on the first curve and the second curve.

[0012] In another aspect, an embodiment of the present invention provides an electronic device, including: at least one processor; at least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements the above method.

[0013] On the other hand, an embodiment of the present invention provides a computer-readable storage medium, in which a program executable by a processor is stored. When the program executable by the processor is executed by the processor, it is used to perform the above method.

[0014] The embodiments of the present invention include the following beneficial effects: by screening the received wave digital signal, determining the reflected wave corresponding to the transmitted wave, obtaining the second digital signal corresponding to the first digital signal, thereby extracting the effective reflected signal and eliminating interference. By performing curve fitting, the accurate distance information of the target is obtained. The present invention improves the speed of full waveform radar data processing while ensuring the accuracy of ranging. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. 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 paying creative labor.

[0016] Figure 1 1 is a schematic diagram of the steps of a full-waveform radar data fitting method provided by an embodiment of the present invention; Figure 2 It is a schematic diagram of simulated signals of transmitting waves and receiving waves in the embodiment provided by the present invention; Figure 3 It is a digital signal diagram of the transmitting wave and the receiving wave in the embodiment provided by the present invention; Figure 4 is a structural block diagram of a full waveform radar data fitting device provided by an embodiment of the present invention; Figure 5 It is a structural block diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0018] It should be noted that, although the device schematic diagram is divided into modules and the flow chart shows a logical order, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flow chart. The terms "first", "second", etc. in the specification, claims and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0019] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0020] In addition, described feature, structure or characteristic can be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present application. However, those skilled in the art will appreciate that the technical scheme of the present application can be put into practice without one or more of the specific details, or other methods, components, devices, steps, etc. can be adopted. In other cases, known methods, devices, realizations or operations are not shown or described in detail to avoid blurring the various aspects of the application.

[0021] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities may be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0022] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0023] In the related art, when using the carry chain to perform rough and fine counting of the laser radar wave, it is not necessary to consider the waveform of the echo and the transmitted wave. However, since its threshold is selected, the detection performance is not very good, while the full waveform radar has better detection performance, and curve fitting can achieve better ranging accuracy. Generally, the least squares method and other curve fitting methods are used, and the amount of calculation will be very large. The present invention uses the curve fitting method to simplify the amount of calculation, and takes the highest point and its left and right points at the same time, which can ensure accuracy while greatly reducing the amount of calculation and calculation time.

[0024] To this end, the present invention provides a full-waveform radar data fitting method, device, equipment and medium. By adopting an improved parabola fitting method and using the maximum value point on the distance spectrum and the nearest point on its left and right, the distance information of the target can be quickly fitted. The amount of calculation is very small, the ranging accuracy of the radar can be effectively improved, and high-speed ADC acquisition is used. The effectiveness of the method is verified by simulation experiments.

[0025] like Figure 1 , Figure 2 and Figure 3 As shown, Figure 1 A full waveform radar data fitting method provided by an embodiment of the present invention comprises the following steps: S100, controlling the transmission wave emitted by the full-waveform radar when performing distance detection, and obtaining each receiving wave detected by the full-waveform radar; wherein the transmission wave and the receiving wave are both full-waveform laser radar waves; Specifically, when the full-waveform radar performs distance detection, the full-waveform radar is controlled to transmit and receive radar waves, the transmitted radar waves are used as transmitting waves, and the received radar waves are used as receiving waves. The full-waveform lidar transmits laser beams and receives the reflected signals to obtain the detection distance between the object being measured and the full-waveform radar.

[0026] S200, sampling the transmission wave and each of the reception waves according to a set sampling period, obtaining a first digital signal of the transmission wave and a reception wave digital signal of each of the reception waves, and determining a second digital signal corresponding to the first digital signal from the reception wave digital signal of each of the reception waves; S300, performing curve fitting on the first digital signal to obtain a first curve corresponding to the first digital signal; performing curve fitting on the second digital signal to obtain a second curve corresponding to the second digital signal; S300, performing curve fitting on the first digital signal and the second digital signal respectively to obtain a first curve corresponding to the first digital signal and a second curve corresponding to the second digital signal; S400: Determine a detection distance of the full-waveform radar based on the first curve and the second curve.

