Target detection method and device of detection device, equipment, medium and product

Abstract

The invention provides a target detection method and device of a detection device, equipment, a medium and a product. The method comprises the following steps: indicating a plurality of different transmitting antenna sets of a detection device to transmit detection signals in a time-sharing manner; wherein at least one overlapped transmitting antenna exists among the plurality of different transmitting antenna sets, and the transmitting antennas in each transmitting antenna set emit detection signals at the same time; echo signals corresponding to a plurality of different transmitting antenna sets are acquired; the echo signal corresponding to the transmitting antenna set is an echo signal which is received by a receiving antenna of the detection device and corresponds to a detection signal transmitted by the transmitting antenna set; and performing signal processing according to the echo signals corresponding to the plurality of different transmitting antenna sets to obtain a target detection result. According to the scheme, the accuracy of the target detection result of the detection device can be improved.

Description

Technical Field

[0001] The present application relates to radar detection technology, and in particular to a target detection method, device, equipment, medium and product of a detection device. Background Art

[0002] With the continuous development of Advanced Assisted Driving System (ADAS) and autonomous driving system, millimeter wave radar has become an indispensable sensor in today's vehicle driving system due to its advantages of long detection distance, low cost, and all-day and all-weather operation. At present, the mainstream single-chip millimeter wave radar device can realize the functions of distance measurement, speed measurement and angle measurement, but in order to further improve the system parameter estimation accuracy and angle resolution performance, the technology combining multiple input multiple output (MIMO) radar and sparse array is introduced on the basis of single-chip millimeter wave radar device. This technology has low cost, simple structure, and is beneficial to realize the angle resolution of complex scenes. Therefore, it has received extensive attention and research in the automotive radar industry.

[0003] At present, some MIMO millimeter-wave radar detection methods are based on the transmission signal of the transmitting antenna and the echo signal of the target received by the receiving antenna; according to the echo signal of the target, signal processing is performed to obtain the detection result of the target; however, due to the influence of errors, the detection result of the target obtained by using this method is inaccurate. Summary of the invention

[0004] The embodiments of the present application provide a target detection method, device, equipment, medium and product for a detection device, so as to improve the accuracy of the target detection results of the detection device.

[0005] In the first aspect, an embodiment of the present application provides a target detection method for a detection device, including: instructing multiple different transmitting antenna sets of the detection device to send out detection signals at different times; wherein there is at least one overlapping transmitting antenna between the multiple different transmitting antenna sets, and the transmitting antennas in each transmitting antenna set send out detection signals at the same time; obtaining echo signals corresponding to the multiple different transmitting antenna sets; the echo signal corresponding to the transmitting antenna set is received by the receiving antenna of the detection device, and corresponds to the echo signal of the detection signal sent by the transmitting antenna set; and performing signal processing according to the echo signals corresponding to the multiple different transmitting antenna sets to obtain target detection results.

[0006] In the second aspect, an embodiment of the present application provides a target detection device of a detection device, including: a transmitting module, used to instruct multiple different transmitting antenna sets of the detection device to send detection signals in time; wherein there is at least one overlapping transmitting antenna between the multiple different transmitting antenna sets, and the transmitting antennas in each transmitting antenna set send detection signals at the same time; an acquisition module, used to obtain echo signals corresponding to the multiple different transmitting antenna sets; the echo signal corresponding to the transmitting antenna set is received by the receiving antenna of the detection device, and corresponds to the echo signal of the detection signal sent by the transmitting antenna set; a processing module, used to perform signal processing according to the echo signals corresponding to the multiple different transmitting antenna sets to obtain target detection results.

[0007] In a third aspect, an embodiment of the present application provides an electronic device, including: a memory, a processor;

[0008] The memory stores computer-executable instructions;

[0009] The processor executes the computer-executable instructions stored in the memory, so that the processor executes the above first aspect and / or various possible implementations of the first aspect.

[0010] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the first aspect above and / or various possible implementations of the first aspect.

[0011] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the above first aspect and / or various possible implementation methods of the first aspect.

[0012] In the target detection method, device, equipment, medium and product of the detection device provided by the present application, a plurality of different transmitting antenna sets of the detection device are instructed to send out detection signals in time, and the transmitting antennas in each transmitting antenna set send out detection signals at the same time; wherein, there is at least one overlapping transmitting antenna between the plurality of different transmitting antenna sets; then, echo signals corresponding to the plurality of different transmitting antenna sets are obtained; wherein the echo signal corresponding to the transmitting antenna set is received by the receiving antenna of the detection device, and corresponds to the echo signal of the detection signal sent by the transmitting antenna set; according to the echo signals corresponding to the plurality of different transmitting antenna sets, signal processing is performed to obtain target detection results; the scheme of the present application adopts a combination of simultaneously sending out detection signals within a plurality of different antenna sets and sending out detection signals in time between a plurality of antenna sets, and performs phase deviation compensation according to the echo signals corresponding to the overlapping transmitting antennas in the plurality of different transmitting antenna sets, and eliminates false targets through threshold conditions, thereby improving the accuracy of the target detection results of the detection device. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0014] Figure 1 A schematic diagram showing an exemplary process of a target detection method of a detection device;

[0015] Figure 2 A schematic diagram of a process flow of a target detection method of a detection device is exemplarily shown;

[0016] Figure 3 A schematic diagram showing an exemplary process of a target detection method of a detection device;

[0017] Figure 4 A schematic diagram of a process flow of a target detection method of a detection device is exemplarily shown;

[0018] Figure 5 A schematic diagram showing an exemplary process of a target detection method of a detection device;

[0019] Figure 6 A schematic diagram showing an exemplary process of a target detection method of a detection device;

[0020] Figure 7 A schematic diagram of the structure of a target detection device of a detection device is exemplarily shown;

[0021] Figure 8 A schematic flow chart of a target detection method of a detection device according to an example of the present application;

[0022] Fig. 9 A schematic diagram of physical transmit antenna positions of a first antenna set;

[0023] Fig.10 is a schematic diagram of physical receiving antenna positions of a first antenna set;

[0024] Fig.11 is a schematic diagram of virtual receiving antenna positions of a first antenna set;

[0025] Fig.12 A schematic diagram of physical transmit antenna locations for a second antenna set;

[0026] Fig.13 A schematic diagram of physical receiving antenna locations of a second antenna set;

[0027] Fig.14 is a schematic diagram of virtual receiving antenna positions of the second antenna set;

[0028] Fig.15 Schematic diagram of the sum of the absolute values ​​of the phase differences of target 1 and the corresponding velocity assumptions;

[0029] Fig.16 Schematic diagram of the sum of the absolute values ​​of the phase differences of target 2 and the corresponding velocity assumptions;

[0030] Fig.17 The diagram of the sum of the absolute values ​​of the phase differences of target three and the corresponding velocity assumptions;

[0031] Fig.18 This is a schematic diagram of the angle measurement results corresponding to the transmitting antenna set of target one on the first day;

[0032] Fig.19 This is a schematic diagram of the angle measurement result of target one corresponding to the second transmitting antenna set;

[0033] Fig. 20 This is a schematic diagram of the angle measurement result corresponding to the first transmitting antenna set of the target 2;

[0034] Fig.21 This is a schematic diagram of the angle measurement result corresponding to the second transmitting antenna set of the target;

[0035] Fig. 22 This is a schematic diagram of the angle measurement results corresponding to the first transmitting antenna set of target three;

[0036] Fig.23 This is a schematic diagram of the angle measurement result corresponding to the target three at the second transmitting antenna set;

[0037] Fig.24 This is a schematic diagram of the final test results of Target 1, Target 2, and Target 3;

[0038] Fig.25 Schematic diagram of the sum of the absolute values ​​of the phase differences between target 1 and target 2 and the corresponding velocity assumptions;

[0039] Fig.26 Schematic diagram of the sum of the absolute values ​​of the phase differences between target three and target four and the corresponding velocity assumptions;

[0040] Fig. 27 This is a schematic diagram of the angle measurement results corresponding to the first transmitting antenna set for target one and target two;

[0041] Fig.28 This is a schematic diagram of the angle measurement results corresponding to the target one and the target two at the second transmitting antenna set;

[0042] Fig.29 This is a schematic diagram of the angle measurement results corresponding to the target three and the target four at the first transmitting antenna set;

[0043] Fig.30This is a schematic diagram of the angle measurement results corresponding to the target three and the target four at the second transmitting antenna set;

[0044] Fig.31 This is a schematic diagram of the final test results of target one, target two, target three and target four;

[0045] Fig.32 A schematic diagram of the structure of a target detection device of a detection device is exemplarily shown;

[0046] Fig.33 A structural schematic diagram of an electronic device is exemplarily shown in FIG.

[0047] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0048] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0049] The module in this application refers to a functional module or a logical module. It can be in software form, and its functions are realized by executing program code by a processor; it can also be in hardware form. "And / or" describes the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the related objects before and after are in an "or" relationship.

[0050] First, the terms involved in this application are explained:

[0051] Advanced Assisted Driving System (ADAS): A system that helps drivers improve safety and comfort during driving through sensors, cameras, radars and other technologies; ADAS can provide a variety of functions, such as adaptive cruise control, lane keeping assist, automatic emergency braking, blind spot detection, etc. These functions help drivers avoid potential dangers by monitoring the vehicle's surroundings in real time.

[0052] Multiple Input Multiple Output (MIMO): is a wireless communication technology that uses multiple antennas at the transmitter and receiver to transmit multiple data streams simultaneously, thereby improving the capacity and reliability of the communication system; MIMO technology can significantly improve spectrum efficiency, enhance signal anti-interference capabilities, and support higher data transmission rates.

[0053] Time Division Multiple Access (TDMA): is a multiple access technology that allows multiple users to share the same frequency resources in different time slots by dividing time into multiple time slots. Each user is assigned one or more time slots, and the user sends or receives data in his or her own time slot, thereby enabling multiple users to share the same frequency resources.

[0054] Doppler Division Multiple Access (DDMA) is a multiple access technology based on the Doppler effect. It distinguishes user signals by utilizing the Doppler frequency shift of different users. Doppler frequency division multiple access uses the different Doppler frequency shifts generated by the relative motion of different users to separate user signals, thereby enabling multiple users to share the same frequency resources.

[0055] Constant False-Alarm Rate (CFAR): is a signal processing technology used to maintain a constant false alarm rate in a noisy and interference environment, thereby effectively detecting target signals. CFAR detection dynamically adjusts the detection threshold so that the system can maintain a constant false alarm rate when noise and interference change, thereby improving the accuracy of target detection.

[0056] Fast Fourier Transform (FFT): An efficient algorithm for calculating discrete Fourier transform, used to convert time domain signals into frequency domain signals; Fast Fourier transform reduces computational complexity and quickly calculates the spectral components of signals, and is widely used in signal processing, image processing, audio analysis and other fields.

[0057] With the continuous development of advanced driver assistance systems (ADAS) and autonomous driving systems, millimeter wave radar has become an indispensable sensor in today's vehicle driving systems due to its advantages of long detection distance, low cost, and all-day and all-weather operation. At present, the mainstream single-chip millimeter wave radar device can realize the functions of distance measurement, speed measurement and angle measurement, but in order to further improve the system parameter estimation accuracy and angle resolution performance, the technology combining MIMO radar and sparse array is introduced on the basis of single-chip millimeter wave radar devices. This technology has low cost, simple structure, and is beneficial to achieve angle resolution in complex scenes. Therefore, it has received extensive attention and research in the automotive radar industry.

[0058] The angular resolution of radar is an important indicator. The best way to improve the angular resolution is to increase the number of physical transceiver antennas so that the virtual array synthesized by the transceiver antennas tends to be a uniform array, and the array aperture is effectively increased. However, the size of a single chip is limited, and it is impossible to arrange a large number of transceiver antennas. Although designing a sparse array can increase the array aperture, using an overly sparse virtual array for angle measurement can easily cause the angle measurement results to be blurred due to the influence of high side lobes. In order to obtain higher angle measurement accuracy and angle resolution and reduce the sidelobe influence caused by sparse arrays, many chip manufacturers have designed multi-chip cascading solutions. By cascading chips, the number of physical transceiver antennas is increased to achieve higher accuracy and higher resolution angle measurement functions. The design of multi-chip cascade devices is subject to the overall size and cost of the device. Generally, no more than four cascade chips are selected. Cascade chips are now mostly used in 4-dimensional (4D) millimeter-wave radars, which require both azimuth and elevation. The angular resolution of azimuth and elevation is generally required to be relatively high, about 1° and 3° respectively. Therefore, given the array resources and limited device size, it is still necessary to design a sparse array. Therefore, the angular measurement ambiguity problem caused by the higher side lobes of the sparse array needs to be solved.

