Automobile radar wave sending and truncation processing method and system, terminal and storage medium

Abstract

The invention discloses an automobile radar wave sending and truncation processing method and system, a terminal and a storage medium. The distance dimension sampling point number N1 of a radar waveform is set to be 2048 sampling points, the speed dimension chirp pulse number N2 is set to be 256 chirp pulses, the size D of each sampling point is 2 bytes, the total radar physical receiving channel number numr is 8, and the compression ratio C of a 1DFFT result is 2; the data volume Volummem of each frame is calculated according to the parameters, and it is ensured that the data volume Volummem does not exceed the 3MB upper limit cached by the radar processor L3. Performing 2048-point FFT (Fast Fourier Transform) operation on the original data of the 2048 sampling points corresponding to each chirp waveform of each receiving channel to obtain 1024 distances bins; and then data of the first 768 pieces of distance bins are intercepted from data of the 1024 pieces of distance bins, and the data are compressed to be 1 / 2 of the original data so as to adapt to the 3MB upper limit of the L3 cache. According to the invention, the RAM resource of the radar processor chip can be fully utilized, and the signal processing gain of the radar can be maintained, so that a higher output signal-to-noise ratio and a farther radar detection distance are realized.

Description

Technical Field

[0001] The present invention belongs to the technical field of automobile radars, and in particular relates to an automobile radar wave transmission and truncation processing method, system, terminal and storage medium. Background Art

[0002] In the autonomous driving system, the vehicle-mounted millimeter-wave radar is one of the important sensors, mainly used for detection, perception and target positioning. Compared with other sensors such as cameras and lidar, millimeter-wave radar has the advantages of low cost, long detection distance, all-weather operation, and direct acquisition of Doppler velocity. In recent years, with the development of autonomous driving technology, millimeter-wave radar has been used more and more widely, especially in the field of 4D imaging radar, which can not only measure distance, speed and azimuth, but also pitch angle, providing more comprehensive environmental perception capabilities.

[0003] Existing automotive radar systems usually use the FMCW (frequency modulated continuous wave) system, which transmits a series of chirp pulses per frame. These pulses hit the target and reflect back, and are received and processed by the radar receiver before output. The RAM resources of radar processor chips are limited, especially the size of the L3 cache is usually several MB, which is a challenge for storing large amounts of radar data. The traditional solution is to reduce the amount of data per frame by reducing the number of sampling points N1 in the distance dimension or the number of chirp pulses N2 in the speed dimension when designing the radar waveform to adapt to the limitations of the L3 cache. For example, reduce the number of sampling points in the distance dimension from 2048 to 1024, or reduce the number of chirp pulses in the speed dimension from 256 to 128. However, this approach will significantly reduce the signal processing gain of the radar, thereby affecting the detection distance and accuracy of the radar.

[0004] In the prior art, in order to adapt to the RAM limitation of the radar processor chip, it is usually necessary to sacrifice the radar's signal processing gain, resulting in a decrease in the radar's detection distance and accuracy. Specifically, when the design parameters of the radar waveform are that the number of sampling points N1 in the distance dimension is 2048 sampling points, the number of chirp pulses N2 in the speed dimension is 256 chirp pulses, the size of each sampling point D is 2 bytes, the total number of radar physical receiving channels num_r is 8, and the compression rate C of the 1DFFT result is 2, the data volume Volum_mem per frame is 4MB, which exceeds the 3MB upper limit of the L3 cache. Therefore, a new method is needed to solve the problem of data volume exceeding the upper limit of the L3 cache without reducing the radar signal processing gain. Summary of the invention

[0005] The object of the present invention is to provide a method, system, terminal and storage medium for automobile radar wave transmission and truncation processing, which can achieve higher signal processing gain / higher output signal-to-noise ratio, thereby achieving a larger ranging range and detection accuracy than conventional wave transmission schemes, so as to solve the problems raised in the above background technology.

[0006] To achieve the above object, the present invention provides a method for processing automobile radar wave transmission and truncation, comprising the following steps:

[0007] S1: Set the parameters of the radar waveform, including: the number of sampling points N1 in the distance dimension is 2048 sampling points, the number of chirp pulses N2 in the velocity dimension is 256 chirp pulses, the size of each sampling point D is 2 bytes, the total number of radar physical receiving channels num_r is 8, and the compression rate C of the DFFT result is 2;

[0008] S2: Calculate the data volume Volum_mem of each frame according to the parameters to ensure that it does not exceed the 3MB upper limit of the L3 cache of the radar processor.

