Vehicle-mounted millimeter wave radar data processing method and device, equipment and storage medium

Abstract

The invention discloses a vehicle-mounted millimeter wave radar data processing method and device, equipment and a storage medium, and relates to the technical field of vehicle-mounted millimeter wave radars. The method comprises the following steps: acquiring Doppler fast Fourier transform (FFT) data in each distance unit of a single receiving antenna; calculating a Doppler transform module value vector of the Doppler FFT data; performing target point detection on the Doppler transformation module value vector by adopting a one-dimensional constant false alarm rate algorithm to obtain a first target point; establishing a bitmap according to the Doppler transformation module value corresponding to the first target point; effective data in the Doppler FFT data are screened out according to the bitmap and stored. According to the method and the device, for the acquired Doppler FFT data, the effective data in the Doppler FFT data are screened out by adopting a one-dimensional (Doppler dimension) CFAR algorithm and are stored, and the compression of the Doppler FFT data is realized through effective data screening, so that the occupation of the compressed data on the bus bandwidth and the storage space is reduced.

Description

Technical Field

[0001] This application belongs to the technical field of vehicle-mounted millimeter-wave radar, and particularly relates to a method, device, equipment, and storage medium for processing vehicle-mounted millimeter-wave radar data. Background Technique

[0002] As the number of antennas of millimeter-wave radar increases, the amount of data to be processed increases exponentially, which will greatly increase the system overhead, such as bus bandwidth and storage space. For example, for a vehicle-mounted four-dimensional (4D) millimeter-wave radar, due to the large number of transceiver antennas, the amount of data to be processed and stored is large.

[0003] In related technologies, the processing flow of vehicle-mounted millimeter-wave radar data is as follows: Obtain and store the Doppler Fast Fourier Transform (FFT) data in each range cell of a single receiving antenna, calculate the Doppler transform modulus vector of the Doppler FFT data, use a two-dimensional (range dimension and Doppler dimension) Constant False Alarm Rate (CFAR) algorithm to detect target points on the Doppler transform modulus vector, obtain the Doppler FFT data corresponding to the detected target points from the stored data, and calculate the target azimuth angle. However, in the above process, a large amount of Doppler FFT data needs to be processed and stored, which occupies a large amount of bus bandwidth and storage space. Summary of the Invention

[0004] The purpose of the embodiments of this application is to provide a method, device, equipment, and storage medium for processing vehicle-mounted millimeter-wave radar data, so as to solve the problem that a large amount of Doppler FFT data in related technologies occupies a large amount of bus bandwidth and storage space.

[0005] To achieve the above purpose, the embodiments of this application adopt the following technical solutions:

[0006] In a first aspect, the embodiments of this application provide a method for processing vehicle-mounted millimeter-wave radar data, including: obtaining the Doppler Fast Fourier Transform data in each range cell of a single receiving antenna; calculating the Doppler transform modulus vector of the Doppler Fast Fourier Transform data; using a one-dimensional Constant False Alarm Rate algorithm to detect target points on the Doppler transform modulus vector to obtain a first target point, where the one-dimensional Constant False Alarm Rate algorithm is a Doppler dimension Constant False Alarm Rate algorithm; establishing a bitmap according to the Doppler transform modulus corresponding to the first target point; screening out valid data from the Doppler Fast Fourier Transform data according to the bitmap, and storing the valid data.

[0007] In a second aspect, an embodiment of the present application provides a processing device for vehicle-mounted millimeter-wave radar data, including: an acquisition module, configured to acquire Doppler fast Fourier transform data within each range cell of a single receiving antenna; a calculation module, configured to calculate a Doppler transform modulus vector of the Doppler fast Fourier transform data; a detection module, configured to perform target point detection on the Doppler transform modulus vector by using a one-dimensional constant false alarm rate algorithm to obtain a first target point, where the one-dimensional constant false alarm rate algorithm is a Doppler-dimensional constant false alarm rate algorithm; a building module, configured to build a bitmap according to the Doppler transform modulus corresponding to the first target point; screen out valid data from the Doppler fast Fourier transform data according to the bitmap, and store the valid data.

[0008] In a third aspect, an embodiment of the present application provides an electronic device, including: a processor, a memory, and a program or instruction stored on the memory and executable on the processor, where when the program or instruction is executed by the processor, the steps of the method described in the first aspect embodiment of the present application are implemented.

[0009] In a fourth aspect, an embodiment of the present application provides a readable storage medium, where a program or instruction is stored on the readable storage medium, and when the program or instruction is executed by a processor, the steps of the method described in the first aspect embodiment of the present application are implemented.

[0010] The above at least one technical solution adopted in the embodiments of the present application can achieve the following beneficial effects:

[0011] When processing vehicle-mounted millimeter-wave radar data in the embodiments of the present application, Doppler FFT data within each range cell of a single receiving antenna is acquired, a Doppler transform modulus vector of the Doppler FFT data is calculated, a one-dimensional (Doppler-dimensional) CFAR algorithm is used to perform target point detection on the Doppler transform modulus vector, a bitmap is built according to the Doppler transform modulus corresponding to the first target point, valid data is screened out from the Doppler fast Fourier transform data according to the bitmap, and the valid data is stored. In the embodiments of the present application, for the acquired Doppler FFT data, a one-dimensional (Doppler-dimensional) CFAR algorithm is used to analyze the data semantics, and then the valid data in the Doppler FFT data is screened out, and the screened valid data is stored. Through the screening of valid data, compression of the Doppler FFT data is achieved, thereby reducing the occupancy of the compressed data on the bus bandwidth and storage space, and at the same time, data integrity can be ensured. Description of the Drawings

[0012] The drawings described herein are used to provide a further understanding of the present application, and constitute a part of the present application. The illustrative embodiments and descriptions of the present application are used to explain the present application, and do not constitute an improper limitation to the present application. In the drawings:

[0013] Figure 1Flow diagram of a method for processing vehicle-mounted millimeter-wave radar data provided by an embodiment of the present application;

[0014] Figure 2 Schematic diagram of the transmission mode of a vehicle-mounted millimeter-wave radar in TDMA mode provided by an embodiment of the present application;

[0015] Figure 3 Schematic diagram of the two-dimensional CFAR algorithm provided by an embodiment of the present application;

