Target detection method and device and distributed radar system

Abstract

The invention provides a target detection method and device and a distributed radar system, and belongs to the field of radars. According to the method provided by the invention, false alarm points detected by the radar can be reduced, and the accuracy of target detection by the radar is improved. The method comprises the following steps: receiving M pieces of distance information from N radars, wherein the M pieces of distance information are used for indicating M distances; determining at least one target according to the M distances; wherein the M pieces of distance information comprise the distance information between each radar in the N radars and at least one target and the distance information of the sum of the distances between the at least one target and any two radars in the N radars. The method can be applied to the related fields of automatic driving and the like, false targets detected by the radar arranged on the vehicle can be reduced, and the actually existing target can be determined more accurately.

Description

[0001] This application is a divisional application. The application number of the original application is 202010150570.4 and the original application date is March 2020. On 06, the entire contents of the original application are incorporated into the present application by reference. Technical Field

[0002] The present application relates to the field of radar technology, and in particular to a target detection method, device and distributed radar system. Background Art

[0003] With the continuous improvement of automobile safety standards, traditional automobile passive safety technologies, such as seats and seat belts, airbags, energy-absorbing steering columns, etc., can no longer meet the needs. The market for advanced driver assistance systems (ADAS) has emerged, and vehicle radar is a standard feature of vehicle sensor systems.

[0004] Future smart cars are required to be able to achieve a 360-degree detection range within 30 meters of the vehicle. In order to achieve the above requirements, a distributed single-transmit single-receive (1T1R) radar can be used for target detection. 1T1R radar has high distance resolution and ranging accuracy. 1T1R radar has only one transmitting and receiving antenna, does not require complex antenna array design, and has advantages such as small size and low cost. However, 1T1R radar does not have the ability to measure angles. When detecting targets, multiple 1T1R radars are required to use distance for cross-positioning. This cross-positioning method will result in more false alarm points in multi-target scenarios, where false alarm points refer to non-real targets detected by the radar. For example, if two 1T1R radars are cross-positioned and there are two targets, each 1T1R radar will detect the distance between a radar and the target when detecting a target. Since there are two targets, each 1T1R radar can detect two distances. Such as Figure 1 As shown, each 1T1R radar can determine two semicircles with the 1T1R radar as the center and the two detected distances as the radius. Two 1T1R radars can determine four semicircles. To this end, the intersection of the four semicircles can be used as the detected target. Figure 1 , there are 4 intersections of the 4 semicircles, two of which are false alarms. Therefore, although there are only 2 actual targets, the two 1T1R radars detect 4 targets. Furthermore, if there are n targets in space, the two 1T1R radars may measure n 2 intersection points, so that up to n 2 targets, in n 2 There are many false alarm points in the target.

[0005] In summary, how to reduce the false alarm points generated by 1T1R radar when detecting targets and improve the detection accuracy is an urgent problem to be solved. Summary of the invention

[0006] The present application provides a target detection method, device and distributed radar system to solve the problem of how to improve the accuracy of radar detection.

[0007] In a first aspect, the present application provides a method, the execution subject of the method can be a radar, or a chip or a circuit. The method comprises: receiving M distance information from N radars, and determining at least one target according to the M distances indicated by the M distance information; wherein N is greater than 1, and M is greater than or equal to N*N; the M distance information from the N radars includes the distance information between each radar in the N radars and the at least one target, and the distance information including the sum of the distances from the at least one target to any two radars in the N radars.

[0008] According to the above method, each target is determined by N*N distances among M distances, thereby effectively reducing the number of false alarm points detected and improving the accuracy of the detected targets.

[0009] In a possible implementation, the method further includes: outputting location information of the at least one target.

[0010] In a possible implementation, determining at least one target according to the M distances includes: determining M curves according to the M distances; wherein, for a first distance among the M distances, when the first distance is the distance from any radar among the N radars to any target among the at least one target, a portion of a circle with the any radar as the center and the first distance as the radius is used as one of the M curves; when the first distance is the sum of the distances between any two radars among the N radars, a portion of an ellipse with the any two radars as foci is used as one of the M curves, and the major axis of the ellipse is equal to the first distance; and a target corresponding to at least one intersection point where N*N curves among the M curves intersect is determined as the at least one target.

[0011] In the above method, a distance determination curve is a set of all possible position points of the target detected by the radar. Since N radars can determine N*N distances based on one target, the detected target can be accurately determined based on the N*N curves corresponding to the N*N distances, thereby improving the accuracy of target detection.

[0012] In one possible implementation, the M distance information includes a*N distance information from each of the N radars, where a is an integer greater than 0; wherein, for each of the N radars, the a*N distance information from the radar is distance information determined based on the transmitted signals of the N radars and the reflected signals corresponding to a targets.

[0013] In a possible implementation, the transmission signals of the N radars are orthogonal to each other.

[0014] Since the transmitted signals are orthogonal to each other, each radar can distinguish its own transmitted signal and avoid deviation.

[0015] In a possible implementation, each of the N radars is a single-transmitter, single-receiver 1T1R radar.

[0016] In a possible implementation, the method further includes: for each of the N radars, sending a transmission signal to other N-1 radars of the N radars.

[0017] In a second aspect, the present application further provides a device. The device may be a device in the above method design. The device may be a radar with an integrated processor, or may be a chip or circuit capable of performing the functions corresponding to the above method, or any device including the chip or circuit.

[0018] In a possible implementation, the apparatus includes: a memory for storing computer executable program code; and a processor coupled to the memory. The program code stored in the memory includes instructions, and when the processor executes the instructions, the apparatus or a device equipped with the apparatus executes the method in the first aspect or any possible implementation of the first aspect.

[0019] The device may further include a communication interface, which may be a transceiver, for example, implemented by an antenna, a feeder, and a codec in a radar, or, if the device is a chip or a circuit, the communication interface may be an input / output interface of the chip, such as an input / output pin.

[0020] In a possible implementation, the device includes corresponding functional units, which are respectively used to implement the steps in the above method. The functions can be implemented by hardware, or by hardware executing corresponding software. The hardware or software includes one or more units corresponding to the above functions.