[0059] The technical content provided by this application is intended to solve some technical problems of related technologies such as the above. In the target detection method, device, equipment, medium and product of the detection device provided by this application, multiple different transmitting antenna sets of the detection device are instructed to send detection signals in time, and the transmitting antennas in each transmitting antenna set send detection signals at the same time; wherein there is at least one overlapping transmitting antenna between multiple different transmitting antenna sets; then, the echo signals corresponding to the multiple different transmitting antenna sets are obtained; wherein the echo signal corresponding to the transmitting antenna set is the echo signal corresponding to the detection signal sent by the transmitting antenna set received by the receiving antenna of the detection device; according to the echo signals corresponding to the multiple different transmitting antenna sets, the target detection result is obtained; the scheme of this application divides multiple antenna sets, selects to send detection signals simultaneously within multiple antenna sets, sends detection signals in time between multiple antenna sets, and performs certain phase deviation compensation and matching between target detection results corresponding to multiple antenna sets according to the phase relationship between the echo signals of the overlapping transmitting antennas in multiple different transmitting antenna sets, thereby improving the accuracy of the target detection result of the detection device.

[0060] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0061] Embodiment 1

[0062] Figure 1 A schematic flow chart of a target detection method of a detection device is exemplarily shown; the method comprises:

[0063] Step 101, instructing a plurality of different transmitting antenna sets of a detection device to send out detection signals in time division; wherein there is at least one overlapping transmitting antenna among the plurality of different transmitting antenna sets, and the transmitting antennas in each transmitting antenna set send out detection signals simultaneously;

[0064] Step 102: Acquire echo signals corresponding to a plurality of different transmitting antenna sets; the echo signal corresponding to the transmitting antenna set is an echo signal received by a receiving antenna of the detection device and corresponds to a detection signal emitted by the transmitting antenna set;

[0065] Step 103: Perform signal processing according to the echo signals corresponding to the multiple different transmitting antenna sets to obtain the target detection result.

[0066] Specifically, multiple different transmitting antenna sets of the detection device are instructed to send detection signals in time-sharing; wherein, there is at least one overlapping transmitting antenna between the multiple different transmitting antenna sets, and the transmitting antennas in each transmitting antenna set use simultaneous detection signals. Exemplarily, the detection device can be a radar system composed of radar chips; multiple transmitting antennas and receiving antennas are arranged in the radar system; in this example, multiple different transmitting antenna sets are selected from multiple radar antennas, and an element of the transmitting antenna position in each different transmitting antenna set is the same. Afterwards, the echo signals corresponding to the multiple different transmitting antenna sets are obtained; wherein, the echo signals corresponding to the transmitting antenna set are received by the receiving antenna of the detection device, and correspond to the detection signals sent by the transmitting antenna set. Further, by performing corresponding signal processing on the echo signals corresponding to the multiple different transmitting antenna sets, the final target detection result detected by the radar system can be obtained. In this example, by instructing multiple different transmitting antenna sets of the detection device to send detection signals in time-sharing, each transmitting antenna set sends detection signals at the same time; and then by performing signal processing detection on the echo signals received by the receiving antenna corresponding to each transmitting set, the final target detection result can be obtained. This example reduces signal interference between radar antennas and improves the accuracy of target detection results by the detection device by combining time-sharing transmission between multiple different transmitting antenna sets and simultaneous transmission within each transmitting antenna set.

[0067] In an optional implementation, time division multiple access is used between multiple different transmitting antenna sets of the detection device to send detection signals in time division; and Doppler division multiple access is used within each transmitting antenna set to send detection signals simultaneously.

[0068] Specifically, the detection device includes a set of multiple transmitting antennas; each transmitting antenna set includes some transmitting antennas and all receiving antennas of the detection device; for each transmitting antenna set, Doppler division multiple access is used inside each transmitting antenna set to simultaneously transmit detection signals; exemplary, DDMA is to implement orthogonal waveform design in the Doppler domain, which inherits the characteristics of time division multiple access in the transmitter structure, but only adds a series of phase shifters separately, and the phase shifters can introduce specific Doppler frequency shifts in the transmitted signal by adjusting the phase of the signal. The signal of each user or transmission channel can produce different Doppler frequency shifts through different phase adjustments, thereby realizing orthogonal separation of the signal in the frequency domain. In addition, under the DDMA technology, since the transmitting elements can be transmitted at the same time, the transmission power of each transmission channel is fully utilized, which can improve the detection distance and other parameter estimation performance, and has become a popular method for orthogonal waveform design of vehicle-mounted millimeter wave radars today. For multiple different transmitting antenna sets, time division multiple access is used to send detection signals in time division; exemplary, time division multiple access transmission of detection signals is to transmit the detection signals between multiple transmitting antennas in time division. In this example, time division multiplexing is used to transmit signals between multiple different transmitting antenna sets, and Doppler multiplexing is used within each transmitting antenna set to simultaneously transmit detection signals, thereby ensuring the accuracy of radar detection signal transmission.

[0069] In an optional embodiment, Figure 2 A flow chart of a target detection method of a detection device is exemplarily shown; based on any example, signal processing is performed according to echo signals corresponding to multiple different transmitting antenna sets to obtain target detection results, specifically including:

[0070] Step 201: Perform signal processing according to the echo signals corresponding to the multiple different transmitting antenna sets to obtain target detection results corresponding to the multiple different transmitting antenna sets;

[0071] Step 202: Obtain a final target detection result based on target detection results corresponding to multiple different transmit antenna sets.

[0072] Specifically, signal processing can be performed based on the echo signals received corresponding to the multiple different transmitting antenna sets to obtain target detection results corresponding to the multiple different transmitting antenna sets; based on the target detection results corresponding to the multiple different transmitting antenna sets, the final detection result of the target detected by the detection device can be obtained. In this example, the final target detection result is obtained based on the target detection results corresponding to the multiple antenna sets, which improves the accuracy of the target detection result.

[0073] In an optional embodiment, Figure 3A flow chart of a target detection method of a detection device is exemplarily shown; signal processing is performed according to echo signals corresponding to multiple different transmitting antenna sets to obtain target detection results corresponding to multiple different transmitting antenna sets, including:

[0074] Step 301: Obtain virtual channel echo signals corresponding to a plurality of different transmitting antenna sets according to the echo signals corresponding to each transmitting antenna set;

[0075] Step 302: Select a reference antenna set from a plurality of different transmitting antenna sets, and perform phase offset compensation on virtual channel echo signals corresponding to other transmitting antenna sets except the reference antenna set among the plurality of different transmitting antenna sets according to virtual channel echo signals corresponding to the reference antenna set;

[0076] Step 303: Perform signal processing detection based on the virtual channel echo signal corresponding to the reference antenna set and the compensated virtual channel echo signals corresponding to other transmit antenna sets to obtain target detection results corresponding to multiple different transmit antenna sets.

[0077] Specifically, it is necessary to perform signal processing according to the echo signals corresponding to multiple different transmitting antenna sets to obtain target detection results corresponding to multiple different transmitting antenna sets. First, according to the echo signals corresponding to each transmitting antenna set, virtual channel echo signals corresponding to multiple different transmitting antenna sets are obtained. After that, an antenna set is selected from multiple different transmitting antenna sets as a reference antenna set, and according to the virtual channel echo signals corresponding to the reference antenna set, virtual channel echo signals corresponding to other transmitting antenna sets except the reference antenna set in multiple different transmitting antenna sets are compensated; the virtual channel echo signals corresponding to the reference antenna set and the compensated virtual channel echo signals corresponding to other transmitting antenna sets are processed and detected to obtain target detection results corresponding to multiple different transmitting antenna sets. In this example, virtual channel echo signals corresponding to multiple different transmitting antenna sets are obtained based on echo signals of multiple different transmitting antenna sets, and then one transmitting antenna set is selected as a reference antenna combination, and phase compensation is performed on the virtual channel echo signals of other transmitting antenna sets except the reference antenna set to obtain compensated virtual channel echo signals corresponding to each other transmitting antenna set; the virtual channel echo signals corresponding to the reference antenna set and the compensated virtual channel echo signals corresponding to other transmitting antenna sets are subjected to signal processing and detection to obtain target detection results corresponding to multiple different transmitting antenna sets, thereby improving the accuracy of the detection results of multiple different transmitting antenna sets.

[0078] In an optional implementation, obtaining virtual channel echo signals corresponding to a plurality of different transmitting antenna sets according to the echo signals corresponding to each transmitting antenna set specifically includes:

[0079] For the echo signals corresponding to the multiple different transmitting antenna sets, two-dimensional Fourier transform, transmitting channel separation, two-dimensional Fourier transform result rearrangement and constant false alarm rate detection are respectively performed to obtain the target distance index and Doppler index corresponding to the multiple different transmitting antenna sets;

[0080] According to the target distance indexes and Doppler indexes corresponding to the multiple different transmitting antenna sets, virtual channel echo signals corresponding to the multiple different transmitting antenna sets are obtained.

[0081] Specifically, virtual channel echo signals corresponding to multiple different transmitting antenna sets are obtained according to the echo signals corresponding to multiple different transmitting antenna sets; first, two-dimensional Fourier transform, transmission channel separation, two-dimensional Fourier transform result rearrangement and constant false alarm rate detection are performed on the echo signals corresponding to each transmitting antenna set to obtain the signal processing results of the echo signals of each transmitting antenna set, thereby obtaining the distance index and Doppler index corresponding to each transmitting set. Two-dimensional Fourier transform is a mathematical tool for converting time domain signals into frequency domain signals; in signal processing, two-dimensional fast Fourier transform is used to convert the received time domain signal into a range-Doppler domain signal; through two-dimensional fast Fourier transform, the distance information (through range dimension fast Fourier transform) and speed information (through Doppler dimension fast Fourier transform) of the target can be extracted. In a multiple-input multiple-output (MIMO) radar system, multiple transmitting antennas transmit signals simultaneously or in time-sharing; the receiving end needs to separate these mixed signals to distinguish the signals of different transmitting channels; separate the signals of different transmitting channels so that subsequent processing can independently analyze the target information of each transmitting channel; improve the resolution and target detection capability of the radar system. In a MIMO radar system, the two-dimensional fast Fourier transform results of different transmitting channels need to be rearranged to generate a virtual array signal; by rearranging, a virtual array signal can be generated, thereby improving the angular resolution of the radar; the virtual array signal can be used for subsequent angle estimation and target positioning. Constant false alarm rate detection is a signal processing technology used to maintain a constant false alarm rate in a noisy and interfering environment, thereby effectively detecting target signals; the constant false alarm rate dynamically adjusts the detection threshold so that the system can still maintain a constant false alarm rate when noise and interference change; improves the accuracy of target detection and reduces false alarms. According to the target distance index and Doppler index corresponding to each transmitting antenna set obtained, the virtual channel echo signals corresponding to multiple different transmitting antenna sets can be obtained. In this example, by performing signal processing on the echo signals corresponding to multiple different transmitting antenna sets, the echo signals of the virtual channels of multiple different transmitting antenna sets are obtained, which improves the accuracy of the virtual generation of virtual channel echo signals, thereby improving the accuracy of the target angle measurement results.

[0082] In an optional embodiment, Figure 4 A flow chart of a target detection method of a detection device is exemplarily shown; based on any example, according to the echo signal corresponding to the reference antenna set, the phase deviation compensation is performed on the virtual channel echo signal corresponding to other transmitting antenna sets except the reference antenna set in multiple different transmitting antenna sets, specifically including:

[0083] Step 401: Obtain a target speed detected by the reference antenna set according to a target Doppler index obtained from an echo signal corresponding to the reference antenna set;

[0084] Step 402: Expand the target speed detected by the reference antenna set according to the working parameters of the detection device to obtain multiple expanded speeds;

[0085] Step 403: Obtain the phase deviation of other transmitting antenna sets at each extended speed according to the target speed detected by the reference antenna set and the time difference between other transmitting antenna sets and the reference antenna set;

[0086] Step 404: According to the phase deviation of other transmitting antenna sets at each expansion speed, phase deviation compensation is performed on the virtual channel echo signal corresponding to the other transmitting antenna sets.

[0087] Specifically, first, according to the echo signal corresponding to the reference antenna set, the target speed detected by the reference antenna set is obtained; then, according to the working parameters of the detection device, the speed of the target detected by the reference antenna set is expanded to obtain multiple extended speeds; illustratively, the working parameters of the detection device include the speed resolution of the detection device, the speed measurement range, and the maximum unambiguous speed. Further, according to the target speed detected by the reference antenna set and the time difference between the other transmitting antenna sets and the reference antenna set, the phase deviation of the other transmitting antenna sets at each extended speed is obtained; according to the phase deviation of the other transmitting antenna sets at each extended speed, the virtual channel echo signals corresponding to the other transmitting antenna sets are compensated. In this example, by obtaining the phase deviation between the other transmitting antenna sets and the reference antenna set and compensating for the other transmitting antenna sets, the consistency and accuracy of the virtual channel echo signals corresponding to multiple different transmitting antenna sets are improved.

[0088] In an optional implementation, obtaining the target speed detected by the reference antenna set according to the Sopler index obtained from the echo signal corresponding to the reference antenna set specifically includes:

[0089] The target speed detected by the reference antenna set is obtained according to the target Doppler index obtained by processing the echo signal corresponding to the reference antenna set and the working parameters of the detection device.

