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

Abstract

The present application provides a target detection method, device, equipment, medium and product for a detection device. The method includes: instructing multiple different transmitting antenna sets of the detection device 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 send detection signals at the same time; obtaining echo signals corresponding to 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; performing signal processing according to the echo signals corresponding to the multiple different transmitting antenna sets to obtain target detection results. The solution of the present application can improve the accuracy of the target detection results of the detection device.

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 Systems (ADAS) and autonomous driving systems, millimeter-wave radar has become an essential sensor in today's in-vehicle driving systems due to its advantages such as long detection range, low cost, and all-day, all-weather operation. Currently, mainstream single-chip millimeter-wave radar devices can perform ranging, speed, and angle measurement. However, to further improve system parameter estimation accuracy and angular resolution performance, the combination of Multiple Input Multiple Output (MIMO) radar and sparse array technology has been introduced based on single-chip millimeter-wave radar devices. This technology is low-cost, simple in structure, and beneficial for achieving angular resolution in complex scenes. Therefore, it has attracted widespread attention and research in the automotive radar industry.

[0003] Currently, some MIMO millimeter-wave radar detection methods use a transmitting antenna to transmit a signal, and a receiving antenna to receive a target's echo signal. Signal processing is performed based on the target's echo signal to obtain the target detection result. However, due to the influence of errors, the target detection results obtained using this method are 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 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; 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; according to the echo signals corresponding to the multiple different transmitting antenna sets, signal processing is performed 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 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 implementation methods 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 detection signal is emitted in time by instructing multiple different transmitting antenna sets of the detection device, and the transmitting antennas in each transmitting antenna set emit detection signals at the same time; wherein, there is at least one overlapping transmitting antenna between the 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 received by the receiving antenna of the detection device, and corresponds to the echo signal of the detection signal emitted by the transmitting antenna set; according to the echo signals corresponding to the multiple different transmitting antenna sets, signal processing is performed to obtain the target detection result; the scheme of the present application adopts a method of simultaneously emitting detection signals within multiple different antenna sets and emitting detection signals in time between multiple antenna sets, and performs phase deviation compensation according to the echo signals corresponding to the overlapping transmitting antennas in the multiple transmitting antenna sets, and eliminates false targets through threshold conditions, thereby improving the accuracy of the target detection result 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 flow chart of a target detection method of a detection device is exemplarily shown;

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

[0016] Figure 3 A schematic flow chart of a target detection method of a detection device is exemplarily shown;

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

[0018] Figure 5 A schematic flow chart of a target detection method of a detection device is exemplarily shown;

[0019] Figure 6 A schematic flow chart of a target detection method of a detection device is exemplarily shown;

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

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

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

[0023] Figure 10 A schematic diagram of physical receiving antenna positions of a first antenna set;

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

[0025] Figure 12 A schematic diagram of the physical transmit antenna locations of the second antenna set;

[0026] Figure 13 A schematic diagram of the physical receiving antenna locations of the second antenna set;

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

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

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

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

[0031] Figure 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] Figure 19 This is a schematic diagram of the angle measurement results of target one corresponding to the second transmitting antenna set;

[0033] Figure 20 This is a schematic diagram of the angle measurement results corresponding to the first transmitting antenna set for target 2;

[0034] Figure 21 This is a schematic diagram of the angle measurement results corresponding to the second transmitting antenna set for target 2;

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

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

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

[0038] Figure 25 Schematic diagram of the sum of the absolute values ​​of the phase difference between target 1 and target 2 and the corresponding velocity hypothesis;

[0039] Figure 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] Figure 27 Schematic diagram of the angle measurement results of target 1 and target 2 corresponding to the first transmitting antenna set;

[0041] Figure 28 Schematic diagram of the angle measurement results of target one and target two corresponding to the second transmitting antenna set;

[0042] Figure 29 Schematic diagram of the angle measurement results of target three and target four corresponding to the first transmitting antenna set;

[0043] Figure 30Schematic diagram of the angle measurement results of target three and target four corresponding to the second transmitting antenna set;

[0044] Figure 31 This is a schematic diagram of the final test results of Target 1, Target 2, Target 3 and Target 4;

[0045] Figure 32 A schematic structural diagram of a target detection device of a detection device is exemplarily shown;

[0046] Figure 33 Schematic diagram of the structure of an electronic device is shown in FIG.

[0047] The above drawings illustrate specific embodiments of the present application, which will be described in more detail below. These drawings and the textual description are not intended to limit the scope of the present application in any way, but rather to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0048] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0049] A module in this application refers to a functional module or a logical module. It can be in software form, where a processor executes program code to implement its functionality, or it can be in hardware form. "And / or" describes the relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, or B exists alone. The character " / " generally indicates that the associated objects are in an "or" relationship.

