Radar data processing device and radar system

Abstract

The invention is suitable for the technical field of radar systems, and provides a radar data processing device and method and a radar system, and the device comprises an input selection module which is used for selecting an input channel; the time-to-digital conversion module is connected with the input selection module and is used for timing the echo signal or the starting signal to obtain a timing result; the extraction module is respectively connected with the input selection module and the time-to-digital conversion module and is used for carrying out phase extraction on the starting signal to obtain a phase result; the phase solving module is connected with the extraction module and is used for calculating a measurement result according to the timing result and the phase result; wherein the receiving unit and the transmitting unit adopt a homologous clock design. The problem of low measurement accuracy caused by time delay of the clock signal of the transceiving unit can be reduced, the accuracy of the measurement result of the radar system is effectively improved, and the measurement accuracy of the radar system is improved.

Description

Technical Field

[0001] The present application belongs to the technical field of radar systems, and in particular, relates to a radar data processing device and a radar system. Background Art

[0002] Laser radar systems are often used in autonomous driving, logistics vehicles, robots, public smart transportation and other fields due to their high resolution, high sensitivity, strong anti-interference ability, and not being affected by dark conditions.

[0003] For radar systems that use independent chips for transmission and reception, the transmitting unit often has its corresponding working clock, and the receiving unit also has its corresponding working clock. Since there is a certain delay in the transmission process of the transmitting unit, there will also be a certain delay in the receiving unit during the receiving process.

[0004] However, if the working clocks of the transceiver units are independent and the delays are inconsistent, the measurement results will be affected, resulting in lower measurement accuracy. Summary of the invention

[0005] The embodiments of the present application provide a radar data processing device and a radar system, which can improve the measurement accuracy of the radar system.

[0006] In a first aspect, an embodiment of the present application provides a radar data processing device, which is applied to a receiving unit of a radar system, including:

[0007] An input selection module, used to select an input channel, wherein the input channel includes an echo signal input channel and a start signal input channel; the echo signal input channel is used to receive an echo signal, and the start signal input channel is used to input a transmission signal start signal, and the start signal is sent by the transmitting unit;

[0008] A time-to-digital conversion module, connected to the input selection module, for timing the echo signal or the start signal to obtain a timing result;

[0009] An extraction module, connected to the input selection module and the time-to-digital conversion module respectively, for performing phase extraction on the start signal to obtain a phase result;

[0010] A phase solution module, connected to the extraction module, for calculating a measurement result according to the timing result and the phase result;

[0011] Wherein, the receiving unit and the transmitting unit adopt the same clock design.

[0012] In an implementation of the first aspect, the input selection module includes:

[0013] a multiplexing switch unit, used to be connected to the echo signal input channel and the start signal input channel respectively, and used to select the first signal path or the second signal path; wherein the first signal path is a connection path between the echo signal input channel and the time-to-digital conversion module, and the second signal path is a connection path between the start signal input channel and the time-to-digital conversion module;

[0014] The switch switching unit is connected to the multiplexing switch unit and is used to output a switching signal to the multiplexing switch unit when the receiving unit receives the echo signal, so that the multiplexing switch unit selects the second signal path.

[0015] In an implementation of the first aspect, the switch switching unit is further connected to the extraction module and the phase solution module respectively;

[0016] The switch unit is further used to output a valid signal flag to the extraction module and the phase separation module.

[0017] In an implementation of the first aspect, the valid signal flag is used to indicate that the signal being processed by the clock digital signal module is the echo signal;

[0018] The dephasing module is used to perform dephasing processing according to the timing result and the phase result when the valid signal flag is received.

[0019] In an implementation manner of the first aspect, the radar data processing device further includes:

[0020] The start clearing module is connected to the time digital conversion module and is used to output a zeroing control instruction to the time digital conversion module when receiving a start signal, so as to reset the zero time of the time digital conversion module.

[0021] In an implementation manner of the first aspect, the radar data processing device further includes:

[0022] A cache module, connected to the extraction module, for caching the phase results extracted by the extraction module;

[0023] A filtering module is connected to the cache module and is used to filter the phase results cached in the cache module.

[0024] In an implementation manner of the first aspect, the receiving unit includes a plurality of receiving channels, and the radar data processing device further includes:

[0025] A multi-channel switch unit, connected to the plurality of receiving channels respectively, for switching on a connection path of a corresponding receiving channel according to a channel selection signal;

[0026] The channel selection unit is connected to the multi-channel switch unit and is used to output a channel selection signal.