[0021] In a possible implementation, the structure of the device includes a processing unit and a communication unit, which can perform corresponding functions in the above method example. For details, please refer to the description of the method provided in the first aspect, which will not be repeated here.

[0022] In a third aspect, the present application provides a distributed radar system, comprising: a radar array, comprising N radars, the N radars being used to determine M distance information, the M distance information being used to indicate M distances, wherein N is greater than 1, and M is greater than or equal to N*N; a processor, being used to receive the M distance information from the N radars; and determining at least one target based on the M distances; wherein the M distance information from the N radars comprises distance information between each of the N radars and the at least one target, and distance information comprising the sum of distances from the at least one target to any two of the N radars.

[0023] In a possible implementation, the processor is further configured to: output location information of the at least one target.

[0024] In a possible implementation, the processor is specifically configured to: determine M curves according to the M distances;

[0025] Among them, for a first distance among the M distances, when the first distance is the distance from any radar among the N radars to any target among the at least one target, a portion of a circle with the any radar as the center and the first distance as the radius is used as one of the M curves; when the first distance is the sum of the distances between any two radars among the N radars, a portion of an ellipse with the any two radars as foci is used as one of the M curves, and the major axis of the ellipse is equal to the first distance; and a target corresponding to at least one intersection point where N*N curves among the M curves intersect is determined as the at least one target.

[0026] In one possible implementation, the M distance information includes a*N distance information from each of the N radars, where a is an integer greater than 0; wherein, for each of the N radars, the a*N distance information from the radar is distance information determined based on the transmitted signals of the N radars and the reflected signals corresponding to a targets.

[0027] In a possible implementation, the transmission signals of the N radars are orthogonal to each other.

[0028] In a possible implementation, for each of the N radars, a transmission signal is sent to other N-1 radars of the N radars.

[0029] In one possible implementation, the radar array is specifically used to: send N transmission signals; wherein each of the N radars sends a transmission signal; receive M reflection signals after the N transmission signals are reflected by the at least one target; wherein, for any radar among the N radars, the radar receives a reflection signal after each transmission signal in the N transmission signals is reflected by the at least one target; determine the M distances according to the N transmission signals and the M reflection signals; for any distance among the M distances, the distance is determined according to one reflection signal among the N reflection signals and one reflection signal among the M reflection signals.

[0030] In a possible implementation, each of the N radars is a single-transmitter, single-receiver 1T1R radar.

[0031] In a fourth aspect, a computer storage medium is provided, wherein the computer-readable storage medium stores instructions, which, when executed on a computer, enable the computer to execute the method described in the first aspect or any possible design of the first aspect.

[0032] In a fifth aspect, a computer program product comprising instructions is provided. The computer program product stores instructions that, when executed on a computer, enable the computer to execute the method described in the first aspect or any possible design of the first aspect.

[0033] In a sixth aspect, an embodiment of the present application provides a chip, which is connected to a memory and is used to read and execute a software program stored in the memory to implement the method described in the first aspect or any possible design of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a schematic diagram of a cross positioning method in the prior art;

[0035] Figure 2 A schematic diagram of a possible application scenario of an embodiment of the present application;

[0036] Figure 3 A schematic diagram of a target detection method flow provided in an embodiment of the present application;

[0037] Figure 4 A schematic diagram of a radar array provided in an embodiment of the present application;

[0038] Figure 5 A schematic diagram of a transmission signal and a reflection signal provided in an embodiment of the present application;

[0039] Figure 6 A schematic diagram of curve intersection provided in an embodiment of the present application;

[0040] Figure 7 A schematic diagram of target detection provided in an embodiment of the present application;

[0041] Figure 8 A schematic diagram of a radar receiving reflected signal provided in an embodiment of the present application;

[0042] Fig. 9 A schematic diagram of curve intersection provided in an embodiment of the present application;

[0043] Fig.10 A schematic diagram of a distributed radar system architecture provided in an embodiment of the present application;

[0044] Fig.11 A schematic diagram of a device structure provided in an embodiment of the present application;

[0045] Fig.12 A schematic diagram of a device structure provided in an embodiment of the present application. DETAILED DESCRIPTION

[0046] The embodiments of the present application are described in detail below in conjunction with the accompanying drawings.

[0047] The method, device and system provided in the embodiments of the present application can be applied to scenarios such as ADAS, where ADAS can use radar to sense the environment around the vehicle to provide assistance in blind spot monitoring, lane change assistance, collision warning, adaptive cruise control, etc. Please refer to Figure 2 , which is a schematic diagram of a possible application scenario of an embodiment of the present application. The above application scenarios may be unmanned driving, automatic driving, intelligent driving, networked driving, etc. The radar can be installed on motor vehicles (such as unmanned vehicles, intelligent vehicles, electric vehicles, digital vehicles, etc.), drones, rail vehicles, bicycles, traffic lights, speed measuring devices or network equipment (such as base stations and terminal devices in various systems), etc. In an embodiment of the present application, the radar can be installed on a mobile device, such as installed on a vehicle as a vehicle-mounted radar, or it can also be installed on a fixed device, such as installed on a road side unit (RSU) and other equipment, and the embodiment of the present application is not limited to this.

[0048] It should be understood that the radar can also be called a radar device, a detector, a radar device or a radar signal transmitting device, etc. The embodiments of the present application do not limit the names thereof. For the convenience of description, they are collectively referred to as radars herein. The working principle is to detect the corresponding target object by sending a transmission signal and receiving a reflection signal of the transmission signal reflected by the target object. The specific process can be referred to the description in the prior art, which will not be repeated here.

[0049] The radar involved in the embodiments of the present application may be a 1T1R radar or other types of radars. Since the 1T1R radar has no angle measurement capability, when detecting a target, multiple 1T1R radars are required to use distance for cross-positioning. This cross-positioning method will result in many false alarm points in a multi-target scenario. Therefore, the present application provides a method that can reduce the detected false alarm points and improve the accuracy of detection, which will be described in detail below.