[0050] First, let’s explain the terms involved in this application:

[0051] Advanced Assisted Driving System (ADAS): A system that uses sensors, cameras, radar, and other technologies to help drivers improve safety and comfort while driving. ADAS can provide a variety of functions, such as adaptive cruise control, lane keeping assist, automatic emergency braking, and blind spot detection. 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 communication systems. 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 by dividing time into multiple time slots. Each user is assigned one or more time slots and sends or receives data within their own time slot, thus 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 uses the Doppler frequency shift of different users to distinguish user signals. DDMA uses the different Doppler frequency shifts caused 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): A signal processing technique used to maintain a constant false-alarm rate in noisy and interfering environments, thereby effectively detecting target signals. CFAR detection dynamically adjusts the detection threshold, allowing the system to maintain a constant false-alarm rate despite changes in noise and interference, thereby improving target detection accuracy.

[0056] Fast Fourier Transform (FFT): An efficient algorithm for calculating the discrete Fourier transform, used to convert time-domain signals into frequency-domain signals. The FFT reduces computational complexity and quickly calculates the spectral components of a signal. It 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 essential sensor in today's in-vehicle driving systems due to its advantages such as long detection range, low cost, and all-day and all-weather operation. Currently, mainstream single-chip millimeter-wave radar devices can perform ranging, speed, and angle measurement. However, to further improve system parameter estimation accuracy and angular resolution performance, MIMO radar and sparse array technology have been introduced based on single-chip millimeter-wave radar devices. This technology is low-cost, simple in structure, and beneficial for achieving angular resolution in complex scenes. Therefore, it has attracted widespread attention and research in the automotive radar industry.

[0058] Angular resolution is a critical metric for radar. The best way to improve angular resolution is to increase the number of physical transceiver antennas, making the resulting virtual array more uniform and effectively increasing the array aperture. However, the limited size of a single chip prevents the arrangement of a large number of transceiver antennas. While designing a sparse array can increase the array aperture, using an overly sparse virtual array for angle measurement is prone to fuzzy angle measurement results due to high sidelobes. To achieve higher angle measurement accuracy and resolution and reduce the sidelobe effects of sparse arrays, many chip manufacturers have designed multi-chip cascade solutions. By cascading chips, the number of physical transceiver antennas can be increased, achieving higher-precision and higher-resolution angle measurement. The design of multi-chip cascaded devices is constrained by the overall size and cost of the device. Generally, no more than four cascaded chips are selected. Cascaded 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 high, around 1° and 3°, respectively. Therefore, given the array resources and limited device size, a sparse array still needs to be designed. Therefore, the angular measurement ambiguity caused by the high sidelobes 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, a plurality of different transmitting antenna sets of the detection device are instructed to send detection signals in time-sharing, 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 the 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 the multiple antenna sets, selects to send detection signals simultaneously within the multiple antenna sets, sends detection signals in time-sharing between the multiple antenna sets, and performs certain phase deviation compensation and matching between the target detection results corresponding to the multiple antenna sets according to the phase relationship between the echo signals of the overlapping transmitting antennas in the multiple different transmitting antenna sets, thereby improving the accuracy of the target detection result of the detection device.

[0060] The following specific embodiments describe in detail the technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems. 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] Example 1

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

[0063] Step 101: Instruct multiple different transmitting antenna sets of a detection device to send detection signals in a time-sharing manner; 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 simultaneously;

[0064] Step 102: Acquire echo signals corresponding to a plurality of different transmitting antenna sets; the echo signals corresponding to the transmitting antenna sets are echo signals received by the receiving antennas of the detection device and corresponding to the detection signals emitted by the transmitting antenna sets;

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

[0066] Specifically, multiple different transmitting antenna sets of the detection device are instructed to transmit detection signals in a time-sharing manner; at least one transmitting antenna overlaps among the multiple different transmitting antenna sets, and the transmitting antennas within each transmitting antenna set transmit detection signals simultaneously. Exemplarily, the detection device may be a radar system comprising a radar chip; multiple transmitting antennas and receiving antennas are arranged within the radar system. In this example, multiple different transmitting antenna sets are selected from the multiple radar antennas, and each of the different transmitting antenna sets has an element at the same transmitting antenna position. Echo signals corresponding to the multiple different transmitting antenna sets are then obtained; the echo signals corresponding to the transmitting antenna sets are echo signals received by the receiving antennas of the detection device and correspond to the detection signals emitted by the transmitting antenna sets. Furthermore, the echo signals corresponding to the multiple transmitting antenna sets are processed accordingly to obtain a final target detection result from the radar system. In this example, multiple different transmitting antenna sets of the detection device are instructed to transmit detection signals in a time-sharing manner, with each transmitting antenna set transmitting detection signals simultaneously. Signal processing is then performed on the echo signals received by the receiving antennas corresponding to each transmitting antenna set to obtain a final target detection result. 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 a time-division manner; and Doppler division multiple access is used within each transmitting antenna set to send detection signals simultaneously.