[0027] In the embodiment provided by the present invention, by screening the received wave digital signal, determining the reflected wave corresponding to the transmitted wave, and obtaining the second digital signal corresponding to the first digital signal, an effective reflected signal is extracted and interference is eliminated. By performing curve fitting, accurate distance information of the target is obtained. This method not only improves the ranging accuracy, but also significantly reduces the computational complexity, providing an effective solution for real-time data processing of radar systems in complex environments. On this basis, combined with high-speed ADC technology, the present invention further improves the speed of data acquisition and processing, ensuring the efficient performance of the radar system in practical applications.

[0028] In some embodiments, the determining of the second digital signal corresponding to the first digital signal from the received wave digital signals of each of the received waves comprises: S210, obtaining a transmission time interval of the transmission wave, and determining each receiving wave within the transmission time interval; S220, for each received wave digital signal of the received wave, obtaining an amplitude peak value of the received wave digital signal; S230, comparing the amplitude peak values ​​of each of the received wave digital signals, and taking the received wave digital signal with the largest amplitude peak value as the second digital signal corresponding to the first digital signal.

[0029] In this embodiment, by comparing the amplitude peak value of each received wave digital signal and using the amplitude peak value as the basis for judgment, the effective reflection signal can be more accurately screened out from the complex echo, further optimizing the signal processing process and improving the adaptability of the radar in a changing environment.

[0030] In some embodiments, performing curve fitting on the first digital signal to obtain a first curve corresponding to the first digital signal includes: S311, determining a sampling period where the amplitude peak of the first digital signal is located; S312, determining the sampling periods on the left and right sides of the sampling period, and obtaining the sampling amplitude values ​​on the left and right sides of the sampling period; S313: Perform curve fitting on the amplitude peak value and the two amplitude values ​​to obtain a first curve corresponding to the first digital signal.

[0031] Specifically, in this embodiment, the parabola equation y=ax^2+bx+c can be used to determine the characteristics of a parabola through three points to fit the equation. By processing the signal received by the full-waveform radar, the amplitude peak and its left and right adjacent points are extracted, and then these key points are used to perform parabola fitting to achieve fast and accurate analysis of the received waveform.

[0032] In some embodiments, performing curve fitting on the second digital signal to obtain a second curve corresponding to the second digital signal includes: S321, determining a sampling period where the amplitude peak of the second digital signal is located; S322, determining two sampling periods on the left and right sides of the sampling period, and obtaining sampling amplitude values ​​on the left and right sides of the sampling period; S323: Perform curve fitting on the amplitude peak value and the two amplitude values ​​to obtain a second curve corresponding to the second digital signal.

[0033] Specifically, in this embodiment, the characteristics of a parabola can be determined by using the parabola equation to fit the equation, thereby reducing the amount of calculation, improving the processing speed, and maintaining the fitting accuracy. The high-speed processing of the fitting results ensures that accurate and real-time distance information can be provided in situations where real-time requirements are high, greatly improving the application scope and practical value of radar technology.

[0034] In some embodiments, determining two sampling periods on the left and right sides of the sampling period and obtaining sampling amplitude values ​​on the left and right sides of the sampling period includes: Extract at least one sampling period from the left and right sides adjacent to the sampling period respectively; Determine the central sampling time point of at least one extracted sampling period, average the amplitude values ​​of at least one extracted sampling period to obtain the amplitude mean corresponding to the central sampling time point, and use the central sampling time point and the corresponding amplitude mean as the sampling amplitude values ​​on the left and right sides of the sampling period.

[0035] By performing mean processing on at least one sampling period, the false recognition rate is reduced, so that a high ranging accuracy can be maintained in the case of strong interference or weak signal.

[0036] In some embodiments, determining the detection distance of the full waveform radar based on the first curve and the second curve includes: S410, respectively determining a peak point of the first curve and a peak point of the second curve; S420: Taking the distance between the peak point of the first curve and the peak point of the second curve as the detection distance of the full waveform radar.

[0037] In this embodiment, a high-precision algorithm is used to improve measurement accuracy by calculating the distance between the peak points of the first curve and the second curve.