[0009] Preferably, the distance dimension sampling point number N1 and the speed dimension chirp pulse number N2 are both powers of 2.

[0010] Preferably, the amount of data per frame Volum_mem is calculated using the formula:

[0011] Volum_mem(MB)=N1*N2*D*num_r / C / 1024 / 1024;

[0012] Where N1 is the number of sampling points in the distance dimension, N2 is the number of chirp pulses in the velocity dimension, D is the size of each sampling point, num_r is the total number of physical receiving channels of the radar, and C is the compression rate of the 1DFFT result.

[0013] Preferably, the method further includes S3: performing a 2048-point FFT operation on the original data of 2048 sampling points corresponding to each chirp waveform of each receiving channel to obtain 1024 distance bins.

[0014] Preferably, the method further includes S4: for the data of the 1024 distance bins, intercepting the data of the first 768 distance bins and compressing the data to 1 / 2 of the original size to adapt to the 3MB upper limit of the L3 cache.

[0015] Preferably, in S4, by intercepting the data of the first 768 range bins, the data volume Volum_mem of each frame is made to be 3 MB, thereby maximizing the radar signal processing gain.

[0016] Preferably, the method further includes S5: adjusting the sampling bandwidth of the radar wave from B to 0.625B to extend the maximum distance range represented by the radar, where B is the sampling bandwidth of each chirp pulse.

[0017] In another aspect, the present invention provides a vehicle radar wave transmission and truncation processing system, comprising:

[0018] The waveform setting module is used to set the number of sampling points N1 in the distance dimension of the radar waveform, the number of chirp pulses N2 in the speed dimension, the size of each sampling point D, the total number of physical receiving channels num_r of the radar, and the compression rate C of the 1DFFT result;

[0019] The data volume calculation module is used to calculate the data volume Volum_mem of each frame according to the above parameters to ensure that it does not exceed the 3MB upper limit of the radar processor L3 cache;

[0020] An FFT processing module is used to perform a 2048-point FFT operation on the original data of 2048 sampling points corresponding to each chirp waveform of each receiving channel to obtain 1024 distance bins;

[0021] The data interception and compression module is used to intercept the data of the first 768 distance bins of the 1024 distance bins and compress it to 1 / 2 of the original data;

[0022] The sampling bandwidth adjustment module is used to adjust the sampling bandwidth of the radar wave from B to 0.625B to expand the maximum distance range represented by the radar;

[0023] The signal processing gain optimization module is used to increase the number of sampling points N1 in the distance dimension, the signal processing gain change, and the multiple of the radar output signal-to-noise ratio by truncating the wave transmission scheme.

[0024] On the other hand, the present invention proposes a terminal device for automobile radar wave transmission and truncation processing, wherein the terminal device for automobile radar wave transmission and truncation processing includes a processor, a memory, and a radar wave transmission and truncation processing program stored in the memory and executable by the processor, wherein when the radar wave transmission and truncation processing is executed by the processor, the steps of the multi-car radar wave transmission and truncation processing method as described above are implemented.

[0025] On the other hand, the present invention proposes a storage medium for automobile radar transmission and truncation processing, wherein the computer-readable storage medium stores a radar transmission and truncation processing program, wherein when the radar transmission and truncation processing program is executed by a processor, the steps of the multi-car radar transmission and truncation processing method as described above are implemented.