[0068] Specifically, the detection device includes multiple transmit antenna sets; each transmit antenna set includes a portion of the transmit antennas and all of the receive antennas of the detection device. Within each transmit antenna set, Doppler division multiple access (DDMA) is used to simultaneously transmit detection signals. Exemplarily, DDMA implements orthogonal waveform design in the Doppler domain. It inherits the characteristics of time-division multiple access (TD-DMA) in the transmitter structure, but adds a series of phase shifters. These phase shifters adjust the signal phase to introduce a specific Doppler shift into the transmitted signal. Signals from each user or transmit channel can be phase-adjusted to produce different Doppler shifts, thereby achieving orthogonal separation of the signals in the frequency domain. Furthermore, because DDMA technology allows simultaneous transmission of transmitting elements, it fully utilizes the transmit power of each transmit channel, improving detection range and other parameter estimation performance, making it a popular method for orthogonal waveform design in automotive millimeter-wave radars. TD-DMA is used to time-share the transmission of detection signals between multiple transmit antenna sets. Exemplarily, TDMA involves time-sharing the transmission of detection signals between multiple transmit antennas. 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 flowchart of a target detection method of a detection device is exemplified. Based on any example, signal processing is performed based on echo signals corresponding to multiple different transmit antenna sets to obtain target detection results, specifically including:

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

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

[0072] Specifically, signal processing can be performed based on the echo signals received by multiple different transmit antenna sets to obtain target detection results corresponding to the multiple transmit antenna sets. Based on the target detection results corresponding to the multiple transmit antenna sets, a final target detection result 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, thereby improving the accuracy of the target detection result.

[0073] In an optional embodiment, Figure 3A flow chart illustrating a target detection method of a detection device is shown as an example. Signal processing is performed based on echo signals corresponding to multiple different transmit antenna sets to obtain target detection results corresponding to the multiple different transmit antenna sets, including:

[0074] Step 301: Obtain virtual channel echo signals corresponding to multiple different transmitting antenna sets based on 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 in the plurality of different transmitting antenna sets except the reference antenna set based on the virtual channel echo signals corresponding to the reference antenna set.

[0076] Step 303: Perform signal processing and 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, signal processing is performed based on the echo signals corresponding to multiple different transmit antenna sets to obtain target detection results corresponding to the multiple different transmit antenna sets. First, based on the echo signals corresponding to each transmit antenna set, virtual channel echo signals corresponding to the multiple different transmit antenna sets are obtained. Then, an antenna set is selected from the multiple different transmit antenna sets as a reference antenna set. Based on the virtual channel echo signal corresponding to the reference antenna set, the virtual channel echo signals corresponding to the other transmit antenna sets in the multiple different transmit antenna sets, excluding the reference antenna set, are compensated. The virtual channel echo signal corresponding to the reference antenna set and the compensated virtual channel echo signals corresponding to the other transmit antenna sets are processed and detected to obtain target detection results corresponding to the multiple different transmit antenna sets. In this example, virtual channel echo signals corresponding to multiple different transmitting antenna sets are obtained based on the echo signals of multiple different transmitting antenna sets, and then one transmitting antenna set is selected as the reference antenna for combination, and phase compensation is performed on the virtual channel echo signals of other transmitting antenna sets except the reference antenna set to obtain the 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 the other transmitting antenna sets are subjected to signal processing and detection, so as 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 multiple different transmit antenna sets according to the echo signal corresponding to each transmit antenna set specifically includes:

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

[0080] According to the target range 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, based on the echo signals corresponding to multiple different transmit antenna sets, multiple virtual channel echo signals corresponding to the different transmit antenna sets are obtained. First, the echo signals corresponding to each transmit antenna set are subjected to a two-dimensional Fourier transform (2D Fourier transform), transmit channel separation, 2D Fourier transform result reordering, and constant false alarm rate (CFAR) detection. Signal processing results for the echo signals of each transmit antenna set are obtained, thereby obtaining the range index and Doppler index corresponding to each transmit set. The 2D Fourier transform (2DFT) is a mathematical tool for converting time-domain signals into frequency-domain signals. In signal processing, the 2D Fast Fourier Transform (FFT) is used to convert received time-domain signals into range-Doppler domain signals. Through the 2D FFT, target range information (via a range-dimensional FFT) and velocity information (via a Doppler-dimensional FFT) can be extracted. In a multiple-input, multiple-output (MIMO) radar system, multiple transmit antennas transmit signals simultaneously or in time-sharing. The receiver needs to separate these mixed signals to distinguish signals from different transmit channels. Separating the signals from different transmit channels allows subsequent processing to independently analyze target information from each transmit channel, thereby improving the radar system's resolution and target detection capabilities. In a MIMO radar system, the two-dimensional fast Fourier transform results of different transmit channels need to be rearranged to generate virtual array signals. This rearrangement allows the generation of virtual array signals, thereby improving the radar's angular resolution. The virtual array signals can be used for subsequent angle estimation and target localization. Constant false alarm rate (CFAR) detection is a signal processing technique used to maintain a constant false alarm rate in noisy and interfering environments, effectively detecting target signals. CFAR dynamically adjusts the detection threshold, allowing the system to maintain a constant false alarm rate despite changes in noise and interference, improving target detection accuracy and reducing false alarms. Based on the target range index and Doppler index corresponding to each transmit antenna set, the virtual channel echo signals corresponding to multiple different transmit antenna sets can be obtained. In this example, by processing the echo signals corresponding to multiple different transmit antenna sets, the echo signals of the virtual channels of these different transmit antenna sets are obtained, improving the accuracy of the generated virtual channel echo signals and, in turn, the accuracy of target angle measurement.

[0082] In an optional embodiment, Figure 4 A flowchart of a target detection method for a detection device is exemplified. Based on any example, phase offset compensation is performed on virtual channel echo signals corresponding to other transmit antenna sets other than the reference antenna set in multiple different transmit antenna sets based on the echo signals corresponding to the reference antenna set, specifically including:

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

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

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

[0086] Step 404: Perform 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 extended speed.

[0087] Specifically, first, based on the echo signal corresponding to the reference antenna set, the target speed detected by the reference antenna set is obtained; then, based on the working parameters of the detection device, the target speed 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, speed measurement range, and maximum unambiguous speed of the detection device. Further, based on 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; based on 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 embodiment, 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 based on 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 based on the target Doppler index obtained by processing the echo signal corresponding to the reference antenna set and the operating parameters of the detection device. For example, 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 sounding 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 transmitted by the transmitting antenna cycle; Indicates detection signal The wavelength of , C represents the speed of light, 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 by using the operating parameters of the detection device and the target Doppler index of the reference antenna set, thereby improving 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 in a one-to-one manner.

[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 expanded speeds; wherein the multiple expanded speeds correspond to the multiple speed expansion multiples one to 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 speed measurement; Indicates the maximum 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 multiplier 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 speed corresponding to different speed extension multiples is obtained by referring to the target speed detected by the antenna set and the optional speed extension multiple, thereby improving the accuracy of obtaining the extended speed.

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

[0113] The phase deviations of the other transmitting antenna sets at each extended speed are multiplied by the virtual channel echo signals corresponding to the other transmitting antenna sets before compensation to obtain the virtual channel echo signals corresponding to the other transmitting antenna sets after compensation.

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

[0115]

[0116]

[0117]

[0118] in, Indicates 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, Indicates the wavelength of the probe 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 each other transmitting antenna set relative to the detection signal transmitted by the reference antenna set; It represents the complete Doppler phase deviation corresponding to different velocity expansion multiples; representing the compensated virtual channel echo signals of each other transmitting antenna set; represents the virtual channel echo signals of each other transmit antenna set before compensation. In this example, by performing phase offset compensation on the virtual channel echo signals of other transmit antenna sets, the compensated virtual channel echo signals of multiple different transmit antenna sets are obtained, thereby improving the accuracy of obtaining the virtual channel echo signals of each transmit antenna set.

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

[0120] Specifically, the target detection results include the target's angle and speed. In practical applications, the detection results also include the target's distance and signal-to-noise ratio. For example, the target's angle includes the horizontal azimuth angle and the vertical pitch angle. In this example, the accuracy of the target detection results is improved by comprehensively detecting the target.

[0121] In an optional embodiment, Figure 5 A flowchart of a target detection method for a detection device is exemplified. Based on any example, signal processing and detection are performed 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, including:

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

[0123] Step 502: 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.

[0124] Specifically, in combination with the above example, 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, 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 phase difference of the virtual channel between the other transmitting antenna set and the reference antenna set at different expansion speeds is obtained; 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 at the overlapping antennas of each other transmitting antenna set and the reference antenna set are the same. Therefore, there is no phase difference caused by the spatial array element spacing. The only phase difference between the other transmitting antenna sets and the reference antenna set is caused by the TDMA time-sharing transmission of the target speed. 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 phase differences of the virtual channels at the same position of each other transmitting antenna set 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 the other antenna sets that have the same position as the overlapping virtual antennas. The channel of the virtual receiving antenna is expanded by a factor of When , the virtual channel echo signal after Doppler compensation corresponding to the corresponding 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 Virtual channel echo signals of virtual channels; Indicates taking the minimum value, The speed expansion factor is the maximum value when the sum of the absolute phase differences of the virtual channel echo signals of the other antenna sets and the reference antenna set is the smallest; n represents the number of overlapping virtual channels in the reference antenna set and the other antenna sets. Corresponding expansion speed This is the actual speed of the target. In this example, the phase differences between the virtual channel echo signals from the same location as the reference antenna set and the other antenna sets are calculated at different expansion speeds. The expansion speed corresponding to the minimum sum of the absolute values ​​of the phase differences is used as the actual speed of the target. This eliminates errors and improves the accuracy of target speed detection.