[0090] Specifically, the target speed detected by the reference antenna set is obtained according to the target Doppler index obtained by processing the echo signal corresponding to the reference antenna set and the working parameters of the detection device. Exemplarily, the speed of the target detected by the reference antenna set is obtained by the formula:

[0091]

[0092]

[0093]

[0094] in, Indicates the velocity resolution of the detection device, represents the detection signal transmitted by the reference antenna set ( ), the number of probe signals transmitted by the reference antenna set ( ) is equal to the number of detection signals transmitted by other transmitting antenna sets; Indicates the detection signal emitted by the transmitting antenna cycle; Indicates detection signal The wavelength of , C represents the speed of light, and f represents the detection signal emitted by the detection device The wavelength is determined based on the frequency of the detection signal emitted by the detection device, for example, 0.0039m; represents the target Doppler index of the reference antenna set; represents the speed interval grid; Indicates the target speed detected by the reference antenna set. In this example, the target speed detected by the reference antenna set is obtained through the working parameters of the detection device and the target Doppler index of the reference antenna set, which improves the accuracy of the target speed detected by the reference antenna set.

[0095] In an optional implementation, the target speed detected by the reference antenna set is expanded to obtain multiple expanded speeds, specifically including:

[0096] According to the working parameters of the detection device, a plurality of speed expansion multiples are obtained;

[0097] According to the multiple speed expansion multiples, the speed of the target detected by the reference antenna set is expanded to obtain multiple expanded speeds; the multiple expanded speeds correspond to the multiple speed expansion multiples one by one.

[0098] Specifically, according to the working parameters of the detection device, multiple speed expansion multiples can be obtained; further, according to the multiple speed expansion multiples, the target speed detected by the reference antenna set is expanded to obtain multiple expansion speeds; wherein the multiple expansion speeds correspond to the multiple speed expansion multiples one by one. For example, if the speed measurement range of the detection device is , the maximum unambiguous speed is , then the maximum speed expansion multiple is:

[0099]

[0100] in, Indicates rounding up. Indicates the minimum measured speed; Indicates the maximum measured speed; represents the maximum unambiguous speed; Indicates the maximum speed expansion multiple, which is the optional speed expansion multiple range Medium speed expansion multiple The number of; the calculation formula is:

[0101]

[0102]

[0103] in, Indicates the minimum value of the negative speed expansion multiplier starting from 0. Indicates the maximum value of the positive speed expansion multiple starting from 0; Indicates rounding up; Indicates rounding down.

[0104] The expansion multiples at different speeds The expansion speed is:

[0105]

[0106]

[0107]

[0108]

[0109]

[0110] in, Indicates the expansion speed corresponding to different speed expansion multiples, represents the target speed detected by the reference antenna set, , Indicates different speed expansion multiples, Indicates the maximum unambiguous speed of the detection device.

[0111] In this example, the extended speeds corresponding to different speed extension multiples are obtained by referring to the target speed detected by the antenna set and the optional speed extension multiples, thereby improving the accuracy of obtaining the extended speed.

[0112] In an optional manner, according to the phase deviation of the other transmitting antenna set at each extended speed, the phase deviation compensation is performed on the virtual channel echo signal corresponding to the other transmitting antenna set, specifically including:

[0113] The phase deviation of other transmitting antenna sets at each extension speed is multiplied by the virtual channel echo signal corresponding to the other transmitting antenna sets before compensation to obtain the virtual channel echo signal corresponding to the other transmitting antenna sets after compensation.

[0114] Specifically, the virtual channel echo signals corresponding to other transmitting antenna sets are compensated, and the phase deviations of other transmitting antenna sets at each extended speed are multiplied by the virtual channel echo signals corresponding to other transmitting antenna sets before compensation to obtain the compensated virtual channel echo signals corresponding to other transmitting antenna sets. In combination with the above example, according to the target speed and speed expansion multiple detected by the reference antenna set obtained above, the virtual channel echo signals of other reference antenna sets other than the reference antenna set are compensated to obtain the compensated virtual channel echo signals of other transmitting antenna sets. The specific calculation formula is:

[0115]

[0116]

[0117]

[0118] in, represents the phase deviation of other transmitting antenna sets relative to the reference antenna set, represents the target speed detected by the reference antenna set; Indicates the speed expansion multiple, Represents the wavelength of the detection signal (chirp) emitted by the transmitting antenna set; Indicates the period of the chirp signal; Indicates the delay time of the detection signal transmitted by other transmitting antenna sets relative to the detection signal transmitted by the reference antenna set; It indicates the complete Doppler phase deviation corresponding to different velocity expansion multiples; representing virtual channel echo signals of other transmitting antenna sets after compensation; Indicates the virtual channel echo signals of each other transmitting antenna set before compensation. In this example, by performing phase offset compensation on the virtual channel echo signals of other transmitting antenna sets, virtual channel echo signals of multiple different transmitting antenna sets after compensation are obtained, thereby improving the accuracy of obtaining the virtual channel echo signals of each transmitting antenna set.

[0119] In an optional implementation, the target detection result includes the speed and angle of the target.

[0120] Specifically, the target detection result includes the angle and speed of the target. In practical applications, the detection result also includes the distance and signal-to-noise ratio of the target. Exemplarily, the angle of the target includes the azimuth angle in the horizontal direction and the pitch angle in the vertical direction. In this example, the accuracy of the target detection result is improved by performing a comprehensive detection on the target detection result.

[0121] In an optional embodiment, Figure 5 A flow chart of a target detection method of a detection device is exemplarily shown; based on any example, signal processing detection is performed according to the virtual channel echo signal corresponding to the reference antenna set and the compensated virtual channel echo signal corresponding to other transmitting antenna sets to obtain target detection results corresponding to multiple different transmitting antenna sets, including:

[0122] Step 501: for each transmitting antenna set other than the reference antenna set, according to the virtual channel echo signals corresponding to the transmitting antennas that overlap after compensation between the other transmitting antenna set and the reference antenna set, obtain the phase difference of the virtual channel echo signals between the other transmitting antenna set and the reference antenna set at different expansion speeds;

[0123] Step 502: Use the expansion speed corresponding to the minimum sum of the absolute values ​​of the phase differences as the target speed detected by each transmitting antenna set, and obtain target speed detection results corresponding to multiple different transmitting antenna sets.

[0124] Specifically, in combination with the above examples, signal processing detection is performed based on the echo signals corresponding to multiple different transmitting antenna sets to obtain target speed detection results corresponding to multiple different transmitting antenna sets. First, for each other transmitting antenna set except the reference antenna set, the phase difference of the virtual channel between the other transmitting antenna set and the reference antenna set at different expansion speeds is obtained based on the virtual channel echo signal corresponding to the overlapping transmitting antenna after compensation between the other transmitting antenna set and the reference antenna set; the expansion speed corresponding to the minimum sum of the obtained phase differences is used as the final actual speed of the detected target; the actual speed of the target is used as the target speed detected by each transmitting antenna set to obtain target speed detection results corresponding to multiple different transmitting antenna sets. Exemplarily, the speed expansion multiple corresponding to the minimum phase difference can be calculated, and the speed corresponding to the speed expansion multiple is the actual speed of the target. In this example, the virtual channel positions of the overlapping antennas of each other transmitting antenna set and the reference antenna set are the same, so there is no phase difference caused by the spatial array element spacing. There is only a phase difference caused by the TDMA time-sharing transmission target speed between the other transmitting antenna sets and the reference antenna set. When the correct target actual speed is used for complete Doppler phase offset compensation, the sum of the absolute values ​​of the phase differences between the virtual channels corresponding to the transmitting antennas of the other transmitting antenna sets and the reference antenna set is close to 0. Therefore, the final speed of the target can be determined by searching for the minimum value of the sum of the absolute values ​​of the virtual channel phase differences at the same position of the other transmitting antenna sets and the reference transmitting antenna set under different speed expansion multiples. The calculation formula is:

[0125]

[0126] in, Indicates the first virtual antenna in the reference antenna set and other antenna sets that have the same position as the overlapping virtual antenna. The channels of the virtual receiving antennas are expanded by a factor of When , the corresponding virtual channel echo signal after Doppler compensation corresponding to the other transmitting antenna set; Indicates the number of virtual channels; The first virtual antenna in the reference antenna set that overlaps with other antenna sets A virtual channel echo signal of a virtual channel; Indicates taking the minimum value, It indicates the speed expansion multiple corresponding to the minimum sum of the absolute values ​​of the phase difference of the virtual channel echo signals of the other antenna set and the reference antenna set; n indicates the number of overlapping virtual channels in the reference antenna set and other antenna sets with the same position. The corresponding expansion speed That is, the actual speed of the determined target. In this example, by calculating the phase difference of the virtual channel echo signal at the same position of the other antenna sets and the reference antenna set at different expansion speeds, the expansion speed corresponding to the minimum sum of the absolute values ​​of the phase difference is taken as the actual speed of the target, eliminating the error and improving the accuracy of the target speed detection.

[0127] In an optional embodiment, Figure 6 A flow chart of a target detection method of a detection device is exemplarily shown; based on any example, target detection results corresponding to multiple different transmitting antenna sets are obtained according to the virtual channel echo signal corresponding to the reference antenna set and the compensated virtual channel echo signals corresponding to other transmitting antenna sets, including:

[0128] Step 601: Obtain target angles corresponding to a plurality of different transmitting antenna sets according to a virtual channel echo signal corresponding to a reference antenna set and compensated virtual channel echo signals corresponding to other transmitting antenna sets;

[0129] Step 602: Use the target angles detected by the multiple different transmitting antenna sets as target angle detection results corresponding to the multiple different transmitting antenna sets.

[0130] Specifically, the actual angles of the targets corresponding to the multiple different transmitting antenna sets can be calculated based on the echo signals of the virtual channels corresponding to the multiple different transmitting antenna sets. Furthermore, the actual angle of the target is used as the target angle detected by each transmitting antenna set to obtain the target angles corresponding to the multiple different transmitting antenna sets. In this example, the target angle is calculated by the echo signals of the virtual channels corresponding to the multiple different transmitting antenna sets, thereby improving the accuracy of the target angle detection.

[0131] In an optional embodiment, Figure 7 The example shows a flow chart of a target detection method of a detection device; the target detection result corresponding to the transmitting antenna set includes multiple target detection results, and the final target detection result is obtained according to the target detection results corresponding to multiple different transmitting antenna sets, including:

[0132] Step 701: Determine a threshold condition according to target detection results corresponding to a plurality of different transmitting antenna sets and working parameters of a detection device;

[0133] Step 702: according to the threshold condition, remove the false target detection results that do not meet the threshold condition from the target detection results corresponding to the multiple different transmitting antenna sets;

[0134] Step 703: After removing the false target detection results, the target detection result corresponding to the transmitting antenna set with the largest effective aperture among the multiple different transmitting antenna sets is taken as the final target detection result.

[0135] Specifically, in combination with the foregoing example, the target detection results corresponding to the multiple different transmitting antenna sets are calculated through the virtual channel echo signals corresponding to the multiple different transmitting antenna sets; illustratively, the target detection results include information such as the angle, speed, distance, and signal-to-noise ratio of the target; the target detection results corresponding to each transmitting antenna set may include the detection results of one or more targets; for example, for speed, the target detection results corresponding to each transmitting antenna set include the results of multiple speeds; and also include the results of multiple angles, signal ratios, and distances. The threshold conditions are determined based on the target detection results corresponding to the transmitting antenna sets and the working parameters of the detection device; illustratively, the working parameters of the detection device here may refer to the waveform configuration parameters of the system;

[0136] According to the determined threshold conditions, the false target detection results that do not meet the threshold conditions are eliminated from the target detection results corresponding to the multiple different transmitting antenna sets; after eliminating the false target detection results, the target detection results corresponding to the transmitting antenna set with the largest effective aperture among the multiple different transmitting antenna sets are used as the final target detection results. In this example, the accuracy of the target detection results is improved by eliminating the false target detection results from the target detection results corresponding to the multiple different transmitting antenna sets and then using the target detection results corresponding to the transmitting antenna set with the largest array aperture as the final target detection result.

[0137] In an optional implementation, according to a threshold condition, removing false sub-target detection results that do not meet the threshold condition from target detection results corresponding to a plurality of different transmitting antenna sets includes:

[0138] Subtracting target detection information in target detection results corresponding to the reference antenna set from target detection information in target detection results corresponding to other transmit antenna sets;

[0139] Determine whether the pairwise difference results of the target detection information meet the threshold condition for matching the target detection results of the multiple different transmitting antenna sets; the threshold condition for matching the target detection results of the multiple different transmitting antenna sets represents the limit range of the difference between the target detection results corresponding to each other transmitting antenna set and the target detection results corresponding to the reference antenna set;

[0140] If the result of pairwise difference of target detection information does not satisfy the threshold condition for matching target detection results between multiple different transmitting antenna sets, the target detection results corresponding to the target information that does not satisfy the threshold condition for matching target detection results between multiple different transmitting antenna sets in the target detection results corresponding to the transmitting antenna set are eliminated as false target detection results.