[0050] It should be noted that the network architecture and business scenarios described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided in the embodiments of the present application. Ordinary technicians in this field can know that with the evolution of network architecture and the emergence of new business scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0051] like Figure 3 As shown, the embodiment of the present application provides a method, which can be executed by a radar with an integrated processor, or by an independent chip or circuit, or by a system-on-a-Chip (SOC), or by a device including the independent chip or circuit or SOC. The embodiment of the present application is for Figure 3 The execution subject of the method shown is not limited, and no further examples are given here. Figure 3 , the method comprising:

[0052] Step 301: Receive M distance information from N radars.

[0053] The M distance information is used to indicate M distances, N is an integer greater than 1, and M is greater than or equal to N*N.

[0054] Step 302: Determine at least one target according to the M distances.

[0055] The M distance information from the N radars includes distance information between each of the N radars and the at least one target, and distance information including the sum of distances from the at least one target to any two of the N radars.

[0056] In the embodiment of the present application, each of the N radars may be a 1T1R radar or other types of radars, which is not limited in the embodiment of the present application.

[0057] For example, in the embodiment of the present application, N radars can be connected by radio frequency transmission lines to form a feeder network with independent paths between the radars. For example, N is equal to 3, that is, there are 3 radars, and the feeder network formed by connecting these 3 radars by radio frequency transmission lines can be as follows: Figure 4 shown. Figure 4 This is just an example. Other implementations may be used to connect N radars, which will not be described one by one here.

[0058] Through the feeder network, each of the N radars can transmit transmission signals to other N-1 radars among the N radars; correspondingly, each of the N radars can receive transmission signals from other N-1 radars through the RF transmission line.

[0059] Further, the transmission signals of each of the N radars are mutually orthogonal, and the carrier frequency and bandwidth of the transmission signals of each radar are the same. In the embodiment of the present application, the transmission signals of the N radars can be mutually orthogonal by using frequency diversity technology, coding diversity technology, or Doppler diversity technology, and the specific process will not be repeated.

[0060] It should be noted that, in the embodiment of the present application, the transmission signal may be a phase modulation continuous wave (PMCW) waveform signal, and may of course be other types of waveform signals.

[0061] Furthermore, in the embodiment of the present application, the signal after the reflected signal of the radar is reflected by the target is called a reflected signal. Each of the N radars not only receives the reflected signal of the transmitted signal sent by the radar, but also receives the reflected signals of the transmitted signals of other radars.

[0062] After receiving the reflected signals from other radars, each of the N radars can distinguish the reflected signals from the transmitted signals of each radar by utilizing the orthogonal characteristics of the transmitted signals of the N radars. The specific process will not be described in detail.

[0063] In the embodiment of the present application, it is assumed that the first radar and the second radar are any two radars among N radars. For the first radar, the first radar can determine the distance from the first radar to the target reflecting the transmitted signal based on the transmitted signal of the first radar and the reflected signal of the transmitted signal of the first radar.

[0064] Correspondingly, the first radar can also determine the distance from the first radar to the target reflecting the second radar's transmission signal and the distance from the second radar to the target reflecting the second radar's transmission signal based on the transmission signal of the second radar and the reflected signal of the transmission signal of the second radar.

[0065] For example, if Figure 5As shown, the first radar sends a transmission signal 1, which is reflected by the target as a reflection signal 1; the second radar sends a transmission signal 2, which is reflected by the target as a reflection signal 2. The first radar receives the reflection signal 1 and the reflection signal 2. The first radar can determine the distance between the first radar and the target based on the transmission signal 1 and the reflection signal 1. The first radar can determine the sum of the distance from the first radar to the target and the distance from the second radar to the target based on the transmission signal 2 and the reflection signal 2.

[0066] It should be noted that in the embodiments of the present application, the specific physical form of the "target" is not limited, and any object that can reflect the radar's transmission signal can be called a target.

[0067] In combination with the foregoing description, when the method provided in the embodiment of the present application is used for detection, M distance information can be determined by N radars. Among them, the M distance information is used to indicate M distances, and M is greater than or equal to N*N. One distance information can be used to indicate a distance, and the distance information can directly indicate the distance, for example, the distance information is a specific value of the distance. The distance information can also indirectly indicate the distance, for example, each distance corresponds to an index value, and the distance information can be the index value corresponding to the distance.

[0068] After determining M distance information through N radars, at least one target can be determined according to the M distances. In combination with the above description, it can be known that the M distance information includes distance information between each radar in the N radars and the at least one target, and distance information including the sum of distances from the at least one target to any two radars in the N radars.

[0069] Exemplarily, assuming that there are a targets, a is an integer greater than 0, the M distance information determined by the N radars may include a*N distance information from each of the N radars. Specifically, each of the N radars may determine a*N distance information, and the a*N distance information determined by each radar is distance information determined based on the transmitted signals of the N radars and the reflected signals corresponding to the a targets.

[0070] For example, for any one of a targets, any one of N radars can receive N reflected signals reflected by the target, thereby determining N distance information. The N distance information includes the distance information from the radar to the target, and the distance information of the sum of the distance from the radar to the target and the distance from other N-1 radars to the target.

[0071] It should be noted that, from the previous description, when N radars detect a target, N*N distances can be determined. Therefore, in an embodiment of the present application, one of the at least one target can be determined based on the N*N distances among the M distances. Furthermore, for any target among the at least one target, the N*N distances of the target are determined, which may include the distance between each of the N radars and the target, and the sum of the distances from the target to any two of the N radars. There may be multiple implementation methods for how to determine a target based on the N*N distances among the M distances. For example, it can be implemented in the following ways:

[0072] Step 1: Determine M curves according to the M distances, wherein each of the M distances is used to determine one of the M curves.

[0073] For the first distance among the M distances, in a first possible scenario, when the first distance is the distance from any one of the N radars to any one of the at least one target, a set of all possible position points whose distance to any one of the radars is the first distance can be used as a curve determined according to the first distance.

[0074] For example, a part of a circle with any one of the radars as the center and the first distance as the radius can be used as one of the M curves. In this case, it can be determined that any one of the targets is located in the curve determined according to the first distance.

[0075] In a second possible scenario, when the first distance is the sum of the distances to any two of the N radars, a set of all possible position points whose distances to the any two radars are the first distances may be used as a curve determined according to the first distance.