[0016] Figure 4 Schematic diagram of a bitmap provided by an embodiment of the present application;

[0017] Figure 5 Flow diagram of a method for processing vehicle-mounted millimeter-wave radar data provided by another embodiment of the present application;

[0018] Figure 6 Flow diagram of a method for processing vehicle-mounted millimeter-wave radar data provided by another embodiment of the present application;

[0019] Figure 7 Flow diagram of a method for processing vehicle-mounted millimeter-wave radar data provided by another embodiment of the present application;

[0020] Figure 8 Flow diagram of a method for processing vehicle-mounted millimeter-wave radar data provided by another embodiment of the present application;

[0021] Figure 9 Overall flow diagram of a method for processing vehicle-mounted millimeter-wave radar data provided by another embodiment of the present application;

[0022] Figure 10 Structural diagram of a device for processing vehicle-mounted millimeter-wave radar data provided by an embodiment of the present application;

[0023] Figure 11 Structural diagram of a device for processing vehicle-mounted millimeter-wave radar data provided by another embodiment of the present application;

[0024] Figure 12 Structural diagram of an electronic device provided by an embodiment of the present application. Detailed implementation

[0025] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with specific embodiments of this application and the corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of this application.

[0026] The terms "first", "second", etc. in this application are used to distinguish similar objects, rather than to describe a specific order or sequence. It should be understood that such used data can be interchanged under appropriate circumstances so that the embodiments of this application can be implemented in an order other than those illustrated or described here. In addition, the "and / or" in this application indicates at least one of the connected objects, and the character " / " generally indicates an "or" relationship between the associated objects before and after. It should be noted that the data involved in this application are all obtained under the premise of obtaining user authorization.

[0027] Constant false alarm rate. In the signal detection of vehicle-mounted millimeter-wave radar, when the intensity of external interference changes, the vehicle-mounted millimeter-wave radar can automatically adjust its sensitivity so that the false alarm (i.e., misdetection) probability of the vehicle-mounted millimeter-wave radar remains unchanged. This characteristic is called the constant false alarm rate characteristic.

[0028] 4D vehicle-mounted millimeter-wave radar. On the basis of an ordinary vehicle-mounted millimeter-wave radar (three dimensions of "distance, azimuth, and speed"), it adds the measurement of data in one more dimension (height).

[0029] As the number of antennas of the millimeter-wave radar increases, the amount of data to be processed increases exponentially, which will greatly increase the system overhead, such as bus bandwidth and storage space. For example, for a vehicle-mounted 4D millimeter-wave radar, due to the large number of transceiver antennas, the amount of data to be processed and stored is large.

[0030] In the related art, the processing flow of vehicle-mounted millimeter-wave radar data is as follows: Obtain and store the Doppler FFT data in each range cell of a single receiving antenna, calculate the Doppler transform modulus vector of the Doppler FFT data, use a two-dimensional (range dimension and Doppler dimension) CFAR algorithm to detect target points for the Doppler transform modulus vector, and obtain the Doppler FFT data corresponding to the detected target points from the stored data for angle calculation. However, in the above process, a large amount of Doppler FFT data needs to be processed and stored, which occupies a large amount of bus bandwidth and storage space. For this reason, this application proposes a method, device, electronic device, and storage medium for processing vehicle-mounted millimeter-wave radar data to solve the problem that a large amount of Doppler FFT data in the related art occupies a large amount of bus bandwidth and storage space.

[0031] The following will describe in detail the technical solutions provided by the embodiments of the present application with reference to the accompanying drawings.

[0032] Figure 1 It is a schematic flowchart of a method for processing vehicle-mounted millimeter-wave radar data provided by an embodiment of the present application. As Figure 1 shown, the method for processing vehicle-mounted millimeter-wave radar data in the embodiment of the present application may specifically include the following steps:

[0033] S101. Obtain the Doppler fast Fourier transform data in each range cell of a single receiving antenna.

[0034] In the embodiment of the present application, the execution subject of the method for processing vehicle-mounted millimeter-wave radar data in the embodiment of the present application is a device for processing vehicle-mounted millimeter-wave radar data, and this device for processing vehicle-mounted millimeter-wave radar data can be set in an electronic device. The electronic device can be a terminal device or a server. Among them, the terminal device can be a mobile phone, a tablet computer, a desktop computer, a portable notebook, a vehicle-mounted device, etc.; the server can be an independent server or a server cluster composed of multiple servers. In the embodiment of the present application, the device for processing vehicle-mounted millimeter-wave radar data can be specifically set in a vehicle-mounted 4D millimeter-wave radar.

[0035] The vehicle-mounted millimeter-wave radar includes a transmitting antenna and a receiving antenna. By transmitting and receiving the reflected electromagnetic wave and processing the received electromagnetic wave, the calculation of the target azimuth angle is realized.

[0036] Taking a vehicle-mounted 4D millimeter-wave radar including 12 transmitting antennas (abbreviated as Tx) and 16 receiving antennas (abbreviated as Rx) as an example, its analog-to-digital converter (ADC) sampling rate is 512 quadrature (IQ) points, each sampling point is saved with 16 bits (bits), the chirp accumulation is 128, and the time division multiple access (TDMA) multiple input multiple output (MIMO) mode is adopted. The size of its sampling data is 48 megabytes (MB). The transmission method of the TDMA-mode vehicle-mounted millimeter-wave radar is as Figure 2 shown.

[0037] This step S101 can be specifically realized through the following steps: obtain the sampling data of a single receiving antenna; perform one-dimensional FFT on the sampling data in the range dimension to obtain range FFT data; perform two-dimensional FFT on the range FFT data in a single range cell in the Doppler dimension to obtain the Doppler FFT data in the range cell.

[0038] Specifically, the vehicle-mounted millimeter-wave radar receives 16-channel ADC sampling data through 16 Rx each time. For the ADC sampling data received by a single Rx, that is, 512 IQ points, a one-dimensional FFT in the distance dimension is performed to obtain distance FFT data, which is saved as 16-bit IQ values. Among them, each IQ point (i.e., a distance FFT point) is called a distance unit. In each distance unit, the 128 chirp cumulative distance FFT data of each Tx-Rx pair is extracted, and a two-dimensional FFT in the Doppler dimension is performed to obtain the Doppler FFT data in this distance unit, which is saved as 32-bit IQ values. At this time, the size of the data becomes 96 MB. It should be noted here that the Doppler FFT data is a three-dimensional matrix of 512×128×(12*16).