[0127] In an optional embodiment, Figure 6 A flowchart of a target detection method for a detection device is exemplified. Based on any example, target detection results corresponding to multiple different transmit antenna sets are obtained 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, including:

[0128] Step 601: Obtain target angles corresponding to multiple different transmitting antenna sets based on the virtual channel echo signal corresponding to the reference antenna set and the compensated virtual channel echo signals corresponding to other transmitting antenna sets;

[0129] Step 602: 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.

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

[0131] In an optional embodiment, Figure 7 The example shows a flowchart of a target detection method for a detection device. The target detection results corresponding to the transmitting antenna set include multiple target detection results. A final target detection result is obtained based on the target detection results corresponding to multiple different transmitting antenna sets, including:

[0132] Step 701: Determine a threshold condition based on target detection results corresponding to multiple different transmit antenna sets and operating parameters of a detection device;

[0133] Step 702: 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 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 used as the final target detection result.

[0135] Specifically, in combination with the above 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 target's angle, speed, distance, and signal-to-noise ratio; the target detection results corresponding to each transmitting antenna set may include detection results for one or more targets; for example, for speed, the target detection results corresponding to each transmitting antenna set include multiple speed results; similarly, they also include multiple angle, signal ratio, and distance results. 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;

[0136] Based on the determined threshold conditions, false target detection results that do not meet the threshold conditions are removed from the target detection results corresponding to multiple different transmit antenna sets. After removing these false target detection results, the target detection results corresponding to the transmit antenna set with the largest effective aperture among the multiple different transmit antenna sets are used as the final target detection results. In this example, by removing false target detection results from the target detection results corresponding to multiple different transmit antenna sets and then using the target detection results corresponding to the transmit antenna set with the largest array aperture as the final target detection result, the accuracy of the target detection results is improved.

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

[0138] Perform pairwise subtraction of target detection information in the target detection results corresponding to the reference antenna set and target detection information in the target detection results corresponding to other transmit antenna sets;

[0139] Determining whether pairwise differences in target detection information satisfy a threshold condition for matching target detection results for the multiple different transmit antenna sets; the threshold condition for matching target detection results for the multiple different transmit antenna sets represents a limit range of differences between target detection results corresponding to each of the other transmit antenna sets and target detection results corresponding to the reference antenna set;

[0140] If the pairwise difference results of the target detection information do not meet the threshold condition for matching between the target detection results of multiple different transmitting antenna sets, the target detection results corresponding to the target information that do not meet the threshold condition for matching between the target detection results of 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 detection value of each target in the target detection result corresponding to the other transmitting antenna sets, thereby forming a plurality of distance difference results; similarly, the distance ... 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 the 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 represents 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 the 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 detection value of distance, speed, angle and signal-to-noise ratio 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 for a detection device according to an example of the present application; taking two different transmitting antenna sets as an example, 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 target detection results corresponding to the first transmitting antenna set and the second transmitting antenna set received, threshold conditions for target distance, speed, angle and signal-to-noise ratio are set ; 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 second transmitting antenna set 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 taking the difference between each target detection result in the target detection results corresponding to the reference antenna set and any target detection result in the target detection results corresponding to other transmitting antenna sets; and eliminating false target detection results based on 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 in this example includes at least one radar chip. If the detection device includes only one radar chip, the transmit antenna of this radar chip is divided into multiple different transmit antenna sets, where one transmit antenna element is shared among the multiple transmit antenna sets. If the detection device includes multiple radar chips, the transmit antennas of the multiple radar chips are divided into multiple different transmit antenna sets, where each transmit antenna set is divided by the transmit antennas of multiple different radar chips.

[0149] In this example, the transmitting antennas of the radar chip are divided to obtain multiple different transmitting antenna sets, thereby improving the utilization rate of the transmitting antennas of the radar chip and the degree of freedom of transmitting antenna division.