[0076] For example, a portion of an ellipse with the any two radars as foci can be used as one of the M curves, and the major axis of the ellipse is equal to the first distance. In this case, it can be determined that any target is located in the curve determined according to the first distance.

[0077] Step 2: Determine a target corresponding to at least one intersection point where N*N curves among the M curves intersect as the at least one target.

[0078] According to the previous description, when N radars detect a target, N*N distances can be determined, and each distance can determine a curve. Since the curve determined by each distance is a set of all possible position points of the target, the target corresponding to the intersection of the N*N curves corresponding to the N*N distances can be used as the detected target.

[0079] To this end, in the embodiment of the present application, among all the intersections of the M curves, the target corresponding to the intersection of the N*N curves can be determined as the detected target. The N*N curves can include parts of N circles and parts of N*(N-1) ellipses, and the "*" represents multiplication.

[0080] Accordingly, in the embodiment of the present application, among all the intersections where the M curves intersect, the intersections where the number is less than the number of intersections where N*N curves intersect can be determined as false alarm points.

[0081] Further optionally, in the embodiment of the present application, the position information of at least one determined target may also be output, wherein the position information may be the latitude and longitude coordinates of the target, or other types of position information, which is not limited in the embodiment of the present application.

[0082] In combination with the above description, the following describes how to detect a target using the method provided in the embodiments of the present application through specific examples.

[0083] Embodiment 1:

[0084] like Figure 6 As shown, it is assumed that N is equal to 2, that is, there are 2 radars, namely radar 1 and radar 2. There are 2 targets, namely target 1 and target 2.

[0085] Radar 1 can determine four distances; the four distances determined by radar 1 include the distances from radar 1 to target 1 and target 2, the sum of the distance from radar 1 to target 1 and the distance from radar 2 to target 1, and the sum of the distance from radar 1 to target 2 and the distance from radar 2 to target 2, which can be respectively recorded as R 1-1 , R 1-2 , R 1-3 and R 1-4 .

[0086] Similarly, radar 2 can also determine four distances. The four distances determined by radar 2 include the distances from radar 2 to target 1 and target 2, the sum of the distance from radar 2 to target 1 and the distance from radar 1 to target 1, and the sum of the distance from radar 2 to target 2 and the distance from radar 1 to target 2. Assume that they can be recorded as R 2-1 , R 2-2 , R 2-3 and R 2-4 .

[0087] It should be noted that, without considering factors such as errors, in ideal conditions, R 1-3 With R 2-3 are equal, R 1-4 With R 2-4are equal. However, in the actual measurement process, the measurement results of different radars may have errors. Therefore, in practical applications, R 1-3 With R 2-3 Not necessarily equal, R 1-4 With R 2-4 They are not necessarily equal, but they will be within the technically allowed error range. Therefore, the equality mentioned here means that there can be a certain deviation in the values ​​of the two, but the deviation is within the technically allowed error range.

[0088] From the above description, it can be known that the two radars determine a total of 8 distances, and therefore 8 curves can be determined based on these 8 distances. Specifically, for the 4 distances determined by radar 1, the 4 determined curves are curve 1-1, curve 1-2, curve 1-3 and curve 1-4.

[0089] Among them, curve 1-1 is the circle with radar 1 as the center, R 1-1 Curve 1-2 is a circle with radar 1 as the center and R 1-2 Curve 1-3 is a part of an ellipse with radar 1 and radar 2 as foci, and the major axis of the ellipse is equal to R 1-3 Curve 1-4 is a part of an ellipse with radar 1 and radar 2 as the focus, and the major axis of the ellipse is equal to R 1-4 For details, please refer to Figure 6 shown.

[0090] Correspondingly, for the four distances determined by radar 2, the four curves determined are curve 2-1, curve 2-2, curve 2-3 and curve 2-4 respectively.

[0091] Among them, curve 2-1 is a circle with radar 2 as the center, R 2-1 Curve 2-2 is a circle with radar 2 as the center and R 2-2 Curve 2-3 is a part of an ellipse with radar 1 and radar 2 as foci, and the major axis of the ellipse is equal to R 2-3 Curve 2-4 is a part of an ellipse with radar 1 and radar 2 as the focus, and the major axis of the ellipse is equal to R 2-4 For details, please refer to Figure 6 shown.

[0092] It should be noted that Figure 6 Only the ideal situation is considered, that is, R 1-3 With R 2-3 are equal, R 1-4 With R 2-4 are equal, so curve 1-3 and curve 2-3 are Figure 6 The curves 1-4 and 2-4 overlap in Figure 6 They overlap in the middle.

[0093] It should be noted that in practical applications, due to the possibility of measurement errors, R 1-3 With R 2-3 are not necessarily equal, and lead to R 1-4 With R 2-4 are not necessarily equal, so the line width of each curve can be set larger, and the area of ​​the intersection point after the two curves intersect can be larger. For example, although R 1-3 With R 2-3 They are not necessarily equal, but curves 1-3 and 2-3 can also overlap due to the increase in line width, and the other curves are similar, so that the influence of measurement errors can be offset or reduced.

[0094] like Figure 6 As shown in the figure, there are multiple intersections among the 8 curves determined by the 8 distances, of which only 2 intersections are the intersections of 4 curves, and these 2 intersections are target 1 and target 2. For example, taking target 1 as an example, the curves corresponding to the intersections corresponding to target 1 are curve 1-1, curve 1-3, curve 2-1 and curve 2-3, and the 4 distances determined for these 4 curves are R 1-1 , R 1-3 , R 2-1 and R 2-3 .

[0095] Embodiment 2:

[0096] like Figure 7 As shown, it is assumed that N is equal to 3, that is, there are 3 radars, namely radar 1, radar 2 and radar 3. There is 1 target, namely target 1.

[0097] like Figure 8 As shown, radar 1, radar 2 and radar 3 send transmission signal 1, transmission signal 2 and transmission signal 3 respectively; after being reflected by target 1, transmission signal 1, transmission signal 2 and transmission signal 3 are respectively reflected signal 1, reflection signal 2 and reflection signal 3. Radar 1, radar 2 and radar 3 all receive reflection signal 1, reflection signal 2 and reflection signal 3.

