A vehicle-mounted satellite radar distance detection method and system based on incoherent accumulation

Abstract

The present invention discloses a vehicle-mounted satellite radar distance detection method, system and platform based on incoherent accumulation; the method generates and obtains at least three first data corresponding to the vehicle-mounted satellite radar, and transmits the first data in real time; obtains and preprocesses the first data, and generates second data corresponding to the first data; incoherently accumulates and processes the second data, and generates third data corresponding to the second data; detects and defuzzifies the third data, and generates and fuses fourth data corresponding to the third data; based on the fourth data, generates fifth data corresponding to the vehicle-mounted satellite radar; wherein the fifth data is the distance data of the overlapping area of ​​the field of view of the vehicle-mounted satellite radar; and the system and platform corresponding to the method can improve the incoherent accumulation of signal processing gain or output signal-to-noise ratio, and achieve greater ranging capability than traditional satellite radar solutions.

Description

Technical Field

[0001] The invention belongs to the technical field of vehicle-mounted satellite radars, and in particular relates to a vehicle-mounted satellite radar distance detection method and system based on incoherent accumulation. Background Art

[0002] In the autonomous driving system, the vehicle-mounted millimeter-wave radar is one of the important sensors, which is responsible for detection, perception and target positioning. Compared with other types of sensors such as cameras and lidar, it has the advantages of low cost, long detection distance, all-weather operation, and direct acquisition of Doppler speed.

[0003] Traditional stand-alone radars (whether they are stand-alone 3D radars or 4D imaging radars) have disadvantages such as small radar apertures, low angular resolution, and insufficient computing resources to support high-performance algorithms. Traditional stand-alone radars and sensors such as cameras are mostly fused post-fusion / target-level, that is, fusion after the radar outputs the target / track, such as based on Figure 1 Some advanced radars also use front fusion / point cloud fusion. Figure 1 The C position data is the point cloud data for pre-fusion.

[0004] In response to the shortcomings of single-machine radar, the concept of satellite radar has emerged in recent years. That is, multiple satellite radars are distributed around the vehicle to provide a 360° view of the surrounding environment. The typical satellite radar vehicle layout adopts a 5R (5 radars) mode, such as Figure 2 As shown. Satellite radar does not need to be equipped with expensive DSP processor chips like traditional stand-alone radars. It uses the vehicle-mounted Gigabit Ethernet to output compressed 1DFFT data or ADC data. The computing power is concentrated in the central domain control of the vehicle body, which can process radar data more effectively and run more complex algorithms such as SAR and AI algorithms. Satellite radar uses the vehicle-mounted Gigabit Ethernet backbone network to transmit data. The vehicle-mounted Gigabit Ethernet uses twisted pair cables to transmit data. It is light and inexpensive. It has the advantages of optimized wiring, high transmission rate, and low cost. It can make data transmission more robust and secure, but there are still problems such as small ranging capability, radar signal processing gain, and poor output signal-to-noise ratio.

[0005] Therefore, in view of the above technical problems such as small ranging capability, radar signal processing gain and poor output signal-to-noise ratio, it is urgent to design and develop a vehicle-mounted satellite radar distance detection method and system based on incoherent accumulation. Summary of the invention

[0006] In order to overcome the shortcomings and difficulties of the above-mentioned prior art, the purpose of the present invention is to provide a vehicle-mounted satellite radar distance detection method, system and platform based on incoherent accumulation, so as to improve the incoherent accumulation of signal processing gain or output signal-to-noise ratio, and achieve greater ranging capability than traditional satellite radar solutions.

[0007] The first purpose of the present invention is to provide a vehicle-mounted satellite radar distance detection method based on incoherent accumulation; the second purpose of the present invention is to provide a vehicle-mounted satellite radar distance detection system based on incoherent accumulation; the third purpose of the present invention is to provide a vehicle-mounted satellite radar distance detection platform based on incoherent accumulation.

[0008] The first object of the present invention is achieved in that the method comprises the following steps:

[0009] Generate and obtain at least three first data corresponding to the vehicle-mounted satellite radar, and transmit the first data in real time; wherein the first data is the distance detection signal data corresponding to the circumference of the vehicle-mounted satellite radar;

[0010] Acquire and preprocess the first data, and generate second data corresponding to the first data; wherein the second data is the preprocessed and decompressed data of the first data;

[0011] Incoherently accumulate the second data and generate third data corresponding to the second data; wherein the third data is data processed by incoherent accumulation between vehicle-mounted satellite radars;

[0012] Detecting and defuzzifying the third data, and generating and fusing fourth data corresponding to the third data; wherein the fourth data is point cloud data corresponding to the vehicle-mounted satellite radar;

[0013] Based on the fourth data, fifth data corresponding to the vehicle-mounted satellite radar is generated; wherein the fifth data is distance data of the overlapping area of ​​the field of view of the vehicle-mounted satellite radar.