[0150] In the target detection method of the detection device provided in this 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 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 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] Example 2

[0152] In combination with the above example, taking two transmitting antenna sets, each transmitting antenna set includes 4 transmitting antennas and 8 receiving antennas as an example, the two transmitting antenna sets are 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. Figure 9 A schematic diagram of physical transmit antenna positions of a first antenna set; Figure 10 A schematic diagram of physical receiving antenna positions of a first antenna set; Figure 11 is a schematic diagram of virtual receiving antenna positions of a first antenna set; Figure 12 A schematic diagram of the physical transmit antenna locations of the second antenna set; Figure 13 A schematic diagram of the physical receiving antenna locations of the second antenna set; Figure 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; Figures 9-14 The corresponding units of the horizontal and vertical coordinates are , The aforementioned detection signal wavelength; reference Figures 9-14 , Figure 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. Figure 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. Figure 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 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. Figure 11 The information about the positions and number of virtual receiving antennas of the first antenna set is merely exemplary; Figure 11 Each dot in represents a virtual receiving antenna. Figure 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. Figure 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. Figure 10 and Figure 12 It can be seen 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. Figure 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. Figure 14 The information about the positions and number of virtual receiving antennas of the second antenna set is merely exemplary; Figure 14 Each dot in represents a virtual receiving antenna. Figure 9 and Figure 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 Figure 11 and Figure 14 In the example, the positions of the first virtual receive antennas in the first transmit antenna set are identical to the positions of the first virtual receive antennas in the second transmit antenna set, and the positions of each virtual receive antenna in each virtual receive antenna set are also identical. The positions of the other virtual receive antennas are different. It should be noted that if the positions of the virtual antennas in any two virtual receive antenna sets are identical, the positions of the two corresponding virtual receive antenna sets are considered identical. Furthermore, both transmit antenna sets are sparse arrays, and the virtual effective aperture of the second transmit antenna set is larger than that of the first transmit antenna set, resulting in physical resolutions of 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 time-sharing transmission between the two transmitting antenna sets is delayed 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 per second (m / s); three targets are set below, with target one, target two, and target three at distances of 30 meters (m), 60 meters (m), and 100 meters (m), respectively, and speeds of 50m / s, -20m / s, and -100m / s, respectively. The azimuth angles are 15 degrees (°), -10 degrees (°), and 5 degrees (°), respectively, and the pitch angles are all set to 0 degrees (°). The signal-to-noise ratio is 10 decibels (dB). The position parameters of these three targets are estimated using the solution of this application. Figure 15-17 This is the result of speed estimation using the solution of this application.

[0154] Figure 15 is a schematic diagram of the sum of the absolute values ​​of the phase difference of target 1 and the corresponding velocity assumption; Figure 15 (a) in the equation 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 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; Figure 15 (b) in the figure shows the velocity assumption of target 1 under different velocity expansion multiples. "Indicates that Figure 15 The velocity coordinate point of target 1 under the corresponding velocity expansion multiple in (a); Figure 15 It can be seen that when the expansion factor is 1, the sum of the absolute values ​​of the phase differences at the first group of virtual receiving antennas in the first transmitting antenna set and the second transmitting antenna set with the same position is the smallest. At this time, the corresponding speed value of target one is 50 m / s. Figure 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, Figure 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 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; Figure 16 (b) in the figure shows the speed assumptions of target 2 at different speed expansion multiples. "Indicates that Figure 16 The velocity coordinates of target 2 under the corresponding velocity expansion multiple in (a); Figure 16It can be seen that when the speed expansion multiplier 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 value of target two is -20 m / s. Figure 17 is a schematic diagram of the sum of the absolute values ​​of the phase differences of target three and the corresponding velocity assumptions; where, Figure 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 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; Figure 17 (b) in the figure shows the speed assumptions of target three at different speed expansion multiples. "Indicates that Figure 17 The velocity coordinates of target three under the corresponding velocity expansion multiple in (a); Figure 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 and second transmitting antenna sets with 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 solution 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 is the result of angle estimation using conventional interpolation angle measurement algorithm. Figure 18 This is a schematic diagram of the angle measurement results corresponding to the transmitting antenna set of target one on the first day; Figure 19 This is a schematic diagram of the angle measurement results of target one corresponding to the second transmitting antenna set; Figure 20 This is a schematic diagram of the angle measurement results corresponding to the first transmitting antenna set for target 2; Figure 21 This is a schematic diagram of the angle measurement results corresponding to the second transmitting antenna set for target 2; Figure 22 This is a schematic diagram of the angle measurement results corresponding to target three at the first transmitting antenna set; Figure 23 This is a schematic diagram of the angle measurement results corresponding to target three at the second transmitting antenna set; Figure 24 This is a schematic diagram of the final speed measurement results of target one, target two, and target three; Figure 18-19 As shown, for target 1, 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 1. 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, thereby being able to accurately identify the true target angle from the sparse array amplitude spectrum with higher sidelobes. Figure 24 This is a schematic diagram of the final speed measurement results of target one, target two, and target three; Figure 24 (a) is a range-Doppler diagram of target 1, target 2, and target 3; Figure 24 (b) is a range-azimuth (range-az-angle) diagram of target 1, target 2, and target 3; Figure 24 (c) is a range-elevation-angle diagram of targets 1, 2, and 3; Figure 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). Figure 24 (e) is the range-angle hotmap of target 1, target 2, and target 3, where the horizontal axis is the range unit (rangeBins) and the vertical axis is the angle unit (angleBins); Figure 24 (f) in the figure is the three-dimensional point cloud image of target one, target two, and target three.

