Radar data processing method, device, storage medium and electronic device

Abstract

The present application discloses a radar data processing method, device, storage medium and electronic device. The method includes: performing a fast Fourier transform operation on the echo data received from the target radar object to obtain the first radar data; determining the first radar data subset and the second radar data subset from the first radar data according to the target distance unit sequence number corresponding to the distance parameter; performing a first Doppler transmit demodulation operation on the first radar data subset according to the first virtual subarray to obtain the second radar data; performing a second Doppler transmit demodulation operation on the second radar data subset according to the second virtual subarray to obtain the third radar data. The present application solves the technical problems of inaccurate radar data processing and low efficiency in the prior art.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving, and more specifically, to a radar data processing method, device, storage medium and electronic device. Background Art

[0002] With the widespread application of millimeter-wave radar in the autonomous driving industry, the requirements for the maximum detection distance, distance measurement, speed measurement, and angle measurement performance are gradually increasing. MIMO (multiple-input multiple-output) virtual array technology improves spatial resolution by adding virtual channels. A MIMO radar with Nr receiving antennas and Nt transmitting antennas can form a virtual antenna array of Nr×Nt dimensions, greatly increasing the antenna aperture to achieve an improvement in target angular resolution. The application of DDMA (Doppler domain multiple access) waveform technology transmits radar signals simultaneously through Nt different transmitting antennas. Compared with the traditional time division multiplexing multiple transmission and multiple reception technology (TDM-MIMO), a higher transmission gain can be obtained under the same time requirements. However, the target echo signal of the DDMA waveform will have Nt energy components in the Doppler dimension, so it is necessary to determine the order of the transmitting antennas to obtain the true speed of the target (i.e., the demodulation of the speed).

[0003] Since the DDMA waveform transmission channel will increase the Doppler dimension side lobe when receiving and demodulating, the false alarm probability of target detection processing increases particularly significantly in close-range multi-target and clutter-intensive environments. For long-range targets, there is often a situation where the signal-to-noise ratio is weak and difficult to detect, and because long-range targets are limited, the sensitivity to Doppler side lobes is often weak. Therefore, the main pain points for long-range targets are low detection probability and low measurement accuracy due to low signal-to-noise ratio. In other words, there are technical problems in the prior art of inaccurate radar data processing and low efficiency. Summary of the invention

[0004] The embodiments of the present application provide a radar data processing method, device, storage medium and electronic device to at least solve the technical problems of inaccurate radar data processing and low efficiency in the prior art.

[0005] According to one aspect of an embodiment of the present application, a radar data processing method is provided, comprising: performing a fast Fourier transform operation on echo data received from a target radar object to obtain first radar data; determining a first radar data subset and a second radar data subset from the first radar data according to a target distance unit sequence number corresponding to a distance parameter, wherein the distance unit sequence number of the data elements in the first radar data subset is greater than or equal to the target distance unit sequence number, and the distance unit sequence number of the data elements in the second radar data subset is less than the target distance unit sequence number; performing a first Doppler transmit demodulation operation on the first radar data subset according to a first virtual subarray to obtain second radar data, wherein the second radar data is used to perform object detection on a long-range object, which is an object located outside the target distance indicated by the distance parameter in a target space region; performing a second Doppler transmit demodulation operation on the second radar data subset according to a second virtual subarray to obtain third radar data, wherein the third radar data is used to perform object detection on a short-range object, which is an object located within the target distance indicated by the distance parameter in the target space region.

[0006] According to another aspect of an embodiment of the present application, a radar data processing device is further provided, comprising: a first execution unit, performing a fast Fourier transform operation on echo data received from a target radar object to obtain first radar data; a first determination unit, determining a first radar data subset and a second radar data subset from the first radar data according to a target distance unit sequence number corresponding to a distance parameter, wherein the distance unit sequence number of the data elements in the first radar data subset is greater than or equal to the target distance unit sequence number, and the distance unit sequence number of the data elements in the second radar data subset is less than the target distance unit sequence number; a first processing unit, performing a first Doppler transmit demodulation operation on the first radar data subset according to a first virtual subarray to obtain second radar data, wherein the second radar data is used to perform object detection on a long-range object, which is an object located outside the target distance indicated by the distance parameter in the target space region; a second processing unit, performing a second Doppler transmit demodulation operation on the second radar data subset according to a second virtual subarray to obtain third radar data, wherein the third radar data is used to perform object detection on a close-range object, which is an object located within the target distance indicated by the distance parameter in the target space region.

[0007] As an optional solution, the above-mentioned radar data processing device also includes a third processing module, which is used to perform a cyclic shift operation on the first virtual subarray according to the cyclic shift parameter indicated by the Doppler unit number matching the transmit phase offset parameter to obtain a first reference data subset; splice multiple data matrices included in the first reference data subset according to the matrix splicing method indicated by the subarray dimension of the first virtual subarray to obtain second radar data, wherein the subarray dimension of the first virtual subarray is determined by a simulation operation performed on the target radar; perform a cyclic shift operation on the second virtual subarray according to the cyclic shift parameter indicated by the Doppler unit number matching the transmit phase offset parameter to obtain a second reference data subset; splice multiple data matrices included in the second reference data subset according to the matrix splicing method indicated by the subarray dimension of the second virtual subarray to obtain third radar data, wherein the subarray dimension of the second virtual subarray is determined by a simulation operation performed on the target radar.

[0008] As an optional scheme, the above-mentioned third processing module also includes a first detection module, which is used to determine an angle interval parameter for detecting a long-range object, and a target angle unit serial number interval matching the angle interval parameter; arrange the second radar data according to the virtual array channel, and perform a fast Fourier transform operation in the azimuth dimension on the arranged second radar data according to the first point number to obtain long-range three-dimensional radar data; determine a long-range three-dimensional data subset from the long-range three-dimensional radar data according to the target angle unit serial number interval, wherein the angle unit serial numbers of the data elements included in the long-range three-dimensional data subset are located in the target angle unit serial number interval; and perform object detection on the long-range object according to the long-range three-dimensional data subset.

[0009] As an optional solution, the above-mentioned third processing module also includes a second detection module, which is used to arrange the third radar data according to the virtual array channel, and perform a fast Fourier transform operation on the arranged third radar data in the azimuth dimension according to the second number of points to obtain close-range three-dimensional radar data; and perform an object detection operation based on the close-range three-dimensional radar data.

[0010] As an optional solution, the above-mentioned radar data processing device also includes: a second determination module, used to determine the target range unit number according to the ratio between the range parameter and the range resolution of the target radar object; determine the Doppler unit number according to the product between the transmission phase offset parameter and the first signal quantity parameter, wherein the transmission phase offset parameter is used to indicate the phase difference between the transmission phases corresponding to two adjacent transmission antennas in the target radar object, and the first signal quantity parameter is used to indicate the number of modulated signals included in a frame of radar signals transmitted by the target radar object.

[0011] As an optional solution, the above-mentioned first execution unit also includes a third determination module, which is used to obtain multiple candidate code pattern combinations when the number of transmitting array elements and receiving array elements of the target radar object is determined, wherein the candidate code pattern combination is used to indicate the number of array elements and array element sequence numbers of at least one object array element extracted from the multiple transmitting array elements; obtain first simulation results corresponding to each of the multiple candidate code pattern combinations, wherein the first simulation results include at least one of the following: the sidelobe height of at least one Doppler sidelobe, and the position of at least one Doppler sidelobe; and determine at least one first code pattern combination from the multiple candidate code pattern combinations according to the first simulation results corresponding to each of the multiple candidate code pattern combinations, wherein the first code pattern combination is used to indicate the second virtual subarray.

[0012] As an optional scheme, the above-mentioned third determination module also includes a fourth determination module, which is used to determine the current candidate code type combination as the first code type combination when the sidelobe height of at least one Doppler sidelobe corresponding to the current candidate code type combination in multiple candidate code type combinations is less than or equal to the first threshold; and determine the current candidate code type combination as the first code type combination when the distribution state of at least one Doppler sidelobe corresponding to the current candidate code type combination in multiple candidate code type combinations is less than or equal to the second threshold.

[0013] As an optional solution, the above-mentioned first execution unit also includes a fifth determination module, which is used to obtain at least one reference radar array information; according to the at least one reference radar array information, the distance parameter and the angle interval parameter, obtain the target simulation results corresponding to the at least one reference radar array information, wherein the target simulation result includes a main-sidelobe ratio parameter; according to the target simulation result, determine the target radar array information from the at least one reference radar array information, wherein the target radar array information is used to indicate the array parameters of the target radar object.

[0014] As an optional scheme, the above-mentioned first execution unit also includes a sixth determination module, which is used to obtain a height estimation parameter of the target object; determine the pitch angle corresponding to each of the multiple candidate object distances according to the height estimation parameter and the multiple candidate object distances; when at least one reference radar array information is obtained, obtain at least one reference simulation result according to the reference radar array information and the multiple pitch angles, wherein the reference simulation result includes at least one of the following: an angle measurement error value, a main-sidelobe ratio change rate; determine the distance parameter according to at least one reference simulation result that satisfies the first constraint condition.

[0015] According to another aspect of the embodiment of the present application, a computer program product or a computer program is provided, the computer program product or the computer program includes computer instructions, the computer instructions are stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the above radar data processing method.

[0016] According to another aspect of an embodiment of the present application, there is also provided an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the radar data processing method through the computer program.

[0017] In the above-mentioned embodiment of the present application, a fast Fourier transform operation is performed on the echo data received from the target radar object to obtain the first radar data; according to the target distance unit sequence number corresponding to the distance parameter, a first radar data subset and a second radar data subset are determined from the first radar data, wherein the distance unit sequence number of the data elements in the first radar data subset is greater than or equal to the target distance unit sequence number, and the distance unit sequence number of the data elements in the second radar data subset is less than the target distance unit sequence number; a first Doppler transmit demodulation operation is performed on the first radar data subset according to the first virtual subarray to obtain the second radar data, wherein the second radar data is used to perform object detection on a long-range object, and the long-range object is an object located outside the target distance indicated by the distance parameter in the target space area; a second Doppler transmit demodulation operation is performed on the second radar data subset according to the second virtual subarray to obtain the third radar data, wherein the third radar data is used to perform object detection on a close-range object, and the close-range object is an object located within the target distance indicated by the distance parameter in the target space area.