[0038] In some embodiments, the method further comprises: S110, obtaining an operating frequency range of the full-waveform radar, and dynamically adjusting the operating frequency of the full-waveform radar within the operating frequency range according to the detection distance and the operating frequency range; S120, obtaining the detection distance of the full-waveform radar at the plurality of operating frequencies; S130, analyzing the plurality of detection distances to determine a change in the detection distance of the full waveform radar at different operating frequencies; S140, determining a variation curve of the detection distance based on variation values ​​of the detection distance of the full waveform radar at different operating frequencies, and selecting an operating frequency corresponding to a minimum value in the variation curve as an optimal operating frequency of the full waveform radar.

[0039] The operating frequency configuration of the full-waveform radar is optimized to maximize the detection distance. By fine-tuning the operating frequency to meet the detection requirements of different distances and target characteristics, the radar system's adaptive ability is further improved, allowing it to maintain efficient detection performance under different working conditions.

[0040] See also Figure 4 The embodiment of the present invention provides a full waveform radar data fitting device, comprising: The first module is used to control the transmission wave emitted by the full-waveform radar when performing distance detection, and obtain each receiving wave detected by the full-waveform radar; wherein the transmission wave and the receiving wave are both full-waveform laser radar waves; The second module is used to sample the transmission wave and each of the receiving waves according to a set sampling period, obtain a first digital signal of the transmission wave and a receiving wave digital signal of each of the receiving waves, and determine a second digital signal corresponding to the first digital signal from the receiving wave digital signal of each of the receiving waves; A third module is used to perform curve fitting on the first digital signal to obtain a first curve corresponding to the first digital signal; and perform curve fitting on the second digital signal to obtain a second curve corresponding to the second digital signal; The fourth module is used to determine the detection distance of the full waveform radar based on the first curve and the second curve.

[0041] It can be seen that the contents of the above method embodiments are all applicable to the present device embodiments, the functions specifically implemented by the present device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0042] See also Figure 5 , an embodiment of the present invention provides an electronic device, including: at least one processor; at least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements the above method.

[0043] It can be seen that the contents of the above method embodiments are all applicable to the present device embodiments, the functions specifically implemented by the present device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0044] In addition, the embodiment of the present application also discloses a computer program product or a computer program, and the computer program product or the computer program is stored in a computer-readable storage medium. The processor of the computer device can read the computer program from the computer-readable storage medium, and the processor executes the computer program, so that the computer device performs the above method. Similarly, the contents in the above method embodiment are all applicable to the storage medium embodiment, and the functions specifically implemented by the storage medium embodiment are the same as those in the above method embodiment, and the beneficial effects achieved are also the same as those achieved by the above method embodiment.

[0045] The device embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separated, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0046] Those skilled in the art will appreciate that all or some of the steps in the methods disclosed above, and the functional modules / units in the systems and devices may be implemented as software, firmware, hardware, or a suitable combination thereof.

[0047] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present application 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 application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations 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.

[0048] It should be understood that in this application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0049] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0050] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0051] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0052] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including multiple instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, referred to as ROM), random access memory (Random Access Memory, referred to as RAM), disk or optical disk and other media that can store programs.

[0053] The preferred embodiments of the present invention are described above with reference to the accompanying drawings, but the scope of the rights of the present invention is not limited thereto. Any modification, equivalent substitution and improvement made by a person skilled in the art without departing from the scope and essence of the present invention should be within the scope of the rights of the present invention.

Claims

1. A full waveform radar data fitting method, characterized in that: The method comprises the following steps: Controlling the transmission waves emitted by the full-waveform radar when performing distance detection, and obtaining each receiving wave detected by the full-waveform radar; The transmission wave and each of the reception waves are sampled according to a set sampling period to obtain a first digital signal of the transmission wave and a reception wave digital signal of each of the reception waves, and a second digital signal corresponding to the first digital signal is determined from the reception wave digital signal of each of the reception waves; Performing curve fitting on the first digital signal to obtain a first curve corresponding to the first digital signal; performing curve fitting on the second digital signal to obtain a second curve corresponding to the second digital signal; The detection distance of the full waveform radar is determined based on the first curve and the second curve.