[0014] Furthermore, the generating and acquiring at least three first data corresponding to the vehicle-mounted satellite radar, and transmitting the first data in real time, also includes:

[0015] Generate and obtain sixth data corresponding to the vehicle-mounted satellite radar, and generate corresponding seventh data according to the sixth data; wherein the sixth data is radar echo signal data; and the seventh data is ADC data corresponding to the radar;

[0016] Based on the seventh data, the ADC data of each chirp is processed by real-time distance-dimensional FFT, and the data processed by the distance-dimensional FFT is compressed.

[0017] Further, the acquiring and preprocessing the first data, and generating second data corresponding to the first data, further includes:

[0018] Decompressing the first data to generate eighth data corresponding to the first data; wherein the eighth data is the decompressed distance detection signal data;

[0019] The eighth data is processed in sequence by speed-dimensional FFT processing, de-transmitting channel sequential processing, angle-dimensional FFT or inter-channel coherent accumulation to generate corresponding second data.

[0020] Further, the non-coherent accumulation processes the second data and generates third data corresponding to the second data, further comprising:

[0021] Generate and obtain at least three second data, and calculate and generate corresponding third data based on the second data; wherein the calculation formula is:

[0022]

[0023] Where: P t is the radar transmit peak power, NF is the radar receiver noise factor, λ is the carrier wavelength, G t is the transmit channel antenna gain, G r is the receiving channel antenna gain, R is the distance from the radar to the target, N is the radar intermediate frequency bandwidth, k is the Boltzmann constant, T is the ambient temperature, L is the sum of radar losses other than path loss, σ is the radar cross-sectional area of ​​the target, N1 is the number of sampling points in the range dimension, N2 is the number of chirp pulses, num_t is the number of transmitting physical channels, num_r is the number of receiving physical channels, N1·N2 is the signal processing gain; SNR_thres is the radar output signal-to-noise ratio SNR out The minimum detection threshold.

[0024] Further, the detecting and de-obfuscating the third data, and generating and fusing the fourth data corresponding to the third data, further includes:

[0025] The third data is processed by constant false alarm detection, digital beamforming angle measurement and velocity defuzzification in sequence, and corresponding ninth data is generated; wherein the ninth data is single radar point cloud data, and the single radar point cloud data includes distance data, velocity data, azimuth data, and pitch angle information data of the target point;

[0026] The point cloud fusion processes the ninth data and generates fourth data corresponding to the ninth data.

[0027] The second object of the present invention is achieved in that the system is applied to the vehicle-mounted satellite radar distance detection method based on incoherent accumulation; the system comprises:

[0028] A first data generating unit is used to generate and obtain at least three first data corresponding to the vehicle-mounted satellite radar, and transmit the first data in real time; wherein the first data is the distance detection signal data corresponding to the circumference of the vehicle-mounted satellite radar;

[0029] A second data generating unit, configured to acquire and preprocess the first data, and generate second data corresponding to the first data; wherein the second data is the first data preprocessed and decompressed;

[0030] A first data processing unit is used for incoherently accumulating and processing the second data, and generating third data corresponding to the second data; wherein the third data is data processed by incoherent accumulation between vehicle-mounted satellite radars;

[0031] A second data processing unit is used to detect and defuzzify the third data, and generate and fuse fourth data corresponding to the third data; wherein the fourth data is point cloud data corresponding to the vehicle-mounted satellite radar;

[0032] The third data generating unit is used to generate fifth data corresponding to the vehicle-mounted satellite radar based on the fourth data; wherein the fifth data is the distance data of the overlapping area of ​​the field of view of the vehicle-mounted satellite radar.

[0033] Furthermore, the first data generating unit further includes:

[0034] A first generating module is used to generate and obtain sixth data corresponding to the vehicle-mounted satellite radar, and generate corresponding seventh data according to the sixth data; wherein the sixth data is radar echo signal data; and the seventh data is ADC data corresponding to the radar;

[0035] The first processing module is used to process the ADC data of each chirp in real time by performing distance-dimensional FFT processing based on the seventh data, and to compress the data processed by the distance-dimensional FFT processing.

[0036] Furthermore, the second data generating unit further includes:

[0037] A second generating module, configured to decompress and process the first data to generate eighth data corresponding to the first data; wherein the eighth data is the decompressed distance detection signal data;

[0038] A second processing module is used to sequentially perform speed dimension FFT processing, de-emission channel sequential processing, angle dimension FFT or inter-channel coherent accumulation on the eighth data, and generate corresponding second data;

[0039] And / or, the first data processing unit further includes:

[0040] The third generating module is used to generate and obtain at least three second data, and calculate and generate corresponding third data based on the second data; wherein the calculation formula is:

[0041]

[0042] Where: P t is the radar transmit peak power, NF is the radar receiver noise factor, λ is the carrier wavelength, G t is the transmit channel antenna gain, G r is the receiving channel antenna gain, R is the distance from the radar to the target, B is the radar intermediate frequency bandwidth, k is the Boltzmann constant, T is the ambient temperature, L is the sum of radar losses other than path loss, σ is the radar cross-sectional area of ​​the target, N1 is the number of sampling points in the range dimension, N2 is the number of chirp pulses, num_t is the number of transmitting physical channels, num_r is the number of receiving physical channels, N1·N2 is the signal processing gain; SNR_thres is the radar output signal-to-noise ratio SNR out The minimum detection threshold.