[0027] In an implementation of the first aspect, the receiving unit includes a plurality of receiving channels, each receiving channel is provided with a multiplexing switch unit, the time-to-digital conversion module, the extraction module and the phase separation module;

[0028] The multiple receiving channels are all connected to the switch unit;

[0029] The switch switching unit is used to access the start signal and control the gating state of the switch units in the multiple receiving channels.

[0030] In a second aspect, an embodiment of the present application provides a radar system, including a transmitting unit and a receiving unit;

[0031] The transmitting unit and the receiving unit adopt a clock homology design;

[0032] The receiving unit comprises the radar data processing device according to any one of claims 1 to 8.

[0033] In an implementation of the second aspect, the transmitting unit and the receiving unit are respectively connected to the same external clock generating circuit;

[0034] The external clock generating circuit includes a clock generator and a power dividing circuit;

[0035] The clock generator is used to generate and output an original clock signal;

[0036] The power division circuit is used to split the original clock signal to obtain a first clock signal and a second clock signal, and output the first clock signal to the transmitting unit and output the second clock signal to the receiving unit.

[0037] In an implementation of the second aspect, the transmitting unit is connected to an external clock generator;

[0038] The external clock generator is used to generate and output an original clock signal to the transmitting unit;

[0039] The transmitting unit is used to perform frequency division processing or frequency multiplication processing on the original signal, and output the processed clock signal to the receiving unit.

[0040] In an implementation of the second aspect, the receiving unit is connected to an external clock generator;

[0041] The external clock generator is used to generate and output an original clock signal to the receiving unit;

[0042] The receiving unit is used to perform frequency division processing or frequency multiplication processing on the original signal, and output the processed clock signal to the receiving unit.

[0043] Implementing a radar data processing device and a radar system provided by the embodiments of the present application has the following beneficial effects:

[0044] The embodiment of the present application provides a radar data processing device and a radar system, wherein the transmitting unit and the receiving unit of the radar system adopt a homologous clock design, and the above-mentioned radar data processing device is arranged on the receiving unit side. The above-mentioned radar data processing device can perform timing according to the start signal and the echo signal respectively to obtain a time measurement result, and then perform phase resolution processing according to the extracted phase result of the start signal and the time measurement result, so as to obtain a measurement result with time delay eliminated, thereby effectively improving the accuracy of the measurement result of the radar system and improving the measurement accuracy of the radar system. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0046] Figure 1 It is a schematic diagram of a homologous clock design architecture of a transmitting unit and a receiving unit of a radar system provided in an embodiment of the present application;

[0047] Figure 2 It is a schematic diagram of a homologous clock design architecture of a transmitting unit and a receiving unit of another radar system provided in an embodiment of the present application;

[0048] Figure 3 It is a schematic diagram of a homologous clock design architecture of a transmitting unit and a receiving unit of another radar system provided by the present application;

[0049] Figure 4 is a schematic structural diagram of a radar data processing device provided in an embodiment of the present application;

[0050] Figure 5 is a schematic structural diagram of another radar data processing device provided in an embodiment of the present application;

[0051] Figure 6 is a phase timing diagram obtained by a receiving unit provided in an embodiment of the present application;

[0052] Figure 7 is a phase timing diagram of a start signal and a detection signal provided in an embodiment of the present application;

[0053] Figure 8 is a schematic structural diagram of another radar data processing device provided in an embodiment of the present application;

[0054] Fig. 9 It is a schematic diagram of sending and receiving signals of a transmitting unit and a receiving unit in a radar system provided by an embodiment of the present application;

[0055] Fig.10 is a schematic structural diagram of another radar data processing device provided in an embodiment of the present application;

[0056] Fig.11 It is a structural schematic diagram of a radar data processing device with multiple receiving channels provided in an embodiment of the present application;

[0057] Fig.12 It is a schematic diagram of the structure of another radar data processing device with multiple receiving channels provided in an embodiment of the present application. DETAILED DESCRIPTION

[0058] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0059] It should be understood that the term "and / or" used in the specification of this application and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes these combinations. In addition, in the description of the specification of this application and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0060] It should also be understood that references to "one embodiment" or "some embodiments" etc. described in the specification of the present application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Thus, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in the specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0061] The radar system has a transmitting unit and a receiving unit. The transmitting unit can transmit a detection signal. When the detection signal reaches the target object, the echo signal reflected by the target object can be received by the receiving unit. The radar system can then obtain the corresponding measurement result based on the received echo signal.