[0026] Technical effects and advantages of the present invention: Compared with the prior art, the present invention provides a method, system, terminal and storage medium for processing automobile radar wave emission and truncation, which have the following advantages:

[0027] The present invention sets the number of sampling points N1 of the distance dimension of the radar waveform to 2048 sampling points, the number of chirp pulses N2 of the speed dimension to 256 chirp pulses, the size D of each sampling point to 2 bytes, the total number of physical receiving channels num_r of the radar to 8, and the compression rate C of the 1DFFT result to 2; calculates the amount of data per frame: calculates the amount of data Volum_mem per frame according to the above parameters, and ensures that it does not exceed the 3MB upper limit of the radar processor L3 cache. Performs a 2048-point FFT operation on the original data of the 2048 sampling points of each chirp waveform corresponding to each receiving channel to obtain 1024 distance bins; then intercepts the data of the first 768 distance bins of the 1024 distance bins, and compresses it to 1 / 2 of the original to adapt to the 3MB upper limit of the L3 cache. Through the above method, the present invention can not only make full use of the RAM resources of the radar processor chip, but also maintain the signal processing gain of the radar, thereby achieving a higher output signal-to-noise ratio and a farther radar detection distance. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 is a single chirp pulse diagram of the automotive radar in this embodiment;

[0029] Figure 2 This is a waveform diagram of multiple chirp pulses in one frame emitted by the automobile radar in this embodiment;

[0030] Figure 3 : is a chirp pulse waveform diagram of two adjacent frames of the automobile radar in this embodiment;

[0031] Figure 4 This is an annotated diagram of the FFT and truncation process of each chirp in this embodiment;

[0032] Figure 5 Flow chart of the automotive radar wave transmission and truncation processing method in this embodiment. DETAILED DESCRIPTION

[0033] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. The specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0034] The present invention provides a method for processing automobile radar wave emission and truncation, which can not only fully utilize the RAM resources of the radar processor chip, but also maintain the signal processing gain of the radar, thereby achieving a higher output signal-to-noise ratio and a longer radar detection distance.

[0035] Before introducing the present invention, it should be noted that:

[0036] like Figure 1-Figure 3 As shown in the figure, the output signal-to-noise ratio has a decisive influence on the performance of millimeter-wave radar: the higher the output signal-to-noise ratio, the longer the radar detection range and the higher the detection accuracy. How to improve the radar output signal-to-noise ratio based on the existing hardware platform has important theoretical and practical value. Vehicle-mounted millimeter-wave radar usually adopts the FMCW (frequency modulated continuous wave) system, which transmits a series of chirp pulses per frame, hits the target and then reflects back, is received and processed by the radar receiver and then output.

[0037] For the MIMO radar of the FMCW system of automotive radar, the output signal-to-noise ratio after inter-channel coherent accumulation is:

[0038]

[0039] SNR_out is the radar output signal-to-noise ratio, Pt is the radar transmit peak power, NF is the radar receiver noise factor, λ is the carrier wavelength, Gt is the transmit channel antenna gain, Gr is the receive channel antenna gain, R is the radar to target distance, B is the radar intermediate frequency bandwidth, k is the Boltzmann constant, T is the ambient temperature, L is the sum of radar losses other than path loss (such as antenna feeder loss, radome loss, etc.), σ is the radar cross-sectional area of ​​the target, N1 is the number of sampling points in the range dimension, N2 is the number of chirp pulses. num_t is the number of transmit physical channels, num_r is the number of receive physical channels, and N1·N2·num_t·num_r is the signal processing gain.

[0040] Formula (1) can be simply transformed to obtain the formula for the maximum detection distance of the radar:

[0041]

[0042] The SNR_thres in the above formula is the detection threshold value of the output signal-to-noise ratio SNR_out, which is generally 13dB in the field of automotive radar.

[0043] The frequency band of automotive radar applications is 76-79GHz, and the mainstream radar chip manufacturers are TI, Calterahertz, NXP, etc. After the radar chip solution is determined, Pt, NF, λ, R (because the target distance is determined when calculating the output signal-to-noise ratio), B, k, T, L, σ (the automotive radar industry usually uses the RCS of a car - 10dBsm as the standard), num_t, and num_r are fixed. The only remaining factors for flexible design are the transmitting channel antenna gain Gt, the receiving channel antenna gain Gr, the number of sampling points in the distance dimension N1, and the number of chirp pulses N2. The transmitting and receiving antenna gains Gt and Gr are proportional to the physical aperture of the radar and are constrained by the field of view FOV required by the radar application.

[0044] There are strict requirements for the physical size / caliber of the radar, and for a given application area such as vehicle-mounted front radar and corner radar, there are also specific requirements for the FOV of the radar. Therefore, the range of Gt and Gr is limited and cannot be increased infinitely. Once the antenna design is determined, it is very costly to modify it - it is necessary to re-project the PCB circuit board and even re-open the mold of the structural parts.