[0039] S102, calculate the Doppler transform modulus vector of the Doppler fast Fourier transform data.

[0040] In the embodiment of the present application, the modulus value of the Doppler FFT data obtained in step S101 is calculated to obtain the Doppler transform modulus vector. It should be noted here that the Doppler transform modulus vector is a 128×1 vector.

[0041] S103, use the one-dimensional constant false alarm rate algorithm to detect target points on the Doppler transform modulus vector, and obtain the first target point. The one-dimensional constant false alarm rate algorithm is the Doppler-dimensional constant false alarm rate algorithm.

[0042] In the embodiment of the present application, the CFAR algorithm is a commonly used target detection algorithm, and its main function is to detect target signals in background noise while ensuring that the false alarm probability remains unchanged.

[0043] The two-dimensional CFAR algorithm is as Figure 3As shown, the user can configure the number of reference units and protection units. Perform some kind of operation on the reference unit, such as taking the mean, median, etc. to obtain the reference value, compare the detection unit with the reference value, and determine whether the detection unit is the target of interest. The target points generally output are 2048-8192 points, and the data size corresponding to each point is 1536 (=12×16×8) bytes. Therefore, the effective data size in the Doppler FFT data is 3MB-12MB, which has a larger compression space relative to the 96MB original data. Taking the target point as 2048 points as an example, the effective data size in the Doppler FFT data is 3MB. Assuming that the data is redundant by 2 times, the effective data size stored is 9MB, and a data compression rate of 9.375% is achieved. Since the two-dimensional CFAR algorithm calculates the reference value of the reference unit that matches the distance and Doppler at the same time, the target point that satisfies the two-dimensional CFAR is likely to also satisfy the one-dimensional (Doppler dimension) CFAR. Based on this, the one-dimensional (Doppler dimension) CFAR algorithm can be added after the two-dimensional FFT in the Doppler dimension to effectively filter the Doppler FFT data and achieve data compression.

[0044] A one-dimensional (Doppler dimension) CFAR algorithm is used to detect the target point on the Doppler transform modulus value vector (corresponding to a 128×1 vector), and the target point of interest is obtained and recorded as the first target point.

[0045] S104: Create a bitmap according to the Doppler transform modulus value corresponding to the first target point.

[0046] In the embodiment of the present application, a bitmap is established according to whether the Doppler transform modulus value corresponding to the first target point is greater than a preset one-dimensional CFAR algorithm threshold.

[0047] Specifically, Figure 4 The bitmap has a horizontal coordinate of the distance dimension R, that is, the serial number of the distance unit, and a vertical coordinate of the bitmap has a Doppler dimension D. If the Doppler transform modulus value corresponding to the first target point is greater than the preset one-dimensional CFAR algorithm threshold, the value of the bitmap point corresponding to the first target point in the mark bitmap is a preset first value, for example, marked as 1. If the Doppler transform modulus value corresponding to the first target point is equal to or less than the one-dimensional CFAR algorithm threshold, the value of the bitmap point corresponding to the first target point in the mark bitmap is a preset second value, for example, marked as 0.

[0048] S105, filtering out valid data in the Doppler fast Fourier transform data according to the bitmap, and storing the valid data.

[0049] In the embodiment of the present application, according to the values of each bitmap point in the bitmap, it is determined whether the Doppler FFT data corresponding to the bitmap point is valid data, and the Doppler FFT data determined to be valid data is stored in the memory, and the Doppler FFT data determined to be invalid data is discarded.

[0050] Specifically, corresponding to the process of establishing the bitmap above, the Doppler FFT data corresponding to the bitmap points with the value of the first numerical value (for example, 1) in the bitmap is determined as valid data, and the Doppler FFT data corresponding to the bitmap points with the value of the second numerical value, such as 0, in the bitmap is determined as invalid data.

[0051] In summary, in the method for processing vehicle-mounted millimeter-wave radar data according to the embodiment of the present application, when processing vehicle-mounted millimeter-wave radar data, the Doppler FFT data in each range cell of a single receiving antenna is obtained, the Doppler transform modulus vector of the Doppler FFT data is calculated, the one-dimensional (Doppler dimension) CFAR algorithm is used to detect target points in the Doppler transform modulus vector, a bitmap is established according to the Doppler transform modulus corresponding to the first target point, the valid data in the Doppler fast Fourier transform data is screened out according to the bitmap, and the valid data is stored. In the embodiment of the present application, for the obtained Doppler FFT data, the one-dimensional (Doppler dimension) CFAR algorithm is used to screen out the valid data in the Doppler FFT data, and the screened valid data is stored. Through the screening of valid data, the compression of the Doppler FFT data is realized, and further the occupation of the bus bandwidth and storage space by the compressed data is reduced.

[0052] Figure 5 It is a schematic flowchart of a method for processing vehicle-mounted millimeter-wave radar data provided by another embodiment of the present application. As Figure 5 shown, on the basis of the embodiment shown in Figure 1 the method for processing vehicle-mounted millimeter-wave radar data according to the embodiment of the present application may specifically include the following steps:

[0053] S501, Obtain the Doppler fast Fourier transform data in each range cell of a single receiving antenna.

[0054] S502, Calculate the Doppler transform modulus vector of the Doppler fast Fourier transform data.

[0055] In the embodiment of the present application, steps S501 - S502 are the same as steps S101 - S102 in the above embodiment, and will not be elaborated here.

[0056] S503, Determine whether the data in the Doppler transform modulus vector is the data of the first transmitting antenna.

[0057] In the embodiment of the present application, the Doppler transform modulus vector corresponding to each range cell includes data of multiple transmitting antennas.

[0058] If so, that is, if the data in the Doppler transform modulus vector is the data of the first transmitting antenna in this range cell, then step S504 is executed. If not, that is, if the data in the Doppler transform modulus vector is not the data of the first transmitting antenna in this range cell, then the first target point and the bitmap corresponding to the first transmitting antenna are adopted, that is, steps S504 - S505 are skipped and step S506 is executed.

[0059] S504. Use the one - dimensional constant false alarm rate algorithm to perform target point detection on the Doppler transform modulus vector to obtain the first target point. The one - dimensional constant false alarm rate algorithm is the Doppler - dimension constant false alarm rate algorithm.