[0141] Specifically, each target detection information in the target detection result corresponding to the reference antenna set is subtracted from each target detection information in the target detection result corresponding to the other transmitting antenna sets; illustratively, the distance, speed angle and signal-to-noise ratio detection value of a certain target in the target detection result corresponding to the reference antenna set is subtracted from the distance, speed, angle and signal-to-noise ratio detection value of each target in the target detection result corresponding to the other transmitting antenna sets; that is, the distance detection value of a certain target in the target detection result corresponding to the reference antenna set is subtracted from the distance detection value of each target in the target detection result corresponding to the other transmitting antenna sets to form multiple distance difference results; similarly, the reference antenna set is used to detect the distance of a certain target in the target detection result corresponding to the reference antenna set, and the speed, angle and signal-to-noise ratio detection value of each target in the target detection result corresponding to the other transmitting antenna sets are used to detect the distance of each target in the target detection result corresponding to the other transmitting antenna sets. The speed, angle and signal-to-noise ratio detection values ​​of the target corresponding to the line set are subtracted from the speed, angle and signal-to-noise ratio detection values ​​of each target in the target detection results corresponding to other transmitting antenna sets, and multiple speed, angle and signal-to-noise ratio difference results are also formed; it is judged whether the difference result meets the determined threshold condition; the threshold condition characterizes the limit of the detection difference between the target detection results corresponding to each other transmitting antenna set and the target detection results corresponding to the reference antenna set; if one of the difference results (difference in distance, speed, angle and signal-to-noise ratio) does not meet the determined threshold condition, then the target detection result that does not meet the threshold condition in the target detection results corresponding to the corresponding two transmitting antenna sets is eliminated as a false target detection result. Exemplarily, any target detection result of the target detection result corresponding to the reference antenna set and each target detection result in the target detection results corresponding to other transmitting antenna sets are selected for pairwise difference calculation, and it is judged whether the difference result meets the threshold condition; for example:

[0142]

[0143] in, Respectively represent the sub-target detection results of distance, speed, angle, and signal-to-noise ratio in the target detection results corresponding to the reference antenna set; Respectively represent any distance, speed, angle and signal-to-noise ratio detection value of the target detection result corresponding to any other transmitting antenna set; Respectively represent the distance threshold condition, speed threshold condition, angle threshold condition and signal-to-noise ratio threshold condition. If the difference results of distance, speed, angle and signal-to-noise ratio all meet the threshold conditions, then the target detection result in the target detection result corresponding to the reference antenna set and the target detection result that meets the threshold conditions in any other reference antenna set are saved, and at the same time, the target detection result in any other reference antenna set that meets at least one threshold condition and at most three threshold conditions is eliminated as a false target detection result. If any one of the difference results of distance, speed, angle and signal-to-noise ratio does not meet the threshold condition, then the target detection result in the target detection result corresponding to the reference antenna set is eliminated as a false target detection result. Exemplarily, Figure 8 A flow chart of a target detection method of a detection device according to an example of the present application; taking two different transmitting antenna sets as examples, the two different transmitting antenna sets are respectively a first transmitting antenna set and a second transmitting antenna set, with the first transmitting antenna set being a reference transmitting antenna set; according to the target distance, speed, angle and signal-to-noise ratio detection values ​​of the received target detection results corresponding to the first transmitting antenna set and the second transmitting antenna set, setting threshold conditions for the target distance, speed, angle and signal-to-noise ratio ; Afterwards, traverse the target detection information of the target detection results of the first launch day set , searching for information matching the second transmitting antenna set , the corresponding Corresponding to the first transmit antenna set , respectively; determine whether the difference results all meet the condition of being less than the threshold value, if so, retain the target detection information corresponding to the first transmitting antenna set and the second transmitting antenna set; if not, delete the target detection information of the first transmitting antenna set and the second transmitting antenna set at the same time.

[0144] In this example, the accuracy of the target detection results is improved by subtracting each target detection result in the target detection results corresponding to the reference antenna set from any target detection result in the target detection results corresponding to other transmitting antenna sets; and eliminating false target detection results according to the threshold condition.

[0145] In an optional embodiment, the detection device includes at least one radar chip; and the method further includes:

[0146] If the detection device includes a radar chip, a plurality of different transmitting antenna sets are obtained according to the transmitting antenna of the radar chip;

[0147] If the detection device includes multiple radar chips, the transmitting antennas of the multiple radar chips are divided to obtain multiple different transmitting antenna sets; wherein each transmitting antenna set is obtained by dividing the transmitting antennas of multiple different radar chips.

[0148] Specifically, the detection device of this example includes at least one radar chip; if the detection device includes only one radar chip, then the transmitting antenna of the radar chip is divided into a plurality of sets of different transmitting antennas, and there is a transmitting antenna with the same element among the plurality of different transmitting antenna sets. If the detection device includes multiple radar chips, the transmitting antennas of the multiple radar chips are divided into a plurality of different transmitting antenna sets; wherein each transmitting antenna set is divided into the transmitting antennas of multiple different radar chips.

[0149] In this example, by dividing the transmitting antenna of the radar chip, a plurality of different transmitting antenna sets are obtained; thereby improving the utilization rate of the transmitting antenna of the radar chip and the degree of freedom of dividing the transmitting antenna.

[0150] In the target detection method of the detection device provided in the present embodiment, a plurality of different transmitting antenna sets of the detection device are instructed to send out detection signals in time sharing, and the transmitting antennas in each transmitting antenna set send out detection signals at the same time; wherein, there is at least one overlapping transmitting antenna between the plurality of different transmitting antenna sets; then, echo signals corresponding to the plurality of different transmitting antenna sets are obtained; wherein the echo signal corresponding to the transmitting antenna set is an echo signal received by the receiving antenna of the detection device, corresponding to the detection signal sent out by the transmitting antenna set; according to the echo signals corresponding to the plurality of different transmitting antenna sets, signal processing is performed to obtain target detection results; the scheme of the present application adopts a method of simultaneously sending out detection signals within a plurality of antenna sets and sending out detection signals in time sharing between a plurality of antenna sets, and performs phase deviation compensation according to the echo signals corresponding to the overlapping transmitting antennas in the plurality of different transmitting antenna sets, and eliminates false targets through threshold conditions, thereby improving the accuracy of the target detection results of the detection device.

[0151] Embodiment 2

[0152] In combination with the above example, taking two transmitting antenna sets, each transmitting antenna set including 4 transmitting antennas and 8 receiving antennas as an example, the two transmitting antenna sets are respectively the first antenna set and the second antenna set; in actual applications, the transmitting antennas and receiving antennas in the first antenna set and the second antenna set are installed on the substrate of the radar detection device, and a two-dimensional coordinate system is established with a certain position on the substrate as the coordinate origin. The position of each antenna can be calibrated on the two-dimensional coordinate system, including the position of the physical transmitting antenna, physical receiving antenna, and virtual receiving antenna of each antenna set. Fig. 9 A schematic diagram of physical transmit antenna positions of a first antenna set; Fig.10 is a schematic diagram of physical receiving antenna positions of a first antenna set; Fig.11 is a schematic diagram of virtual receiving antenna positions of a first antenna set; Fig.12 A schematic diagram of physical transmit antenna locations for a second antenna set; Fig.13 A schematic diagram of physical receiving antenna locations of a second antenna set; Fig.14 is a schematic diagram of virtual receiving antenna positions of the second antenna set; Figure 9-14 Indicates the positions of the physical transmit antennas, physical receive antennas, and virtual receive antennas of the first transmit antenna set; and the positions of the physical transmit antennas, physical receive antennas, and virtual receive antennas of the second transmit antenna set; Figure 9-14 The corresponding units of the horizontal and vertical coordinates are , The detection signal wavelength; see Figure 9-14 , Fig. 9 The position of the first physical transmitting antenna, the position of the second physical transmitting antenna, the position of the third physical transmitting antenna and the position of the fourth physical transmitting antenna in the first antenna set are included. Fig.10 The first antenna set includes the position of the first physical receiving antenna, the position of the second physical receiving antenna, the position of the third physical receiving antenna, the position of the fourth physical receiving antenna, the position of the fifth physical receiving antenna, the position of the sixth physical receiving antenna, the position of the seventh physical receiving antenna and the position of the eighth physical receiving antenna. Fig.11 The first antenna set includes the position of the first group of virtual receiving antennas corresponding to the first physical transmitting antenna; the position information of the second group of virtual receiving antennas corresponding to the second physical transmitting antenna; the position information of the third group of virtual receiving antennas corresponding to the third physical transmitting antenna; and the position information of the fourth group of virtual receiving antennas corresponding to the fourth physical transmitting antenna. It should be noted that the position and number of virtual receiving antennas are jointly determined by the position and number of physical transmitting antennas and physical receiving antennas; each group of virtual receiving antennas includes multiple virtual receiving antennas, Fig.11 The information about the positions and number of virtual receiving antennas of the first antenna set is only exemplary; Fig.11 Each dot in represents a virtual receiving antenna. Fig.12 The position of the first physical transmitting antenna, the position of the second physical transmitting antenna, the position of the third physical transmitting antenna, and the position of the fourth physical transmitting antenna in the second antenna set are included. Fig.13 The second antenna set includes the position of the first physical receiving antenna, the position of the second physical receiving antenna, the position of the third physical receiving antenna, the position of the fourth physical receiving antenna, the position of the fifth physical receiving antenna, the position of the sixth physical receiving antenna, the position of the seventh physical receiving antenna, and the position of the eighth physical receiving antenna. Fig.10 and Fig.12 It can be known that the positions of the first to eighth physical receiving antennas of the first antenna set correspond to the same positions of the first to eighth physical receiving antennas of the second antenna set. Fig.14 The first group of virtual receiving antennas corresponding to the first physical transmitting antenna in the second antenna set, the second group of virtual receiving antennas corresponding to the second physical transmitting antenna, the third group of virtual receiving antennas corresponding to the third physical transmitting antenna, and the fourth group of virtual receiving antennas corresponding to the fourth physical transmitting antenna. Each group of virtual receiving antennas includes multiple virtual receiving antennas. Fig.14 The information about the positions and number of virtual receiving antennas of the second antenna set is merely exemplary; Fig.14 Each dot in represents a virtual receiving antenna. Fig. 9 and Fig.12 It can be seen that the position of the first physical transmitting antenna of the first transmitting antenna set is the same as the position of the first physical transmitting antenna of the second transmitting antenna set, and the positions of the first to eighth physical receiving antennas of the first antenna set are the same as the positions of the first to eighth physical receiving antennas of the second antenna set; therefore Fig.11 and Fig.14 In the figure, the position of the first group of virtual receiving antennas in the first transmitting antenna set is the same as the position of the first group of virtual receiving antennas in the second transmitting antenna set, and the position of each virtual receiving antenna in each group of virtual receiving antennas is also the same; the positions of other groups of virtual receiving antennas are different; it should be noted that if the positions of each virtual antenna in each two groups of virtual receiving antennas are the same, then the positions of the corresponding two groups of virtual receiving antennas are considered to be the same. In addition, both transmitting antenna sets are sparse arrays, and the array virtual effective aperture of the second transmitting antenna set is larger than the array virtual effective aperture of the first transmitting antenna set, and the corresponding physical resolutions are approximately 2.44° and 2.25°, respectively.

[0153] The transmission carrier frequency of the detection device is 77 GHz, and the chirp wave period of the detection signal transmitted by the first transmitting antenna set and the second transmitting antenna set is 30 microseconds ( ), the two transmitting antenna sets transmit in time for a short period of time ( level), the maximum detectable speed of the two transmitting antenna sets after separation through the transmitting channel is 32.4451 meters / second (m / s); three targets are set below, the distances of target one, target two, and target three are 30 meters (m), 60 meters (m), and 100 meters (m), respectively, the speeds are 50m / s, -20m / s, and -100m / s, respectively, the azimuths are 15 degrees (°), -10 degrees (°), and 5 degrees (°), respectively, the pitch angles are all set to 0 degrees (°), and the signal-to-noise ratio is 10 decibels (dB). The position parameters of these three targets are estimated through the solution of this application, Figure 15-17 This is the result of speed estimation using the solution of this application.