[0062] For radar systems where the transmitting unit and receiving unit are integrated on the same processing chip, since the transmitting unit and the receiving unit use the same clock signal, there will be no problem of inconsistent measurement time. However, due to the continuous development of radar systems and the increasing complexity of the processing of transmission and reception, many radar systems with independent chips for transmission and reception have also appeared, that is, the transmitting unit uses an independent processing chip, and the receiving unit also uses an independent processing chip. However, since the clock signals of different processing chips are different, that is, the transmitting unit has its own clock signal, the receiving unit also has its own clock signal, and the transmitting unit will have an independent delay when transmitting the detection signal driven by its clock signal, and the receiving unit will also have an independent delay when receiving the echo signal driven by its clock signal.

[0063] In order to ensure that the received echo signal can be accurately analyzed, it is necessary to make the processing chip of the transmitting unit and the processing chip of the receiving unit achieve consistent measurement time. However, since the working clocks of the transceiver units are independent and the delay is inconsistent, the accuracy of the measurement results will be seriously affected, resulting in low measurement accuracy.

[0064] Based on this, an embodiment of the present application provides a radar data processing device and a radar system, wherein the transmitting unit and the receiving unit of the radar system adopt a homologous clock design, and the above-mentioned radar data processing device is arranged on the receiving unit side. The above-mentioned radar data processing device can perform timing according to the transmission signal, the start signal and the echo signal respectively to obtain the time measurement result, and then perform phase resolution processing according to the extracted phase result of the start signal and the time measurement result, so as to obtain the measurement result with the time delay eliminated, thereby effectively improving the accuracy of the measurement result of the radar system and improving the measurement accuracy of the radar system.

[0065] The radar data processing device and radar system provided in the embodiments of the present application are described in detail below:

[0066] The transmitting unit and receiving unit of the radar system provided in the present application adopt a clock homology design, that is, the clock signals used by the transmitting unit and the receiving unit are output by the same clock chip.

[0067] In a specific application, the transmitting unit and the receiving unit in the above radar system use independent processing chips, and the homologous clock design of the above transmitting unit and the receiving unit may include but is not limited to the following methods:

[0068] 1. Use the same external clock generator to output the clock signal, which is processed by the power division circuit and then output to the transmitting unit and the receiving unit.

[0069] For example, Figure 1 As shown, the clock generator 11 generates an original clock signal, and outputs the original clock signal to the power division circuit 12 for processing, and then the power division circuit outputs a first clock signal to the transmitting unit 13 (specifically, it can be a phase-locked loop unit (PLL) of the processing chip of the transmitting unit 13), and outputs a second clock signal to the receiving unit 14 (specifically, it can be a phase-locked loop unit of the receiving unit 14).

[0070] It should be noted that the function of the power division circuit in the embodiment of the present application is to divide the energy of one input signal into two or more output circuits with equal or unequal energy. The embodiment of the present application can use the existing power division circuit to realize the branching processing of the original clock signal, thereby obtaining the above-mentioned first clock signal and the above-mentioned second clock signal.

[0071] 2. Use a clock generator to provide a clock signal for the transmitting unit. The clock signal is then divided / multiplied by the transmitting unit and output to the receiving unit to provide a clock signal for the receiving unit.

[0072] For example, Figure 2 As shown, the clock generator 11 generates an original clock signal and outputs the original clock signal to the transmitting unit 13 to provide the transmitting unit 13 with a clock signal. The original clock signal is processed by the transmitting unit 13 for frequency division / multiplication and then output to the receiving unit 14.

[0073] It should be noted that the frequency division / multiplication processing of the original clock signal by the transmitting unit 13 can be implemented by using existing frequency division circuits and frequency multiplication circuits, which will not be elaborated in this application.

[0074] 3. Use a clock generator to provide a clock signal for the receiving unit. The clock signal is then divided / multiplied by the receiving unit and output to the transmitting unit to provide a clock signal for the transmitting unit.