[0018] Through the above implementation mode of the present application, firstly, a fast Fourier transform operation is performed on the echo data received from the target radar object to obtain the first radar data; according to the target distance unit number corresponding to the distance parameter, a first radar data subset and a second radar data subset are determined from the first radar data, wherein the distance unit number of the data element in the first radar data subset is greater than or equal to the target distance unit number, and the distance unit number of the data element in the second radar data subset is less than the target distance unit number; a first Doppler transmit demodulation operation is performed on the first radar data subset according to the first virtual subarray to obtain the second radar data, wherein the second radar data is used for object detection for a long-range object; a second Doppler transmit demodulation operation is performed on the second radar data subset according to the second virtual subarray to obtain the third radar data, wherein the third radar data is used for object detection for a close-range object; different antenna array layouts are designed in the close-range case and the long-range case, respectively, to solve the technical problem of inaccurate radar data processing in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0020] Figure 1 is a schematic diagram of an application environment of an optional radar data processing method according to an embodiment of the present application;

[0021] Figure 2 is a flowchart of an optional radar data processing method according to an embodiment of the present application;

[0022] Figure 3 is a schematic diagram of an optional antenna array according to an embodiment of the present application;

[0023] Figure 4 is a schematic diagram of an optional Doppler sidelobe distribution according to an embodiment of the present application;

[0024] Figure 5 is a schematic diagram of another optional Doppler sidelobe distribution according to an embodiment of the present application;

[0025] Figure 6 is a flowchart of another optional radar data processing method according to an embodiment of the present application;

[0026] Figure 7 is a schematic diagram of an optional angle-dimensional spectrum according to an embodiment of the present application;

[0027] Figure 8 is an optional main-sidelobe ratio influence schematic diagram according to an embodiment of the present application;

[0028] Fig. 9 is another optional angle-dimensional spectrum schematic diagram according to an embodiment of the present application;

[0029] Fig.10 is a flowchart of another optional radar data processing method according to an embodiment of the present application;

[0030] Fig.11 is a schematic diagram of an optional distance-pitch angle relationship according to an embodiment of the present application;

[0031] Fig.12 is a schematic diagram of an optional angle measurement error according to an embodiment of the present application;

[0032] Fig.13 is another optional main-sidelobe ratio influence schematic diagram according to an embodiment of the present application;

[0033] Fig.14 is a flowchart of another optional radar data processing method according to an embodiment of the present application;

[0034] Fig.15 is a flowchart of another optional radar data processing method according to an embodiment of the present application;

[0035] Fig.16 is a schematic diagram of a radar data processing device according to an embodiment of the present application;

[0036] Fig.17 It is a schematic diagram of the structure of an optional electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0037] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0038] It should be noted that the terms "first", "second", etc. in the specification and claims 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 interchangeable 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 comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0039] According to one aspect of an embodiment of the present application, a method for processing radar data is provided. Optionally, the method for processing radar data can be applied to, but is not limited to, Figure 1 In the hardware environment shown. Optionally, the radar data processing method provided by the present application can be applied to a vehicle terminal. Figure 1 A side view of a vehicle terminal 101 is shown, and the vehicle terminal 101 can travel on a travel surface 113. The vehicle terminal 101 includes an onboard navigation system 103, a memory 102 storing a digitized road map 104, a space monitoring system 117, a vehicle controller 109, a GPS (Global Positioning System) sensor 110, an HMI (Human / Machine Interface) device 111, and also includes an autonomous controller 112 and a telematics controller 114.

[0040] In one embodiment, the space monitoring system 117 includes one or more space sensors and systems, which are used to monitor the visible area 105 in front of the vehicle terminal 101. The space monitoring system 117 also includes a space monitoring controller 118; the space sensors used to monitor the visible area 105 include a laser radar sensor 106, a radar sensor 107, a camera 108, etc. The space monitoring controller 118 can be used to generate data related to the visible area 105 based on the data input from the space sensor. The space monitoring controller 118 can determine the linear range, relative speed and trajectory of the vehicle terminal 101 based on the input from the space sensor, for example, determine the current speed of the vehicle and the relative speed compared to the front vehicle. The space sensor of the vehicle terminal space monitoring system 117 may include an object positioning sensing device, and the object positioning sensing device may include a range sensor, which can be used to locate the front object such as the front vehicle object.

[0041] The camera 108 is advantageously mounted and positioned on the vehicle terminal 101 in a position that allows capturing an image of the visible area 105, wherein at least a portion of the visible area 105 includes a portion of the travel surface 113 in front of the vehicle terminal 101 and including the trajectory of the vehicle terminal 101. The visible area 105 may also include the surrounding environment. Other cameras may also be used, for example, including a second camera disposed on the rear or side portion of the vehicle terminal 101 to monitor the rear of the vehicle terminal 101 and one of the right or left sides of the vehicle terminal 101.

[0042] The autonomous controller 112 is configured to implement autonomous driving or advanced driver assistance system (ADAS) vehicle terminal functionality. Such functionality may include a vehicle terminal onboard control system capable of providing a certain level of driving automation. Driving automation may include a range of dynamic driving and vehicle terminal operations. Driving automation may include a certain level of automatic control or intervention involving a single vehicle terminal function (e.g., steering, acceleration, and / or braking).

[0043] In this embodiment, the radar data processing method is applied to the above scenario, as follows:

[0044] S102, performing a fast Fourier transform operation on the echo data received from the target radar object to obtain first radar data;

[0045] S104, determining a first radar data subset and a second radar data subset from the first radar data according to the target range unit sequence number corresponding to the range parameter, wherein the range unit sequence number of the data elements in the first radar data subset is greater than or equal to the target range unit sequence number, and the range unit sequence number of the data elements in the second radar data subset is less than the target range unit sequence number;

[0046] S106, performing a first Doppler transmit demodulation operation on the first radar data subset according to the first virtual subarray to obtain second radar data, wherein the second radar data is used to perform object detection on a long-range object, where the long-range object is an object in the target space region that is outside the target distance indicated by the distance parameter;

[0047] S108, performing a second Doppler transmit demodulation operation on the second radar data subset according to the second virtual subarray to obtain third radar data, wherein the third radar data is used to perform object detection on close-range objects, where the close-range objects are objects in the target space area that are within the target distance indicated by the distance parameter.

[0048] The HMI device 111 provides human-machine interaction for the purpose of guiding the operation of the infotainment system, GPS (Global Positioning System) sensor 110, onboard navigation system 103 and the like, and includes a controller. The HMI device 111 monitors operator requests and provides the operator with status, service and maintenance information of the vehicle terminal system. The HMI device 111 communicates with multiple operator interface devices and / or controls the operation of multiple operator interface devices. The HMI device 111 may also communicate with one or more devices that monitor biometric data associated with the vehicle terminal operator. For simplicity of description, the HMI device 111 is depicted as a single device, but in the embodiments of the system described herein, it may be configured as multiple controllers and associated sensing devices.

[0049] Operator controls may be included in the passenger compartment of the vehicle terminal 101, and may include, by way of non-limiting example, a steering wheel, an accelerator pedal, a brake pedal, and an operator input device, which is an element of the HMI device 111. The operator controls enable a vehicle terminal operator to interact with the operating vehicle terminal 101 and direct the operation of the vehicle terminal 101 to provide passenger transportation.

[0050] The onboard navigation system 103 uses the digitized road map 104 for the purpose of providing navigation support and information to the vehicle terminal operator. The autonomous controller 112 uses the digitized road map 104 for the purpose of controlling the autonomous vehicle terminal operation or ADAS vehicle terminal functions.

[0051] The vehicle terminal 101 may include a telematics controller 114, which includes a wireless telematics communication system capable of communicating outside the vehicle terminal (including communicating with a communication network 115 having wireless and wired communication capabilities). The wireless telematics communication system includes an off-board server 116 capable of short-range wireless communication with a mobile terminal.

[0052] As an optional implementation, Figure 2 As shown, the radar data processing method can be performed by the radar sensor alone or together with other electronic devices, and the specific steps include:

[0053] S202, performing a fast Fourier transform operation on the echo data received from the target radar object to obtain first radar data;

[0054] S204, determining a first radar data subset and a second radar data subset from the first radar data according to the target range unit sequence number corresponding to the range parameter, wherein the range unit sequence number of the data elements in the first radar data subset is greater than or equal to the target range unit sequence number, and the range unit sequence number of the data elements in the second radar data subset is less than the target range unit sequence number;

[0055] S206, performing a first Doppler transmit demodulation operation on the first radar data subset according to the first virtual subarray to obtain second radar data, wherein the second radar data is used to perform object detection on a long-range object, where the long-range object is an object in the target space region that is outside the target distance indicated by the distance parameter;

[0056] S208, performing a second Doppler transmit demodulation operation on the second radar data subset according to the second virtual subarray to obtain third radar data, wherein the third radar data is used to perform object detection on close-range objects, where the close-range objects are objects in the target space area that are within the target distance indicated by the distance parameter.

[0057] In the above step S202, a fast Fourier transform operation is performed on the echo data received by the target radar object to obtain the first radar data. Specifically, the data size of the above echo data is the number of sampling points*the number of sampling bits*the number of receiving channels. The above first radar data can be RDFFT data, that is, the data obtained after the echo data is processed by the distance dimension FFT (Fast Fourier Transform) and the Doppler dimension FFT. The distance dimension FFT is used to analyze the distance information, and the Doppler dimension FFT is used to analyze the speed information. The data dimension is the number of sampling points*the number of sampling bits*the number of receiving channels.

[0058] In the above step S204, a first radar data subset and a second radar data subset are determined from the first radar data according to the target distance unit number corresponding to the distance parameter, wherein the distance unit number of the data elements in the first radar data subset is greater than or equal to the target distance unit number, and the distance unit number of the data elements in the second radar data subset is less than the target distance unit number.

[0059] As an optional implementation, the distance parameter may be a distance value of a long-distance starting point, for example, 100 m, that is, distances beyond 100 m are considered long-distance; the target distance unit number may be based on the formula: R far_idx =R far / Δ r , R far is the remote starting point, Δ rSystem distance resolution. Specifically, the first radar data subset and the second radar data subset are determined from the first radar data according to the distance unit number; for example, the long-range starting distance is set to 100m, and the distance unit number of the corresponding target is calculated by the distance resolution according to the above formula to be 200, then the distance unit number of the data elements in the first radar data subset is the RDFFT data with a distance unit number greater than or equal to 200; the distance unit number of the data elements in the second radar data subset is the RDFFT data with a distance unit number less than 200.