[0060] S505. Establish a bitmap based on the Doppler transform modulus corresponding to the first target point.

[0061] S506. Screen out the valid data in the Doppler fast Fourier transform data according to the bitmap and store the valid data.

[0062] In the embodiment of the present application, steps S504 - S506 are the same as steps S103 - S105 in the above - mentioned embodiment, and will not be elaborated here.

[0063] As Figure 6 shown, the "store valid data" in the above step S506 may specifically include the following steps:

[0064] S601. Determine the storage address of the valid data according to the bitmap and the position of the valid data in the bitmap.

[0065] In the embodiment of the present application, for each Doppler FFT data determined to be valid data, according to the bitmap established in step S505 and the position of the valid data in the bitmap (corresponding to bitmap point B ij ), determine the storage address ADDR ij .

[0066] S602. Store the valid data according to the storage address.

[0067] In the embodiment of the present application, store the valid data to the corresponding storage address in the memory.

[0068] Among them, as Figure 7 shown, the above step S601 "determine the storage address of the valid data according to the bitmap and the position of the valid data in the bitmap" may specifically include the following steps:

[0069] S701. Determine the number of valid data in each range cell according to the bitmap.

[0070] In the embodiment of the present application, a one-dimensional array A with a length equal to the number of range cells can be used to store the starting storage address of each range cell. Count the number N of valid data in each range cell in the statistical bitmap i , that is, count Figure 4 the number of 1s in each column of the bitmap shown

[0071] S702. Determine the starting storage address of each range cell according to the number of valid data in each range cell

[0072] In the embodiment of the present application, the starting storage address of each range cell can be determined by the following formula

[0073] A i = A i-1 + N i-1 * TN * RN

[0074] where, A i represents the starting storage address of the i-th range cell, A i-1 represents the starting storage address of the (i - 1)-th range cell, N i-1 represents the number of valid data in the (i - 1)-th range cell, TN represents the number of transmit antennas, and RN represents the number of receive antennas

[0075] S703. Determine the number of valid data with a set step length in each range cell according to the bitmap

[0076] In the embodiment of the present application, count the number C of valid data with a set step length L in each range cell ik , and obtain a two-dimensional matrix of R × (D / L), and each value of this matrix is represented as C ik :

[0077]

[0078] where, R represents the number of range cells, D represents the number of Doppler FFT data, C ik represents the number of valid data with a set step length L in the i-th range cell, k represents the quotient of j divided by L, and B in represents the value of the bitmap point corresponding to the n-th Doppler dimension in the i-th range cell in the bitmap, and j represents the j-th Doppler dimension

[0079] S704. Determine the storage address of the valid data according to the position of the valid data in the bitmap, the starting storage address of each range cell, and the number of valid data with a set step length in each range cell

[0080] In the embodiment of the present application, according to the position of the valid data in the bitmap (the value of the corresponding bitmap point is represented as B in) The starting storage address A of each range cell i and the number C of valid data with a set step size within each range cell ik , to determine the storage address ADDR of the valid data ij :

[0081]

[0082] Further, the method for processing vehicle-mounted millimeter-wave radar data in the embodiments of the present application may further include the following steps: establishing a data index relationship between the storage address and the position of the valid data in the bitmap, that is, establishing the storage address ADDR of the valid data ij and the position of the valid data in the bitmap (the value of the corresponding bitmap point is represented as B in ).

[0083] Further, as Figure 8 shown, the method for processing vehicle-mounted millimeter-wave radar data in the embodiments of the present application may further include the following steps:

[0084] S801, performing target point detection on the Doppler transform modulus vector using a two-dimensional constant false alarm rate algorithm to obtain a second target point, and the two-dimensional constant false alarm rate algorithm is a constant false alarm rate algorithm for the range dimension and the Doppler dimension.

[0085] In the embodiments of the present application, step S801 is similar to step S103 in the above embodiments, and the specific process will not be elaborated here.

[0086] Specifically, it can be implemented through the following steps: performing non-coherent accumulation on the Doppler transform modulus vector (128×1) in the antenna dimension to obtain a two-dimensional (512×128) range-Doppler matrix (also known as the range-Doppler map), and performing target point detection on the range-Doppler matrix using a two-dimensional constant false alarm rate algorithm to obtain a second target point, and the second target point is the target point normally output by the system.

[0087] S802, judging whether the Doppler fast Fourier transform data corresponding to the second target point is valid data according to the second target point and the bitmap.

[0088] In the embodiments of the present application, judging whether the Doppler fast Fourier transform data corresponding to the second target point is valid data according to the value of the bitmap point corresponding to the second target point in the bitmap. If so, execute step S803. If not, execute step S804.

[0089] Specifically, it is determined whether the value of the bitmap point corresponding to the second target point in the bitmap is a preset first value, such as 1. If the value of the bitmap point corresponding to the second target point in the bitmap is the preset first value, such as 1, it is determined that the Doppler fast Fourier transform data corresponding to the second target point is valid data. If the value of the bitmap point corresponding to the second target point in the bitmap is not the preset first value, such as 1, but is a preset second value, such as 0, it is determined that the Doppler fast Fourier transform data corresponding to the second target point is not valid data, that is, invalid data.

[0090] S803. According to the position and data index relationship of the second target point in the bitmap, determine the storage address corresponding to the second target point, and extract the Doppler fast Fourier transform data corresponding to the second target point from the stored valid data based on the storage address corresponding to the second target point.

[0091] In the embodiment of the present application, if it is determined that the Doppler fast Fourier transform data corresponding to the second target point is valid data, then query the pre-established data index relationship according to the position of the second target point in the bitmap, determine the storage address corresponding to the second target point, and extract the Doppler FFT data corresponding to the second target point from multiple valid data stored in the memory based on the storage address.

[0092] S804. Re-obtain the Doppler fast Fourier transform data of the second target point.

[0093] In the embodiment of the present application, if it is determined that the Doppler fast Fourier transform data corresponding to the second target point is not valid data, it is necessary to re-obtain the distance FFT data corresponding to the second target point, and then obtain the Doppler FFT data.