[0154] Fig.15 is a schematic diagram of the sum of the absolute values ​​of the phase difference of target 1 and the corresponding velocity assumption; where: Fig.15 (a) in the figure represents the sum of the absolute values ​​of the phase differences at the first set of virtual receiving antennas at the same position in the first transmitting antenna set and the second transmitting antenna set under different speed expansion multiples; " represents the coordinate point of the sum of the absolute values ​​of the phase differences between the corresponding first transmitting antenna set and the second transmitting antenna set at the first group of virtual receiving antennas when the speed expansion multiple is an integer; Fig.15 (b) shows the velocity assumptions of target 1 at different velocity expansion multiples. "Indicates that Fig.15 The velocity value coordinate point of target 1 under the corresponding velocity expansion multiple in (a); Fig.15 It can be seen that when the expansion multiple is 1, the sum of the absolute values ​​of the phase differences at the first group of virtual receiving antennas at the same position in the first transmitting antenna set and the second transmitting antenna set is the smallest, and the corresponding speed value of target one is 50m / s. Fig.16 is a schematic diagram of the sum of the absolute values ​​of the phase difference of target 2 and the corresponding velocity assumption; where: Fig.16 (a) in the figure represents the sum of the absolute values ​​of the phase differences at the first set of virtual receiving antennas at the same position in the first transmitting antenna set and the second transmitting antenna set under different speed expansion multiples. " represents the coordinate point of the sum of the absolute values ​​of the phase differences between the corresponding first transmitting antenna set and the second transmitting antenna set at the first group of virtual receiving antennas when the speed expansion multiple is an integer; Fig.16 (b) shows the velocity assumptions of target 2 at different velocity expansion multiples. "Indicates that Fig.16 The velocity value coordinate point of target 2 under the corresponding velocity expansion multiple in (a); Fig.16It can be seen that when the speed expansion factor is 0, the sum of the absolute values ​​of the phase differences at the first group of virtual receiving antennas at the same position in the first transmitting antenna set and the second transmitting antenna set is the smallest, and the corresponding speed value of the target two is -20m / s. Fig.17 is a schematic diagram of the sum of the absolute values ​​of the phase difference of target three and the corresponding velocity assumption; where: Fig.17 (a) in the figure represents the sum of the absolute values ​​of the phase differences at the first set of virtual receiving antennas at the same position in the first transmitting antenna set and the second transmitting antenna set under different speed expansion multiples. " represents the coordinate point of the sum of the absolute values ​​of the phase differences between the corresponding first transmitting antenna set and the second transmitting antenna set at the first group of virtual receiving antennas when the speed expansion multiple is an integer; Fig.17 (b) shows the velocity assumptions of target 3 at different velocity expansion multiples. "Indicates that Fig.17 The velocity value coordinate point of target three under the corresponding velocity expansion multiple in (a); Fig.17 It can be seen from the figure that when the speed expansion factor is -2, the sum of the absolute values ​​of the phase differences at the first set of virtual receiving antennas in the first transmitting antenna set and the second transmitting antenna set at the same position is the smallest, and the corresponding speed value of target three is -100m / s. Figure 15-17 It can be seen from the simulation results that the present application scheme can handle the speed measurement ambiguity problem that occurs when a high-speed moving target exceeds the maximum detectable speed of the system in an actual environment, and this method can accurately restore the actual speed of the actual target.

[0155] Figure 18-24 This is the result of angle estimation using the conventional interpolation angle measurement algorithm. Fig.18 This is a schematic diagram of the angle measurement results corresponding to the transmitting antenna set of target one on the first day; Fig.19 This is a schematic diagram of the angle measurement result of target one corresponding to the second transmitting antenna set; Fig. 20 This is a schematic diagram of the angle measurement result corresponding to the first transmitting antenna set of the target 2; Fig.21 This is a schematic diagram of the angle measurement result corresponding to the second transmitting antenna set of the target; Fig. 22 This is a schematic diagram of the angle measurement results corresponding to the first transmitting antenna set of target three; Fig.23 This is a schematic diagram of the angle measurement result corresponding to the target three at the second transmitting antenna set; Fig.24 Schematic diagram of the final speed measurement results of target one, target two, and target three; Figure 18-19 As shown, for target one, the output target azimuth that appears in both the first transmitting antenna set and the second transmitting antenna set is retained, which is the actual azimuth angle measurement result of target one. Figure 20-21As shown, for target 2, the output target azimuth that appears in both the first transmitting antenna set and the second transmitting antenna set is also retained, which is the actual azimuth angle measurement result of target 2. Figure 22-23 As shown, for target three, the output target azimuth that appears in both the first transmitting antenna set and the second transmitting antenna set is retained, which is the actual azimuth angle measurement result of target three. Figure 18-24 It can be seen from the simulation results that the present application utilizes the different characteristics of the sidelobe positions of the staggered array and accurately eliminates the false target points caused by the sparse array sidelobe problem through the threshold condition, so that the true target angle can be accurately identified from the sparse array amplitude spectrum with higher sidelobes. Fig.24 This is a schematic diagram of the final speed measurement results of target one, target two, and target three; Fig.24 (a) is a rang-doppler diagram of target 1, target 2, and target 3; Fig.24 (b) is a range-az-angle diagram of target 1, target 2, and target 3; Fig.24 (c) is a range-el-angle diagram of target 1, target 2, and target 3; Fig.24 (d) is the range-doppler hotmap of target 1, target 2, and target 3, where the horizontal axis is the range unit (rangeBins) and the vertical axis is the Doppler unit (dopplerBins) dopplerBins; Fig.24 (e) is the range-angle hotmap of target 1, target 2, and target 3, where the horizontal axis is the distance unit (rangeBins) and the vertical axis is the angle unit (angleBins); Fig.24 (f) in the figure is the three-dimensional point cloud image of target one, target two, and target three.

[0156] Embodiment 3

[0157] Take the test of two transmitting antenna sets in a dual-target environment at the same distance and speed as an example. Assume that the transmitting antenna carrier frequency is 77GHz, and the chirp period of the first transmitting antenna set and the second transmitting antenna set is 30 , the two transmitting antenna sets transmit with a short delay ( Level), the maximum detectable speed of the two transmitting antenna sets after the transmission channel separation is 32.4451m / s. Below are 4 targets, the distances of target 1, target 2, target 3, and target 4 are 30m, 30m, 60m, and 60m respectively, the speeds are 1m / s, 1m / s, -80m / s, and -80m / s respectively, the azimuths are 15°, 12.5°, 0°, and -2.5° respectively, the pitch angles are all set to 0°, and the signal-to-noise ratio is 10dB.

[0158] Figure 25-26 The results of speed estimation for four targets in this scheme are as follows; Fig.25 is a schematic diagram of the sum of the absolute values ​​of the phase difference between target 1 and target 2 and the corresponding velocity assumptions; where, Fig.25 (a) in the figure represents the sum of the absolute values ​​of the phase differences at the first set of virtual receiving antennas at the same position in the first transmitting antenna set and the second transmitting antenna set under different speed expansion multiples. " represents the coordinate point of the sum of the absolute values ​​of the phase differences between the corresponding first transmitting antenna set and the second transmitting antenna set at the first group of virtual receiving antennas when the speed expansion multiple is an integer; Fig.25 (b) shows the assumed speed values ​​of target 1 and target 2 at different speed expansion multiples. "Indicates that Fig.25 The velocity value coordinate points of target 1 and target 2 under the corresponding velocity expansion multiples in (a); Fig.25 It can be seen that when the speed expansion factor is 0, the sum of the absolute values ​​of the phase differences at the first group of virtual receiving antennas at the same position in the first transmitting antenna set and the second transmitting antenna set is the smallest. At this time, the corresponding speed values ​​of target one and target two are both 1m / s. Fig.26 Schematic diagram of the sum of the absolute values ​​of the phase differences between target 3 and target 4 and the corresponding velocity assumptions; where: Fig.26 (a) in the figure represents the sum of the absolute values ​​of the phase differences at the first set of virtual receiving antennas at the same position in the first transmitting antenna set and the second transmitting antenna set under different speed expansion multiples. " represents the coordinate point of the sum of the absolute values ​​of the phase differences between the corresponding first transmitting antenna set and the second transmitting antenna set at the first group of virtual receiving antennas when the speed expansion multiple is an integer; Fig.26 (b) shows the assumed speed values ​​of target 3 and target 4 at different speed expansion multiples. "Indicates that Fig.26 The velocity value coordinate points of target three and target four under the corresponding velocity expansion multiples in (a); Fig.26It can be seen that when the speed expansion factor is -1, the sum of the absolute values ​​of the phase differences at the first set of virtual receiving antennas at the same position in the first transmitting antenna set and the second transmitting antenna set is the smallest. At this time, the corresponding speed values ​​of target three and target four are both -80m / s. Figure 25-26 It can be seen from the simulation results that the method of the present invention is effective in dealing with the speed ambiguity problem of high-speed moving targets and has high speed measurement accuracy.

[0159] Figure 27-30 This is the result of angle estimation using a conventional interpolation angle measurement algorithm in this application. Fig. 27 This is a schematic diagram of the angle measurement results corresponding to the first transmitting antenna set for target one and target two; Fig.28 This is a schematic diagram of the angle measurement results corresponding to the target one and the target two at the second transmitting antenna set; Fig.29 This is a schematic diagram of the angle measurement results corresponding to the target three and the target four at the first transmitting antenna set; Fig.30 This is a schematic diagram of the angle measurement results corresponding to the target three and the target four at the second transmitting antenna set;

[0160] like Figure 27-28 As shown, for target 1 and target 2, the output target azimuths of target 1 and target 2 that appear in both the first transmitting antenna set and the second transmitting antenna set are retained, which are the actual azimuth angle measurement results of target 1 and target 2. Figure 29-30 As shown, for target 3 and target 4, the output target azimuths of target 3 and target 4 that appear in both the first transmitting antenna set and the second transmitting antenna set are retained, which are the actual azimuth angle measurement results of target 3 and target 4. Figure 27-30 It can be seen from the simulation results that the method of the present invention only uses the conventional interpolation angle measurement algorithm for angle estimation under the dual cascade chip, which can achieve an angular resolution of 2.5° between two targets at the same distance and speed, and is not affected by the high sidelobes of the sparse array. If a super-resolution angle measurement algorithm is used to replace the conventional interpolation angle measurement algorithm used here, the angular resolution will be further improved, making it possible to achieve an angular resolution of less than 1 degree required by the four-dimensional millimeter-wave radar. Fig.31 The final speed measurement results of target 1, target 2, target 3 and target 4 are shown in FIG. Fig.31 (a) is a range-doppler diagram of target 1, target 2, target 3 and target 4; Fig.31 (b) is a range-az-angle diagram of target 1, target 2, target 3 and target 4; Fig.31 (c) is a range-el-angle diagram of target 1, target 2, target 3 and target 4; Fig.31(d) is the range-doppler hotmap of target 1, target 2, target 3 and target 4, where the horizontal axis is the range unit (rangeBins) and the vertical axis is the Doppler unit (dopplerBins) dopplerBins; Fig.31 (e) is the range-angle HotMap of target 1, target 2, target 3 and target 4, where the horizontal axis is the distance unit (rangeBins) and the vertical axis is the angle unit (angleBins); Fig.31 (f) in the figure is the three-dimensional point cloud image of target one, target two, target three and target four.

[0161] Embodiment 4

[0162] Fig.32 The schematic diagram of the structure of a target detection device of a detection device is shown as an example; Fig.31 As shown, the device comprises:

[0163] The transmitting module 21 is used to instruct multiple different transmitting antenna sets of the detection device to send detection signals in time division; wherein there is at least one overlapping transmitting antenna among the multiple different transmitting antenna sets, and the transmitting antennas in each transmitting antenna set send detection signals at the same time;

[0164] The acquisition module 22 is used to acquire echo signals corresponding to a plurality of different transmitting antenna sets; the echo signal corresponding to the transmitting antenna set is an echo signal received by a receiving antenna of the detection device and corresponds to the detection signal emitted by the transmitting antenna set;

[0165] Processing module 23: used to perform signal processing according to the echo signals corresponding to multiple different transmitting antenna sets to obtain target detection results.

[0166] Specifically, multiple different transmitting antenna sets of the detection device are instructed to send detection signals in time-sharing; wherein, there is at least one overlapping transmitting antenna between the multiple different transmitting antenna sets, and the transmitting antennas in each transmitting antenna set use simultaneous detection signals. Exemplarily, the detection device can be a radar system composed of radar chips; multiple transmitting antennas and receiving antennas are arranged in the radar system; in this example, multiple different transmitting antenna sets are selected from multiple radar antennas, and an element of the transmitting antenna position in each different transmitting antenna set is the same. Afterwards, the echo signals corresponding to the multiple different transmitting antenna sets are obtained; wherein, the echo signals corresponding to the transmitting antenna set are received by the receiving antenna of the detection device, and correspond to the detection signals sent by the transmitting antenna set. Further, by performing corresponding signal processing on the echo signals corresponding to the multiple different transmitting antenna sets, the final target detection result detected by the radar system can be obtained. In this example, by instructing multiple different transmitting antenna sets of the detection device to send detection signals in time-sharing, each transmitting antenna set sends detection signals at the same time; and then by performing signal processing detection on the echo signals received by the receiving antenna corresponding to each transmitting set, the final target detection result can be obtained. This example reduces signal interference between radar antennas and improves the accuracy of target detection results by the detection device by combining time-sharing transmission between multiple different transmitting antenna sets and simultaneous transmission within each transmitting antenna set.