[0060] It should also be noted that after the radar layout is performed for the long-range case, the angle range θ of interest for long-range target detection processing can be selected according to the functional requirements. pro , forming a spatial subdomain. For example, set the long-range starting distance to 100 meters, take the common front radar as an example, and set the angle range of interest for the long-range to ∈ [-20°~20°]. This reduces the amount of data processed by the radar data.

[0061] Further in the above step S206, a first Doppler transmit demodulation operation is performed on the first radar data subset according to the first virtual subarray to obtain second radar data, wherein the second radar data is used to perform object detection on a long-range object, and the long-range object is an object in the target space area that is outside the target distance indicated by the distance parameter.

[0062] As an optional implementation, the first virtual subarray can be a virtual antenna array obtained by using all receiving antennas and transmitting antennas, which is used to receive and send radar data at a long distance. For example, the radar antenna parameters are designed as follows: the number of receiving array elements = 8, the number of transmitting antennas = 4, and the dimension of the virtual array formed = 8*4 = 32. The transmission phase offset Δ of the second to fourth channels relative to the first channel in the four transmitting antennas of the DDMA waveform θ They are 84.375°, 140.625°, and 267.1875° respectively. The following formula is used to calculate the transmission phase offset Δ θ Calculate the corresponding Doppler unit number:

[0063]

[0064] Therefore, the Δ of the second to fourth channels relative to the first channel in the transmitting antenna can be obtained. θ_idx They are 120, 200, and 380 respectively. In this embodiment, for RDFFT data with a range unit number greater than or equal to 200, all transmitting antennas are used to participate in demodulation, that is, the RDFFT data is sequentially cyclically shifted [0, 120, 200, 380] in the Doppler dimension and then spliced ​​to form demodulated data, whose dimension is 312×512×32, corresponding to the above-mentioned second radar data.

[0065] In the above step S208, a second Doppler transmit demodulation operation is performed on the second radar data subset according to the second virtual subarray to obtain third radar data, wherein the third radar data is used to perform object detection on close-range objects, and the close-range objects are objects in the target space area that are within the target distance indicated by the distance parameter.

[0066] As an optional implementation, the second virtual subarray may be a virtual antenna array obtained by using part of the receiving antennas and the transmitting antennas, and is used to receive and transmit radar data in a close range. In this step, the Doppler transmit demodulation operation for data with a distance unit number less than 200 is specifically as follows: the long-range starting distance is set to 100 meters, and the transmitting subarray used for close-range processing selects the second to fourth transmitting array elements, that is, Nt'=3. The size of the virtual subarray thus formed is 8*3=24; the RDFFT data corresponding to the second transmitting antenna in the original transmitting array is cyclically shifted by 120 units along the Doppler dimension. That is, the data of the original RDFFT data Doppler dimension unit number [0:511] becomes [120:511,0:119], and the data corresponding to the third and fourth transmitting antennas are cyclically shifted by 200 and 380 units respectively, and then sequentially concatenated with the receiving antenna N_r dimension, forming a demodulated data matrix with a dimension of 200×512×24, which corresponds to the second radar data.

[0067] The above process is described below in a complete implementation method:

[0068] S1, according to the radar system performance requirements, complete the radar antenna and waveform design, and the transmission channel transmits DDMA waveforms with different phase changes. Including the number of MIMO antenna receiving array elements Nr and the number of transmitting antennas Nt. The phase offset Δ corresponding to the transmitting antenna under the DDMA system θ The number of chirps in the processing cycle M D and the number of fast time sampling points M for each chirp R . Determine the system distance resolution Δ r , velocity resolution Δ d .

[0069] S2, determine the signal processing long-distance starting position R far . Evaluate and calculate the short-range transmission subarray size Nt' that meets the system requirements, and select the angle range θ of interest for long-range target detection processing based on functional requirements. pro , forming a spatial subdomain.

[0070] S3, down-convert the radar echo data, and obtain the original echo data after completing the digital-to-analog conversion. The original echo data enters the signal processing link for target detection processing.

[0071] S3-1, after performing range dimension FFT on the fast time sampling points of the original echo data, Doppler FFT in the chirp dimension is performed to obtain range Doppler FFT (RDFFT) data.

[0072] S3-2, the following formula can be used to calculate the transmission phase offset Δ θ Calculate the corresponding Doppler unit number:

[0073]

[0074] Calculate R based on distance accuracy far The corresponding distance dimension unit number R far__idx The formula is as follows:

[0075] R far_idx =R far / Δ r .

[0076] By R far_idx Determine the distance range of the RDFFT data involved in the processing, and calculate the RDFFT data of different distance ranges according to Δ θ_idx Doppler demodulation of different transmitting sub-arrays is performed to obtain demodulated data.

[0077] S3-3, the demodulated data is subjected to angle-dimensional coherent processing, and after being arranged according to the virtual array channels, the angle-dimensional FFT generates a three-dimensional data matrix Ω of range, Doppler, and angle (RDA).

[0078] S3-4, by the angle range of interest θ pro Calculate the angle unit number θ corresponding to the azimuth dimension FFT pro_idx The formula is as follows:

[0079]

[0080] Where ceil(·) means rounding up. mod(x,A) means taking x modulo A.

[0081] Therefore, different angle ranges can be selected according to different distance information to obtain the corresponding spatial subdomain RDA 3-dimensional data matrix Ω'.

[0082] S3-5, perform target detection on the RDA 3D data matrix Ω' to obtain the target point distance, speed, and angle unit information R t , D t , A t The target distance, speed, and angle estimates can be calculated using the following formula:

[0083] Estimated target distance = R t ×Δ r ; Target estimated speed = Dt ×Δ d ;

[0084] Thereby completing the output of target point trace information.

[0085] Through the above-mentioned implementation mode of the present application, long-range target detection is performed in the subspace formed by the angle dimension, which reduces the amount of calculation and storage space during detection, and rationally uses the signal-to-noise ratio improvement brought about by antenna coherent accumulation; close-range target detection uses a virtual sub-array formed by the participation of some transmitting array elements, which reduces the amount of Doppler dimension transmission demodulation calculation and the Doppler dimension side lobes formed after demodulation, thereby also reducing the false alarm probability of close-range target detection.

[0086] In an optional implementation, performing a first Doppler transmit demodulation operation on the first radar data subset according to the first virtual subarray to obtain second radar data includes:

[0087] S1, performing a cyclic shift operation on a first virtual subarray according to a cyclic shift parameter indicated by a Doppler unit number matching a transmit phase offset parameter, to obtain a first reference data subset;

[0088] S2, splicing a plurality of data matrices included in the first reference data subset according to a matrix splicing mode indicated by a subarray dimension of a first virtual subarray to obtain second radar data, wherein the subarray dimension of the first virtual subarray is determined by a simulation operation performed on the target radar;

[0089] In the above steps S1-S2, a cyclic shift operation is performed on the first virtual subarray according to the cyclic shift parameter indicated by the Doppler unit number matching the transmit phase offset parameter to obtain a first reference data subset; and a plurality of data matrices included in the first reference data subset are spliced ​​according to a matrix splicing method indicated by the subarray dimension of the first virtual subarray to obtain second radar data.

[0090] Optionally, taking the above-mentioned first virtual subarray corresponding to the long-range radar data processing as an example, assuming that the number of radar antenna parameters receiving array elements = 8, the number of transmitting antennas = 4, the virtual array dimension formed = 8*4 = 32. The transmission phase offsets of the second to fourth channels of the four transmitting antennas of the DDMA waveform relative to the first channel are 84.375°, 140.625°, and 267.1875° respectively. The following formula can be used to calculate the transmission phase offset Δ θ Calculate the corresponding Doppler unit number:

[0091]

[0092] Therefore, the Δ of the second to fourth channels relative to the first channel in the transmitting antenna can be obtained. θ_idxThey are 120, 200, and 380 respectively. Set the long-range starting distance to 100m, and the corresponding target distance unit number calculated by the distance resolution is 200. Then the distance unit numbers of the data elements in the multiple data matrices included in the first reference data subset are RDFFT data with distance unit numbers greater than or equal to 200. The first virtual subarray can be an array design with the best main-sidelobe ratio determined by demand screening and performance screening. For example, the array combination A includes subarrays a1, a2, and a3. Among them, subarray a1 uses a specific antenna layout. When detecting targets, its main lobe radiation energy is relatively strong, but the side lobes also have a certain energy distribution; the antenna layouts of subarrays a2 and a3 are different, and they have their own radiation characteristics; for subarray a1 in the array combination A, through simulation or theoretical calculation, its main lobe radiation energy is EA, and the side lobe radiation energy is Ea1, then the main-sidelobe ratio Ra1=EA / Ea1, and the main-sidelobe ratio of each subarray is calculated in the same way, and then the optimal virtual subarray is selected.

[0093] For RDFFT data with a range unit number greater than or equal to 200, all transmitting antennas are used to participate in demodulation, that is, the RDFFT data is cyclically shifted in the Doppler dimension in sequence [0, 120, 200, 380] to obtain the first reference data, which is further spliced ​​to obtain the above-mentioned second radar data, that is, the echo signals of different transmitting antennas are aligned and then spliced ​​to form demodulated data. The above-mentioned subarray dimension can be the virtual antenna array dimension formed by the transmitting and receiving antennas corresponding to the optimal array design selected after simulating different antenna placement positions and numbers, and the above-mentioned splicing method can be sequential splicing. The echo signals of different transmitting antennas corresponding to the above-mentioned second radar data are aligned and then spliced ​​to form demodulated data, and its dimension is 312×512×32, that is, there are 4*8=32 channels under the array design mode of 4 transmits and 8 receives.

[0094] Performing a second Doppler transmit demodulation operation on the second radar data subset according to the second virtual subarray to obtain third radar data, including:

[0095] S1, performing a cyclic shift operation on the second virtual subarray according to a cyclic shift parameter indicated by a Doppler unit number matching a transmit phase offset parameter to obtain a second reference data subset;

[0096] S2, according to the matrix splicing mode indicated by the subarray dimension of the second virtual subarray, splicing multiple data matrices included in the second reference data subset to obtain third radar data, wherein the subarray dimension of the second virtual subarray is determined by the simulation operation performed on the target radar.

[0097] In the above steps S1-S2, a cyclic shift operation is performed on the second virtual subarray according to the cyclic shift parameter indicated by the Doppler unit number matching the transmit phase offset parameter to obtain a second reference data subset; and a plurality of data matrices included in the second reference data subset are spliced ​​according to the matrix splicing method indicated by the subarray dimension of the second virtual subarray to obtain third radar data.