[0043] Furthermore, the second data processing unit further includes:

[0044] a third processing module, configured to sequentially perform constant false alarm detection processing, digital beamforming angle measurement, and velocity defuzzification processing on the third data, and generate corresponding ninth data; wherein the ninth data is single radar point cloud data, and the single radar point cloud data includes distance data, velocity data, azimuth data, and pitch angle information data of the target point;

[0045] The fourth processing module is used for point cloud fusion processing of the ninth data and generating fourth data corresponding to the ninth data.

[0046] The third object of the present invention is achieved as follows: it includes a processor, a memory and a vehicle-mounted satellite radar distance detection platform control program based on incoherent accumulation; wherein the vehicle-mounted satellite radar distance detection platform control program based on incoherent accumulation is executed by the processor, the vehicle-mounted satellite radar distance detection platform control program based on incoherent accumulation is stored in the memory, and the vehicle-mounted satellite radar distance detection platform control program based on incoherent accumulation implements the vehicle-mounted satellite radar distance detection method based on incoherent accumulation.

[0047] The present invention generates and obtains at least three first data corresponding to a vehicle-mounted satellite radar through a method, and transmits the first data in real time; wherein the first data is the distance detection signal data corresponding to the circumference of the vehicle-mounted satellite radar; obtains and preprocesses the first data, and generates second data corresponding to the first data; wherein the second data is the first data after preprocessing and decompression; incoherently accumulates and processes the second data, and generates third data corresponding to the second data; wherein the third data is the data after incoherent accumulation between vehicle-mounted satellite radars; detects and defuzzifies the third data, and generates and fuses fourth data corresponding to the third data; wherein the fourth data is the point cloud data corresponding to the vehicle-mounted satellite radar; based on the fourth data, generates fifth data corresponding to the vehicle-mounted satellite radar; wherein the fifth data is the distance data of the overlapping area of ​​the field of view of the vehicle-mounted satellite radar; and the system and platform corresponding to the method can improve the incoherent accumulation of signal processing gain or output signal-to-noise ratio, and achieve greater ranging capability than traditional satellite radar solutions.

[0048] That is to say, the present invention proposes a non-coherent accumulation scheme for improving signal processing gain or output signal-to-noise ratio based on distributed vehicle-mounted satellite radar; it is based on the architecture of vehicle-mounted satellite radar, and is simple and easy to implement. By simply adding a step of "non-coherent accumulation between multiple satellite radars", the detection range of the automobile satellite radar can be improved, achieving a greater ranging capability than traditional satellite radar solutions. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0050] Figure 1 This is a schematic diagram of the automotive radar signal processing and data processing flow;

[0051] Figure 2 This is a schematic diagram of the layout of a conventional automotive satellite radar;

[0052] Figure 3 It is a schematic diagram of the front fusion signal processing architecture of the traditional satellite radar 3R (3 radar);

[0053] Figure 4 This is a schematic diagram of the signal processing architecture of the satellite radar 3R (3 radars) front fusion of the present invention;

[0054] Figure 5This is a schematic diagram of the FOV (field of view) sector area of ​​a single satellite radar;

[0055] Figure 6 It is a schematic diagram of the detection area after the incoherent accumulation of the satellite radar 3R (3 radar) of the present invention;

[0056] Figure 7 The present invention is a flow chart of a vehicle-mounted satellite radar distance detection method based on incoherent accumulation;

[0057] Figure 8 This is a schematic diagram of the architecture of a vehicle-mounted satellite radar distance detection system based on incoherent accumulation according to the present invention;

[0058] Fig. 9 The present invention is a schematic diagram of the architecture of a vehicle-mounted satellite radar distance detection platform based on incoherent accumulation. DETAILED DESCRIPTION

[0059] In order to better understand the purpose, technical solutions and advantages of the present invention, the present invention is further described below in conjunction with the accompanying drawings and specific implementation methods. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification.

[0060] The present invention may also be implemented or applied through other different specific examples, and the details in this specification may also be modified and changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention.

[0061] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0062] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. Secondly, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0063] Preferably, the vehicle-mounted satellite radar distance detection method based on incoherent accumulation of the present invention is applied in one or more terminals or servers. The terminal is a device that can automatically perform numerical calculations and / or information processing according to pre-set or stored instructions, and its hardware includes but is not limited to microprocessors, application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), digital signal processors (DSP), embedded devices, etc.

[0064] The terminal can be a computing device such as a desktop computer, a notebook, a PDA, a cloud server, etc. The terminal can interact with the client through a keyboard, a mouse, a remote control, a touch pad, or a voice control device.

[0065] The present invention is to realize a vehicle-mounted satellite radar distance detection method, system and platform based on incoherent accumulation.