2. The method according to claim 1, characterized in that The step of determining the second digital signal corresponding to the first digital signal from the received wave digital signals of each of the received waves comprises: Acquire a transmission time interval of the transmission wave, and determine each receiving wave within the transmission time interval; For each received wave digital signal of the received wave, obtaining an amplitude peak value of the received wave digital signal; The amplitude peak values ​​of each of the received wave digital signals are compared, and the received wave digital signal with the largest amplitude peak value is used as the second digital signal corresponding to the first digital signal.

3. The method according to claim 1, characterized in that The performing curve fitting on the first digital signal to obtain a first curve corresponding to the first digital signal includes: Determine a sampling period where the amplitude peak of the first digital signal is located; Determine the sampling periods on the left and right sides of the sampling period, and obtain the sampling amplitude values ​​on the left and right sides of the sampling period; The amplitude peak value and the two amplitude values ​​are subjected to curve fitting to obtain a first curve corresponding to the first digital signal.

4. The method according to claim 1, characterized in that The performing curve fitting on the second digital signal to obtain a second curve corresponding to the second digital signal includes: Determine a sampling period where the amplitude peak of the second digital signal is located; Determine two sampling periods on the left and right sides of the sampling period, and obtain sampling amplitude values ​​on the left and right sides of the sampling period; The amplitude peak value and the two amplitude values ​​are subjected to curve fitting to obtain a second curve corresponding to the second digital signal.

5. The method according to claim 3 or 4, characterized in that: The step of determining two sampling periods on the left and right sides of the sampling period and obtaining sampling amplitude values ​​on the left and right sides of the sampling period includes: Extract at least one sampling period from the left and right sides adjacent to the sampling period respectively; Determine the central sampling time point of at least one extracted sampling period, average the amplitude values ​​of at least one extracted sampling period to obtain the amplitude mean corresponding to the central sampling time point, and use the central sampling time point and the corresponding amplitude mean as the sampling amplitude values ​​on the left and right sides of the sampling period.

6. The method according to claim 1, characterized in that The determining the detection distance of the full waveform radar based on the first curve and the second curve includes: respectively determining a peak point of the first curve and a peak point of the second curve; The distance between the peak point of the first curve and the peak point of the second curve is used as the detection distance of the full waveform radar.

7. The method according to claim 1, characterized in that The method further comprises: Acquire an operating frequency range of the full-waveform radar, and dynamically adjust the operating frequency of the full-waveform radar within the operating frequency range according to the detection distance and the operating frequency range; Obtaining the detection distance of the full-waveform radar at the plurality of operating frequencies; Analyzing the plurality of detection distances to determine a change in the detection distance of the full waveform radar at different operating frequencies; A variation curve of the detection distance is determined based on variation values ​​of the detection distance of the full waveform radar at different operating frequencies, and an operating frequency corresponding to a minimum value in the variation curve is selected as an optimal operating frequency of the full waveform radar.

8. A full waveform radar data fitting device, characterized in that: include: The first module is used to control the transmission wave emitted by the full-waveform radar when performing distance detection, and obtain each receiving wave detected by the full-waveform radar; wherein the transmission wave and the receiving wave are both full-waveform laser radar waves; The second module is used to sample the transmission wave and each of the receiving waves according to a set sampling period, obtain a first digital signal of the transmission wave and a receiving wave digital signal of each of the receiving waves, and determine a second digital signal corresponding to the first digital signal from the receiving wave digital signal of each of the receiving waves; A third module is used to perform curve fitting on the first digital signal to obtain a first curve corresponding to the first digital signal; and perform curve fitting on the second digital signal to obtain a second curve corresponding to the second digital signal; The fourth module is used to determine the detection distance of the full waveform radar based on the first curve and the second curve.

9. An electronic device, characterized in that: include: at least one processor; at least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements the method according to any one of claims 1 to 7.

10. A computer-readable storage medium storing a program executable by a processor, characterized in that: The processor-executable program is used to perform the method according to any one of claims 1 to 7 when executed by the processor.

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