[0098] As an optional implementation, the distance unit numbers of the data elements in the multiple data matrices included in the above-mentioned second reference data subset are RDFFT data with distance unit numbers less than 200; the above-mentioned second virtual subarray can be an antenna array design corresponding to the minimum sidelobe interference level determined under the condition of short-range radar layout design, for example, an array design formed after reducing the channels with staggered pitch layers.

[0099] Furthermore, if the transmitting subarray used for close-range processing selects the 2nd to 4th transmitting array elements, that is, Nt'=3. The RDFFT data of the second transmitting antenna in the original transmitting array is cyclically shifted by 120 units along the Doppler dimension. That is, the data of the original RDFFT data Doppler dimension unit number [0:511] is changed to [120:511,0:119]. The data corresponding to the third and fourth transmitting antennas are cyclically shifted by 200 and 380 units respectively to obtain the above-mentioned second reference data subset, which is further concatenated with the receiving antenna Nr dimension in sequence to form the demodulated data matrix with a dimension of 200×512×24.

[0100] Through the above implementation mode of the present application, under different distance conditions, the first virtual subarray and the second virtual subarray are translated and spliced ​​according to the cyclic translation parameters indicated by the Doppler unit number that matches the transmission phase offset parameter, so as to obtain different radar data. In close-range target detection, since the target is close to the radar and the echo signal is strong, smaller virtual array elements are used to participate in signal processing, which reduces the side lobes in the Doppler dimension, reduces the false alarm probability of close-range target detection, and improves the accuracy and reliability of target detection. For long-range targets, all transmitting antennas are used to increase the transmission and receiving gains, but target detection is performed in the subspace formed by the angle dimension, which can effectively reduce the amount of data, reduce the computational complexity, and improve the processing efficiency.

[0101] In an optional implementation, after the plurality of data matrices included in the first reference data subset are spliced ​​according to the matrix splicing mode indicated by the subarray dimension of the first virtual subarray to obtain the second radar data, the method further includes:

[0102] S1, determining an angle interval parameter for detecting a long-distance object and a target angle unit sequence number interval matching the angle interval parameter;

[0103] S2, arranging the second radar data according to the virtual array channels, and performing a fast Fourier transform operation on the arranged second radar data in the azimuth dimension according to the first number of points to obtain long-range three-dimensional radar data;

[0104] S3, determining a long-range 3D data subset from the long-range 3D radar data according to the target angle unit sequence number interval, wherein the angle unit sequence numbers of the data elements included in the long-range 3D data subset are within the target angle unit sequence number interval;

[0105] S4, performing object detection on the distant object based on the distant 3D data subset.

[0106] In the above step S1, the angle interval parameters for detecting distant objects and the target angle unit number interval matching the angle interval parameters are determined; for example, the angle interval parameters can be determined according to the type of radar (including but not limited to corner radar, front radar), the angle range corresponding to the corner radar is relatively large, generally positive or negative 90 degrees, and the angle range corresponding to the front radar is positive or negative 60 degrees, etc., and no specific limitation is made here.

[0107] In the above step S2, the second radar data is arranged according to the virtual array channels, and a fast Fourier transform operation is performed on the arranged second radar data in the azimuth dimension according to the first number of points to obtain long-range three-dimensional radar data.

[0108] As an optional implementation, for example, for RDFFT data with a range unit number greater than or equal to 200, all transmitting antennas are used to participate in demodulation, that is, the RDFFT data is sequentially cyclically shifted [0, 120, 200, 380] in the Doppler dimension and then spliced ​​to form demodulated data, whose dimension is 312×512×32, and further according to the first point number (specifically, the azimuth dimension FFT point number) to obtain the long-range three-dimensional radar data, specifically, the long-range transmission demodulated data is arranged according to the virtual array channel, and the azimuth dimension FFT point number M is performed. A =64, thus forming an RDA 3D data matrix Ω of size 312×512×64.

[0109] The process of selecting the number of FFT points in the azimuth dimension can be as follows: Figure 3The design of 4-transmit and 4-receive array is shown, and the specific antenna position is shown in the coordinate system in the figure. The MIMO POS has 4*4=16 channels. The positions of the transmitting and receiving channels are shown in the figure. The number of FFT points in the azimuth dimension can be the width of the mimo pos, which is the point with the largest horizontal coordinate minus the point with the smallest horizontal coordinate. This width is a concept of aperture, which determines the angle measurement accuracy and angle resolution of the radar. The larger the aperture, the better these two are. It should be noted that the number of fft points must be larger than the aperture, otherwise it is equivalent to the number of fft points being smaller than the number of sampling points, resulting in the fft angle measurement not being able to play the role of this large aperture. It can be set to 2 to the power of n or 3*(2 to the power of n) while meeting the above conditions.

[0110] Furthermore, in the above steps S3-S4, a long-range three-dimensional data subset is determined from the long-range three-dimensional radar data according to the target angle unit sequence number interval; and object detection is performed on the long-range object according to the long-range three-dimensional data subset.

[0111] Optionally, the target angle unit number interval can be obtained according to the angle range of interest, for example, setting the long-range angle range of interest θ pro ∈[-20°~20°], and the above steps set the number of FFT points in the azimuth dimension M A =64, the angle range of interest is θ pro Calculate the angle unit number θ corresponding to the azimuth dimension FFT pro_idx The formula is as follows:

[0112]

[0113] Where ceil(·) means rounding up. mod(x,A) means taking x modulo A. For example, the range of the processing unit number of the long-distance angle dimension is calculated as θ pro_idx ∈[0:11,53:63];

[0114] That is, the calculated range of the long-distance angle dimension processing unit serial number is 1 / n of the original processing range. 0-11 and 53-63 correspond to 23 channels, that is, the size of the RDA3-dimensional data (corresponding to the data in the long-distance three-dimensional data subset) Ω' used for long-distance target detection is 312×512×23 (approximately 1 / 3 of 64); the above-mentioned object detection of long-distance objects can be the detection of the driving state of long-distance vehicles, long-distance obstacles, signboards, etc.; it can be understood that due to the reduction in the number of angle restriction channels, the range of the long-distance angle dimension processing unit serial numbers corresponds, that is, each channel corresponds to an angle dimension serial number, which reduces the number of processes and improves the processing efficiency.

[0115] In an optional implementation, after the plurality of data matrices included in the second reference data subset are spliced ​​according to the matrix splicing mode indicated by the subarray dimension of the second virtual subarray to obtain the third radar data, the method further includes:

[0116] S1, arranging the third radar data according to the virtual array channels, and performing a fast Fourier transform operation on the arranged third radar data in the azimuth dimension according to the second number of points to obtain close-range three-dimensional radar data;

[0117] S2, performing object detection operation based on the close-range 3D radar data.

[0118] In the above steps S1-S2, the third radar data is arranged according to the virtual array channel, and a fast Fourier transform operation is performed on the arranged third radar data in the azimuth dimension according to the second number of points to obtain close-range three-dimensional radar data; and an object detection operation is performed based on the close-range three-dimensional radar data.

[0119] Optionally, the second number of points is specifically the number of azimuth FFT points corresponding to the radar array design in the close-range case. For example, the demodulated data after close-range transmission is arranged according to the virtual array channel, and the number of azimuth FFT points M is performed. A =48, forming an RDA 3D data matrix Ω of size 200×512×48. And Ω'=Ω.

[0120] Take the target at a distance of 20 meters, a speed of 10 meters per second, and an angle of 10 degrees relative to the radar coordinate system as an example: After performing CA-CFAR hypothesis test on the detection matrix Ω', the target point distance unit R is obtained t =40, Doppler unit D t =22, angle unit A t =4, the target point information to be detected is obtained by the following formula:

[0121] Estimated target distance = R t ×Δ r =20 (meters); target estimated speed = D t ×Δ d =9.9 (meters per second); This completes the output of target point information.

[0122] Through the above-mentioned implementation mode recorded in the present application, the third radar data is arranged according to the virtual array channel, and the fast Fourier transform operation is performed on the arranged third radar data in the azimuth dimension according to the second number of points to obtain close-range three-dimensional radar data; an object detection operation is performed based on the close-range three-dimensional radar data, fewer antennas are used to participate, Doppler dimension side lobes are reduced, the amount of calculation is reduced, and a suitable number of azimuth dimension points is selected to improve the accuracy of data processing.

[0123] In an optional implementation, after performing a fast Fourier transform operation on the echo data received from the target radar object to obtain the first radar data, the method further includes:

[0124] S1, determining the target range unit number according to the ratio between the range parameter and the range resolution of the target radar object;

[0125] S2. Determine the Doppler unit number according to the product of a transmit phase offset parameter and a first signal quantity parameter, wherein the transmit phase offset parameter is used to indicate a phase difference between transmit phases corresponding to two adjacent transmit antennas in the target radar object, and the first signal quantity parameter is used to indicate the number of modulated signals included in a frame of radar signals transmitted by the target radar object.

[0126] In the above steps S1-S2, the target range unit number is determined according to the ratio between the range parameter and the range resolution of the target radar object; alternatively, the target range unit number can be determined according to the formula R far_idx =R far / Δ r Determine, where the long-distance starting distance is R far Corresponding to the above distance parameter, Δ r The system distance resolution is designed according to system requirements.

[0127] In the above step S2, the Doppler unit number is determined according to the product between the transmission phase offset parameter and the first signal quantity parameter; it can be understood that when multiple antennas transmit signals of the same frequency, each antenna can independently adjust the initial phase of its transmission signal, and this difference in phase is called phase offset. Phase offset causes the echo signal to form specific side lobes in the Doppler dimension, and the positions of these side lobes are directly related to the phase offset of the transmitting antenna. By identifying these side lobes, the radar system can determine which antenna the echo signal is transmitted from and calculate the true speed of the target;

[0128] Optionally, the Doppler unit number can be calculated according to the formula Determine, where Δ θ is the transmission phase offset of the nth channel relative to the first channel in the DDMA waveform transmitting antenna. One processing cycle is one frame, and the number of chirps in one frame is M. D , which is the first signal quantity parameter mentioned above.

[0129] In an optional implementation, before performing a fast Fourier transform operation on the echo data received from the target radar object to obtain the first radar data, the method further includes:

[0130] S1, when determining the number of transmitting array elements and receiving array elements of the target radar object, obtaining multiple candidate code pattern combinations, wherein the candidate code pattern combination is used to indicate the number of array elements and array element sequence number of at least one object array element extracted from the multiple transmitting array elements;

[0131] S2, obtaining first simulation results corresponding to each of the plurality of candidate code pattern combinations, wherein the first simulation results include at least one of the following: a sidelobe height of at least one Doppler sidelobe, and a position of at least one Doppler sidelobe;

[0132] S3, determining at least one first code pattern combination from the plurality of candidate code pattern combinations according to first simulation results corresponding to each of the plurality of candidate code pattern combinations, wherein the first code pattern combination is used to indicate the second virtual sub-array.