[0045] In contrast, the design of the number of sampling points in the distance dimension N1 and the number of chirp pulses N2 is much more flexible. By cleverly selecting N1 and N2 and adopting the truncation scheme proposed in this paper, the signal processing gain can be achieved beyond the upper limit determined by the size of the RAM space inside the traditional chip while meeting the radar system parameter indicators.

[0046] like Figure 5 As shown, in this embodiment, a method for processing automobile radar wave emission and truncation includes the following steps:

[0047] S1: Set the parameters of the radar waveform, including: the number of sampling points N1 in the distance dimension is 2048 sampling points, the number of chirp pulses N2 in the velocity dimension is 256 chirp pulses, the size of each sampling point D is 2 bytes, the total number of radar physical receiving channels num_r is 8, and the compression rate C of the DFFT result is 2;

[0048] S2: Calculate the data volume Volum_mem of each frame according to the parameters to ensure that it does not exceed the 3MB upper limit of the L3 cache of the radar processor.

[0049] S3: Perform a 2048-point FFT operation on the original data of 2048 sampling points corresponding to each chirp waveform of each receiving channel to obtain 1024 distance bins.

[0050] S4: For the data of 1024 distance bins, the data of the first 768 distance bins is intercepted and compressed to 1 / 2 of the original size to adapt to the 3MB upper limit of the L3 cache.

[0051] S5: Adjust the sampling bandwidth of the radar wave from B to 0.625B to expand the maximum distance range of radar characterization. B is the sampling bandwidth of each chirp pulse.

[0052] The details are as follows:

[0053] In this embodiment, a certain automotive radar processor chip is taken as an example, and the specific implementation details of the truncated wave scheme are explained in combination with the waveform design practice of a certain dual-cascade 4D imaging automotive radar:

[0054] According to the above formula (1), the radar output signal-to-noise ratio SNR_out is proportional to the signal processing gain N1·N2, and the radar detection distance R is proportional to the fourth root of N1·N2. The relationship between N1·N2 and the data RAM inside the radar processor chip (more specifically, the size of the L3 cache) is as follows:

[0055] Assume that the radar waveform has N1 sampling points in the distance dimension, N2 chirp pulses in the speed dimension, D bytes per sampling point, and C compression rate of 1DFFT (distance dimension FFT) (compressed to 1 / C of the original. Major radar chip suppliers such as TI, NXP, and Calterah all compress 1DFFT data storage first, and then further process it to increase the radar data storage capacity). Then the data volume of each frame Volum_mem is (in megabytes MB):

[0056] Volum_mem(MB)=N1*N2*D*num_r / C / 1024 / 1024 (3)

[0057] The current automotive radar chip configuration on the market: num_r of a single radar RF front-end chip is 4, D of the processor is 2, and C of the processor is 2.

[0058] A dual-chip cascaded automotive radar uses two RF front-end chips in cascade, each with 4 physical receiving channels, and the total number of radar physical receiving channels num_r is 8. The radar processor chip has a total RAM memory of 5.5MB, which is divided into 3 levels of cache: L1, L2 and L3. Among them, radar data can only be stored in the L3 cache, and the size of the L3 cache is 3.5MB. In addition to radar data, considering that some program codes are also stored in the L3 cache, this part of the code needs to occupy less than 0.5MB of memory, so the upper limit of radar data is 3MB.

[0059] Radar processor chips often have this limitation: the number of points that the FFT inside the chip can process is limited to a power of 2, because this is the fastest way to calculate the FFT.

[0060] For example, 4, 8, 16, 32, 64, 128, 256, 512, 1024, 2048, etc. Therefore, the number of radar distance dimension points N1 and the number of chirp pulses N2 are also powers of 2.

[0061] Assume that the radar waveform design requires 2048 sampling points in the distance dimension and 256 chirp pulses in the speed dimension. Each sampling point is 2 bytes in size. The total number of radar physical receiving channels num_r is 8. Each sampling point is 2 bytes in size. The compression rate of the DFFT result is 2. According to formula (3), the data volume per frame Volum_mem is (in megabytes MB):

[0062] Volum_mem (MB) = 2048*256*2*8 / 2 / 1024 / 1024 = 4 MB, which exceeds the radar data upper limit of 3 MB allowed by the L3 cache.