[0075] For example, Figure 3 As shown, the clock generator 11 generates an original clock signal and outputs the original clock signal to the receiving unit 14 to provide the receiving unit 14 with a clock signal. The original clock signal is processed by the receiving unit 14 for frequency division / multiplication and then output to the transmitting unit 13.

[0076] It should be noted that the frequency division / multiplication processing of the original clock signal by the receiving unit can be implemented by using existing frequency division circuits and frequency multiplication circuits, which will not be elaborated in this application.

[0077] Based on the clock homology design adopted by the transmitting unit and the receiving unit of the above-mentioned radar system, the radar data processing device provided in the embodiment of the present application is arranged on the receiving unit side, and is used to perform phase de-processing on the radar system data received by the receiving unit, thereby eliminating the problem of inaccurate measurement results caused by the clock signal asynchronism between the transmitting unit and the receiving unit.

[0078] See also Figure 4 , Figure 4 This is a schematic diagram of the structure of the radar data processing device provided in the embodiment of the present application. Figure 4 As shown, the radar data processing device 40 may include an input selection module 41 , a time-to-digital conversion module 42 , an extraction module 43 and a phase separation module 44 .

[0079] The input selection module 41 is used to select an input channel, and the input channel includes an echo signal input channel and a start signal input channel.

[0080] The time-to-digital conversion module 42 is connected to the input selection module 41 and is used to respectively time the echo signal and the transmission signal start signal input by the input selection module 41 to obtain a timing result.

[0081] The extraction module 43 is connected to the input selection module 41 and the time-to-digital conversion module 42 respectively, and is used to extract the phase of the start signal to obtain a phase result.

[0082] The phase solution module 44 is connected to the extraction module 43 and is used to calculate the measurement result according to the timing result and the phase result.

[0083] In a specific application, the echo signal input channel is used to receive an echo signal (Wave signal), and the start signal input channel is used to input a transmission signal start signal (Start signal).

[0084] The echo signal is the echo signal received by the receiving unit after the detection signal emitted by the transmitting unit reaches the target object and is reflected by the target object. Specifically, it can be the echo data received by the receiving sensor in the receiving unit. The above-mentioned start signal is the start signal corresponding to the control unit of the transmitting unit to perform the transmission action, that is, at the start time of the start signal, the control unit of the transmitting unit starts to control the transmitter to perform the action of transmitting the detection signal.

[0085] In some embodiments of the present application, Figure 5As shown, the input selection module 41 may include a multiplexing switch unit 411 and a switch switching unit 412 .

[0086] The multiplexing switch unit 411 is respectively connected to the echo signal input channel and the start signal input channel, and is used to select the first signal path or the second signal path.

[0087] The switch switching unit 412 is connected to the multiplexing switch unit 411 and is used for outputting a switching signal to the multiplexing switch unit 411 when the receiving unit receives the echo signal, so that the multiplexing switch unit 411 selects the second signal path.

[0088] The first signal path is a connection path between the echo signal input channel and the time digital conversion module 42, that is, when the multiplexing switch unit 411 selects the first signal path, the echo signal can be input into the time digital conversion module 42. The second signal path is a connection path between the start signal input channel and the time digital conversion module 42, that is, when the multiplexing switch unit 411 selects the second signal path, the start signal can be input into the time digital conversion module 42.

[0089] In some embodiments of the present application, the multiplexing switch unit 411 may include a multiplexing switch, and the on-off control of the first signal path and the second signal path is achieved through the multiplexing switch.

[0090] It is understandable that the multiplexing switch unit 411 may also use other electrical devices capable of realizing on-off control of the path, which will not be elaborated in this application.

[0091] In a specific application, when the receiving unit receives a start signal (Start signal), the multiplexing switch unit selects the first signal path, that is, the start signal can be input from the above-mentioned start signal input channel to the above-mentioned time digital conversion module 42 for processing, so that the above-mentioned clock data conversion module 42 can time the above-mentioned start signal (Start signal). When the receiving unit receives an echo signal, the switch switching unit 412 will output a switching signal to the above-mentioned multiplexing switch unit 411, so that the multiplexing switch unit 411 connects the connection path between the echo signal input channel and the time digital conversion module 42, so that the above-mentioned clock data conversion module 42 can time the echo signal, so that the timing result can be obtained.

[0092] In some embodiments of the present application, the switch unit 412 is further configured to output a valid signal flag start_s to the extraction module 43 and the phase separation module 44 .