[0133] In the above step S1, when the number of transmitting array elements and receiving array elements of the target radar object is determined, a plurality of candidate code pattern combinations are obtained, wherein the candidate code pattern combination is used to indicate the number of array elements and array element sequence number of at least one object array element extracted from the plurality of transmitting array elements. The number of the above transmitting array elements and receiving array elements may be the number of antennas determined in advance according to the requirements. The above candidate code pattern combination provides a variety of different waveform design options, and these waveforms may be pulse sequences of different lengths and structures. By selecting different code pattern combinations, the time, frequency and phase parameters of the radar signal may be adjusted to adapt to different detection environments and target characteristics. Different array element combinations may provide different angular resolutions and distance resolutions, thereby improving the accuracy of target recognition and tracking.

[0134] Further in the above steps S2-S3, first simulation results corresponding to each of the multiple candidate code type combinations are obtained, wherein the first simulation results include at least one of the following: a sidelobe height of at least one Doppler sidelobe, a position of at least one Doppler sidelobe; based on the first simulation results corresponding to each of the multiple candidate code type combinations, at least one first code type combination is determined from the multiple candidate code type combinations.

[0135] As shown in the schematic diagram Figure 4 As shown in the figure, the Doppler sidelobe distribution of an antenna design method is shown, the horizontal axis is dopIdx (Doppler index), and the vertical axis is peaKVal (peak value). For example, the result of extracting a channel for simulation analysis of the Doppler sidelobe distribution is as follows Figure 5 As shown in the figure, the distribution that meets the conditions can be selected. The fluctuation degree of the Doppler spectrum reflects the stability of the signal and the measurement accuracy of the radar system on the target motion state. For example, the overall Doppler spectrum is determined to be more stable as a distribution that meets the conditions, as shown in the schematic diagram Figure 5Taking the Doppler sidelobe distribution diagram corresponding to the extraction of different channels for simulation as an example, it can be seen that the most stable overall Doppler spectrum (with the smallest fluctuation) is the Doppler sidelobe distribution diagram corresponding to the extraction of the third channel. Specifically, the fluctuation degree of the remaining Doppler spectrum after removing the Doppler spectrum corresponding to the transmitting channel code type is analyzed. The smaller the fluctuation, the more stable and accurate the radar system's measurement of the target's motion state is, that is, it is determined Figure 5 The Doppler sidelobe distribution corresponding to the first extraction of the third channel in the second row has the best effect, which is the antenna design method selected in the close-range situation.

[0136] Flowchart Figure 6 The above process is fully described as follows: First, in S602, a code combination is designed to meet system requirements, including requirements such as maximum detection distance, angle resolution, Doppler resolution, and false alarm rate.

[0137] S604, traversing each group of code patterns; including:

[0138] Execute S604-1 to calculate the combination of M code words extracted from N code words. Specifically, traverse each group of code patterns designed to meet system requirements, and calculate the combination of N code words extracted from each code pattern. Where N is the number of channels in the transmission antenna with staggered elevation layers, which affects the phase shift and sidelobe distribution of the transmission antenna. For example, if the number of transmission antennas is M (assuming M = 4, N = 3), all possible combinations of extracting 3 code words from the complete code pattern need to be calculated, and each combination represents a possible transmission mode;

[0139] S604-2, calculate the position and size of the Doppler sidelobe; specifically, calculate the position and size of the Doppler sidelobe of each extracted combination according to the demodulation rule. The demodulation rule is to use the transmission channel 1 as the transmission channel 1 to M respectively, perform phase shift, and obtain the Doppler sidelobe;

[0140] Specifically, the sidelobe position can be mapped to the Doppler domain by calculating the phase difference after phase shift, while the sidelobe size reflects the energy distribution after demodulation.

[0141] S604-3, all sidelobe maximum values ​​<= threshold 1, all sidelobe position differences <= threshold 2; specifically, determine whether the maximum value of the Doppler sidelobe position difference and the sidelobe height meet the threshold. It is generally hoped that the Doppler sidelobe is low enough and the sidelobe position is relatively concentrated to reduce interference with target detection. Evaluate the relative height of the Doppler sidelobe. Compared with the main lobe energy, the lower the sidelobe energy, the smaller its negative impact on target detection performance.

[0142] As an optional implementation, assume a Barker code sequence with a length of 7 and code words: +1, +1, +1, -1, +1, -1, -1, and it is necessary to extract N combinations of code words from it. For example, N = 3, and the following combinations can be obtained: combination 1: +1, +1, +1; combination 2: +1, +1, -1; combination 3: +1, -1, +1... Calculate each extracted combination according to the demodulation rule, for example, by calculating the dot product of the received signal and the local code word to achieve demodulation. If the received signal is +1, -1, +1, for example, the process of performing a dot product operation on it and the above combination 1 is (+1) × (+1) + (-1) × (+1) + (+1) × (+1) = +1 - 1 + 1 = +1.

[0143] Further calculating the position and size of the Doppler side lobe includes, but is not limited to, determining the position and size of the side lobe by calculating the autocorrelation function of the codeword, which is not specifically limited herein.

[0144] Set the maximum value of the sidelobe position difference and the threshold value of the sidelobe energy to evaluate whether the performance of each code combination meets the requirements. For example, you can set the threshold to require that the farthest sidelobe position difference does not exceed 100 units, and the relative height of all side lobes does not exceed -20dB of the main lobe height.

[0145] If the requirements are met, S604-4 is executed to record the current code type and the extraction position; otherwise, no record is made; and finally S606, the final code type, is obtained.

[0146] In an optional implementation, determining at least one first code pattern combination from a plurality of candidate code pattern combinations according to first simulation results corresponding to each of the plurality of candidate code pattern combinations includes at least one of the following:

[0147] Mode 1: when the side lobe height of at least one Doppler side lobe corresponding to the current candidate code pattern combination among the multiple candidate code pattern combinations is less than or equal to the first threshold, the current candidate code pattern combination is determined as the first code pattern combination;

[0148] Mode 2: when the distribution state of at least one Doppler sidelobe corresponding to the current candidate code pattern combination among multiple candidate code pattern combinations is less than or equal to the second threshold, the current candidate code pattern combination is determined as the first code pattern combination.

[0149] In method 1, for example, a radar system has 4 transmitting array elements and 4 receiving array elements. Design multiple candidate code combinations, and measure the Doppler sidelobe height corresponding to each combination. Set a threshold, such as -20dB as the first threshold for the sidelobe height. Assuming that among the candidate code combinations A, B, C, and D, only combination C has all sidelobe heights that do not exceed -20dB, then combination C will be determined as the first code combination. It can be understood that the sidelobe height of the Doppler sidelobe directly affects the interference level of the radar signal. A lower sidelobe height can reduce clutter and interference and improve the signal-to-noise ratio of the signal.

[0150] In the second method, for example, a threshold is set such as the sidelobe width does not exceed 10 FFT bins; if all sidelobe distribution states of a candidate code pattern combination meet the condition (the sidelobe width does not exceed 10 FFT bins), the candidate code pattern combination is determined as the first code pattern combination. It can be understood that the distribution state of the Doppler sidelobe affects the angular resolution of the radar. Optimizing the sidelobe distribution can improve the radar's ability to resolve the target angle, thereby more accurately locating the target.

[0151] In addition, in this embodiment, the preferred first code pattern combination can also be determined by combining the above-mentioned embodiment 1 and embodiment 2. For example, when the weight coefficients of the linear and planar array antenna directional layout optimization design are respectively 0.45 and 0.9, not only the sidelobe level and cross-polarization gain are reduced, but also the gain drop in the main radiation direction can be ensured not to be too great. This method effectively improves the sidelobe height and distribution state of the Doppler sidelobe by optimizing the array layout, thereby improving the performance of the radar system.

[0152] In an optional implementation, before performing a fast Fourier transform operation on the echo data received from the target radar object to obtain the first radar data, the method further includes:

[0153] S1, obtaining at least one reference radar array information;

[0154] S2, acquiring target simulation results corresponding to at least one reference radar array information, a distance parameter, and an angle interval parameter, wherein the target simulation results include a main-sidelobe ratio parameter;

[0155] S3, determining target radar array information from at least one reference radar array information according to the target simulation result, wherein the target radar array information is used to indicate array parameters of the target radar object.

[0156] In the above step S1, obtaining at least one reference radar array information can be determined according to design requirements, such as detection distance, angle coverage, performance indicators (angle resolution, angle measurement accuracy, etc.) and detection target type. The above radar array information includes but is not limited to the number of receiving antennas, the number of transmitting antennas, antenna formation, DDMA waveform parameters, processing cycle and other information.

[0157] In the above step S2, according to at least one reference radar array information, the distance parameter and the angle interval parameter, the target simulation results respectively corresponding to the at least one reference radar array information are obtained.

[0158] In such Figure 3 In the 4-transmit 4-receive radar antenna layout shown in the figure, the minimum number of channels used is determined to be 14. The angle-dimensional spectrum is obtained by simulating any combination as follows: Figure 7 As shown, the main lobe ratio within the selected FOV is calculated, and the schematic diagram is as follows Figure 8 As shown, further select the optimal subarray as Fig. 9 The subarray corresponding to the thick line is the one with the highest main-sidelobe ratio.

[0159] Further in the above step S3, the target radar array information is determined from at least one reference radar array information according to the target simulation result.

[0160] As an optional implementation, for example, there are array combinations A, B, and C, where array combination A includes subarrays a1, a2, and a3. Subarray a1 uses a specific antenna layout. When detecting long-range targets, its radiation energy in the main lobe direction is relatively strong, but the side lobes also have a certain energy distribution; subarrays a2 and a3 have different antenna layouts and have their own radiation characteristics; array combination B is composed of subarrays b1, b2, and b3. Subarray b1 uses another antenna arrangement method, and its main lobe has a high energy concentration in the direction of the long-range target, and the side lobe energy is relatively low; subarrays b2 and b3 are also designed to optimize the signal reception of long-range targets, but they are different from the characteristics of subarray b1; array combination C includes subarrays c1, c2, and c3. The antenna layout of subarray c1 focuses on improving signal gain within a specific angle range, and its main lobe side lobe ratio shows certain characteristics; subarrays c2 and c3 work together in the entire array combination to meet the needs of long-range target detection.