[0063] The traditional method is to change the waveform: the distance dimension is changed to 1024 sampling points, and the speed dimension is changed to 256 chirp pulses; or the distance dimension remains unchanged, and the speed dimension is changed to 128 chirp pulses. In this way, the amount of data per radar frame Volume_mem = 1024*256*2*8 / 2 / 1024 / 1024 = 2MB. It is less than the upper limit of radar data allowed by the L3 cache of 3MB. However, compared with the original design of 2048 sampling points in the distance dimension and 256 chirp pulses in the speed dimension, the number of points in the distance dimension is reduced by 1 times. From formula (1), it can be seen that the signal processing gain is reduced by 1 times. From formula (2), the maximum detection distance is reduced to 84% of the original design.

[0064] How to maintain the original scheme of 2048 sampling points in distance dimension and 256 chirp pulses in speed dimension without exceeding the upper limit of RAM 3MB memory? The following truncated wave scheme can be adopted:

[0065] like Figure 4As shown, the original scheme of 2048 sampling points in the distance dimension and 256 chirp pulse waveform design in the speed dimension are maintained. The radar emits waves with this waveform, and after completing 1DFFT on each chirp echo signal, 1024 distance bins are obtained (the first distance bin represents the smallest distance unit, and the detection distance represented by the radar increases synchronously with the sequence number of the distance bins). The first 75% of the points, i.e. 768 distance bins, are intercepted from these 1024 distance bins and compressed by 2 times (the compression rate of 1DFFT result supported by the chip is 2). In this way, the data volume of each radar frame is Volum_mem = 2048*256*2*8*0.75 / 2 / 1024 / 1024 = 3MB, which is exactly the upper limit of RAM 3MB. The radar signal processing gain is only related to the number of points N1 for the distance dimension FFT (1DFFT) and the number of points N2 for the velocity dimension FFT, and has nothing to do with whether it is truncated. Therefore, the signal processing gain achieved by this truncation scheme is twice that of the traditional scheme (1024 sampling points in the distance dimension and 256 chirp pulses in the velocity dimension). That is, 3MB of RAM memory achieves the effect of 4MB.

[0066] Specific steps of truncation:

[0067] For the raw data of 2048 sampling points corresponding to each chirp waveform of each receiving channel, perform a 2048-point FFT operation. For 256 chirps, perform 256 2048-point FFT operations. The first half of the 1024-point data of the 2048-point operation result of each chirp is taken, and these 1024-point data are 1024 distance bins. For example Figure 4 Chirp1 in the figure, performs FFT on the N1 sampling points of its echo signal (corresponding to the 2048 points above), and obtains N1 data. Taking the first half of these data, we get N1 / 2 distance bins.

[0068] For the data of 1024 distance bins, the first 768 bins are truncated and compressed to 1 / 2 of the original data to obtain the truncated data. The echo data of 256 chirps are processed in the same way to obtain a truncated frame of data. The data obtained in this way is 75% of the data amount that can be directly compressed and stored without using the truncation scheme.

[0069] The disadvantage of truncation is that the last 25% of the distance bins are lost, which correspond to the farthest 25% of the characterization distance range. This can be compensated as follows: because the size of each distance bin is equal to the radar range resolution c / 2B, c is the speed of light, and B is the sampling bandwidth of each chirp pulse. If the sampling bandwidth of the radar wave of the truncation scheme is changed from B to 0.625B, the distance bin of the truncation scheme becomes c / (1.25B), then even if the first 75% of the distance bins are truncated, the distance characterization range obtained is c / (1.25B) to 768*c / (1.25B), that is, c / (1.25B) to 614.4*c / B.

[0070] Compared with the range from c / (2B) to 768*c / (1.25B) before truncation, that is, c / (2B) to 512*c / B, the range of distance representation has been expanded by about 20%. This just covers the 19% increase in radar detection distance caused by the improvement in signal-to-noise ratio. Note that it is not enough to just increase the maximum distance represented by the radar. The signal-to-noise ratio must be improved simultaneously to achieve an effective increase in the maximum detection distance. Otherwise, even if the represented distance target is far away, if its signal-to-noise ratio is insufficient, the radar will still not be able to detect it.