[0156] Example 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 time-sharing transmission between the two transmitting antenna sets is delayed for a short period of time ( The maximum detectable speed of the two transmitting antennas after separation is 32.4451 m / s. The following scenario sets four targets: Target 1, Target 2, Target 3, and Target 4, with distances of 30m, 30m, 60m, and 60m, respectively. Their speeds are 1m / s, 1m / s, -80m / s, and -80m / s, respectively. The azimuths are 15°, 12.5°, 0°, and -2.5°, respectively. The elevation angles are all set to 0°, and the signal-to-noise ratio is 10dB.

[0158] Figures 25-26 This is the result of speed estimation for four targets in this scheme; Figure 25 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, Figure 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 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; Figure 25 (b) in the figure shows the assumed speed values ​​of target 1 and target 2 under different speed expansion multiples. "Indicates that Figure 25 The speed value coordinate points of target 1 and target 2 under the corresponding speed expansion multiples in (a); Figure 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 in the first transmitting antenna set and the second transmitting antenna set at the same position is the smallest. At this time, the corresponding speed values ​​of target one and target two are both 1 m / s. Figure 26 Schematic diagram of the sum of the absolute values ​​of the phase difference between target 3 and target 4 and the corresponding velocity assumptions; Figure 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 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; Figure 26 (b) shows the speed assumptions of target three and target four at different speed expansion multiples. "Indicates that Figure 26 The speed value coordinate points of target three and target four under the corresponding speed expansion multiples in (a); Figure 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 in 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. Figures 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] Figures 27-30 This is the result of angle estimation using a conventional interpolation angle measurement algorithm in this application. Figure 27 Schematic diagram of the angle measurement results of target 1 and target 2 corresponding to the first transmitting antenna set; Figure 28 Schematic diagram of the angle measurement results of target one and target two corresponding to the second transmitting antenna set; Figure 29 Schematic diagram of the angle measurement results of target three and target four corresponding to the first transmitting antenna set; Figure 30 Schematic diagram of the angle measurement results of target three and target four corresponding to the second transmitting antenna set;

[0160] like Figures 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. Figures 29-30 As shown, for target three and target four, the output target azimuths of target three and target four 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 three and target four. Figures 27-30 It can be seen from the simulation results that the method of the present invention can achieve angular resolution of 2.5° between two targets at the same distance and speed by using only the conventional interpolation angle measurement algorithm for angle estimation under dual cascade chips, and is not affected by the high sidelobes of the sparse array. If a super-resolution angle measurement algorithm is subsequently used to replace the conventional interpolation angle measurement algorithm used here, the angular resolution will be further improved, making it possible to achieve the angular resolution of less than 1 degree required by the four-dimensional millimeter-wave radar. Figure 31 Schematic diagram of the final speed measurement results of target 1, target 2, target 3 and target 4; Figure 31 (a) is a range-Doppler diagram of targets 1, 2, 3, and 4; Figure 31 (b) is a range-azimuth (range-az-angle) diagram of targets 1, 2, 3, and 4; Figure 31 (c) is a range-elevation-angle diagram of targets 1, 2, 3, and 4; Figure 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); Figure 31 (e) is the range-angle 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 angle unit (angleBins); Figure 31 (f) in the figure is the three-dimensional point cloud image of target one, target two, target three and target four.

[0161] Example 4

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

[0163] The transmitting module 21 is configured to instruct multiple different transmitting antenna sets of the detection device to transmit detection signals in a time-sharing manner; wherein at least one transmitting antenna overlaps among the multiple different transmitting antenna sets, and the transmitting antennas in each transmitting antenna set transmit detection signals simultaneously;

[0164] An acquisition module 22 is configured to acquire echo signals corresponding to a plurality of different transmitting antenna sets; the echo signals corresponding to the transmitting antenna sets are echo signals received by the receiving antennas of the detection device and corresponding to the detection signals emitted by the transmitting antenna sets;

[0165] The processing module 23 is configured to perform signal processing based on the echo signals corresponding to the multiple different transmitting antenna sets to obtain target detection results.