[0161] For the subarray a1 in the array combination A, through simulation or theoretical calculation, its main lobe radiation energy is EA, and the side lobe radiation energy is Ea1, then the main-side lobe ratio Ra1=EA / Ea1, and the main-side lobe ratio of each subarray is calculated based on the same method.

[0162] For example, in array combination A, Ra2 is the maximum value, in array combination B, Rb1 is the maximum value, and in array combination C, Rc3 is the maximum value. Further comparison of Ra2, Rb1, and Rc3, if Rb2 is the largest, array combination B is selected as the optimal main array, and its signal reception and processing capabilities are the best. It should also be noted that when calculating the main-sidelobe ratio, multiple factors need to be considered, such as antenna performance, target height distribution, long-range FOV requirements, signal-to-noise ratio, etc.

[0163] Flowchart Fig.10 The above process is described in detail:

[0164] S1002, array design that meets system requirements;

[0165] Traverse each array and execute S1004 to evaluate the distance segmentation; S1006 to evaluate the long-range FOV; S1008 to evaluate the optimal subarray.

[0166] Specifically, S1004, the evaluation distance segment includes: S1004-1, confirming the target distribution height; S1004-2, calculating the pitch angle distribution of targets at different distances; S1004-3, simulating the influence of the pitch angle on the azimuth measurement at different distances; S1004-4, screening the distance where the azimuth measurement error and the main-sidelobe ratio change are within a reasonable range; that is, this item is evaluated based on the target height distribution range and the influence of the pitch channel on the azimuth measurement.

[0167] S1006, evaluating the long-range FOV includes: S1006-1, confirming the functional area according to the radar type; S1006-2, confirming the long-range FOV in combination with the distance segment value; that is, calculating the FOV according to the radar functional area and the long-range distance segment.

[0168] S1008, evaluating the optimal subarray includes: S1008-1, traversing all arrays that meet the system requirements; S1008-2, setting the minimum number of virtual channels used; S1008-3, each array selects a subarray according to the minimum number of channels used; S1008-4, the subarray meets the high main-sidelobe ratio requirement in the long-distance main FOV; if the requirements are met, execute S1008-5 to record the number of channels used and the main-sidelobe ratio of the current subarray; S1008-6, obtain the optimal subarray of the number of channels and the main-sidelobe ratio; S1008-7, record the current array and the optimal subarray; that is, consider the signal-to-noise ratio to set the minimum number of MIMO channels used, and select the subarray that meets the requirements according to the high main-sidelobe ratio requirement of the long-distance main FOV subarray.

[0169] S1010, traverse all group array + sub-array combinations, and select the combination with the highest sub-array main-sidelobe ratio;

[0170] S1012, final formation.

[0171] In an optional implementation, determining a distance parameter for detecting a distant object includes:

[0172] S1, obtain the height estimation parameters of the target object;

[0173] S2, determining the pitch angle corresponding to each of the plurality of candidate object distances according to the height estimation parameter and the plurality of candidate object distances;

[0174] S3, when at least one reference radar array information is obtained, obtaining at least one reference simulation result according to the reference radar array information and a plurality of pitch angles, wherein the reference simulation result includes at least one of the following: an angle measurement error value, a main-sidelobe ratio change rate;

[0175] S4: Determine a distance parameter according to at least one reference simulation result that satisfies the first constraint condition.

[0176] In the above steps S1-S2, a height estimation parameter of the target object is obtained; and a pitch angle corresponding to each of the plurality of candidate object distances is determined according to the height estimation parameter and the plurality of candidate object distances;

[0177] Alternatively, if Fig.11 As shown in the figure, it is a schematic diagram of the pitch angle of the target object at a height of -1m (lower line) and 10m (upper line) at different distances. It can be seen that there are inflection points where the pitch angle gradually tends to be flat (0°) near the critical points of different distances, that is, it can be determined that for target objects at different heights, there are respectively matching distance critical points, that is, the long-distance starting values ​​corresponding to target objects at different heights can be determined respectively.

[0178] In the above step S3, when at least one reference radar array information is obtained, at least one reference simulation result is obtained according to the reference radar array information and multiple pitch angles; Fig.12 , Fig.13 The 15m height target was used to conduct the angle measurement error impact analysis and the main-sidelobe ratio impact analysis. Fig.12 In the coordinate system, the horizontal axis x represents the distance, the vertical axis z represents the azimuth angle measurement state, and the parameter y represents the azimuth angle. Fig.13 In the coordinate system, the horizontal axis x represents the distance, the vertical axis z represents the main lobe to side lobe ratio, and the parameter y represents the azimuth angle. Fig.12 It can be seen that the error influence tends to be stable after the distance of 270m, and 270m can be used as the critical value for distance judgment; Fig.13 It can be seen that the error influence tends to be stable after the distance of 90m, and 90m can be used as the critical value for distance judgment.

[0179] In the above step S4, the distance parameter is determined according to at least one reference simulation result that satisfies the first constraint condition. The first constraint condition can be a weight value that matches the angle measurement error value and the main-sidelobe ratio change rate determined according to different design requirements, that is, the distance parameter value can be determined jointly according to the above influencing factors. For example, the two conditions are combined to determine that 270m is the distance critical value, and within 270m is the close range. Or it can be determined that the main-sidelobe ratio is the main factor, and 90m is determined as the critical value.

[0180] By acquiring a height estimation parameter of a target object; determining the pitch angles corresponding to the respective distances of the multiple candidate objects according to the height estimation parameter and the distances of the multiple candidate objects; acquiring at least one reference simulation result according to the reference radar array information and the multiple pitch angles when at least one reference radar array information is acquired; determining a distance parameter according to at least one reference simulation result satisfying a first constraint condition; and by accurately and reasonably determining the distance of the long-distance starting point, the accuracy of long-distance processing is improved.

[0181] The following process Fig.14 An overall description of this plan:

[0182] S1402, complete antenna and DDMA waveform design according to radar system performance requirements;

[0183] S1404, determining the long-range starting position, the short-range virtual sub-array size, and the long-range angle range;

[0184] S1406, performing signal processing on the original echo data to complete target detection;

[0185] Specifically, S1, according to the performance requirements of the radar system, complete the radar antenna and waveform design, and the transmission channel transmits DDMA waveforms with different phase changes. Including the number of MIMO antenna receiving array elements Nr and the number of transmitting antennas Nt. The phase offset Δ corresponding to the transmitting antenna under the DDMA system θ The number of chirps in the processing cycle M D and the number of fast time sampling points M for each chirp R . Determine the system distance resolution Δ r , velocity resolution Δ d .

[0186] For example: Design radar antenna parameters: number of receiving array elements = 8, number of transmitting antennas = 4, and the dimension of the virtual array = 8*4 = 32. DDMA waveform: The transmission phase offset of the second to fourth channels relative to the first channel among the four transmitting antennas is Δ θThey are 84.375°, 140.625°, and 267.1875° respectively. One processing cycle is one frame, the number of chirps in one frame = 512, and the number of fast time sampling points of each chirp = 512. The system distance resolution is 0.5 meters, and the speed resolution is 0.45 meters per second.

[0187] S2, determine the signal processing long-distance starting position R far . Evaluate and calculate the short-range transmission subarray size Nt' that meets the system requirements, and select the angle range θ of interest for long-range target detection processing based on functional requirements. pro , forming a spatial subdomain.

[0188] For example, the long-range starting distance is set to 100 meters, and the transmitting subarray used for short-range processing selects the 2nd to 4th transmitting array elements, that is, Nt'=3. The size of the virtual subarray formed is 8*3=24; Taking the common front radar as an example, the angle range of interest for long-range is set to θ pro ∈[-20°~20°].

[0189] S3, down-convert the radar echo data, and obtain the original echo data after completing the digital-to-analog conversion. The original echo data enters the signal processing link for target detection processing.

[0190] S3-1, after performing range dimension FFT on the fast time sampling points of the original echo data, Doppler FFT in the chirp dimension is performed to obtain range Doppler FFT (RDFFT) data.

[0191] S3-2, the following formula can be used to calculate the transmission phase offset Δ θ Calculate the corresponding Doppler unit number:

[0192]

[0193] Calculate R based on distance accuracy far The corresponding distance dimension unit number R far__idx The formula is as follows:

[0194] R far_idx =R far / Δ r .

[0195] By R far_idx Determine the distance range of the RDFFT data involved in the processing, and calculate the RDFFT data of different distance ranges according to Δ θ_idx Doppler demodulation of different transmitting sub-arrays is performed to obtain demodulated data.

[0196] S3-3, the demodulated data is subjected to angle-dimensional coherent processing, and after being arranged according to the virtual array channels, the angle-dimensional FFT generates a three-dimensional data matrix Ω of range, Doppler, and angle (RDA).

[0197] S3-4, by the angle range of interest θ pro Calculate the angle unit number θ corresponding to the azimuth dimension FFT pro_idx The formula is as follows:

[0198]

[0199] Where ceil(·) means rounding up. mod(x,A) means taking x modulo A.

[0200] Therefore, different angle ranges can be selected according to different distance information to obtain the corresponding spatial subdomain RDA 3-dimensional data matrix Ω'.

[0201] S3-5, perform target detection on the RDA 3D data matrix Ω' to obtain the target point distance, speed, and angle unit information R t , D t , A t The target distance, speed, and angle estimates can be calculated using the following formula:

[0202] Estimated target distance = R t ×Δ r ; Target estimated speed = D t ×Δ d ;

[0203] Thereby completing the output of target point trace information.

[0204] The above step S3 is described in a specific implementation manner:

[0205] The size of the received original echo data is 512×512×8. The data is processed for target detection. The specific steps are as follows:

[0206] After performing range-dimensional FFT and Doppler-dimensional FFT on the eight receiving channels of the original echo data, the range unit range of the RDFFT data is [0,511], and the Doppler unit range is [0,511], that is, the RDFFT data dimension is 512×512×8.

[0207] The transmit phase offset Δ is calculated according to the following formula θ Calculate the corresponding Doppler unit number:

[0208]

[0209] Therefore, the Δ of the second to fourth channels relative to the first channel in the transmitting antenna can be obtained.θ_idx They are 120, 200 and 380 respectively.

[0210] The formula for calculating the corresponding distance unit number from the distance resolution is:

[0211] R far_idx =R far / Δ r , and then get R far_idx =200.