[0066] like Figure 7 , which is a flow chart of a vehicle-mounted satellite radar distance detection method based on incoherent accumulation provided by an embodiment of the present invention.

[0067] In this embodiment, the vehicle-mounted satellite radar distance detection method based on incoherent accumulation can be applied to a terminal with a display function or a fixed terminal. The terminal is not limited to a personal computer, a smart phone, a tablet computer, a desktop computer or an all-in-one computer equipped with a camera, etc.

[0068] The vehicle-mounted satellite radar distance detection method based on incoherent accumulation can also be applied to a hardware environment consisting of a terminal and a server connected to the terminal through a network. The network includes but is not limited to: a wide area network, a metropolitan area network or a local area network. The vehicle-mounted satellite radar distance detection method based on incoherent accumulation of the embodiment of the present invention can be executed by a server, can be executed by a terminal, or can be executed by both a server and a terminal.

[0069] For example, for a vehicle-mounted satellite radar distance detection terminal that needs to be performed based on incoherent accumulation, the vehicle-mounted satellite radar distance detection function based on incoherent accumulation provided by the method of the present invention can be directly integrated on the terminal, or a client for implementing the method of the present invention can be installed. For another example, the method provided by the present invention can also be run on a server or other device in the form of a software development kit (SDK), and an interface for the vehicle-mounted satellite radar distance detection function based on incoherent accumulation is provided in the form of SDK. The terminal or other device can implement the vehicle-mounted satellite radar distance detection function based on incoherent accumulation through the provided interface. The present invention is further described below in conjunction with the accompanying drawings.

[0070] like Figure 4-7 As shown, the present invention provides a vehicle-mounted satellite radar distance detection method based on incoherent accumulation, and the method comprises the following steps:

[0071] S1, generating and acquiring at least three first data corresponding to the vehicle-mounted satellite radar, and transmitting the first data in real time; wherein the first data is the distance detection signal data corresponding to the circumference of the vehicle-mounted satellite radar;

[0072] S2. Acquire and preprocess the first data, and generate second data corresponding to the first data; wherein the second data is the preprocessed and decompressed data of the first data;

[0073] S3, non-coherently accumulating and processing the second data, and generating third data corresponding to the second data; wherein the third data is data processed by non-coherent accumulation between vehicle-mounted satellite radars;

[0074] S4, detecting and defuzzifying the third data, and generating and fusing fourth data corresponding to the third data; wherein the fourth data is point cloud data corresponding to the vehicle-mounted satellite radar;

[0075] S5. Based on the fourth data, generate fifth data corresponding to the vehicle-mounted satellite radar; wherein the fifth data is distance data of the overlapping area of ​​the field of view of the vehicle-mounted satellite radar.

[0076] The generating and acquiring at least three first data corresponding to the vehicle-mounted satellite radar, and transmitting the first data in real time, further includes:

[0077] S11, generating and acquiring sixth data corresponding to the vehicle-mounted satellite radar, and generating corresponding seventh data according to the sixth data; wherein the sixth data is radar echo signal data; and the seventh data is ADC data corresponding to the radar;

[0078] S12. Based on the seventh data, perform real-time range-dimensional FFT processing on the ADC data of each chirp, and compress the data processed by the range-dimensional FFT.

[0079] The acquiring and preprocessing the first data, and generating second data corresponding to the first data, further includes:

[0080] S21, decompressing the first data to generate eighth data corresponding to the first data; wherein the eighth data is the decompressed distance detection signal data;

[0081] S22, sequentially perform speed-dimensional FFT processing, de-transmit channel sequential processing, angle-dimensional FFT or inter-channel coherent accumulation on the eighth data, and generate corresponding second data.

[0082] The non-coherent accumulation processes the second data and generates third data corresponding to the second data, further comprising:

[0083] S31, generating and acquiring at least three second data, and calculating and generating corresponding third data based on the second data; wherein the calculation formula is:

[0084]

[0085] Where: P t is the radar transmit peak power, NF is the radar receiver noise factor, λ is the carrier wavelength, G t is the transmit channel antenna gain, G r is the receiving channel antenna gain, R is the distance from the radar to the target, B is the radar intermediate frequency bandwidth, k is the Boltzmann constant, T is the ambient temperature, L is the sum of radar losses other than path loss, σ is the radar cross-sectional area of ​​the target, N1 is the number of sampling points in the range dimension, N2 is the number of chirp pulses, num_t is the number of transmitting physical channels, num_r is the number of receiving physical channels, N1·N2 is the signal processing gain; SNR_thres is the radar output signal-to-noise ratio SNR out The minimum detection threshold.

[0086] The detecting and de-obfuscating the third data, and generating and fusing the fourth data corresponding to the third data, further includes:

[0087] S41, sequentially performing constant false alarm detection processing, digital beamforming angle measurement and velocity defuzzification processing on the third data, and generating corresponding ninth data; wherein the ninth data is single radar point cloud data, and the single radar point cloud data includes distance data, velocity data, azimuth data, and pitch angle information data of the target point;

[0088] S42, point cloud fusion processes the ninth data and generates fourth data corresponding to the ninth data.