[0071] The truncated wave scheme achieves a distance dimension sampling point number N1 or a speed dimension sampling point number N2 that is twice that of the traditional scheme, and the signal processing gain becomes twice that of the traditional scheme, and the radar output signal-to-noise ratio is improved by 2 times. From formula (2), it can be seen that the radar detection distance can be improved by 19%. Note that formula (2) is the radar detection distance calculated based on the signal-to-noise ratio.

[0072] In another aspect, the present invention provides a vehicle radar wave transmission and truncation processing system, comprising:

[0073] The waveform setting module is used to set the number of sampling points N1 in the distance dimension of the radar waveform, the number of chirp pulses N2 in the speed dimension, the size of each sampling point D, the total number of physical receiving channels num_r of the radar, and the compression rate C of the 1DFFT result;

[0074] The data volume calculation module is used to calculate the data volume Volum_mem of each frame according to the above parameters to ensure that it does not exceed the 3MB upper limit of the radar processor L3 cache;

[0075] An FFT processing module is used to perform a 2048-point FFT operation on the original data of 2048 sampling points corresponding to each chirp waveform of each receiving channel to obtain 1024 distance bins;

[0076] The data interception and compression module is used to intercept the data of the first 768 distance bins of the 1024 distance bins and compress it to 1 / 2 of the original data;

[0077] The sampling bandwidth adjustment module is used to adjust the sampling bandwidth of the radar wave from B to 0.625B to expand the maximum distance range represented by the radar;

[0078] The signal processing gain optimization module is used to increase the number of sampling points N1 in the distance dimension, the signal processing gain change, and the multiple of the radar output signal-to-noise ratio by truncating the wave transmission scheme.

[0079] The above-mentioned waveform setting module, data volume calculation module, FFT processing module, data interception and compression module, sampling bandwidth adjustment module, and signal processing gain optimization module are also used to implement other steps of the above-mentioned automotive radar wave transmission and truncation processing method when executed, which will not be described one by one here.

[0080] In addition, the present invention also provides a terminal device for automobile radar wave transmission and truncation processing. The automobile radar wave transmission and truncation processing method involved in this embodiment is mainly used in the terminal device, which can be a PC, a portable computer, a mobile terminal, and other devices with display and processing functions.

[0081] Specifically, the terminal device may include a processor (such as a CPU), a communication bus, a user interface, a network interface, and a memory. The communication bus is used to realize the connection and communication between these components; the user interface may include a display screen (Display), an input unit such as a keyboard (Keyboard); the network interface may optionally include a standard wired interface, a wireless interface (such as a WI-FI interface); the memory may be a high-speed RAM memory, or a stable memory (non-volatile memory), such as a disk memory, and the memory may optionally be a storage device independent of the aforementioned processor.

[0082] Among them, the memory stores a readable storage medium, and the readable storage medium stores a radar wave transmission and truncation program. The processor can call the radar wave transmission and truncation program stored in the memory and execute the automobile radar wave transmission and truncation processing method provided in an embodiment of the present invention.

[0083] It is understood that a readable storage medium can be a tangible device that can hold and store instructions used by an instruction execution device. Computer-readable storage media can be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the above. More specific examples of computer-readable storage media (a non-exhaustive list) include: portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), static random access memories (SRAM), portable compact disk read-only memories (CD-ROM), digital versatile disks (DVD), memory sticks, floppy disks, mechanical encoding devices, such as punch cards or raised structures in grooves on which instructions are stored, and any suitable combination of the above. The computer-readable storage medium used here is not to be interpreted as a transient signal itself, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., a light pulse through a fiber optic cable), or an electrical signal transmitted through a wire.

[0084] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, optical fiber transmissions, wireless transmissions, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in the computer-readable storage medium in each computing / processing device.

[0085] The computer program instructions for performing the operation of the present disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages, such as Smalltalk, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. Computer-readable program instructions may be executed completely on a user's computer, partially on a user's computer, as an independent software package, partially on a user's computer, partially on a remote computer, or completely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., using an Internet service provider to connect via the Internet). In some embodiments, an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), may be customized by utilizing the state information of the computer-readable program instructions, and the electronic circuit may execute the computer-readable program instructions, thereby realizing various aspects of the present disclosure.