[0167] In an optional implementation, time division multiple access is used between multiple different transmitting antenna sets of the detection device to send detection signals in time division; and Doppler division multiple access is used within each transmitting antenna set to send detection signals simultaneously.

[0168] Specifically, the detection device includes a set of multiple transmitting antennas; each transmitting antenna set includes some transmitting antennas and all receiving antennas of the detection device; for each transmitting antenna set, Doppler division multiple access is used inside each transmitting antenna set to simultaneously transmit detection signals; exemplary, DDMA is to implement orthogonal waveform design in the Doppler domain, which inherits the characteristics of time division multiple access in the transmitter structure, but only adds a series of phase shifters separately, and the phase shifters can introduce specific Doppler frequency shifts in the transmitted signal by adjusting the phase of the signal. The signal of each user or transmission channel can produce different Doppler frequency shifts through different phase adjustments, thereby realizing orthogonal separation of the signal in the frequency domain. In addition, under the DDMA technology, since the transmitting elements can be transmitted at the same time, the transmission power of each transmission channel is fully utilized, which can improve the detection distance and other parameter estimation performance, and has become a popular method for orthogonal waveform design of vehicle-mounted millimeter wave radars today. For multiple different transmitting antenna sets, time division multiple access is used to send detection signals in time division; exemplary, time division multiple access transmission of detection signals is to transmit the detection signals between multiple transmitting antennas in time division. In this example, time division multiplexing is used to transmit signals between multiple different transmitting antenna sets, and Doppler multiplexing is used within each transmitting antenna set to simultaneously transmit detection signals, thereby ensuring the accuracy of radar detection signal transmission.

[0169] In an optional implementation, the processing module 23 is used to:

[0170] Perform signal processing according to the echo signals corresponding to the multiple different transmitting antenna sets to obtain target detection results corresponding to the multiple different transmitting antenna sets;

[0171] The final target detection result is obtained according to the target detection results corresponding to multiple different transmitting antenna sets.

[0172] Specifically, signal processing can be performed based on the echo signals received corresponding to the multiple different transmitting antenna sets to obtain target detection results corresponding to the multiple different transmitting antenna sets; based on the target detection results corresponding to the multiple different transmitting antenna sets, the final detection result of the target detected by the detection device can be obtained. In this example, the final target detection result is obtained based on the target detection results corresponding to the multiple antenna sets, which improves the accuracy of the target detection result.

[0173] In an optional implementation, the processing module 23 is used to:

[0174] According to the echo signal corresponding to each transmitting antenna set, virtual channel echo signals corresponding to multiple different transmitting antenna sets are obtained;

[0175] A reference antenna set is selected from a plurality of different transmitting antenna sets, and virtual channel echo signals corresponding to other transmitting antenna sets except the reference antenna set in the plurality of different transmitting antenna sets are compensated for phase deviation according to the virtual channel echo signals corresponding to the reference antenna set;

[0176] Signal processing detection is performed based on the virtual channel echo signals corresponding to the reference antenna set and the compensated virtual channel echo signals corresponding to other transmitting antenna sets to obtain target detection results corresponding to multiple different transmitting antenna sets.

[0177] Specifically, it is necessary to perform signal processing according to the echo signals corresponding to multiple different transmitting antenna sets to obtain target detection results corresponding to multiple different transmitting antenna sets. First, according to the echo signals corresponding to each transmitting antenna set, virtual channel echo signals corresponding to multiple different transmitting antenna sets are obtained. After that, an antenna set is selected from multiple different transmitting antenna sets as a reference antenna set, and according to the virtual channel echo signals corresponding to the reference antenna set, virtual channel echo signals corresponding to other transmitting antenna sets except the reference antenna set in multiple different transmitting antenna sets are compensated; the virtual channel echo signals corresponding to the reference antenna set and the compensated virtual channel echo signals corresponding to other transmitting antenna sets are processed and detected to obtain target detection results corresponding to multiple different transmitting antenna sets. In this example, virtual channel echo signals corresponding to multiple different transmitting antenna sets are obtained based on echo signals of multiple different transmitting antenna sets, and then one transmitting antenna set is selected as a reference antenna combination, and phase compensation is performed on the virtual channel echo signals of other transmitting antenna sets except the reference antenna set to obtain compensated virtual channel echo signals corresponding to each other transmitting antenna set; signal processing and detection are performed on the virtual channel echo signals corresponding to the reference antenna set and the compensated virtual channel echo signals corresponding to other transmitting antenna sets to obtain target detection results corresponding to multiple different transmitting antenna sets, thereby improving the accuracy of detection results of multiple different transmitting antenna sets.

[0178] In an optional implementation, the processing module 23 is used to:

[0179] For the echo signals corresponding to the multiple different transmitting antenna sets, two-dimensional Fourier transform, transmitting channel separation, two-dimensional Fourier transform result rearrangement and constant false alarm rate detection are respectively performed to obtain the target distance index and Doppler index corresponding to the multiple different transmitting antenna sets;

[0180] According to the target distance indexes and Doppler indexes corresponding to the multiple different transmitting antenna sets, virtual channel echo signals corresponding to the multiple different transmitting antenna sets are obtained.

[0181] Specifically, virtual channel echo signals corresponding to multiple different transmitting antenna sets are obtained according to the echo signals corresponding to multiple different transmitting antenna sets; first, two-dimensional Fourier transform is performed on the echo signals corresponding to each transmitting antenna set, and the transmission channel separation, two-dimensional Fourier transform result rearrangement and constant false alarm rate detection are processed to obtain the signal processing results of the echo signals of each transmitting antenna set, thereby obtaining the distance index and Doppler index corresponding to each transmitting set. Two-dimensional Fourier transform is a mathematical tool for converting time domain signals into frequency domain signals; in signal processing, two-dimensional fast Fourier transform is used to convert the received time domain signal into a range-Doppler domain signal; through two-dimensional fast Fourier transform, the distance information (through range dimension fast Fourier transform) and speed information (through Doppler dimension fast Fourier transform) of the target can be extracted. In a multiple-input multiple-output (MIMO) radar system, multiple transmitting antennas transmit signals simultaneously or in time-sharing; the receiving end needs to separate these mixed signals to distinguish the signals of different transmitting channels; separate the signals of different transmitting channels so that subsequent processing can independently analyze the target information of each transmitting channel; improve the resolution and target detection capability of the radar system. In a MIMO radar system, the two-dimensional fast Fourier transform results of different transmitting channels need to be rearranged to generate a virtual array signal; by rearranging, a virtual array signal can be generated, thereby improving the angular resolution of the radar; the virtual array signal can be used for subsequent angle estimation and target positioning. Constant false alarm rate detection is a signal processing technology used to maintain a constant false alarm rate in a noisy and interfering environment, thereby effectively detecting target signals; the constant false alarm rate dynamically adjusts the detection threshold so that the system can still maintain a constant false alarm rate when noise and interference change; improves the accuracy of target detection and reduces false alarms. According to the target distance index and Doppler index corresponding to each transmitting antenna set obtained, the virtual channel echo signals corresponding to multiple different transmitting antenna sets can be obtained. In this example, by performing signal processing on the echo signals corresponding to multiple different transmitting antenna sets, the echo signals of the virtual channels of multiple different transmitting antenna sets are obtained, which improves the accuracy of the virtual generation of virtual channel echo signals, thereby improving the accuracy of the target angle measurement results.

[0182] In an optional implementation, the processing module 23 is used to:

[0183] According to the target Doppler index obtained from the echo signal corresponding to the reference antenna set, the speed of the target detected by the reference antenna set is obtained;

[0184] According to the working parameters of the detection device, the target speed detected by the reference antenna set is expanded to obtain multiple expanded speeds;

[0185] According to the target speed detected by the reference antenna set and the time difference between other transmitting antenna sets and the reference antenna set, the phase deviation of other transmitting antenna sets at each extended speed is obtained;

[0186] According to the phase deviation of other transmitting antenna sets at each expansion speed, the phase deviation of the virtual channel echo signal corresponding to the other transmitting antenna sets is compensated.

[0187] Specifically, first, according to the echo signal corresponding to the reference antenna set, the speed of the target detected by the reference antenna set is obtained; then, according to the working parameters of the detection device, the speed of the target detected by the reference antenna set is expanded to obtain multiple extended speeds; illustratively, the working parameters of the detection device include the speed resolution of the detection device, the speed measurement range, and the maximum unambiguous speed. Further, according to the speed of the target detected by the reference antenna set and the time difference between other transmitting antenna sets and the reference antenna set, the phase deviation of other transmitting antenna sets at each extended speed is obtained; based on the phase deviation of other transmitting antenna sets at each extended speed, the virtual channel echo signal corresponding to the other transmitting antenna sets is compensated. In this example, by obtaining the phase deviation between other transmitting antenna sets and the reference antenna set and compensating for other transmitting antenna sets, the consistency and accuracy of the virtual channel echo signals corresponding to multiple different transmitting antenna sets are improved.

[0188] In an optional implementation, the processing module 23 is used to:

[0189] The speed of the target detected by the reference antenna set is obtained according to the target Doppler index obtained by processing the echo signal corresponding to the reference antenna set and the working parameters of the detection device.

[0190] Specifically, the target speed detected by the reference antenna set is obtained according to the target Doppler index obtained by processing the echo signal corresponding to the reference antenna set and the working parameters of the detection device. Exemplarily, the speed of the target detected by the reference antenna set is obtained by the formula:

[0191]

[0192]

[0193]

[0194] in, Indicates the velocity resolution of the detection device, Indicates the number of transmitted detection signals of the reference antenna set, the number of transmitted detection signal chirps of the reference antenna set is equal to the number of detection signals transmitted by other transmitting antenna sets; Indicates the period of the chirp detection signal emitted by the transmitting antenna; represents the wavelength of the detection signal chirp; where, , C represents the speed of light, and f represents the detection signal emitted by the detection device The wavelength is determined based on the frequency of the detection signal emitted by the detection device, for example, 0.0039m; represents the target Doppler index of the reference antenna set; represents the speed interval grid; Indicates the target speed detected by the reference antenna set. In this example, the target speed detected by the reference antenna set is obtained through the working parameters of the detection device and the target Doppler index of the reference antenna set, which improves the accuracy of the target speed detected by the reference antenna set.

[0195] In an optional implementation, the processing module 23 is used to:

[0196] According to the working parameters of the detection device, a plurality of speed expansion multiples are obtained;

[0197] According to the multiple speed expansion multiples, the speed of the target detected by the reference antenna set is expanded to obtain multiple expanded speeds; the multiple expanded speeds correspond to the multiple speed expansion multiples one by one.

[0198] Specifically, according to the working parameters of the detection device, multiple speed expansion multiples can be obtained; further, according to the multiple speed expansion multiples, the speed of the target detected by the reference antenna set is expanded to obtain multiple expanded speeds; wherein the multiple expanded speeds correspond to the multiple speed expansion multiples one by one. For example, if the speed measurement range of the detection device is , the maximum unambiguous speed is , then the maximum speed expansion multiple is:

[0199]

[0200] in, Indicates rounding up. Indicates the minimum measured speed; Indicates the maximum measured speed; represents the maximum unambiguous speed; Indicates the maximum speed expansion multiple, which is the optional speed expansion multiple range Medium speed expansion multiple The number of; the calculation formula is:

[0201]

[0202]

[0203] in, Indicates the minimum value of the negative speed expansion multiplier starting from 0. Indicates the maximum value of the positive speed expansion multiple starting from 0; Indicates rounding up; Indicates rounding down.

[0204] The expansion multiples at different speeds The expansion speed is:

[0205]

[0206]

[0207]

[0208]

[0209]

[0210] in, Indicates the expansion speed corresponding to different speed expansion multiples, represents the target speed detected by the reference antenna set, , Indicates different speed expansion multiples, Indicates the maximum unambiguous speed of the detection device.

[0211] In this example, the extended speeds corresponding to different speed extension multiples are obtained by referring to the target speed detected by the antenna set and the optional speed extension multiples, thereby improving the accuracy of obtaining the extended speed.

[0212] In an optional manner, the processing module 23 is used to:

[0213] The phase deviation of other transmitting antenna sets at each extension speed is multiplied by the virtual channel echo signal corresponding to the other transmitting antenna sets before compensation to obtain the virtual channel echo signal corresponding to the other transmitting antenna sets after compensation.