[0094] Those skilled in the art can understand that the method for processing vehicle-mounted millimeter-wave radar data in the embodiment of the present application may further include the following steps: calculating the direction of arrival (DoA) of the target according to the Doppler fast Fourier transform data of the second target point. DoA includes the distance information and azimuth information of the target.

[0095] In summary, for the method for processing vehicle-mounted millimeter-wave radar data according to the embodiments of the present application, for the obtained Doppler FFT data, a one-dimensional (Doppler dimension) CFAR algorithm is used to analyze the data semantics, and then the valid data in the Doppler FFT data is screened out, and the screened valid data is stored. Through the screening of valid data, the compression of the Doppler FFT data is realized, thereby reducing the occupation of the compressed data on the bus bandwidth and storage space, and at the same time, the data integrity can be ensured. Only the data of the first transmitting antenna is used for target point detection and bitmap establishment, and for the data of non-first transmitting antennas, the previously established bitmap is directly used to realize the screening of valid data, which increases the screening efficiency. By marking two preset values (the first value and the second value) in the bitmap to distinguish between valid data and invalid data, the solution is simple and it is easy to quickly judge the valid data and establish the data index by using the bitmap subsequently. According to the bitmap, the number of valid data in each range cell is determined to determine the starting storage address of each range cell, and then the storage address of the valid data is determined, and the data index relationship between the storage address and the position of the valid data in the bitmap is established, realizing the data index of the stored valid data. The solution is simple and the resource consumption is small. For the second target point, according to the previously established bitmap, it is convenient and fast to judge whether the corresponding Doppler FFT data of this point is valid data. If it is valid data, according to the previously established data index relationship, the corresponding storage address can be conveniently and quickly obtained, and then the corresponding Doppler FFT data can be obtained. If it is invalid data, the Doppler fast Fourier transform data of the second target point is re-obtained, and a method for obtaining the corresponding Doppler FFT data when the second target point is invalid data is given, which can avoid data loss, ensure the integrity of data acquisition, and improve the accuracy of subsequent calculation of the target azimuth angle.

[0096] To clearly illustrate the method for processing vehicle-mounted millimeter-wave radar data according to the embodiments of the present application, the following Figure 9 describes in detail the overall process of the method for processing vehicle-mounted millimeter-wave radar data according to the embodiments of the present application. As Figure 9 shown, the method for processing vehicle-mounted millimeter-wave radar data according to the embodiments of the present application may specifically include the following steps:

[0097] S901, Obtain the sampling data of a single receiving antenna.

[0098] S902, Perform a one-dimensional fast Fourier transform FFT in the range dimension on the sampling data to obtain range FFT data.

[0099] S903, Perform a two-dimensional FFT in the Doppler dimension on the range FFT data within a single range cell to obtain the Doppler FFT data within the range cell.

[0100] S904. Calculate the Doppler transform modulus vector of the Doppler FFT data. Execute step S905 and step S910 respectively.

[0101] S905. Determine whether the data in the Doppler transform modulus vector is the data of the first transmitting antenna. If so, execute step S906. If not, execute step S908.

[0102] S906. Use the one-dimensional constant false alarm rate algorithm to detect target points on the Doppler transform modulus vector, obtaining the first target point. The one-dimensional constant false alarm rate algorithm is the Doppler-dimensional constant false alarm rate algorithm.

[0103] S907. Establish a bitmap based on the Doppler transform modulus corresponding to the first target point: if the modulus is greater than a preset threshold, mark the value of the corresponding bitmap point in the bitmap as 1, otherwise mark it as 0.

[0104] S908. Determine the Doppler FFT data corresponding to the bitmap points with a value of 1 in the bitmap as valid data, discard the Doppler FFT data corresponding to the bitmap points with a value of 0 in the bitmap, and establish a data index relationship between the storage address of the valid data and the position of the valid data in the bitmap.

[0105] S909. Store the valid data according to the storage address.

[0106] S910. Perform non-coherent accumulation on the Doppler transform modulus vector in the antenna dimension to obtain a range-Doppler matrix.

[0107] S911. Use the two-dimensional constant false alarm rate algorithm to detect target points on the range-Doppler matrix, obtaining the second target point. The two-dimensional constant false alarm rate algorithm is the range-dimensional and Doppler-dimensional constant false alarm rate algorithm.

[0108] S912. Determine whether the value of the bitmap point corresponding to the second target point in the bitmap is 1. If so, execute step S913. If not, execute step S914.

[0109] S913. Determine the storage address corresponding to the second target point according to the position of the second target point in the bitmap and the data index relationship, and extract the Doppler FFT data corresponding to the second target point from the stored valid data based on the storage address.

[0110] S914. Re-obtain the Doppler FFT data of the second target point.

[0111] S915. Calculate the target azimuth DoA according to the Doppler FFT data of the second target point.

[0112] Figure 10 It is a schematic structural diagram of a processing device for vehicle-mounted millimeter-wave radar data provided by an embodiment of the present application. AsFigure 10 As shown in the figure, the processing device 1000 for vehicle-mounted millimeter-wave radar data according to an embodiment of the present application specifically may include: an acquisition module 1001, a calculation module 1002, a detection module 1003, a building module 1004, and a screening module 1005. Among them:

[0113] The acquisition module 1001 is configured to acquire Doppler fast Fourier transform data within each range cell of a single receiving antenna.

[0114] The calculation module 1002 is configured to calculate a Doppler transform modulus vector of the Doppler fast Fourier transform data.

[0115] The detection module 1003 is configured to perform target point detection on the Doppler transform modulus vector by using a one-dimensional constant false alarm rate algorithm to obtain a first target point, and the one-dimensional constant false alarm rate algorithm is a Doppler-dimensional constant false alarm rate algorithm.

[0116] The building module 1004 is configured to build a bitmap according to the Doppler transform modulus corresponding to the first target point.

[0117] The screening module 1005 is configured to screen out valid data from the Doppler fast Fourier transform data according to the bitmap and store the valid data.

[0118] In the embodiment of the present application, for the specific process of each module and unit in the processing device for vehicle-mounted millimeter-wave radar data according to the embodiment of the present application to implement its function, reference may be made to the relevant descriptions in the above-mentioned embodiment of the method for processing vehicle-mounted millimeter-wave radar data, which will not be elaborated here.