[0089] Specifically, in the embodiment of the present invention, the output signal-to-noise ratio of a single automotive radar FMCW MIMO radar after inter-channel coherent accumulation is:

[0090]

[0091] Where: SNR out is the radar output signal-to-noise ratio; P t is the radar transmit peak power, NF is the radar receiver noise factor, λ is the carrier wavelength, G t is the transmit channel antenna gain, G r is the receiving channel antenna gain, R is the distance from the radar to the target, B is the radar intermediate frequency bandwidth, k is the Boltzmann constant, T is the ambient temperature, L is the sum of radar losses other than path loss, σ is the radar cross-sectional area of ​​the target, N1 is the number of sampling points in the range dimension, N2 is the number of chirp pulses, num_t is the number of transmitting physical channels, num_r is the number of receiving physical channels, and N1·N2 is the signal processing gain.

[0092] Formula (1) is simply transformed to obtain the formula for the maximum detection range R_max of a single radar:

[0093]

[0094] Where: SNR_thres is the radar output signal-to-noise ratio SNR out The minimum detection threshold is usually 13dB in the automotive radar field. num_t·num_r·N1·N2 is the radar signal processing gain. From formula (2), we know that the radar output radar maximum detection distance R_max is proportional to the fourth root of num_t·num_r·N1·N2.

[0095] Among them, the signal processing gain or output signal-to-noise ratio has a decisive influence on the performance of millimeter-wave radar: the higher the signal processing gain or output signal-to-noise ratio, the longer the radar detection range and the higher the detection accuracy.

[0096] The data of the three radars (front radar + two corner radars) arranged in front of the vehicle are collected by adding the inter-radar incoherent accumulation step in the signal processing flow of the domain control. The conventional signal processing architecture of satellite radar 3R front fusion is as follows: Figure 3 As shown. Mainstream satellite radars use FMCW (Frequency Modulated Continuous Wave) + DDMA (Doppler Division Multiple Access) system. Each satellite radar has 4 transmitters and 4 receivers. The following steps are performed in the satellite radar:

[0097] The signal received by the RF front end is sampled and becomes ADC data; the distance dimension FFT is performed on the ADC data of each chirp; the result of the distance dimension FFT is compressed; and the compressed data is transmitted to the domain controller via Gigabit Ethernet.

[0098] In the domain control, the data transmitted by each radar is then processed as follows: decompression; velocity dimension FFT; de-sequencing of transmission channels; angle dimension FFT or inter-channel coherent accumulation; CFAR (constant false alarm) detection; DBF (digital beamforming) angle measurement; velocity deambiguation; single radar data point cloud: including the distance, velocity, azimuth, and pitch angle information of the target point; and multi-satellite radar point cloud fusion.

[0099] In the vehicle-mounted satellite radar distance detection method based on incoherent accumulation provided by the solution of the present invention, the signal processing architecture of the satellite radar 3R front fusion is as follows: Figure 4 As shown, based on the conventional satellite radar 3R front fusion signal processing architecture, a step of “incoherent accumulation between radars” is inserted between the step of “angle dimension FFT or inter-channel coherent accumulation” and the step of “CFAR (constant false alarm) detection”.

[0100] The gain of incoherent accumulation does not have a closed-form solution like coherent accumulation, but there is an approximate formula N is the number of virtual channels involved in incoherent accumulation / the number of radars involved in incoherent accumulation. For incoherent accumulation between three satellite radars, the gain after coherent accumulation is is approximately equal to 1.73, which is equivalent to the maximum detection distance improvement according to formula (2). The field of view (FOV) of each satellite radar is a fan-shaped area, such as Figure 5 shown.

[0101] like Figure 6 As shown in the figure, after the incoherent integration of satellite radar 3R (3 radars), the effective action area is the overlapping area of ​​3 sectors (slashes); when the three satellite radars perform incoherent integration between radars, the effective accumulation area is the overlapping area of ​​the FOVs of the three radars.

[0102] To achieve the above object, the present invention also provides a vehicle-mounted satellite radar distance detection system based on incoherent accumulation, such as Figure 8 As shown, the system is applied to the vehicle-mounted satellite radar distance detection method based on incoherent accumulation; the system specifically includes:

[0103] A first data generating unit is used to generate and obtain at least three first data corresponding to the vehicle-mounted satellite radar, and transmit the first data in real time; wherein the first data is the distance detection signal data corresponding to the circumference of the vehicle-mounted satellite radar;

[0104] A second data generating unit, configured to acquire and preprocess the first data, and generate second data corresponding to the first data; wherein the second data is the first data preprocessed and decompressed;

[0105] A first data processing unit is used for incoherently accumulating and processing the second data, and generating third data corresponding to the second data; wherein the third data is data processed by incoherent accumulation between vehicle-mounted satellite radars;

[0106] A second data processing unit is used to detect and defuzzify the third data, and generate and fuse fourth data corresponding to the third data; wherein the fourth data is point cloud data corresponding to the vehicle-mounted satellite radar;

[0107] The third data generating unit is used to generate fifth data corresponding to the vehicle-mounted satellite radar based on the fourth data; wherein the fifth data is the distance data of the overlapping area of ​​the field of view of the vehicle-mounted satellite radar.