[0098] Radar 1 can determine three distances; the three distances determined by radar 1 include the distance from radar 1 to target 1, the sum of the distance from radar 1 to target 1 and the distance from radar 2 to target 1, and the sum of the distance from radar 1 to target 1 and the distance from radar 3 to target 1, which can be respectively recorded as R 1-1 , R 1-2 and R 1-3 .

[0099] Similarly, radar 2 can also determine three distances. The three distances determined by radar 2 include the distance from radar 2 to target 1, the sum of the distance from radar 2 to target 1 and the distance from radar 1 to target 1, and the sum of the distance from radar 2 to target 1 and the distance from radar 3 to target 1. Assume that they can be recorded as R 2-1 , R 2-2 and R 2-3 .

[0100] Radar 3 can also determine three distances. The three distances determined by radar 3 include the distance from radar 3 to target 1, the sum of the distance from radar 3 to target 1 and the distance from radar 1 to target 1, and the sum of the distance from radar 3 to target 1 and the distance from radar 2 to target 1. Assume that they can be recorded as R 3-1 , R 3-2 and R 3-3 .

[0101] From the above description, we can know that the three radars determine a total of 9 distances, so 9 curves can be determined based on these 9 distances. Fig. 9 As shown in FIG. 1 , for the three distances determined by radar 1, the three determined curves are curve 1-1, curve 1-2, and curve 1-3. Curve 1-1 is a circle with radar 1 as the center and R 1-1 Curve 1-2 is a part of an ellipse with radar 1 and radar 2 as foci, and the major axis of the ellipse is equal to R 1-2 Curve 1-3 is a part of an ellipse with radar 1 and radar 3 as foci, and the major axis of the ellipse is equal to R 1-3 .

[0102] Correspondingly, such as Fig. 9 As shown in FIG. 1 , for the three distances determined by radar 2, the three determined curves are curve 2-1, curve 2-2, and curve 2-3. Curve 2-1 is a circle with radar 2 as the center and R 2-1 Curve 2-2 is a part of an ellipse with radar 1 and radar 2 as foci, and the major axis of the ellipse is equal to R 2-2 Curve 2-3 is a part of an ellipse with radar 2 and radar 3 as the focus, and the major axis of the ellipse is equal to R 2-3 .

[0103] It should be noted that, without considering factors such as errors, in ideal conditions, R 1-2 With R 2-2 are equal; R 1-3 With R 3-2 are equal; R 2-3 With R 3-3 are equal. However, in the actual measurement process, the measurement results of different radars may have errors. Therefore, in practical applications, R1-2 With R 2-2 Not necessarily equal, R 1-3 With R 3-2 Not necessarily equal, R 2-3 With R 3-3 Not necessarily equal.

[0104] like Fig. 9 As shown in FIG. 1 , for the three distances determined by radar 3, the three determined curves are curve 3-1, curve 3-2, and curve 3-3. Curve 3-1 is a circle with radar 3 as the center and R 3-1 Curve 3-2 is a part of an ellipse with radar 3 and radar 1 as foci, and the major axis of the ellipse is equal to R 3-2 Curve 3-3 is a part of an ellipse with radar 3 and radar 2 as foci, and the major axis of the ellipse is equal to R 3-3 .

[0105] It should be noted that Fig. 9 Only the ideal situation is considered, that is, R 1-2 With R 2-2 are equal, R 1-3 With R 3-2 are equal; R 2-3 With R 3-3 are equal, so curve 1-2 and curve 2-2 are Fig. 9 are coincident in the graph; Curve 1-3 and Curve 3-2 are Fig. 9 are coincident in the graph; Curve 2-3 and Curve 3-3 are Fig. 9 They overlap in the middle.

[0106] It should be noted that in practical applications, due to the possibility of measurement errors, R 1-2 With R 2-2 are not necessarily equal, resulting in R 1-3 With R 3-2 are not necessarily equal, and lead to R 2-3 With R 3-3 are not necessarily equal, so the line width of each curve can be set larger. For example, although R 1-2 With R 2-2 They are not necessarily equal, but curve 1-2 and curve 2-2 can also overlap due to the increase in line width, thereby offsetting the influence of measurement errors.

[0107] like Fig. 9 As shown, there are multiple intersections among the 9 curves determined according to the 9 distances, among which only one intersection is the intersection point where the 9 curves intersect, and the intersection point is target 1.

[0108] The above is only an example. When the number N of radars takes other values, reference may be made to the description in the previous embodiment, which will not be repeated here.

[0109] According to the above embodiments, the target determined by the method provided in the embodiment of the present application is the actual target, and no false target is determined. Therefore, according to the method provided in the embodiment of the present application, the actual target can be accurately determined, and the number of false targets determined can be significantly reduced.

[0110] See also Fig.10 , is a schematic diagram of a distributed radar system architecture provided in an embodiment of the present application. Fig.10 The application of a distributed radar system in a motor vehicle is used as an example for description, and other situations can be deduced by analogy.

[0111] The distributed radar system provided in the embodiment of the present application may include a radar array 1001 and a processor 1002. In practical applications, it may also include modules such as a memory and a display. For the convenience of description, only the main modules are illustrated.

[0112] In the embodiment of the present application, the radar array may include N radars, where N is an integer greater than 1. The specific number of radars included in the radar array may be adjusted according to actual conditions, and the embodiment of the present application does not limit this. Each of the N radars may be a 1T1R radar or other types of radars, and the embodiment of the present application does not limit this. Figure 3 In the embodiment, the N radars in the radar array may be distributed around the motor vehicle. The specific distribution may be determined based on actual conditions, and the embodiments of the present application do not limit this.

[0113] The processor in the embodiment of the present application may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method embodiment may be completed by an integrated logic circuit of hardware in the processor or an instruction in the form of software. The above processor may be a general-purpose processor, a digital signal processing circuit (digital signal processor, DSP), an application specific integrated circuit (application specific integrated circuit, ASIC), a field programmable gate array (field programmable gate array, FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components.

[0114] For example, in the embodiment of the present application, a radio frequency transmission line can be used to connect N radars in the radar array to form a feeder network with independent paths between the radars. Through the feeder network, each of the N radars can transmit a transmission signal to the other N-1 radars in the N radars; accordingly, each of the N radars can receive the transmission signal of other radars through the radio frequency transmission line.