[0093] In a specific application, the above-mentioned valid signal flag is used to indicate that the signal being processed by the above-mentioned time-to-digital conversion module 42 is an echo signal, and the corresponding timing result is the timing result of the echo signal (that is, the second signal path is selected). The above-mentioned extraction module 43 and the above-mentioned phase separation module 44 can determine whether the currently input processed signal is an echo signal (Wave signal) or a start signal (Start signal) according to whether the above-mentioned valid signal flag start_s is received. That is, in the case of receiving the above-mentioned valid signal flag start_s, the above-mentioned extraction module 43 and the above-mentioned phase separation module 44 can determine that the currently input processed signal is an echo signal, and in the case of not receiving the above-mentioned valid signal flag start_s, the above-mentioned extraction module 43 and the above-mentioned phase separation module 44 can determine that the currently input processed signal is a start signal.

[0094] It is understandable that, in actual application, the switch switching unit can also output a valid signal flag start_s when controlling the multiplexing switch unit to connect to the first signal path. In this case, the valid signal flag is used to indicate that the signal being processed by the time-to-digital conversion module 42 is a start signal, and the corresponding timing result is the timing result of the start signal. In a specific application, the dephasing module 44 will perform dephasing processing only when it receives the valid signal flag. By setting the valid signal flag, the extraction module 43 and the dephasing module 44 can determine which signal the currently received timing result corresponds to, so that the extraction module 43 and the dephasing module 44 can more accurately process the echo signal that needs dephasing processing.

[0095] In some embodiments of the present application, the clock data conversion module 42 may include a timing chip, such as a TDC (Time To Digital Convertor) timing chip. By timing the start signal and the echo signal respectively through the TDC timing chip, the time delay t_wave between the echo signal (Wave signal) and the zero time of the TDC timing chip and the time delay t_start between the start enable signal (Start signal) and the zero time of the TDC timing chip can be obtained.

[0096] See also Figure 6 , Figure 6 This is the phase timing diagram obtained by the receiving unit. Figure 6 As shown, t_start is the time delay between the start signal (Start signal) and the zero time (t0) (ie, the phase value of the start signal), and t_wave is the time delay between the echo signal (Wave signal) and the zero time (t0).

[0097] Depend on Figure 6It can be seen that the measurement result t_wave_result can be determined according to the following formula:

[0098] t_wave_result=t_wave-t_start formula (1)

[0099] In a specific application, the phase value of the start signal may also be a phase result obtained after the extraction module 43 extracts the phase of the start signal.

[0100] In some embodiments of the present application, in a part of the radar system, there is a certain delay when the transmitting unit performs the action of transmitting the detection signal. For the radar system, the time from the start time of the Start signal to the actual transmission of the detection signal (T X The delay (t_tx) between the signals can be determined according to the device parameters, working parameters and other data of the radar system.

[0101] For example, Figure 7 As shown, the Start signal is a start signal sent by the transmitting unit to the receiving unit, T X The signal is the detection signal actually emitted by the transmitting unit. The Start signal is related to T X The delay t_tx between the signals is the start time t1 to T X The time interval of the start time t2 of the signal.

[0102] Based on this, for the above radar system, the final measurement result can be determined according to the following formula:

[0103] t_result=t_wave_result–t_tx=t_wave–t_start–t_tx formula (2)

[0104] When receiving a valid signal flag, the above-mentioned phase separation module 44 can perform phase separation processing according to the above-mentioned formulas (1) and (2) (i.e., calculate the measurement result through the above-mentioned formulas (1) and (2)), thereby eliminating the delay of the clock signal of the radar system transceiver unit.

[0105] From the above, it can be seen that the radar data processing device provided in the embodiment of the present application can perform timing according to the start signal and the echo signal respectively to obtain a time measurement result, and then perform phase deconvolution according to the extracted phase result of the start signal and the time measurement result, thereby obtaining a measurement result with time delay eliminated, effectively improving the accuracy of the measurement result of the radar system and improving the measurement accuracy of the radar system.

[0106] In some embodiments of the present application, Figure 8As shown, the radar data processing device 40 may further include an initial clearing module 45 .

[0107] The start clearing module 45 is connected to the time digital conversion module 42 and is used to output a zeroing control instruction to the time digital conversion module 42 upon receiving a start signal, so as to reset the zero time of the time digital conversion module 42 .