[0119] In summary, the processing device for vehicle-mounted millimeter-wave radar data according to the embodiment of the present application, when processing vehicle-mounted millimeter-wave radar data, acquires Doppler FFT data within each range cell of a single receiving antenna, calculates a Doppler transform modulus vector of the Doppler FFT data, performs target point detection on the Doppler transform modulus vector by using a one-dimensional (Doppler-dimensional) CFAR algorithm, builds a bitmap according to the Doppler transform modulus corresponding to the first target point, screens out valid data from the Doppler fast Fourier transform data according to the bitmap, and stores the valid data. For the acquired Doppler FFT data, the embodiment of the present application uses a one-dimensional (Doppler-dimensional) CFAR algorithm to analyze the data semantics, and then screens out the valid data from the Doppler FFT data and stores the screened valid data. Through the screening of valid data, the compression of the Doppler FFT data is realized, thereby reducing the occupation of the compressed data on the bus bandwidth and storage space, and at the same time, the data integrity can be ensured.

[0120] Figure 11 This is a schematic structural diagram of a processing device for vehicle-mounted millimeter-wave radar data provided by another embodiment of the present application. As Figure 11 shown, inFigure 10 Based on the embodiments shown, in the processing device 1000 for on-vehicle millimeter-wave radar data according to the embodiments of the present application, the detection module 1003 is further configured to: before performing target point detection on the Doppler transform modulus vector by using the one-dimensional constant false alarm rate algorithm, determine whether the data in the Doppler transform modulus vector is the data of the first transmitting antenna; if so, perform the step of performing target point detection on the Doppler transform modulus vector by using the one-dimensional constant false alarm rate algorithm; if not, perform the step of screening out the valid data in the Doppler fast Fourier transform data according to the bitmap.

[0121] In a feasible implementation manner of the embodiments of the present application, the establishing module 1004 includes: a first marking unit 1101 and a second marking unit 1102. Wherein: the first marking unit 1101 is configured to mark the value of the corresponding bitmap point in the bitmap as a preset first numerical value if the Doppler transform modulus is greater than the preset one-dimensional constant false alarm rate algorithm threshold; the second marking unit 1102 is configured to mark the value of the corresponding bitmap point in the bitmap as a preset second numerical value if the Doppler transform modulus is equal to or less than the one-dimensional constant false alarm rate algorithm threshold.

[0122] In a feasible implementation manner of the embodiments of the present application, the screening module 1005 is further configured to: determine the Doppler fast Fourier transform data corresponding to the bitmap points with the value of the first numerical value in the bitmap as valid data.

[0123] In a feasible implementation manner of the embodiments of the present application, the screening module 1005 is further configured to: determine the storage address of the valid data according to the bitmap and the position of the valid data in the bitmap; store the valid data according to the storage address.

[0124] In a feasible implementation manner of the embodiments of the present application, the screening module 1005 is further configured to: determine the number of valid data in each range unit according to the bitmap; determine the starting storage address of each range unit according to the number of valid data in each range unit; determine the number of valid data with a set step length in each range unit according to the bitmap; determine the storage address of the valid data according to the position of the valid data in the bitmap, the starting storage address of each range unit, and the number of valid data with a set step length in each range unit.

[0125] In a feasible implementation manner of the embodiments of the present application, the screening module 1005 is further configured to: establish a data index relationship between the storage address and the position of the valid data in the bitmap.

[0126] In a feasible implementation manner of the embodiment of the present application, the screening module 1005 is further configured to: perform target point detection on the Doppler transform modulus vector by using a two-dimensional constant false alarm rate algorithm to obtain a second target point, where the two-dimensional constant false alarm rate algorithm is a constant false alarm rate algorithm for the range dimension and the Doppler dimension; determine whether the Doppler fast Fourier transform data corresponding to the second target point is valid data according to the second target point and the bitmap; if so, determine the storage address corresponding to the second target point according to the position and data index relationship of the second target point in the bitmap, and extract the Doppler fast Fourier transform data corresponding to the second target point from the stored valid data based on the storage address corresponding to the second target point; if not, re-obtain the Doppler fast Fourier transform data of the second target point.

[0127] In a feasible implementation manner of the embodiment of the present application, the screening module 1005 is further configured to: determine whether the value of the bitmap point corresponding to the second target point in the bitmap is a preset first value; if so, determine that the Doppler fast Fourier transform data corresponding to the second target point is valid data; if not, determine that the Doppler fast Fourier transform data corresponding to the second target point is not valid data.

[0128] In a feasible implementation manner of the embodiment of the present application, the screening module 1005 is further configured to: calculate the target azimuth angle according to the Doppler fast Fourier transform data of the second target point.

[0129] In a feasible implementation manner of the embodiment of the present application, the screening module 1005 is further configured to: perform non-coherent accumulation on the Doppler transform modulus vector in the antenna dimension to obtain a range-Doppler matrix; perform target point detection on the range-Doppler matrix by using a two-dimensional constant false alarm rate algorithm to obtain a second target point.

[0130] In a feasible implementation manner of the embodiment of the present application, the acquisition module 1001 is further configured to: acquire the sampling data of a single receiving antenna; perform one-dimensional fast Fourier transform on the sampling data in the range dimension to obtain range fast Fourier transform data; perform two-dimensional fast Fourier transform on the range fast Fourier transform data in a single range cell in the Doppler dimension to obtain the Doppler fast Fourier transform data in the range cell.

[0131] In the embodiment of the present application, for the specific processes of each module and unit in the processing device of the vehicle-mounted millimeter-wave radar data in the embodiment of the present application to implement their functions, reference may be made to the relevant descriptions in the embodiment of the vehicle-mounted millimeter-wave radar data processing method described above, which will not be elaborated here.