[0212] For data with a range unit number less than 200, the Doppler transmit demodulation operation is as follows:

[0213] The RDFFT data corresponding to the second transmitting antenna in the original transmitting array is circularly shifted by 120 units along the Doppler dimension. That is, the data of the original RDFFT data Doppler dimension unit number [0:511] becomes [120:511,0:119]. The data corresponding to the third and fourth transmitting antennas are circularly shifted by 200 and 380 units respectively and then sequentially concatenated with the receiving antenna Nr dimension, forming a demodulated data matrix with a dimension of 200×512×24.

[0214] For RDFFT data with range unit numbers greater than or equal to 200, all transmitting antennas are used to participate in demodulation, that is, the RDFFT data is cyclically shifted [0, 120, 200, 380] in the Doppler dimension and then concatenated to form demodulated data with a dimension of 312×512×32.

[0215] The demodulated data after close transmission is further arranged according to the virtual array channel, and the azimuth dimension FFT point number M is performed. A =48, forming an RDA 3D data matrix Ω of size 200×512×48. And Ω'=Ω.

[0216] The demodulated data of the long-distance transmission is arranged according to the virtual array channel, and the azimuth dimension FFT point number M is performed. A =64, thus forming an RDA 3D data matrix Ω of size 312×512×64.

[0217] By formula Calculate the long-distance angle dimension processing unit number range θ pro_idx ∈[0:11,53:63].

[0218] Therefore, the size of the RDA 3D data Ω' used for close-range target detection is 200×512×48, and the size of the RDA 3D data Ω' used for long-range target detection is 312×512×23.

[0219] According to different distance units, the corresponding RDA 3D data Ω' is used for target detection. Take a target with a distance of 20 meters, a speed of 10 meters per second, and an angle of 10 degrees relative to the radar coordinate system as an example:

[0220] After CA-CFAR hypothesis test on the detection matrix Ω', the target point distance unit R is obtained. t =40, Doppler unit D t =22, angle unit A t =4, the target point information to be detected is obtained by the following formula:

[0221] Estimated target distance = R t ×Δ r =20 (meters); target estimated speed = D t ×Δ d =9.9 (meters per second); This completes the output of target point information.

[0222] The above process is shown in the flowchart Fig.15 As shown:

[0223] S1502, performing range and Doppler dimension FFT on the original echo data to obtain RDFFT data;

[0224] S1504, performing distance judgment on the RDFFT data;

[0225] In the case of close range, S1504-1 is executed to complete transmit Doppler dimension demodulation according to the close range virtual sub-array;

[0226] In the long-range case, S1504-2 is executed to complete transmit Doppler dimension demodulation according to the long-range virtual subarray;

[0227] S1506, after completing the angle dimension FFT, the RDA 3-dimensional data matrix Ω is obtained;

[0228] S1508, performing distance judgment on the RDA 3-dimensional data matrix Ω;

[0229] In the case of close range, S1508-1 is executed to perform target detection on the close range data matrix Ω';

[0230] In the long-distance case, S1508-2 is executed to perform target detection on the long-distance data matrix Ω';

[0231] Finally, S1510 is executed to detect the target and output the traces;

[0232] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0233] According to another aspect of the embodiment of the present application, a radar data processing device for implementing the above radar data processing method is also provided. Fig.16 As shown, the device comprises:

[0234] The first execution unit 1602 performs a fast Fourier transform operation on the echo data received from the target radar object to obtain first radar data;

[0235] The first determining unit 1604 determines, from the first radar data, a first radar data subset and a second radar data subset according to the target range unit sequence number corresponding to the range parameter, wherein the range unit sequence number of the data elements in the first radar data subset is greater than or equal to the target range unit sequence number, and the range unit sequence number of the data elements in the second radar data subset is less than the target range unit sequence number;

[0236] The first processing unit 1606 performs a first Doppler transmit demodulation operation on the first radar data subset according to the first virtual subarray to obtain second radar data, wherein the second radar data is used to perform object detection on a long-range object, where the long-range object is an object in the target space region that is outside the target distance indicated by the distance parameter;

[0237] The second processing unit 1608 performs a second Doppler transmit demodulation operation on the second radar data subset according to the second virtual subarray to obtain third radar data, wherein the third radar data is used to perform object detection on close-range objects, where the close-range objects are objects in the target space area that are within the target distance indicated by the distance parameter.

[0238] Optionally, the above-mentioned radar data processing device also includes a third processing module, which is used to perform a cyclic shift operation on the first virtual subarray according to the cyclic shift parameter indicated by the Doppler unit number matching the transmit phase offset parameter to obtain a first reference data subset; splicing multiple data matrices included in the first reference data subset according to the matrix splicing method indicated by the subarray dimension of the first virtual subarray to obtain second radar data, wherein the subarray dimension of the first virtual subarray is determined by a simulation operation performed on the target radar; performing a cyclic shift operation on the second virtual subarray according to the cyclic shift parameter indicated by the Doppler unit number matching the transmit phase offset parameter to obtain a second reference data subset; splicing multiple data matrices included in the second reference data subset according to the matrix splicing method indicated by the subarray dimension of the second virtual subarray to obtain third radar data, wherein the subarray dimension of the second virtual subarray is determined by a simulation operation performed on the target radar.

[0239] Optionally, the above-mentioned third processing module also includes a first detection module, which is used to determine an angle interval parameter for detecting a long-range object, and a target angle unit serial number interval that matches the angle interval parameter; arranges the second radar data according to the virtual array channel, and performs a fast Fourier transform operation in the azimuth dimension on the arranged second radar data according to the first point number to obtain long-range three-dimensional radar data; determines a long-range three-dimensional data subset from the long-range three-dimensional radar data according to the target angle unit serial number interval, wherein the angle unit serial numbers of the data elements included in the long-range three-dimensional data subset are within the target angle unit serial number interval; and performs object detection on the long-range object according to the long-range three-dimensional data subset.

[0240] Optionally, the above-mentioned third processing module also includes a second detection module, which is used to arrange the third radar data according to the virtual array channel, and perform a fast Fourier transform operation on the arranged third radar data in the azimuth dimension according to the second number of points to obtain close-range three-dimensional radar data; and perform an object detection operation based on the close-range three-dimensional radar data.

[0241] Optionally, the above-mentioned radar data processing device also includes: a second determination module, used to determine the target range unit number according to the ratio between the range parameter and the range resolution of the target radar object; determine the Doppler unit number according to the product between the transmission phase offset parameter and the first signal quantity parameter, wherein the transmission phase offset parameter is used to indicate the phase difference between the transmission phases corresponding to two adjacent transmitting antennas in the target radar object, and the first signal quantity parameter is used to indicate the number of modulated signals included in a frame of radar signal transmitted by the target radar object.

[0242] Optionally, the first execution unit 1602 further includes a third determination module, which is used to obtain a plurality of candidate code pattern combinations when determining the number of transmitting array elements and receiving array elements of the target radar object, wherein the candidate code pattern combination is used to indicate the number of array elements and array element sequence numbers of at least one object array element extracted from the plurality of transmitting array elements; obtain first simulation results corresponding to each of the plurality of candidate code pattern combinations, wherein the first simulation results include at least one of the following: a sidelobe height of at least one Doppler sidelobe, and a position of at least one Doppler sidelobe; and determine at least one first code pattern combination from the plurality of candidate code pattern combinations according to the first simulation results corresponding to each of the plurality of candidate code pattern combinations, wherein the first code pattern combination is used to indicate the second virtual subarray.

[0243] Optionally, the above-mentioned third determination module also includes a fourth determination module, which is used to determine the current candidate code type combination as the first code type combination when the sidelobe height of at least one Doppler sidelobe corresponding to the current candidate code type combination in multiple candidate code type combinations is less than or equal to the first threshold; and to determine the current candidate code type combination as the first code type combination when the distribution state of at least one Doppler sidelobe corresponding to the current candidate code type combination in multiple candidate code type combinations is less than or equal to the second threshold.

[0244] Optionally, the above-mentioned first execution unit 1602 also includes a fifth determination module, which is used to obtain at least one reference radar array information; according to the at least one reference radar array information, the distance parameter and the angle interval parameter, obtain the target simulation result corresponding to the at least one reference radar array information, wherein the target simulation result includes a main-sidelobe ratio parameter; according to the target simulation result, determine the target radar array information from the at least one reference radar array information, wherein the target radar array information is used to indicate the array parameters of the target radar object.

[0245] Optionally, the above-mentioned first execution unit 1602 also includes a sixth determination module, which is used to obtain a height estimation parameter of the target object; determine the pitch angle corresponding to each of the multiple candidate object distances based on the height estimation parameter and the multiple candidate object distances; when at least one reference radar array information is obtained, obtain at least one reference simulation result based on the reference radar array information and the multiple pitch angles, wherein the reference simulation result includes at least one of the following: an angle measurement error value, a main-sidelobe ratio change rate; determine the distance parameter based on at least one reference simulation result that satisfies the first constraint condition.

[0246] For a specific embodiment, reference may be made to the example shown in the above radar data processing method, which will not be described in detail in this example.

[0247] Among them, the memory 1702 can be used to store software programs and modules, such as the program instructions / modules corresponding to the radar data processing method and device in the embodiment of the present invention. The processor 1704 executes various functional applications and data processing by running the software programs and modules stored in the memory 1702, that is, realizing the above-mentioned radar data processing method. The memory 1702 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 1702 may further include a memory remotely located relative to the processor 1704, and these remote memories may be connected to the terminal via a network. Examples of the above-mentioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof. Among them, the memory 1702 can be specifically, but not limited to, used to store file information such as target files. As an example, such as Fig.17 As shown, the memory 1702 may include, but is not limited to, the first execution unit 1602, the first determination unit 1604, the first processing unit 1606, and the second processing unit 1608 in the radar data processing device. In addition, other module units in the radar data processing device may also be included but are not limited to, which will not be repeated in this example.

[0248] Optionally, the transmission device 1706 is used to receive or send data via a network. Specific examples of the above-mentioned network may include a wired network and a wireless network. In one example, the transmission device 1706 includes a network adapter (Network Interface Controller, NIC), which can be connected to other network devices and routers via a network cable so as to communicate with the Internet or a local area network. In one example, the transmission device 1706 is a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0249] In addition, the electronic device further includes: a display 1708, and a connection bus 1710, which is used to connect various module components in the electronic device.

[0250] According to one aspect of the present application, a computer program product is provided, the computer program product comprising a computer program / instruction, the computer program / instruction comprising a program code for executing the method shown in the flow chart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication part, and / or installed from a removable medium. When the computer program is executed by a central processing unit, various functions provided by the embodiments of the present application are executed.