[0108] In specific applications, such as Fig. 9 As shown, the above-mentioned start signal pre_Start signal can be sent by the transmitting unit.

[0109] Controlling the zero time reset of the time digital conversion module 42 by the start signal is helpful to adjust the timing process of the above radar data processing device according to the actual situation of the transmitting end, which can improve the accuracy and practicality of the timing.

[0110] In some embodiments of the present application, Fig.10 As shown, the radar system data device 40 may further include a buffer module 46 and a filter module 47 .

[0111] The buffer module 46 is connected to the extraction module 43 and is used to buffer the phase results extracted by the extraction module 43 .

[0112] The filtering module 47 is connected to the buffer module 46 and is used for filtering the phase results buffered in the buffer module 46 .

[0113] In a specific application, the cache module 46 can cache the phase results of multiple start start signals, and the filter module 47 can include a low-pass filter, which filters the phase results of the multiple start start signals through the low-pass filter to eliminate abnormal values ​​of the phase results and improve the accuracy of the phase results.

[0114] It is understandable that the above-mentioned filtering module 47 may also adopt other filters, such as mean filtering, etc., and the present application does not impose any limitation on this.

[0115] In some embodiments of the present application, the receiving unit of the radar system may include multiple receiving channels. Since each receiving channel has an independent sensor to collect echo signals, Fig.11 As shown, in one embodiment of the present application, a multi-channel switch unit 413 and a channel selection unit 414 are further included. The multi-channel switch unit 413 is connected to multiple receiving channels respectively, and the output end of the multi-channel switch unit 413 is connected to the multiplexing switch unit 411.

[0116] The channel selection unit 414 is connected to the multi-channel switch unit 413 and is used to output a channel selection signal.

[0117] The multi-channel switch unit 413 selects the connection path of the corresponding receiving channel according to the input channel selection signal.

[0118] The above-mentioned channel selection signal can be output by a control chip or other modules of the radar system according to the actual working conditions of the radar system, and this application will not elaborate on this.

[0119] In a specific application, the echo signals input by all receiving channels are dephased using the same time-to-digital conversion module 42, extraction module 43 and dephaser module 44 (of course, it may also include a starting clear module 45, a cache module 46 and a filter module 47). By selecting the corresponding receiving channels through the multi-channel switch unit 413, dephaser processing of multiple receiving channels can be achieved.

[0120] like Fig.12 As shown, in some embodiments of the present application, each receiving channel is provided with a multiplexing switch unit 411, a time digital conversion module 42, an extraction module 43 and a phase separation module 44 (which may also include a filtering module 47). And multiple receiving channels are connected to a switch switching unit 412, and the switch switching unit 412 is connected to a start signal. The switch switching unit 412 is used to control the gating state of the multiplexing switch unit 411 in the multiple receiving channels, and then control the signal type of the time digital conversion module 42 connected to each receiving channel (that is, whether the time digital conversion module 42 connected to each receiving channel is an echo signal or a start signal).

[0121] In a specific application, when the receiving sensor (Sensor) of one of the above-mentioned multiple receiving channels starts to collect echo signals, the above-mentioned switch switching unit 412 can select the connection path corresponding to the echo signal according to the multiplexing switch unit 411 that controls the receiving channel, and transmit the echo signal collected by the receiving sensor of the receiving channel to the time-to-digital conversion module 42 of the receiving channel and other subsequent modules for phase de-phase processing.

[0122] In a specific application, the above-mentioned multiple receiving channels are all connected to the initial clearing module 45, which is used to output a zeroing control instruction to the time digital conversion module 42 in each receiving channel, so that the zero time of the TDC timing chip in each receiving channel is reset.

[0123] In a specific application, the switch unit 412 is also used to output a valid signal flag to the extraction module 43 and the de-phasing module 44 in each receiving channel.

[0124] It can be seen from the above that by using the same start signal, respectively setting the multiplexing switch unit 411, the time digital conversion module 42, the extraction module 43 and the dephasing module 44 in the radar data processing device in each receiving channel can also realize the dephasing processing of multiple receiving channels.

[0125] Based on the radar data processing device provided in the above embodiment, an embodiment of the present application also provides a radar system.

[0126] The radar system comprises a transmitting unit and a receiving unit. The transmitting unit and the receiving unit adopt a homologous clock design. The receiving unit is provided with a radar data processing device shown in any of the above embodiments.