[0108] The first data generating unit further includes:

[0109] A first generating module is used to generate and obtain sixth data corresponding to the vehicle-mounted satellite radar, and generate corresponding seventh data according to the sixth data; wherein the sixth data is radar echo signal data; and the seventh data is ADC data corresponding to the radar;

[0110] The first processing module is used to process the ADC data of each chirp in real time by performing distance-dimensional FFT processing based on the seventh data, and to compress the data processed by the distance-dimensional FFT processing.

[0111] The second data generating unit further includes:

[0112] A second generating module, configured to decompress and process the first data to generate eighth data corresponding to the first data; wherein the eighth data is the decompressed distance detection signal data;

[0113] A second processing module is used to sequentially perform speed dimension FFT processing, de-emission channel sequential processing, angle dimension FFT or inter-channel coherent accumulation on the eighth data, and generate corresponding second data;

[0114] And / or, the first data processing unit further includes:

[0115] The third generating module is used to generate and obtain at least three second data, and calculate and generate corresponding third data based on the second data; wherein the calculation formula is:

[0116]

[0117] Where: P t is the radar transmit peak power, NF is the radar receiver noise factor, λ is the carrier wavelength, G t is the transmit channel antenna gain, G r is the receiving channel antenna gain, R is the distance from the radar to the target, B is the radar intermediate frequency bandwidth, k is the Boltzmann constant, T is the ambient temperature, L is the sum of radar losses other than path loss, σ is the radar cross-sectional area of ​​the target, N1 is the number of sampling points in the range dimension, N2 is the number of chirp pulses, num_t is the number of transmitting physical channels, num_r is the number of receiving physical channels, N1·N2 is the signal processing gain; SNR_thres is the radar output signal-to-noise ratio SNR out The minimum detection threshold.

[0118] The second data processing unit further includes:

[0119] a third processing module, configured to sequentially perform constant false alarm detection processing, digital beamforming angle measurement, and velocity defuzzification processing on the third data, and generate corresponding ninth data; wherein the ninth data is single radar point cloud data, and the single radar point cloud data includes distance data, velocity data, azimuth data, and pitch angle information data of the target point;

[0120] The fourth processing module is used for point cloud fusion processing of the ninth data and generating fourth data corresponding to the ninth data.

[0121] In the system solution embodiment of the present invention, the method steps involved in the vehicle-mounted satellite radar distance detection based on incoherent accumulation have been described above in detail, that is, the functional modules in the system are used to implement the steps or sub-steps in the above method embodiment, which will not be repeated here.

[0122] To achieve the above object, the present invention also provides a vehicle-mounted satellite radar distance detection platform based on incoherent accumulation, such as Fig. 9 As shown, it includes a processor, a memory, and a vehicle-mounted satellite radar distance detection platform control program based on incoherent accumulation; wherein, the vehicle-mounted satellite radar distance detection platform control program based on incoherent accumulation is executed by the processor, the vehicle-mounted satellite radar distance detection platform control program based on incoherent accumulation is stored in the memory, and the vehicle-mounted satellite radar distance detection platform control program based on incoherent accumulation implements the vehicle-mounted satellite radar distance detection method steps based on incoherent accumulation. For example:

[0123] S1, generating and acquiring at least three first data corresponding to the vehicle-mounted satellite radar, and transmitting the first data in real time; wherein the first data is the distance detection signal data corresponding to the circumference of the vehicle-mounted satellite radar;

[0124] S2. Acquire and preprocess the first data, and generate second data corresponding to the first data; wherein the second data is the preprocessed and decompressed data of the first data;

[0125] S3, non-coherently accumulating and processing the second data, and generating third data corresponding to the second data; wherein the third data is data processed by non-coherent accumulation between vehicle-mounted satellite radars;

[0126] S4, detecting and defuzzifying the third data, and generating and fusing fourth data corresponding to the third data; wherein the fourth data is point cloud data corresponding to the vehicle-mounted satellite radar;

[0127] S5. Based on the fourth data, generate fifth data corresponding to the vehicle-mounted satellite radar; wherein the fifth data is distance data of the overlapping area of ​​the field of view of the vehicle-mounted satellite radar.

[0128] The specific details of the steps have been explained above and will not be repeated here.