[0251] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0252] It should be noted that the computer system of the electronic device is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0253] In particular, according to an embodiment of the present application, the process described in each method flow chart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer readable medium, and the computer program contains a program code for executing the method shown in the flow chart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication part, and / or installed from a removable medium. When the computer program is executed by a central processing unit, various functions defined in the system of the present application are executed.

[0254] According to one aspect of the present application, a computer-readable storage medium is provided, and a processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the methods provided in the above-mentioned various optional implementations.

[0255] Optionally, in this embodiment, the computer-readable storage medium may be configured to store a computer program for performing the following steps:

[0256] S1, performing a fast Fourier transform operation on the echo data received from the target radar object to obtain first radar data;

[0257] S2, determining a first radar data subset and a second radar data subset from the first radar data according to the target range unit sequence number corresponding to the range parameter, wherein the range unit sequence number of the data elements in the first radar data subset is greater than or equal to the target range unit sequence number, and the range unit sequence number of the data elements in the second radar data subset is less than the target range unit sequence number;

[0258] S3, performing a first Doppler transmit demodulation operation on the first radar data subset according to the first virtual subarray to obtain second radar data, wherein the second radar data is used to perform object detection on a long-range object, where the long-range object is an object in the target space region that is outside the target distance indicated by the distance parameter;

[0259] S4, performing a second Doppler transmit demodulation operation on the second radar data subset according to the second virtual subarray to obtain third radar data, wherein the third radar data is used to perform object detection on a close-range object, where the close-range object is an object in the target space area that is within the target distance indicated by the distance parameter.

[0260] Optionally, in this embodiment, a person of ordinary skill in the art may understand that all or part of the steps in the various methods of the above embodiments may be completed by instructing hardware related to the electronic device through a program, and the program may be stored in a computer-readable storage medium, and the storage medium may include: a flash drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0261] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0262] If the integrated units in the above embodiments are implemented in the form of software functional units and sold or used as independent products, they can be stored in the above computer-readable storage medium. Based on this understanding, the technical solution of the present application, 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, which is stored in a storage medium and includes several instructions for enabling one or more computer devices (which can be personal computers, servers or network devices, etc.) to execute all or part of the steps of the methods of each embodiment of the present application.

[0263] In the above embodiments of the present application, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0264] In the several embodiments provided in the present application, it should be understood that the disclosed user equipment can be implemented in other ways. Among them, the device embodiments described above are only schematic, for example, the division of units is only a logical function division, and there may be other division methods in actual implementation, for example, 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 units or modules, which can be electrical or other forms.

[0265] 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.

[0266] 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.

[0267] The above is only a preferred implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A method for processing radar data, characterized in that: include: Performing a fast Fourier transform operation on the echo data received from the target radar object to obtain first radar data; determining a first radar data subset and a second radar data subset from the first radar data according to a target range unit sequence number corresponding to the range parameter, wherein the range unit sequence number of the data elements in the first radar data subset is greater than or equal to the target range unit sequence number, and the range unit sequence number of the data elements in the second radar data subset is less than the target range unit sequence number; Performing a first Doppler transmit demodulation operation on the first radar data subset according to the first virtual subarray to obtain second radar data, wherein the second radar data is used to perform object detection on a long-range object, the long-range object being an object in a target space region that is outside the target distance indicated by the distance parameter; A second Doppler transmit demodulation operation is performed on the second radar data subset according to the second virtual subarray to obtain third radar data, wherein the third radar data is used to perform object detection on a close-range object, where the close-range object is an object in the target space area that is within the target distance indicated by the distance parameter.

2. The method according to claim 1, characterized in that The performing a first Doppler transmit demodulation operation on the first radar data subset according to the first virtual sub-array to obtain second radar data includes: performing a cyclic shift operation on the first virtual subarray according to a cyclic shift parameter indicated by a Doppler unit number matching a transmit phase offset parameter to obtain a first reference data subset; splicing a plurality of data matrices included in the first reference data subset according to a matrix splicing mode indicated by a subarray dimension of the first virtual subarray to obtain the second radar data, wherein the subarray dimension of the first virtual subarray is determined by a simulation operation performed on the target radar; The performing a second Doppler transmit demodulation operation on the second radar data subset according to the second virtual sub-array to obtain third radar data includes: performing a cyclic shift operation on the second virtual subarray according to a cyclic shift parameter indicated by the Doppler unit number matching the transmit phase offset parameter to obtain a second reference data subset; The third radar data is obtained by splicing a plurality of data matrices included in the second reference data subset according to a matrix splicing mode indicated by a subarray dimension of the second virtual subarray, wherein the subarray dimension of the second virtual subarray is determined by a simulation operation performed on the target radar.

3. The method according to claim 2, characterized in that After the plurality of data matrices included in the first reference data subset are spliced ​​according to the matrix splicing mode indicated by the subarray dimension of the first virtual subarray to obtain the second radar data, the method further includes: Determining an angle interval parameter for detecting a distant object and a target angle unit sequence number interval matching the angle interval parameter; Arranging the second radar data according to the virtual array channels, and performing a fast Fourier transform operation on the arranged second radar data in an azimuth dimension according to the first number of points to obtain long-range three-dimensional radar data; Determining a long-range 3D data subset from the long-range 3D radar data according to the target angle unit sequence number interval, wherein the angle unit sequence numbers of the data elements included in the long-range 3D data subset are located in the target angle unit sequence number interval; Object detection is performed on the remote object based on the remote three-dimensional data subset.

4. The method according to claim 2, characterized in that: After the plurality of data matrices included in the second reference data subset are spliced ​​according to the matrix splicing mode indicated by the subarray dimension of the second virtual subarray to obtain the third radar data, the method further includes: Arranging the third radar data according to the virtual array channels, and performing a fast Fourier transform operation on the arranged third radar data in the azimuth dimension according to the second number of points to obtain close-range three-dimensional radar data; An object detection operation is performed based on the close-range three-dimensional radar data.

5. The method according to any one of claims 1 to 4, characterized in that After performing a fast Fourier transform operation on the echo data received from the target radar object to obtain the first radar data, the method further includes: Determining the target range unit number according to a ratio between the range parameter and the range resolution of the target radar object; The Doppler unit number is determined according to the product of a transmit phase offset parameter and a first signal quantity parameter, wherein the transmit phase offset parameter is used to indicate a phase difference between transmit phases corresponding to two adjacent transmit antennas in the target radar object, and the first signal quantity parameter is used to indicate the number of modulated signals included in a frame of radar signals transmitted by the target radar object.

6. The method according to claim 1, characterized in that Before performing a fast Fourier transform operation on the echo data received from the target radar object to obtain the first radar data, the method further includes: When the number of transmitting array elements and receiving array elements of the target radar object is determined, a plurality of candidate code pattern combinations are obtained, wherein the candidate code pattern combinations are used to indicate the number of array elements and array element sequence numbers of at least one object array element extracted from the plurality of transmitting array elements; Acquire first simulation results corresponding to each of the plurality of candidate code pattern combinations, wherein the first simulation results include at least one of the following: a sidelobe height of at least one Doppler sidelobe, and a position of at least one Doppler sidelobe; At least one first code pattern combination is determined from the plurality of candidate code pattern combinations according to first simulation results corresponding to each of the plurality of candidate code pattern combinations, wherein the first code pattern combination is used to indicate the second virtual sub-array.

7. The method according to claim 6, characterized in that The step of determining at least one first code pattern combination from the plurality of candidate code pattern combinations according to the first simulation results respectively corresponding to the plurality of candidate code pattern combinations comprises at least one of the following: When the side lobe height of at least one Doppler side lobe corresponding to the current candidate code pattern combination among the multiple candidate code pattern combinations is less than or equal to the first threshold, determining the current candidate code pattern combination as the first code pattern combination; When the distribution state of at least one Doppler sidelobe corresponding to a current candidate code pattern combination among the multiple candidate code pattern combinations is less than or equal to a second threshold, the current candidate code pattern combination is determined as the first code pattern combination.

8. The method according to claim 1, characterized in that Before performing a fast Fourier transform operation on the echo data received from the target radar object to obtain the first radar data, the method further includes: Acquiring at least one reference radar array information; According to at least one of the reference radar array information, the distance parameter and the angle interval parameter, obtaining a target simulation result corresponding to at least one of the reference radar array information, wherein the target simulation result includes a main-sidelobe ratio parameter; According to the target simulation result, target radar array information is determined from at least one of the reference radar array information, wherein the target radar array information is used to indicate array parameters of the target radar object.

9. The method according to claim 1, characterized in that: Before performing a fast Fourier transform operation on the echo data received from the target radar object to obtain the first radar data, the method further includes: Get the height estimation parameters of the target object; Determining, according to the height estimation parameter and a plurality of candidate object distances, a pitch angle corresponding to each of the plurality of candidate object distances; When at least one reference radar array information is obtained, at least one reference simulation result is obtained according to the reference radar array information and the plurality of pitch angles, wherein the reference simulation result includes at least one of the following: an angle measurement error value, a main-sidelobe ratio change rate; The distance parameter is determined according to the at least one reference simulation result that satisfies the first constraint condition.

10. A radar data processing device, characterized in that: include: A first execution unit performs a fast Fourier transform operation on the echo data received from the target radar object to obtain first radar data; a first determining unit, determining a first radar data subset and a second radar data subset from the first radar data according to a target distance unit sequence number corresponding to a distance parameter, wherein the distance unit sequence number of the data elements in the first radar data subset is greater than or equal to the target distance unit sequence number, and the distance unit sequence number of the data elements in the second radar data subset is less than the target distance unit sequence number; a first processing unit, performing a first Doppler transmit demodulation operation on the first radar data subset according to a first virtual subarray to obtain second radar data, wherein the second radar data is used to perform object detection on a long-range object, the long-range object being an object in a target space region that is outside a target distance indicated by the distance parameter; The second processing unit performs a second Doppler transmit demodulation operation on the second radar data subset according to the second virtual subarray to obtain third radar data, wherein the third radar data is used to perform object detection on a close-range object, and the close-range object is an object in a target space area that is within the target distance indicated by the distance parameter.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein the program executes the method described in any one of claims 1 to 9 when executed by an electronic device.

12. An electronic device comprising a memory and a processor, characterized in that: A computer program is stored in the memory, and the processor is configured to execute the method according to any one of claims 1 to 9 through the computer program.

13. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method described in any one of claims 1 to 9 are implemented.

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