[0127] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the terminal device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0128] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0129] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0130] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A radar data processing device, characterized in that: The receiving unit used in the radar system includes: An input selection module, used to select an input channel, wherein the input channel includes an echo signal input channel and a start signal input channel; the echo signal input channel is used to receive an echo signal, and the start signal input channel is used to input a transmission signal start signal, and the start signal is sent by the transmitting unit; A time-to-digital conversion module, connected to the input selection module, for timing the echo signal or the start signal to obtain a timing result; An extraction module, connected to the input selection module and the time-to-digital conversion module respectively, for performing phase extraction on the start signal to obtain a phase result; A phase solution module, connected to the extraction module, for calculating a measurement result according to the timing result and the phase result; Wherein, the receiving unit and the transmitting unit adopt the same clock design.

2. The radar data processing device according to claim 1, characterized in that: The input selection module comprises: a multiplexing switch unit, used to be connected to the echo signal input channel and the start signal input channel respectively, and used to select the first signal path or the second signal path; wherein the first signal path is a connection path between the echo signal input channel and the time-to-digital conversion module, and the second signal path is a connection path between the start signal input channel and the time-to-digital conversion module; The switch switching unit is connected to the multiplexing switch unit and is used to output a switching signal to the multiplexing switch unit when the receiving unit receives the echo signal, so that the multiplexing switch unit selects the second signal path.

3. The radar data processing device according to claim 2, characterized in that: The switch switching unit is also connected to the extraction module and the phase solution module respectively; The switch unit is further used to output a valid signal flag to the extraction module and the phase separation module.

4. The radar data processing device according to claim 3, characterized in that: The valid signal flag is used to indicate that the signal being processed by the clock digital signal module is the echo signal; The dephasing module is used to perform dephasing processing according to the timing result and the phase result when the valid signal flag is received.

5. The radar data processing device according to any one of claims 1 to 4, characterized in that: The radar data processing device also includes: The start clearing module is connected to the time digital conversion module and is used to output a zeroing control instruction to the time digital conversion module when receiving a start signal, so as to reset the zero time of the time digital conversion module.

6. The radar data processing device according to any one of claims 1 to 5, characterized in that: The radar data processing device also includes: A cache module, connected to the extraction module, for caching the phase results extracted by the extraction module; A filtering module is connected to the cache module and is used to filter the phase results cached in the cache module.

7. The radar data processing device according to claim 1, characterized in that: The receiving unit includes a plurality of receiving channels, and the radar data processing device further includes: A multi-channel switch unit, connected to the plurality of receiving channels respectively, for switching on a connection path of a corresponding receiving channel according to a channel selection signal; The channel selection unit is connected to the multi-channel switch unit and is used to output a channel selection signal.

8. The radar data processing device according to claim 1, characterized in that: The receiving unit comprises a plurality of receiving channels, each receiving channel is provided with a multiplexing switch unit, the time-to-digital conversion module, the extraction module and the phase separation module; The multiple receiving channels are all connected to the switch unit; The switch switching unit is used to access the start signal and control the gating state of the switch units in the multiple receiving channels.

9. A radar system, characterized in that: The radar system includes a transmitting unit and a receiving unit; The transmitting unit and the receiving unit adopt a clock homology design; The receiving unit comprises the radar data processing device according to any one of claims 1 to 8.

10. The radar system according to claim 9, characterized in that The transmitting unit and the receiving unit are respectively connected to the same external clock generating circuit; The external clock generating circuit includes a clock generator and a power dividing circuit; The clock generator is used to generate and output an original clock signal; The power division circuit is used to split the original clock signal to obtain a first clock signal and a second clock signal, and output the first clock signal to the transmitting unit and output the second clock signal to the receiving unit.

11. The radar system according to claim 9, characterized in that The transmitting unit is connected to an external clock generator; The external clock generator is used to generate and output an original clock signal to the transmitting unit; The transmitting unit is used to perform frequency division processing or frequency multiplication processing on the original signal, and output the processed clock signal to the receiving unit.

12. The radar system according to claim 9, characterized in that The receiving unit is connected to an external clock generator; The external clock generator is used to generate and output an original clock signal to the receiving unit; The receiving unit is used to perform frequency division processing or frequency multiplication processing on the original signal, and output the processed clock signal to the receiving unit.

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