[0129] In the embodiment of the present invention, the built-in processor of the vehicle-mounted satellite radar distance detection platform based on incoherent accumulation can be composed of an integrated circuit, for example, a single packaged integrated circuit, or a plurality of integrated circuits with the same or different functions, including one or more central processing units (CPU), microprocessors, digital processing chips, graphics processors, and a combination of various control chips. The processor uses various interfaces and lines to connect various components, and executes or executes programs or units stored in the memory, and calls data stored in the memory to perform various functions of the vehicle-mounted satellite radar distance detection based on incoherent accumulation and process data;

[0130] The memory is used to store program codes and various data. It is installed in the vehicle-mounted satellite radar distance detection platform based on incoherent accumulation, and realizes high-speed and automatic access to programs or data during operation.

[0131] The memory includes read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electronically erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, magnetic disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0132] The present invention generates and obtains at least three first data corresponding to a vehicle-mounted satellite radar through a method, and transmits the first data in real time; wherein the first data is the distance detection signal data corresponding to the circumference of the vehicle-mounted satellite radar; obtains and preprocesses the first data, and generates second data corresponding to the first data; wherein the second data is the first data after preprocessing and decompression; incoherently accumulates and processes the second data, and generates third data corresponding to the second data; wherein the third data is the data after incoherent accumulation between vehicle-mounted satellite radars; detects and defuzzifies the third data, and generates and fuses fourth data corresponding to the third data; wherein the fourth data is the point cloud data corresponding to the vehicle-mounted satellite radar; based on the fourth data, generates fifth data corresponding to the vehicle-mounted satellite radar; wherein the fifth data is the distance data of the overlapping area of ​​the field of view of the vehicle-mounted satellite radar; and the system and platform corresponding to the method can improve the incoherent accumulation of signal processing gain or output signal-to-noise ratio, and achieve greater ranging capability than traditional satellite radar solutions.

[0133] That is to say, the present invention proposes a non-coherent accumulation scheme for improving signal processing gain or output signal-to-noise ratio based on distributed vehicle-mounted satellite radar; it is based on the architecture of vehicle-mounted satellite radar, which is simple and easy to implement. By simply adding a step of "non-coherent accumulation between multiple satellite radars", the detection range of the vehicle satellite radar can be increased by about 14.7%, achieving a greater ranging capability than the traditional satellite radar scheme. In addition, it only uses existing chips and utilizes existing architectures without adding additional hardware costs.

[0134] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A vehicle-mounted satellite radar distance detection method based on incoherent accumulation, characterized in that: The method comprises: Generate and obtain at least three first data corresponding to the vehicle-mounted satellite radar, and transmit the first data in real time; wherein the first data is the distance detection signal data corresponding to the circumference of the vehicle-mounted satellite radar; Acquire and preprocess the first data, and generate second data corresponding to the first data; wherein the second data is the preprocessed and decompressed data of the first data; Incoherently accumulate the second data and generate third data corresponding to the second data; wherein the third data is data processed by incoherent accumulation between vehicle-mounted satellite radars; Detecting and defuzzifying the third data, and generating and fusing fourth data corresponding to the third data; wherein the fourth data is point cloud data corresponding to the vehicle-mounted satellite radar; Based on the fourth data, fifth data corresponding to the vehicle-mounted satellite radar is generated; wherein the fifth data is distance data of the overlapping area of ​​the field of view of the vehicle-mounted satellite radar.

2. The vehicle-mounted satellite radar distance detection method based on incoherent accumulation according to claim 1 is characterized in that: The generating and acquiring at least three first data corresponding to the vehicle-mounted satellite radar, and transmitting the first data in real time, further includes: Generate and obtain sixth data corresponding to the vehicle-mounted satellite radar, and generate corresponding seventh data according to the sixth data; wherein the sixth data is radar echo signal data; and the seventh data is ADC data corresponding to the radar; Based on the seventh data, the ADC data of each chirp is processed by real-time distance-dimensional FFT, and the data processed by the distance-dimensional FFT is compressed.

3. The vehicle-mounted satellite radar distance detection method based on incoherent accumulation according to claim 1 is characterized in that: The acquiring and preprocessing the first data, and generating second data corresponding to the first data, further includes: Decompressing the first data to generate eighth data corresponding to the first data; wherein the eighth data is the decompressed distance detection signal data; The eighth data is processed in sequence by speed-dimensional FFT processing, de-transmitting channel sequential processing, angle-dimensional FFT or inter-channel coherent accumulation to generate corresponding second data.

4. The vehicle-mounted satellite radar distance detection method based on incoherent accumulation according to claim 1 is characterized in that: The non-coherent accumulation processes the second data and generates third data corresponding to the second data, further comprising: Generate and obtain at least three second data, and calculate and generate corresponding third data based on the second data; wherein the calculation formula is: Where: P t is the radar transmit peak power, NF is the radar receiver noise factor, λ is the carrier wavelength, G t is the transmit channel antenna gain, G r is the receiving channel antenna gain, R is the distance from the radar to the target, B is the radar intermediate frequency bandwidth, k is the Boltzmann constant, T is the ambient temperature, L is the sum of radar losses other than path loss, σ is the radar cross-sectional area of ​​the target, N1 is the number of sampling points in the range dimension, N2 is the number of chirp pulses, num_t is the number of transmitting physical channels, num_r is the number of receiving physical channels, N1·N2 is the signal processing gain; SNR_thres is the radar output signal-to-noise ratio SNR out The minimum detection threshold.