[0115] Furthermore, the transmission signals of each radar in the N radars are orthogonal to each other, and the carrier frequency and bandwidth of the transmission signal of each radar are the same.

[0116] In combination with the above description, the radar array 1001 includes N radars, which are used to determine M distance information, where the M distance information is used to indicate M distances, where N is greater than 1, and M is greater than or equal to N*N;

[0117] Processor 1002, configured to receive the M distance information from the N radars; and determine at least one target according to the M distances;

[0118] The M distance information from the N radars includes distance information between each of the N radars and the at least one target, and distance information including the sum of distances from the at least one target to any two of the N radars.

[0119] In a possible implementation manner, the processor 1002 is further configured to: output location information of the at least one target.

[0120] In a possible implementation manner, the processor 1002 is specifically configured to: determine M curves according to the M distances; wherein, for a first distance among the M distances, when the first distance is a distance from any radar among the N radars to any target among the at least one target, a portion of a circle with the any radar as a center and the first distance as a radius is used as one of the M curves; when the first distance is a sum of distances between any two radars among the N radars, a portion of an ellipse with the any two radars as foci is used as one of the M curves, and the major axis of the ellipse is equal to the first distance;

[0121] The target corresponding to at least one intersection point where N*N curves in the M curves intersect is determined as the at least one target. In a possible implementation, the M distance information includes a*N distance information from each of the N radars, where a is an integer greater than 0;

[0122] For each of the N radars, the a*N distance information from the radar is distance information determined based on the transmission signals of the N radars and the reflection signals corresponding to a targets.

[0123] In a possible implementation manner, the transmission signals of the N radars are orthogonal to each other.

[0124] In a possible implementation manner, for each of the N radars, a transmission signal is sent to other N-1 radars of the N radars.

[0125] In a possible implementation, the radar array 1001 is specifically used for:

[0126] Sending N transmission signals; wherein each of the N radars sends one transmission signal;

[0127] Receiving M reflected signals after the N transmitted signals are reflected by the at least one target; wherein, for any radar among the N radars, the radar receives a reflected signal after each transmitted signal among the N transmitted signals is reflected by the at least one target;

[0128] The M distances are determined according to the N transmitted signals and the M reflected signals; for any distance among the M distances, the distance is determined according to one reflected signal among the N reflected signals and one reflected signal among the M reflected signals.

[0129] In a possible implementation manner, each of the N radars is a single-transmit and single-receive 1T1R radar.

[0130] It should be noted that, in this article, "at least one" means one or more, and "plurality" means two or more. "And / or" describes the association relationship of related objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the objects before and after are in an "or" relationship. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b or c can mean: a, b, c, ab, ac, bc or abc, where a, b, c can be single or plural.

[0131] Furthermore, unless otherwise specified, ordinal numbers such as "first" and "second" mentioned in the embodiments of the present application are used to distinguish between multiple objects and are not used to limit the order, timing, priority or importance of the multiple objects.

[0132] The above mainly introduces the solution provided by the embodiment of the present application from the perspective of the method flow. The following introduces the device used to implement the above method in the embodiment of the present application in conjunction with the accompanying drawings. Therefore, the above content can be used in subsequent embodiments, and the repeated content will not be repeated.

[0133] In order to implement the functions of the method provided in the above embodiment of the present application, the embodiment of the present application also provides a device for implementing the above method. The device may include a hardware structure and / or a software module, and implements the above functions in the form of a hardware structure, a software module, or a hardware structure plus a software module. Whether a function of the above functions is executed in the form of a hardware structure, a software module, or a hardware structure plus a software module depends on the specific application and design constraints of the technical solution.

[0134] The device provided in the embodiment of the present application may be a radar with an integrated processor, or may be a chip or circuit capable of performing the functions corresponding to the above method, and the chip or circuit may be provided in a device such as a radar. Furthermore, the device provided in the embodiment of the present application may also be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is performed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel may use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the embodiment of the present application.

[0135] The device provided in the embodiment of the present application can be divided into functional modules. For example, each functional module can be divided corresponding to each function, or two or more functions can be integrated into one processing module. The above-mentioned integrated module can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the division of modules in the embodiment of the present application is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0136] In one possible implementation, Fig.11 1 is a schematic diagram of a device structure provided in an embodiment of the present application. The device 1100 may include: a processing module 1101 and a communication module 1102. Of course, the device 1100 may also include other modules, which are not limited in the embodiment of the present application, and only the main functional modules are shown.

[0137] In a possible implementation, the communication module 1102 may be used to receive M distance information from N radars, where the M distance information is used to indicate M distances, where N is greater than 1, and M is greater than or equal to N*N;

[0138] In one possible implementation, the processing module 1101 may be used to determine at least one target based on the M distances; wherein the M distance information from the N radars includes distance information between each of the N radars and the at least one target, and distance information including the sum of distances from the at least one target to any two of the N radars.

[0139] In a possible implementation, the processing module 1101 is further configured to: output location information of the at least one target.

[0140] In a possible implementation, the processing module 1101 is specifically configured to: determine M curves according to the M distances;

[0141] Wherein, for a first distance among the M distances, when the first distance is the distance from any radar among the N radars to any target among the at least one target, a portion of a circle with the any radar as the center and the first distance as the radius is used as one of the M curves; when the first distance is the sum of the distances between any two radars among the N radars, a portion of an ellipse with the any two radars as foci is used as one of the M curves, and the major axis of the ellipse is equal to the first distance;

[0142] A target corresponding to at least one intersection point where N*N curves among the M curves intersect is determined as the at least one target.

[0143] In a possible implementation, the M distance information includes a*N distance information from each of the N radars, where a is an integer greater than 0; wherein, for each of the N radars, the a*N distance information from the radar is distance information determined based on the transmitted signals of the N radars and the reflected signals corresponding to a targets.

[0144] In a possible implementation manner, the transmission signals of the N radars are orthogonal to each other.

[0145] In a possible implementation manner, each of the N radars is a single-transmit and single-receive 1T1R radar.