[0132] In summary, for the Doppler FFT data obtained by the in-vehicle millimeter-wave radar data processing device according to the embodiments of the present application, a one-dimensional (Doppler dimension) CFAR algorithm is used to analyze the data semantics, and then the valid data in the Doppler FFT data is screened out and the screened valid data is stored. Through the screening of valid data, the compression of the Doppler FFT data is achieved, thereby reducing the occupation of the compressed data on the bus bandwidth and storage space, and at the same time, the data integrity can be ensured. Only the data of the first transmitting antenna is used for target point detection and bitmap establishment. For the data of non-first transmitting antennas, the previously established bitmap is directly used to implement the screening of valid data, which increases the screening efficiency. By marking two preset values (the first value and the second value) in the bitmap to distinguish between valid data and invalid data, the solution is simple and it is easy to quickly implement the judgment of valid data and the establishment of data indexing by using the bitmap subsequently. According to the bitmap, the number of valid data in each range cell is determined to determine the starting storage address of each range cell, and then the storage address of the valid data is determined, and the data indexing relationship between the storage address and the position of the valid data in the bitmap is established, realizing the data indexing of the stored valid data. The solution is simple and the resource consumption is small. For the second target point, according to the previously established bitmap, it is convenient and fast to determine whether the corresponding Doppler FFT data of this point is valid data. If it is valid data, according to the previously established data indexing relationship, the corresponding storage address can be conveniently and quickly obtained, and then the corresponding Doppler FFT data can be obtained. If it is invalid data, the Doppler fast Fourier transform data of the second target point is re-obtained, and a method for obtaining the corresponding Doppler FFT data when the second target point is invalid data is given, which can avoid data loss, ensure the integrity of data acquisition, and improve the accuracy of subsequent calculation of the target azimuth angle.

[0133] The embodiments of the present application further provide an electronic device. As Figure 12 shown, the electronic device 1200 may vary greatly due to configuration or performance differences, and may include one or more processors 1201 and a memory 1202. One or more application programs or data may be stored in the memory 1202. Among them, the memory 1202 may be short-term storage or persistent storage. The application programs stored in the memory 1202 may include one or more modules (not shown in the figure), and each module may include a series of computer-executable instructions in the electronic device 1200. Further, the processor 1201 may be configured to communicate with the memory 1202 and execute a series of computer-executable instructions in the memory 1202 on the electronic device 1200. The electronic device 1200 may further include one or more power supplies 1203, one or more wired or wireless network interfaces 1204, one or more input / output interfaces 1205, and one or more keyboards 1206.

[0134] Specifically, in this embodiment, the electronic device includes a memory and one or more programs. One or more of the programs are stored in the memory, and one or more of the programs may include one or more modules. Each module may include a series of computer-executable instructions in the electronic device and is configured to be executed by one or more processors. The one or more programs include computer-executable instructions for performing the following:

[0135] Obtain the Doppler fast Fourier transform data in each range cell of a single receiving antenna;

[0136] Calculate the Doppler transform modulus vector of the Doppler fast Fourier transform data;

[0137] Use a one-dimensional constant false alarm rate (CFAR) algorithm to detect target points in the Doppler transform modulus vector to obtain a first target point. The one-dimensional CFAR algorithm is a Doppler-dimensional CFAR algorithm;

[0138] Establish a bitmap based on the Doppler transform modulus corresponding to the first target point;

[0139] Screen out the valid data in the Doppler fast Fourier transform data according to the bitmap and store the valid data.

[0140] When processing the vehicle-mounted millimeter-wave radar data, the electronic device according to the embodiment of the present application obtains the Doppler FFT data in each range cell of a single receiving antenna, calculates the Doppler transform modulus vector of the Doppler FFT data, uses a one-dimensional (Doppler-dimensional) CFAR algorithm to detect target points in the Doppler transform modulus vector, establishes a bitmap based on the Doppler transform modulus corresponding to the first target point, screens out the valid data in the Doppler fast Fourier transform data according to the bitmap, and stores the valid data. For the obtained Doppler FFT data, the embodiment of the present application uses a one-dimensional (Doppler-dimensional) CFAR algorithm to analyze the data semantics, and then screens out the valid data in the Doppler FFT data and stores the screened valid data. Through the screening of the valid data, the compression of the Doppler FFT data is realized, thereby reducing the occupancy of the compressed data on the bus bandwidth and storage space, and at the same time, the data integrity can be ensured.

[0141] The embodiment of the present application also proposes a readable storage medium. One or more computer programs are stored on the readable storage medium. The one or more computer programs include instructions. When the program or instructions are executed by a processor in an electronic device including multiple application programs, the processor in the electronic device can execute each process of the above-mentioned embodiment of the method for processing vehicle-mounted millimeter-wave radar data and is specifically used to execute:

[0142] Obtain the Doppler fast Fourier transform data in each range cell of a single receiving antenna;

[0143] Calculate the Doppler transform magnitude vector of the Doppler fast Fourier transform data;

[0144] Adopt a one-dimensional constant false alarm rate (CFAR) algorithm to perform target point detection on the Doppler transform magnitude vector to obtain a first target point, and the one-dimensional CFAR algorithm is a Doppler-dimensional CFAR algorithm;

[0145] Establish a bitmap based on the Doppler transform magnitude corresponding to the first target point;

[0146] Screen out the valid data in the Doppler fast Fourier transform data according to the bitmap and store the valid data.

[0147] In the read - only storage medium of the embodiment of the present application, when processing vehicle - mounted millimeter - wave radar data, obtain the Doppler FFT data in each range cell of a single receiving antenna, calculate the Doppler transform magnitude vector of the Doppler FFT data, adopt a one - dimensional (Doppler - dimensional) CFAR algorithm to perform target point detection on the Doppler transform magnitude vector, establish a bitmap according to the Doppler transform magnitude corresponding to the first target point, screen out the valid data in the Doppler fast Fourier transform data according to the bitmap, and store the valid data. In the embodiment of the present application, for the obtained Doppler FFT data, a one - dimensional (Doppler - dimensional) CFAR algorithm is used to analyze the data semantics, and then the valid data in the Doppler FFT data is screened out, and the screened valid data is stored. Through the screening of valid data, the compression of the Doppler FFT data is realized, thereby reducing the occupation of the compressed data on the bus bandwidth and storage space, and at the same time, the data integrity can be ensured.

[0148] The system, device, module or unit illustrated in the above embodiments can be specifically implemented by a computer chip or entity, or by a product with certain functions. A typical implementation device is a computer. Specifically, the computer can be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or any combination of these devices.

[0149] For the convenience of description, when describing the above device, it is divided into various units according to functions for separate description. Of course, when implementing the present application, the functions of each unit can be implemented in one or more software and / or hardware.

[0150] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of an all-hardware embodiment, an all-software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0151] The present application is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to the embodiments of the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram, and the combination of flows and / or blocks in the flowchart and / or block diagram, can be realized by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices generate means for implementing the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0152] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory generate a manufactured article including instruction means that implement the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0153] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0154] In a typical configuration, a computing device includes one or more processors (CPUs), an input / output interface, a network interface, and memory.