[0214] Specifically, the virtual channel echo signals corresponding to other transmitting antenna sets are compensated, and the phase deviations of other transmitting antenna sets at each extended speed are multiplied by the virtual channel echo signals corresponding to other transmitting antenna sets before compensation to obtain the compensated virtual channel echo signals corresponding to other transmitting antenna sets. In combination with the above example, according to the target speed and speed expansion multiple detected by the reference antenna set obtained above, the virtual channel echo signals of other reference antenna sets other than the reference antenna set are compensated to obtain the compensated virtual channel echo signals of other transmitting antenna sets. The specific calculation formula is:

[0215]

[0216]

[0217]

[0218] in, represents the phase deviation of other transmitting antenna sets relative to the reference antenna set, represents the target speed detected by the reference antenna set; Indicates the speed expansion multiple, Represents the wavelength of the detection signal (chirp) emitted by the transmitting antenna set; Indicates the period of the chirp signal; Indicates the delay time of the detection signal transmitted by other transmitting antenna sets relative to the detection signal transmitted by the reference antenna set; It indicates the complete Doppler phase deviation corresponding to different velocity expansion multiples; representing virtual channel echo signals of other transmitting antenna sets after compensation; Indicates the virtual channel echo signals of each other transmitting antenna set before compensation. In this example, by performing phase offset compensation on the virtual channel echo signals of other transmitting antenna sets, virtual channel echo signals of multiple different transmitting antenna sets after compensation are obtained, thereby improving the accuracy of obtaining the virtual channel echo signals of each transmitting antenna set.

[0219] In an optional implementation, the target detection result includes the target speed and angle.

[0220] Specifically, the target detection result includes the angle and speed of the target. In practical applications, the detection result also includes the distance and signal-to-noise ratio of the target. Exemplarily, the angle of the target includes the azimuth angle in the horizontal direction and the pitch angle in the vertical direction. In this example, the accuracy of the target detection result is improved by performing a comprehensive detection on the target detection result.

[0221] In an optional implementation, the processing module 23 is used to:

[0222] For each transmitting antenna set other than the reference antenna set, according to the virtual channel echo signals corresponding to the transmitting antennas that overlap after compensation between the other transmitting antenna set and the reference antenna set, obtain the phase difference of the virtual channel echo signals between the other transmitting antenna set and the reference antenna set at different expansion speeds;

[0223] The expansion speed corresponding to the minimum sum of the absolute values ​​of the phase differences is used as the target speed detected by each transmitting antenna set, and target speed detection results corresponding to multiple different transmitting antenna sets are obtained.

[0224] Specifically, in combination with the above example, signal processing detection is performed according to the echo signals corresponding to multiple different transmitting antennas to obtain target speed detection results corresponding to multiple different transmitting antenna sets. First, for each other transmitting antenna set except the reference antenna set, the phase difference of the virtual channel between the other transmitting antenna set and the reference antenna set at different expansion speeds is obtained according to the virtual channel echo signal corresponding to the overlapping transmitting antenna after compensation between the other transmitting antenna set and the reference antenna set; the expansion speed corresponding to the minimum sum of the obtained phase differences is used as the actual speed of the final detected target; the actual speed of the target is used as the speed of the target detected by each transmitting antenna set, and the target speed detection results corresponding to multiple different transmitting antenna sets are obtained. Exemplarily, the speed expansion multiple corresponding to the minimum phase difference can be calculated, and the speed corresponding to the speed expansion multiple is the actual speed of the target. In this example, the virtual channel positions of the overlapping antennas of each other transmitting antenna set and the reference antenna set are the same, so there is no phase difference caused by the spatial array element spacing. There is only a phase difference caused by the TDMA time-sharing transmission of the target speed by the two subarrays of the other transmitting antenna set and the reference antenna set. When the correct target actual speed is used for complete Doppler phase deviation compensation, the sum of the absolute values ​​of the phase differences of the virtual channels of the other transmitting antenna sets and the reference antenna set is close to 0. Therefore, the final speed of the target can be determined by searching for the minimum value of the sum of the absolute values ​​of the phase differences of the virtual channels at the same position of the other transmitting antenna sets and the reference transmitting antenna set under different speed expansion multiples. The calculation formula is:

[0225]

[0226] in, Indicates the first virtual antenna in the reference antenna set and other antenna sets that have the same position as the overlapping virtual antenna. The channels of the virtual receiving antennas are expanded by a factor of When , the corresponding virtual channel echo signal after Doppler compensation corresponding to the other transmitting antenna set; Indicates the number of virtual channels; The first virtual antenna in the reference antenna set that overlaps with other antenna sets A virtual channel echo signal of a virtual channel; Indicates taking the minimum value, It indicates the speed expansion multiple corresponding to the minimum sum of the absolute values ​​of the phase difference of the virtual channel echo signals of the other antenna set and the reference antenna set; n indicates the number of overlapping virtual channels in the reference antenna set and other antenna sets with the same position. The corresponding expansion speed That is, the actual speed of the determined target. In this example, by calculating the phase difference of the virtual channel echo signal at the same position of the other antenna sets and the reference antenna set at different expansion speeds, the expansion speed corresponding to the minimum sum of the absolute values ​​of the phase difference is taken as the actual speed of the target, eliminating the error and improving the accuracy of the target speed detection.

[0227] In an optional implementation, the processing module 23 is used to:

[0228] Obtain target angles corresponding to a plurality of different transmitting antenna sets according to a virtual channel echo signal corresponding to a reference antenna set and compensated virtual channel echo signals corresponding to other transmitting antenna sets;

[0229] The target angles detected by the multiple different transmitting antenna sets are used as the target angle detection results corresponding to the multiple different transmitting antenna sets.

[0230] Specifically, the actual angles of the targets corresponding to the multiple different transmitting antenna sets can be calculated based on the echo signals of the virtual channels corresponding to the multiple different transmitting antenna sets. Furthermore, the actual angle of the target is used as the target angle detected by each transmitting antenna set to obtain the target angles corresponding to the multiple different transmitting antenna sets. In this example, the target angle is calculated by the echo signals of the virtual channels corresponding to the multiple different transmitting antenna sets, thereby improving the accuracy of the target angle detection.

[0231] In an optional implementation, the processing module 23 is used to:

[0232] Determining a threshold condition according to target detection results corresponding to a plurality of different transmitting antenna sets and working parameters of a detection device;

[0233] According to the threshold condition, false target detection results that do not meet the threshold condition are eliminated from the target detection results corresponding to the multiple different transmitting antenna sets;

[0234] After eliminating false target detection results, the target detection result corresponding to the transmitting antenna set with the largest effective aperture among the multiple different transmitting antenna sets is used as the final target detection result.

[0235] Specifically, in combination with the foregoing example, the target detection results corresponding to multiple different transmitting antenna sets are calculated through the virtual channel echo signals corresponding to multiple different transmitting antenna sets; illustratively, the target detection results include information such as the angle, speed, distance, and signal-to-noise ratio of the target; the target detection results corresponding to each transmitting antenna set may include the detection results of one or more targets. For example, for speed, the target detection results corresponding to each transmitting antenna set include multiple speed results; similarly, multiple angles, signal ratios, and distance results are also included. Based on the target detection results corresponding to the transmitting antenna set and the working parameters of the detection device, the threshold conditions are determined; illustratively, the working parameters of the detection device here may refer to the waveform configuration parameters of the system;

[0236] According to the determined threshold conditions, the false target detection results that do not meet the threshold conditions are eliminated from the target detection results corresponding to the multiple different transmitting antenna sets; after eliminating the false target detection results, the target detection results corresponding to the transmitting antenna set with the largest effective aperture among the multiple different transmitting antenna sets are used as the final target detection results. In this example, the accuracy of the target detection results is improved by eliminating the false target detection results from the target detection results corresponding to the multiple different transmitting antenna sets and then using the target detection results corresponding to the transmitting antenna set with the largest array aperture as the final target detection result.

[0237] In an optional implementation, the processing module 23 is used to:

[0238] Subtracting target detection information in target detection results corresponding to the reference antenna set from target detection information in target detection results corresponding to other transmit antenna sets;

[0239] Determine whether the pairwise difference results of the target detection information meet the threshold condition for matching the target detection results of the multiple different transmitting antenna sets; the threshold condition for matching the target detection results of the multiple different transmitting antenna sets represents the limit range of the difference between the target detection results corresponding to each other transmitting antenna set and the target detection results corresponding to the reference antenna set;

[0240] If the result of pairwise difference of target detection information does not satisfy the threshold condition for matching target detection results between multiple different transmitting antenna sets, the target detection results corresponding to the target information that does not satisfy the threshold condition for matching target detection results between multiple different transmitting antenna sets in the target detection results corresponding to the transmitting antenna set are eliminated as false target detection results.

[0241] Specifically, each target detection information in the target detection result corresponding to the reference antenna set is subtracted from each target detection information in the target detection result corresponding to the other transmitting antenna sets; illustratively, the distance, speed angle and signal-to-noise ratio detection value of a certain target in the target detection result corresponding to the reference antenna set is subtracted from the distance, speed, angle and signal-to-noise ratio detection value of each target in the target detection result corresponding to the other transmitting antenna sets; that is, the distance detection value of a certain target in the target detection result corresponding to the reference antenna set is subtracted from the distance detection value of each target in the target detection result corresponding to the other transmitting antenna sets to form multiple distance difference results; similarly, the reference antenna set is used to detect the distance of a certain target in the target detection result corresponding to the reference antenna set, and the speed, angle and signal-to-noise ratio detection value of each target in the target detection result corresponding to the other transmitting antenna sets are used to detect the distance of each target in the target detection result corresponding to the other transmitting antenna sets. The speed, angle and signal-to-noise ratio detection values ​​of the target corresponding to the line set are subtracted from the speed, angle and signal-to-noise ratio detection values ​​of each target in the target detection results corresponding to other transmitting antenna sets, and multiple speed, angle and signal-to-noise ratio difference results are also formed; it is judged whether the difference result meets the determined threshold condition; the threshold condition characterizes the limit of the detection difference between the target detection results corresponding to each other transmitting antenna set and the target detection results corresponding to the reference antenna set; if one of the difference results (difference in distance, speed, angle and signal-to-noise ratio) does not meet the determined threshold condition, then the target detection result that does not meet the threshold condition in the target detection results corresponding to the corresponding two transmitting antenna sets is eliminated as a false target detection result. Exemplarily, any target detection result of the target detection result corresponding to the reference antenna set and each target detection result in the target detection results corresponding to other transmitting antenna sets are selected for pairwise difference calculation, and it is judged whether the difference result meets the threshold condition; for example:

[0242]

[0243] in, Respectively represent the sub-target detection results of distance, speed, angle, and signal-to-noise ratio in the target detection results corresponding to the reference antenna set; Respectively represent any distance, speed, angle and signal-to-noise ratio detection value of the target detection result corresponding to any other transmitting antenna set; Respectively represent the distance threshold condition, speed threshold condition, angle threshold condition and signal-to-noise ratio threshold condition. If the difference results of distance, speed, angle and signal-to-noise ratio all meet the threshold conditions, then the target detection result in the target detection result corresponding to the reference antenna set and the target detection result that meets the threshold conditions in any other reference antenna set are saved, and at the same time, the target detection result in any other reference antenna set that meets at least one threshold condition and at most three threshold conditions is eliminated as a false target detection result. If any one of the difference results of distance, speed, angle and signal-to-noise ratio does not meet the threshold condition, then the target detection result in the target detection result corresponding to the reference antenna set is eliminated as a false target detection result.

[0244] In this example, the accuracy of the target detection results is improved by subtracting each target detection result in the target detection results corresponding to the reference antenna set from any target detection result in the target detection results corresponding to other transmitting antenna sets; and eliminating false target detection results according to the threshold condition.

[0245] In an optional embodiment, the detection device includes at least one radar chip;

[0246] If the detection device includes a radar chip, a plurality of different transmitting antenna sets are obtained according to the transmitting antenna of the radar chip;

[0247] If the detection device includes multiple radar chips, the transmitting antennas of the multiple radar chips are divided to obtain multiple different transmitting antenna sets; wherein each transmitting antenna set is obtained by dividing the transmitting antennas of multiple different radar chips.

[0248] Specifically, the detection device of this example includes at least one radar chip; if the detection device includes only one radar chip, then the transmitting antenna of the radar chip is divided into a plurality of sets of different transmitting antennas, and there is a transmitting antenna with the same element among the plurality of different transmitting antenna sets. If the detection device includes multiple radar chips, the transmitting antennas of the multiple radar chips are divided into a plurality of different transmitting antenna sets; wherein each transmitting antenna set is divided into the transmitting antennas of multiple different radar chips.

[0249] In this example, by dividing the transmitting antenna of the radar chip, a plurality of different transmitting antenna sets are obtained; thereby improving the utilization rate of the transmitting antenna of the radar chip and the degree of freedom of dividing the transmitting antenna.

[0250] In the target detection device of the detection device provided in the present embodiment, a plurality of different transmitting antenna sets of the detection device are instructed to send out detection signals in time, and the transmitting antennas in each transmitting antenna set send out detection signals at the same time; wherein, there is at least one overlapping transmitting antenna between the plurality of different transmitting antenna sets; then, echo signals corresponding to the plurality of different transmitting antenna sets are obtained; wherein the echo signal corresponding to the transmitting antenna set is an echo signal received by the receiving antenna of the detection device, corresponding to the detection signal sent out by the transmitting antenna set; according to the echo signals corresponding to the plurality of different transmitting antenna sets, signal processing is performed to obtain target detection results; the scheme of the present application adopts a method of simultaneously sending out detection signals within a plurality of antenna sets and sending out detection signals in time between a plurality of antenna sets, and performs phase deviation compensation according to the echo signals corresponding to the overlapping transmitting antennas in the plurality of different transmitting antenna sets, and eliminates false targets through threshold conditions, thereby improving the accuracy of the target detection results of the detection device.