[0146] It should be understood that the processing module 1101 in the embodiment of the present application can be implemented by a processor or a processor-related circuit component, and the communication module 1102 can be implemented by a communication interface or a communication interface-related circuit component or a communication interface. It should be understood that the communication interface may include, for example, a transmitter and a receiver, and the processor, the transmitter and the receiver are coupled to each other, wherein the transmitter and the receiver are implemented, for example, by an antenna, a feeder, and a codec in a radar, or, if the device is a chip set in a detection device, then the transmitter and the receiver are, for example, a communication interface in the chip, and the communication interface is connected to a radio frequency transceiver component in the detection device to realize the transmission and reception of information through the radio frequency transceiver component.

[0147] For example, Fig.12 The device 1200 provided in an embodiment of the present application is shown. Fig.12 The device shown can be Fig.11 A hardware circuit implementation of the device shown in FIG. Figure 3 The functions in the flowchart shown. For ease of explanation, Fig.12 Only the main components of the device are shown.

[0148] It should be noted that Fig.12 The device shown may be a chip or circuit capable of executing the functions corresponding to the above method, or may be a device including the above chip or circuit, which is not limited in the embodiments of the present application.

[0149] Fig.12 The device 1200 shown includes at least one processor 1220, which is used to implement the embodiment of the present application. Figure 3 The method in .

[0150] The device 1200 may also include at least one memory 1230 for storing program instructions and / or data. The memory 1230 is coupled to the processor 1220. The coupling in the embodiment of the present application is an indirect coupling or communication connection between devices, units or modules, which may be electrical, mechanical or other forms, and is used for information exchange between devices, units or modules. The processor 1220 may operate in conjunction with the memory 1230. The processor 1220 may execute program instructions stored in the memory 1230. At least one of the at least one memory may be included in the processor.

[0151] Optionally, if the device 1200 is a chip or a circuit, the device 1200 may not include the memory 1230, and the processor 1220 may read instructions (programs or codes) in a memory outside the chip or circuit to implement Figure 3 The method provided by the illustrated embodiment.

[0152] The device 1200 may also include a communication interface 1210 for communicating with other devices via a transmission medium, so that the device in the device 1200 can communicate with other devices. In the embodiment of the present application, the communication interface may be a transceiver, a circuit, a bus, a module, or other types of communication interfaces. In the embodiment of the present application, the transceiver may be an independent receiver, an independent transmitter, a transceiver with integrated transceiver functions, or an interface circuit. The processor 1220 uses the communication interface 1210 to send and receive data, and is used to implement Figure 3 For the methods in the corresponding embodiments, please refer to the previous description for details, which will not be repeated here.

[0153] The device 1200 may further include a communication bus 1240. The communication interface 1210, the processor 1220, and the memory 1230 may be interconnected via the communication bus 1240; the communication bus 1240 may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus. The communication bus 1240 may be divided into an address bus, a data bus, a control bus, and the like. For ease of representation, Fig.12 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0154] In a possible implementation, the communication interface 1210 may be used to receive M distance information from N radars, where the M distance information is used to indicate M distances, where N is greater than 1, and M is greater than or equal to N*N;

[0155] In one possible implementation, the processor 1220 may be configured to determine at least one target based on the M distances; wherein the M distance information from the N radars includes distance information between each of the N radars and the at least one target, and distance information including the sum of distances from the at least one target to any two of the N radars.

[0156] In a possible implementation, the processor 1220 is further configured to: output location information of the at least one target.

[0157] In a possible implementation manner, the processor 1220 is specifically configured to: determine M curves according to the M distances;

[0158] Wherein, for a first distance among the M distances, when the first distance is the distance from any radar among the N radars to any target among the at least one target, a portion of a circle with the any radar as the center and the first distance as the radius is used as one of the M curves; when the first distance is the sum of the distances between any two radars among the N radars, a portion of an ellipse with the any two radars as foci is used as one of the M curves, and the major axis of the ellipse is equal to the first distance;

[0159] A target corresponding to at least one intersection point where N*N curves among the M curves intersect is determined as the at least one target.

[0160] In a possible implementation, the M distance information includes a*N distance information from each of the N radars, where a is an integer greater than 0; wherein, for each of the N radars, the a*N distance information from the radar is distance information determined based on the transmitted signals of the N radars and the reflected signals corresponding to a targets.

[0161] In a possible implementation manner, the transmission signals of the N radars are orthogonal to each other.

[0162] In a possible implementation manner, each of the N radars is a single-transmit and single-receive 1T1R radar.

[0163] In another optional way, when the device provided in the embodiment of the present application is implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is implemented in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (digital subscriber line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid state drive (SSD)), etc.

[0164] It should be noted that the processor included in the above-mentioned device for executing the method provided in the embodiment of the present application can be a central processing unit (CPU), a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It can implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of the present application. The processor can also be a combination that implements a computing function, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and the like.

[0165] The steps of the method or algorithm described in conjunction with the embodiments of the present application can be implemented in hardware or by executing software instructions by a processor. The software instructions can be composed of corresponding software modules, and the software modules can be stored in random access memory (RAM), flash memory, read-only memory (ROM) memory, erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), registers, hard disks, mobile hard disks, compact disc read-only memory (CD-ROM) or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an ASIC. In addition, the ASIC can be located in a radar device or a detection device installed with a radar device. Of course, the processor and the storage medium can also be present as discrete components in a radar device or a detection device installed with a radar device.

[0166] Understandably, Figure 11-12 Only a simplified design of the device is shown. In practical applications, the device provided in the embodiments of the present application may include any number of transmitters, receivers, processors, controllers, memories and other possible components.

[0167] Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0168] The present application also provides a means of transport, such as a vehicle, a drone, an unmanned vehicle, etc., comprising Fig.10 Distributed radar system described.

[0169] The present application also provides a chip, which is connected to a memory and is used to read and execute a software program stored in the memory. When the software program is run on the chip, the chip executes Figure 3 The method shown in .

[0170] The present application also provides a computer-readable storage medium, including instructions, which, when executed on a computer, cause the computer to execute Figure 3 The method shown in .

[0171] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, optical storage, etc.) that contain computer-usable program code.