[0086] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for processing automobile radar wave emission and truncation, characterized in that: The following steps are involved: S1: Set the parameters of the radar waveform, including: the number of sampling points N1 in the distance dimension is 2048 sampling points, the number of chirp pulses N2 in the velocity dimension is 256 chirp pulses, the size of each sampling point D is 2 bytes, the total number of radar physical receiving channels num_r is 8, and the compression rate C of the DFFT result is 2; S2: Calculate the data volume Volum_mem of each frame according to the parameters to ensure that it does not exceed the 3MB upper limit of the L3 cache of the radar processor.

2. The method for processing automobile radar wave emission and truncation according to claim 1, characterized in that: The distance dimension sampling point number N1 and the speed dimension chirp pulse number N2 are both powers of 2.

3. The method for processing automobile radar wave emission and truncation according to claim 2, characterized in that: The calculation of the data volume per frame Volum_mem uses the formula: Volum_mem(MB)=N1*N2*D*num_r / C / 1024 / 1024; Where N1 is the number of sampling points in the distance dimension, N2 is the number of chirp pulses in the velocity dimension, D is the size of each sampling point, num_r is the total number of physical receiving channels of the radar, and C is the compression rate of the 1DFFT result.

4. The method for processing automobile radar wave emission and truncation according to claim 3, characterized in that: The method further includes S3: performing a 2048-point FFT operation on the original data of 2048 sampling points corresponding to each chirp waveform of each receiving channel to obtain 1024 distance bins.

5. The method for processing automobile radar wave emission and truncation according to claim 4, characterized in that: Also includes S4: For the data of 1024 distance bins, the data of the first 768 distance bins is intercepted and compressed to 1 / 2 of the original size to adapt to the 3MB upper limit of the L3 cache.

6. The method for processing automobile radar wave emission and truncation according to claim 5, characterized in that: In S4, by intercepting the data of the first 768 range bins, the data volume Volum_mem of each frame is made 3MB, realizing the maximization of radar signal processing gain.

7. The method for processing automobile radar wave emission and truncation according to claim 6, characterized in that: It also includes S5: adjusting the sampling bandwidth of the radar wave from B to 0.625B to extend the maximum distance range of radar characterization, where B is the sampling bandwidth of each chirp pulse.

8. A system for a vehicle radar wave transmission and truncation processing method according to any one of claims 1 to 7, characterized in that: include: The waveform setting module is used to set the number of sampling points N1 in the distance dimension of the radar waveform, the number of chirp pulses N2 in the speed dimension, the size of each sampling point D, the total number of physical receiving channels num_r of the radar, and the compression rate C of the 1DFFT result; The data volume calculation module is used to calculate the data volume Volum_mem of each frame according to the above parameters to ensure that it does not exceed the 3MB upper limit of the radar processor L3 cache; An FFT processing module is used to perform a 2048-point FFT operation on the original data of 2048 sampling points corresponding to each chirp waveform of each receiving channel to obtain 1024 distance bins; The data interception and compression module is used to intercept the data of the first 768 distance bins of the 1024 distance bins and compress it to 1 / 2 of the original data; The sampling bandwidth adjustment module is used to adjust the sampling bandwidth of the radar wave from B to 0.625B to expand the maximum distance range represented by the radar; The signal processing gain optimization module is used to increase the number of sampling points N1 in the distance dimension, the signal processing gain change, and the multiple of the radar output signal-to-noise ratio by truncating the wave transmission scheme.

9. A terminal device for automobile radar wave transmission and truncation processing, characterized in that: The terminal device for automobile radar transmission and truncation processing includes a processor, a memory, and a radar transmission and truncation processing program stored in the memory and executable by the processor. When the radar transmission and truncation processing is executed by the processor, the steps of the multi-car radar transmission and truncation processing method as described in any one of claims 1 to 7 are implemented.

10. A storage medium for automobile radar wave generation and truncation processing, characterized in that: The computer-readable storage medium stores a radar transmission and truncation processing program, wherein when the radar transmission and truncation processing program is executed by the processor, the steps of the multi-vehicle radar transmission and truncation processing method according to any one of claims 1 to 7 are implemented.

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