5. The vehicle-mounted satellite radar distance detection method based on incoherent accumulation according to claim 1 is characterized in that: The detecting and de-obfuscating the third data, and generating and fusing the fourth data corresponding to the third data, further includes: The third data is processed by constant false alarm detection, digital beamforming angle measurement and velocity defuzzification in sequence, and corresponding ninth data is generated; wherein the ninth data is single radar point cloud data, and the single radar point cloud data includes distance data, velocity data, azimuth data, and pitch angle information data of the target point; The point cloud fusion processes the ninth data and generates fourth data corresponding to the ninth data.

6. A vehicle-mounted satellite radar distance detection system based on incoherent accumulation, characterized in that: The system is applied to the vehicle-mounted satellite radar distance detection method based on incoherent accumulation as described in any one of claims 1 to 5; the system comprises: A first data generating unit is used to generate and obtain at least three first data corresponding to the vehicle-mounted satellite radar, and transmit the first data in real time; wherein the first data is the distance detection signal data corresponding to the circumference of the vehicle-mounted satellite radar; A second data generating unit, configured to acquire and preprocess the first data, and generate second data corresponding to the first data; wherein the second data is the first data preprocessed and decompressed; A first data processing unit is used for incoherently accumulating and processing the second data, and generating third data corresponding to the second data; wherein the third data is data processed by incoherent accumulation between vehicle-mounted satellite radars; A second data processing unit is used to detect and defuzzify the third data, and generate and fuse fourth data corresponding to the third data; wherein the fourth data is point cloud data corresponding to the vehicle-mounted satellite radar; The third data generating unit is used to generate fifth data corresponding to the vehicle-mounted satellite radar based on the fourth data; wherein the fifth data is the distance data of the overlapping area of ​​the field of view of the vehicle-mounted satellite radar.

7. The vehicle-mounted satellite radar distance detection system based on incoherent accumulation according to claim 6 is characterized in that: The first data generating unit further includes: A first generating module is used to generate and obtain sixth data corresponding to the vehicle-mounted satellite radar, and generate corresponding seventh data according to the sixth data; wherein the sixth data is radar echo signal data; and the seventh data is ADC data corresponding to the radar; The first processing module is used to process the ADC data of each chirp in real time by performing distance-dimensional FFT processing based on the seventh data, and to compress the data processed by the distance-dimensional FFT processing.

8. The vehicle-mounted satellite radar distance detection system based on incoherent accumulation according to claim 6 is characterized in that: The second data generating unit further includes: A second generating module, configured to decompress and process the first data to generate eighth data corresponding to the first data; wherein the eighth data is the decompressed distance detection signal data; A second processing module is used to sequentially perform speed dimension FFT processing, de-emission channel sequential processing, angle dimension FFT or inter-channel coherent accumulation on the eighth data, and generate corresponding second data; And / or, the first data processing unit further includes: The third generating module is used to generate and obtain at least three second data, and calculate and generate corresponding third data based on the second data; wherein the calculation formula is: Where: P t is the radar transmit peak power, NF is the radar receiver noise factor, λ is the carrier wavelength, G t is the transmit channel antenna gain, G r is the receiving channel antenna gain, R is the distance from the radar to the target, B is the radar intermediate frequency bandwidth, k is the Boltzmann constant, T is the ambient temperature, L is the sum of radar losses other than path loss, σ is the radar cross-sectional area of ​​the target, N1 is the number of sampling points in the range dimension, N2 is the number of chirp pulses, num_t is the number of transmitting physical channels, num_r is the number of receiving physical channels, N1·N2 is the signal processing gain; SNR_thres is the radar output signal-to-noise ratio SNR out The minimum detection threshold.

9. The vehicle-mounted satellite radar distance detection system based on incoherent accumulation according to claim 6, characterized in that: The second data processing unit further includes: a third processing module, configured to sequentially perform constant false alarm detection processing, digital beamforming angle measurement, and velocity defuzzification processing on the third data, and generate corresponding ninth data; wherein the ninth data is single radar point cloud data, and the single radar point cloud data includes distance data, velocity data, azimuth data, and pitch angle information data of the target point; The fourth processing module is used for point cloud fusion processing of the ninth data and generating fourth data corresponding to the ninth data.

10. A vehicle-mounted satellite radar distance detection platform based on incoherent accumulation, characterized in that: It includes a processor, a memory and a vehicle-mounted satellite radar distance detection platform control program based on incoherent accumulation; wherein, the vehicle-mounted satellite radar distance detection platform control program based on incoherent accumulation is executed by the processor, and the vehicle-mounted satellite radar distance detection platform control program based on incoherent accumulation is stored in the memory, and the vehicle-mounted satellite radar distance detection platform control program based on incoherent accumulation implements the vehicle-mounted satellite radar distance detection method based on incoherent accumulation as described in any one of claims 1 to 5.

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