[0251] Embodiment 5

[0252] Fig.33 exemplarily shows a structural schematic diagram of an electronic device, the device comprising:

[0253] The device includes a processor 291 and a memory 292; it may also include a communication interface 293 and a bus 294. The processor 291, the memory 292, and the communication interface 293 may communicate with each other through the bus 294. The communication interface 293 may be used for information transmission. The processor 291 may call the logic instructions in the memory 292 to execute the above-mentioned example method.

[0254] In addition, the logic instructions in the above-mentioned memory 292 can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product.

[0255] The memory 292 is a computer-readable storage medium that can be used to store software programs and computer executable programs, such as program instructions / modules corresponding to the methods in the embodiments of the present application. The processor 291 executes functional applications and data processing by running the software programs, instructions, and modules stored in the memory 292, that is, implementing the methods in the above method examples.

[0256] The memory 292 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application required for at least one function; the data storage area may store data created according to the use of the terminal device, etc. In addition, the memory 292 may include a high-speed random access memory and may also include a non-volatile memory.

[0257] An embodiment of the present application also provides a data transmission system, including a first device and a second device.

[0258] An embodiment of the present application further provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the method in any embodiment.

[0259] An embodiment of the present application also provides a computer program product, including a computer program, which is used to implement the method in any embodiment when executed by a processor.

[0260] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by the present application.

[0261] It should be further noted that, although the various steps in the flowchart are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless there is a clear description in this article, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowchart may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed in the same time period, but can be executed in different time periods, and the execution order of these sub-steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the sub-steps or stages of other steps.

[0262] It should be understood that the above-mentioned device embodiments are only illustrative, and the device of the present application can also be implemented in other ways. For example, the division of units / modules in the above-mentioned embodiments is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units, modules or components can be combined, or can be integrated into another system, or some features can be ignored or not executed.

[0263] In addition, unless otherwise specified, each functional unit / module in each embodiment of the present application may be integrated into one unit / module, each unit / module may exist physically separately, or two or more units / modules may be integrated together. The above-mentioned integrated unit / module may be implemented in the form of hardware or in the form of a software program module.

[0264] If the integrated unit / module is implemented in the form of hardware, the hardware may be a digital circuit, an analog circuit, etc. The physical implementation of the hardware structure includes but is not limited to transistors, memristors, etc. Unless otherwise specified, the processor may be any appropriate hardware processor, such as a CPU, a GPU, an FPGA, a DSP, an ASIC, etc. Unless otherwise specified, the storage unit may be any appropriate magnetic storage medium or magneto-optical storage medium, such as a resistive random access memory (RRAM), a dynamic random access memory (DRAM), a static random access memory (SRAM), an enhanced dynamic random access memory (EDRAM), a high-bandwidth memory (HBM), a hybrid memory cube (HMC), etc.

[0265] If the integrated unit / module is implemented in the form of a software program module and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a memory, including a number of instructions to enable a computer device (which can be a personal computer, server or network device, etc.) to execute all or part of the steps of the various embodiments of the present application. The aforementioned memory includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, disk or optical disk and other media that can store program codes.

[0266] In the above embodiments, the description of each embodiment has its own emphasis. For the part not described in detail in a certain embodiment, please refer to the relevant description of other embodiments. The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0267] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only.

[0268] It should be understood that the present application is not limited to the exact construction that has been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof.

[0269] Finally, it should be noted that those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variation, use or adaptation of the present invention, which follows the general principles of the present invention and includes common knowledge or conventional techniques in the art not disclosed by the present invention, is not limited to the precise structure described above and shown in the drawings, and may be modified and changed in various ways without departing from the scope thereof.

Claims

1. A target detection method of a detection device, characterized in that: The method comprises: Instructing a plurality of different transmitting antenna sets of the detection device to send out detection signals in time division; wherein there is at least one overlapping transmitting antenna among the plurality of different transmitting antenna sets, and the transmitting antennas in each transmitting antenna set send out detection signals at the same time; Acquire echo signals corresponding to the multiple different transmitting antenna sets; the echo signal corresponding to the transmitting antenna set is an echo signal received by the receiving antenna of the detection device and corresponds to the detection signal emitted by the transmitting antenna set; Signal processing is performed according to the echo signals corresponding to the multiple different transmitting antenna sets to obtain a target detection result.

2. The method according to claim 1, characterized in that The detection device uses time division multiple access (TDMA) to send detection signals in different transmission antenna sets in a time-division manner; and uses Doppler division multiple access (DDMA) to send detection signals simultaneously in each transmission antenna set.

3. The method according to claim 1, characterized in that The performing signal processing according to the echo signals corresponding to the multiple different transmitting antenna sets to obtain the target detection result specifically includes: Performing signal processing according to the echo signals corresponding to the multiple different transmitting antenna sets to obtain target detection results corresponding to the multiple different transmitting antenna sets; A final target detection result is obtained according to the target detection results corresponding to the multiple different transmitting antenna sets.

4. The method according to claim 3, characterized in that The performing signal processing according to the echo signals corresponding to the multiple different transmitting antenna sets to obtain the target detection results corresponding to the multiple different transmitting antenna sets includes: Obtaining virtual channel echo signals corresponding to the multiple different transmitting antenna sets according to the echo signals corresponding to each transmitting antenna set; Selecting a reference antenna set from the multiple different transmitting antenna sets, and performing phase offset compensation on virtual channel echo signals corresponding to other transmitting antenna sets among the multiple different transmitting antenna sets except the reference antenna set according to virtual channel echo signals corresponding to the reference antenna set; Signal processing detection is performed according to the virtual channel echo signals corresponding to the reference antenna set and the compensated virtual channel echo signals corresponding to the other transmitting antenna sets to obtain target detection results corresponding to the multiple different transmitting antenna sets.

5. The method according to claim 4, characterized in that The obtaining, according to the echo signal corresponding to each transmit antenna set, the virtual channel echo signals corresponding to the multiple different transmit antenna sets specifically includes: For the echo signals corresponding to the multiple different transmitting antenna sets, two-dimensional Fourier transform, transmitting channel separation, two-dimensional Fourier transform result rearrangement and constant false alarm rate detection are performed respectively to obtain distance indexes and Doppler indexes corresponding to the multiple different transmitting antenna sets; According to the distance index and the Doppler index corresponding to each transmitting antenna set, the virtual channel echo signals corresponding to the multiple different transmitting antenna sets are obtained.

6. The method according to claim 5, characterized in that The performing phase offset compensation on virtual channel echo signals corresponding to other transmit antenna sets among the multiple different transmit antenna sets except the reference antenna set according to the virtual channel echo signals corresponding to the reference antenna set specifically includes: Obtaining a target speed detected by the reference antenna set according to a target Doppler index obtained by the echo signal corresponding to the reference antenna set; According to the working parameters of the detection device, the target speed detected by the reference antenna set is expanded to obtain multiple expanded speeds; According to the target speed detected by the reference antenna set and the time difference between other transmitting antenna sets and the reference antenna set, the phase deviation of other transmitting antenna sets at each extended speed is obtained; According to the phase deviation of the other transmitting antenna set at each expansion speed, the virtual channel echo signal corresponding to the other transmitting antenna set is compensated for the phase deviation.

7. The method according to claim 6, characterized in that The obtaining of the target speed detected by the reference antenna set according to the Doppler index of the echo signal corresponding to the reference antenna set specifically includes: The target speed detected by the reference antenna set is obtained according to the target Doppler index obtained by processing the echo signal corresponding to the reference antenna set and the working parameters of the detection device.

8. The method according to claim 6, characterized in that The step of expanding the target speed detected by the reference antenna set to obtain a plurality of expanded speeds specifically includes: According to the working parameters of the detection device, a plurality of speed expansion multiples are obtained; According to the multiple speed expansion multiples, the target speed detected by the reference antenna set is expanded to obtain multiple expanded speeds; the multiple expanded speeds correspond to the multiple speed expansion multiples one by one.

9. The method according to claim 6, characterized in that The performing phase deviation compensation on the virtual channel echo signal corresponding to the other transmitting antenna set according to the phase deviation of the other transmitting antenna set at each extension speed specifically includes: The phase deviation of the other transmitting antenna sets at each extended speed is multiplied by the virtual channel echo signal corresponding to the other transmitting antenna sets before compensation to obtain the virtual channel echo signal corresponding to the other transmitting antenna sets after compensation.

10. The method according to claim 6, characterized in that The target detection result includes the speed and angle of the target.

11. The method according to claim 10, characterized in that Obtaining target detection results corresponding to the multiple different transmit antenna sets according to the virtual channel echo signals corresponding to the reference antenna set and the compensated virtual channel echo signals corresponding to the other transmit antenna sets, including: For each transmitting antenna set other than the reference antenna set, according to virtual channel echo signals corresponding to the transmitting antennas that overlap after compensation between the other transmitting antenna set and the reference antenna set, obtain a phase difference between the virtual channel echo signals of the other transmitting antenna set and the reference antenna set at different expansion speeds; The expansion speed corresponding to the time when the sum of the absolute values ​​of the phase differences is minimum is used as the target speed detected by each transmitting antenna set, and the target speed detection results corresponding to the multiple different transmitting antenna sets are obtained.

12. The method according to claim 10, characterized in that The obtaining, according to the virtual channel echo signal corresponding to the reference antenna set and the compensated virtual channel echo signal corresponding to the other transmit antenna sets, the target detection results corresponding to the multiple different transmit antenna sets, comprises: Obtaining target angles detected by the multiple different transmitting antenna sets according to the virtual channel echo signals corresponding to the reference antenna set and the compensated virtual channel echo signals corresponding to the other transmitting antenna sets; The target angles detected by the multiple different transmitting antenna sets are used as target angle detection results corresponding to the multiple different transmitting antenna sets.

13. The method according to claim 12, characterized in that The target detection result corresponding to the transmitting antenna set includes multiple target detection results; and obtaining the final target detection result according to the target detection results corresponding to the multiple different transmitting antenna sets includes: Determining a threshold condition according to target detection results corresponding to the multiple different transmit antenna sets and operating parameters of the detection device; According to the threshold condition, false target detection results that do not meet the threshold condition are eliminated from the target detection results corresponding to the multiple different transmitting antenna sets; After eliminating false target detection results, the target detection result corresponding to the transmitting antenna set with the largest effective aperture among the multiple different transmitting antenna sets is used as the final target detection result.

14. The method according to claim 13, characterized in that The removing, according to the threshold condition, false target detection results that do not meet the threshold condition from the target detection results corresponding to the multiple different transmitting antenna sets includes: Subtracting target detection information in the target detection results corresponding to the reference antenna set from target detection information in the target detection results corresponding to other transmit antenna sets; Determine whether the pairwise difference results of the target detection information meet the threshold condition for matching the target detection results of the multiple different transmitting antenna sets; the threshold condition for matching the target detection results of the multiple different transmitting antenna sets represents the limit range of the difference between the target detection results corresponding to each other transmitting antenna set and the target detection results corresponding to the reference antenna set; If the result of pairwise difference of target detection information does not satisfy the threshold condition for matching between the target detection results of the multiple different transmitting antenna sets determined, then the target detection results corresponding to the target information that does not satisfy the threshold condition for matching between the target detection results of the multiple different transmitting antenna sets determined in the target detection results corresponding to the transmitting antenna set are eliminated as false target detection results.

15. The method according to any one of claims 1 to 14, characterized in that: The detection device includes at least one radar chip; the method further includes: If the detection device includes a radar chip, the plurality of different transmitting antenna sets are obtained by dividing according to the transmitting antenna of the radar chip; If the detection device includes multiple radar chips, the transmitting antennas of the multiple radar chips are divided to obtain the multiple different transmitting antenna sets; wherein at least one of the transmitting antenna sets includes transmitting antennas of different radar chips.

16. A target detection device of a detection device, characterized in that: The device comprises: A transmitting module, used to instruct a plurality of different transmitting antenna sets of the detection device to send out detection signals in time division; wherein there is at least one overlapping transmitting antenna among the plurality of different transmitting antenna sets, and the transmitting antennas in each transmitting antenna set send out detection signals at the same time; An acquisition module, used to acquire echo signals corresponding to the multiple different transmitting antenna sets; the echo signal corresponding to the transmitting antenna set is an echo signal received by the receiving antenna of the detection device and corresponds to the detection signal emitted by the transmitting antenna set; The processing module is used to perform signal processing according to the echo signals corresponding to the multiple different transmitting antenna sets to obtain the target detection result.

17. An electronic device, characterized in that: include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the method according to any one of claims 1 to 15.

18. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 15 when executed by a processor.

19. A computer program product, characterized in that The invention comprises a computer program, which implements the method according to any one of claims 1 to 15 when being executed by a processor.

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