[0172] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0173] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0174] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A target detection method, characterized in that: include: Receiving M distance information from N radars, where the M distance information is used to indicate M distances, where N is greater than 1, and M is greater than or equal to N*N; Determine at least one target according to the M distances; The M distance information from the N radars include distance information between each of the N radars and the at least one target, and distance information including the sum of distances from the at least one target to any two of the N radars.

2. The method according to claim 1, characterized in that The method further comprises: The location information of the at least one target is output.

3. The method according to claim 1 or 2, characterized in that: The determining at least one target according to the M distances comprises: Determine M curves according to the M distances; Wherein, for a first distance among the M distances, when the first distance is the distance from any radar among the N radars to any target among the at least one target, a portion of a circle with the any radar as the center and the first distance as the radius is used as one of the M curves; when the first distance is the sum of the distances between any two radars among the N radars, a portion of an ellipse with the any two radars as foci is used as one of the M curves, and the major axis of the ellipse is equal to the first distance; A target corresponding to at least one intersection point where N*N curves among the M curves intersect is determined as the at least one target.

4. The method according to any one of claims 1 to 3, characterized in that: The M distance information includes a*N distance information from each of the N radars, where a is an integer greater than 0; For each of the N radars, the a*N distance information from the radar is distance information determined based on the transmission signals of the N radars and the reflection signals corresponding to a targets.

5. The method according to claim 4, characterized in that The transmission signals of the N radars are orthogonal to each other.

6. The method according to any one of claims 1 to 5, characterized in that: Each of the N radars is a single-transmit and single-receive 1T1R radar.

7. The method according to any one of claims 1 to 6, characterized in that: The method further comprises: For each of the N radars, a transmission signal is sent to other N-1 radars of the N radars.

8. A distributed radar system, characterized in that: include: A radar array, comprising N radars, wherein the N radars are used to determine M distance information, wherein the M distance information is used to indicate M distances, wherein N is greater than 1, and M is greater than or equal to N*N; A processor, configured to receive the M distance information from the N radars; and determine at least one target according to the M distances; The M distance information from the N radars include distance information between each of the N radars and the at least one target, and distance information including the sum of distances from the at least one target to any two of the N radars.

9. The system according to claim 8, characterized in that The processor is further configured to: The location information of the at least one target is output.

10. The system according to claim 8 or 9, characterized in that The processor is specifically used for: Determine M curves according to the M distances; Wherein, for a first distance among the M distances, when the first distance is the distance from any radar among the N radars to any target among the at least one target, a portion of a circle with the any radar as the center and the first distance as the radius is used as one of the M curves; when the first distance is the sum of the distances between any two radars among the N radars, a portion of an ellipse with the any two radars as foci is used as one of the M curves, and the major axis of the ellipse is equal to the first distance; A target corresponding to at least one intersection point where N*N curves among the M curves intersect is determined as the at least one target.

11. The system according to any one of claims 8 to 10, characterized in that: The M distance information includes a*N distance information from each of the N radars, where a is an integer greater than 0; For each of the N radars, the a*N distance information from the radar is distance information determined based on the transmission signals of the N radars and the reflection signals corresponding to a targets.

12. The system according to claim 11, characterized in that The transmission signals of the N radars are orthogonal to each other.

13. The system according to any one of claims 8 to 10, characterized in that: For each of the N radars, a transmission signal is sent to other N-1 radars of the N radars.

14. The system according to claim 8 or 9, characterized in that The radar array is specifically used for: Sending N transmission signals; wherein each of the N radars sends one transmission signal; Receiving M reflected signals after the N transmitted signals are reflected by the at least one target; wherein, for any radar among the N radars, the radar receives a reflected signal after each transmitted signal among the N transmitted signals is reflected by the at least one target; The M distances are determined according to the N transmitted signals and the M reflected signals; for any distance among the M distances, the distance is determined according to one reflected signal among the N reflected signals and one reflected signal among the M reflected signals.

15. The system according to any one of claims 8 to 10, characterized in that: Each of the N radars is a single-transmit and single-receive 1T1R radar.

16. A target detection device, characterized in that: include: A communication module, used for receiving M distance information from N radars, wherein the M distance information is used for indicating M distances, wherein N is greater than 1, and M is greater than or equal to N*N; A processing module, configured to determine at least one target according to the M distances; The M distance information from the N radars include distance information between each of the N radars and the at least one target, and distance information including the sum of distances from the at least one target to any two of the N radars.

17. The device according to claim 16, characterized in that The processing module is also used for: The location information of the at least one target is output.

18. The device according to claim 16 or 17, characterized in that The processing module is specifically used for: Determine M curves according to the M distances; Wherein, for a first distance among the M distances, when the first distance is the distance from any radar among the N radars to any target among the at least one target, a portion of a circle with the any radar as the center and the first distance as the radius is used as one of the M curves; when the first distance is the sum of the distances between any two radars among the N radars, a portion of an ellipse with the any two radars as foci is used as one of the M curves, and the major axis of the ellipse is equal to the first distance; A target corresponding to at least one intersection point where N*N curves among the M curves intersect is determined as the at least one target.

19. The device according to any one of claims 16 to 18, characterized in that The M distance information includes a*N distance information from each of the N radars, where a is an integer greater than 0; For each of the N radars, the a*N distance information from the radar is distance information determined based on the transmission signals of the N radars and the reflection signals corresponding to a targets.

20. The device according to claim 19, characterized in that The transmission signals of the N radars are orthogonal to each other.

21. The device according to any one of claims 16 to 20, characterized in that Each of the N radars is a single-transmit and single-receive 1T1R radar.

22. A device, characterized in that: The device comprises: Memory: used to store instructions; A processor is used to call and execute the instructions from the memory, so that the device or a device equipped with the device executes the method according to any one of claims 1 to 7.

23. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is run on a device, the method according to any one of claims 1 to 7 is executed.

24. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is run on a device, the method according to any one of claims 1 to 7 is executed.

25. A chip, characterized in that: The method comprises a processor, wherein the processor is coupled to a memory and is used to execute a computer program or instruction stored in the memory. When the processor executes the computer program or instruction, the method according to any one of claims 1 to 7 is executed.

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