[0155] The memory may include non-permanent memory in the computer-readable medium, random access memory (RAM), and / or non-volatile memory in the form of, for example, read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0156] A computer-readable medium includes both permanent and non-permanent, removable and non-removable media and can implement information storage by any method or technology. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transitory medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer-readable medium does not include transitory computer-readable media such as modulated data signals and carrier waves.

[0157] It should also be noted that the term "comprising", "including" or any other variation thereof is intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0158] This application can be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. This application can also be practiced in a distributed computing environment where tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules can be located in local and remote computer storage media including storage devices.

[0159] Each embodiment in this specification is described in a progressive manner. For the same or similar parts among the embodiments, reference can be made to each other. Each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and reference can be made to the corresponding part of the method embodiment for the relevant content.

[0160] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, various changes and modifications can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the scope of the claims of the present application.

Claims

1. A method for processing vehicle-mounted millimeter-wave radar data, It is characterized in that include: Obtaining Doppler fast Fourier transform data within each range unit of a single receiving antenna; Calculating a Doppler transform modulus value vector of the Doppler fast Fourier transform data; A one-dimensional constant false alarm rate algorithm is used to perform target point detection on the Doppler transform modulus value vector to obtain a first target point, wherein the one-dimensional constant false alarm rate algorithm is a Doppler dimension constant false alarm rate algorithm; Establishing a bitmap according to the Doppler transform modulus value vector corresponding to the first target point; Valid data in the Doppler fast Fourier transform data is screened out according to the bitmap, and the valid data is stored.

2. The method according to claim 1, It is characterized in that Before the one-dimensional constant false alarm rate algorithm is used to perform target point detection on the Doppler transform modulus value vector, the method further includes: Determining whether the data in the Doppler transform modulus value vector is data of the first transmitting antenna; If yes, then executing the step of using a one-dimensional constant false alarm rate algorithm to perform target point detection on the Doppler transform modulus value vector; If not, the step of filtering out valid data in the Doppler fast Fourier transform data according to the bitmap is performed.

3. The method according to claim 1, It is characterized in that The step of establishing a bitmap according to the Doppler transform modulus value corresponding to the first target point includes: If the Doppler transform modulus value is greater than a preset one-dimensional constant false alarm rate algorithm threshold, marking the value of the corresponding bitmap point in the bitmap as a preset first value; If the Doppler transform modulus value is equal to or less than the one-dimensional constant false alarm rate algorithm threshold, then marking the value of the corresponding bitmap point in the bitmap as a preset second value; The step of filtering out valid data from the Doppler fast Fourier transform data according to the bitmap comprises: The Doppler Fast Fourier Transform data corresponding to the bitmap point having a first value in the bitmap is determined as the valid data.

4. The method according to any one of claims 1 to 3, It is characterized in that The storing of the valid data comprises: Determine the amount of valid data in each of the distance units according to the bitmap; Determining a starting storage address of each distance unit according to the amount of valid data in each distance unit; Determine the number of valid data of the set step size in each distance unit according to the bitmap; Determine the storage address of the valid data according to the position of the valid data in the bitmap, the starting storage address of each distance unit and the number of the valid data of the set step size in each distance unit; The valid data is stored according to the storage address.

5. The method according to claim 4, It is characterized in that Also includes: Establishing a data index relationship between the storage address and the position of the valid data in the bitmap; A two-dimensional constant false alarm rate algorithm is used to perform target point detection on the Doppler transform modulus value vector to obtain a second target point, wherein the two-dimensional constant false alarm rate algorithm is a distance dimension and Doppler dimension constant false alarm rate algorithm; According to the second target point and the bitmap, determining whether the Doppler fast Fourier transform data corresponding to the second target point is the valid data; If so, determining the storage address corresponding to the second target point according to the position of the second target point in the bitmap and the data index relationship, and extracting the Doppler fast Fourier transform data corresponding to the second target point from the stored valid data based on the storage address corresponding to the second target point; If not, reacquire the Doppler fast Fourier transform data of the second target point.

6. The method according to claim 5, It is characterized in that The determining, based on the second target point and the bitmap, whether the Doppler fast Fourier transform data corresponding to the second target point is the valid data includes: Determine whether the value of the bitmap point corresponding to the second target point in the bitmap is a preset first value; If yes, it is determined that the Doppler fast Fourier transform data corresponding to the second target point is the valid data; If not, it is determined that the Doppler fast Fourier transform data corresponding to the second target point is not the valid data.

7. The method according to claim 5, It is characterized in that Also includes: The target azimuth is calculated according to the Doppler fast Fourier transform data of the second target point.

8. The method according to claim 5, It is characterized in that The method of using a two-dimensional constant false alarm rate algorithm to perform target point detection on the Doppler transform modulus value vector to obtain a second target point includes: Performing incoherent accumulation of the Doppler transform modulus value vector in antenna dimension to obtain a range Doppler matrix; The two-dimensional constant false alarm rate algorithm is used to perform target point detection on the range Doppler matrix to obtain the second target point.

9. A vehicle-mounted millimeter-wave radar data processing device, It is characterized in that include: An acquisition module, used for acquiring Doppler fast Fourier transform data in each range unit of a single receiving antenna; A calculation module, used for calculating the Doppler transform modulus value vector of the Doppler fast Fourier transform data; A detection module, used for performing target point detection on the Doppler transform modulus vector by using a one-dimensional constant false alarm rate algorithm to obtain a first target point, wherein the one-dimensional constant false alarm rate algorithm is a Doppler dimension constant false alarm rate algorithm; An establishing module, configured to establish a bitmap according to the Doppler transform modulus value corresponding to the first target point; A screening module is used to screen out valid data in the Doppler fast Fourier transform data according to the bitmap and store the valid data.

10. An electronic device, It is characterized in that The method comprises a processor, a memory, and a program or instruction stored in the memory and executable on the processor, wherein the program or instruction, when executed by the processor, implements the steps of the method according to any one of claims 1 to 8.

11. A readable storage medium, It is characterized in that The readable storage medium stores a program or instruction, and when the program or instruction is executed by a processor, the steps of the method according to any one of claims 1 to 8 are implemented.

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