[0166] Specifically, multiple different transmitting antenna sets of the detection device are instructed to transmit detection signals in a time-sharing manner; at least one transmitting antenna overlaps among the multiple different transmitting antenna sets, and the transmitting antennas within each transmitting antenna set transmit detection signals simultaneously. Exemplarily, the detection device may be a radar system comprising a radar chip; multiple transmitting antennas and receiving antennas are arranged within the radar system. In this example, multiple different transmitting antenna sets are selected from the multiple radar antennas, and each of the different transmitting antenna sets has an element at the same transmitting antenna position. Echo signals corresponding to the multiple different transmitting antenna sets are then obtained; the echo signals corresponding to the transmitting antenna sets are echo signals received by the receiving antennas of the detection device and correspond to the detection signals emitted by the transmitting antenna sets. Furthermore, the echo signals corresponding to the multiple transmitting antenna sets are processed accordingly to obtain a final target detection result from the radar system. In this example, multiple different transmitting antenna sets of the detection device are instructed to transmit detection signals in a time-sharing manner, with each transmitting antenna set transmitting detection signals simultaneously. Signal processing is then performed on the echo signals received by the receiving antennas corresponding to each transmitting antenna set to obtain a final target detection result. 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 a time-division manner; and Doppler division multiple access is used within each transmitting antenna set to send detection signals simultaneously.

[0168] Specifically, the detection device includes multiple transmit antenna sets; each transmit antenna set includes a portion of the transmit antennas and all of the receive antennas of the detection device. Within each transmit antenna set, Doppler division multiple access (DDMA) is used to simultaneously transmit detection signals. Exemplarily, DDMA implements orthogonal waveform design in the Doppler domain. It inherits the characteristics of time-division multiple access (TD-DMA) in the transmitter structure, but adds a series of phase shifters. These phase shifters adjust the signal phase to introduce a specific Doppler shift into the transmitted signal. Signals from each user or transmit channel can be phase-adjusted to produce different Doppler shifts, thereby achieving orthogonal separation of the signals in the frequency domain. Furthermore, because DDMA technology allows simultaneous transmission of transmitting elements, it fully utilizes the transmit power of each transmit channel, improving detection range and other parameter estimation performance, making it a popular method for orthogonal waveform design in automotive millimeter-wave radars. TD-DMA is used to time-share the transmission of detection signals between multiple transmit antenna sets. Exemplarily, TDMA involves time-sharing the transmission of detection signals between multiple transmit antennas. 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 embodiment, the processing module 23 is configured to:

[0170] Perform signal processing based on 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 based on the target detection results corresponding to multiple different transmitting antenna sets.

[0172] Specifically, signal processing can be performed based on the echo signals received by multiple different transmit antenna sets to obtain target detection results corresponding to the multiple transmit antenna sets. Based on the target detection results corresponding to the multiple transmit antenna sets, a final target detection result 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, thereby improving the accuracy of the target detection result.

[0173] In an optional embodiment, the processing module 23 is configured 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] Selecting a reference antenna set from a plurality of different transmitting antenna sets, and performing phase offset compensation on virtual channel echo signals corresponding to other transmitting antenna sets in the plurality of different transmitting antenna sets except the reference antenna set according to the virtual channel echo signals corresponding to the reference antenna set;

[0176] Signal processing and detection are performed 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.

[0177] Specifically, signal processing is performed based on the echo signals corresponding to multiple different transmit antenna sets to obtain target detection results corresponding to the multiple different transmit antenna sets. First, based on the echo signals corresponding to each transmit antenna set, virtual channel echo signals corresponding to the multiple different transmit antenna sets are obtained. Then, an antenna set is selected from the multiple different transmit antenna sets as a reference antenna set. Based on the virtual channel echo signal corresponding to the reference antenna set, the virtual channel echo signals corresponding to the other transmit antenna sets in the multiple different transmit antenna sets, excluding the reference antenna set, are compensated. The virtual channel echo signal corresponding to the reference antenna set and the compensated virtual channel echo signals corresponding to the other transmit antenna sets are processed and detected to obtain target detection results corresponding to the multiple different transmit antenna sets. In this example, virtual channel echo signals corresponding to multiple different transmitting antenna sets are obtained based on the echo signals of multiple different transmitting antenna sets, and then one transmitting antenna set is selected as the reference antenna for combination, and phase compensation is performed on the virtual channel echo signals of other transmitting antenna sets except the reference antenna set to obtain the 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 the other transmitting antenna sets 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.

[0178] In an optional embodiment, the processing module 23 is configured to:

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

[0180] According to the target range 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 transmit antenna sets are obtained based on the echo signals corresponding to the multiple transmit antenna sets. First, the echo signals corresponding to each transmit antenna set are subjected to a two-dimensional Fourier transform (2D Fourier transform), transmit channel separation, 2D Fourier transform result reordering, and constant false alarm rate (CFAR) detection. This process yields the signal processing results for the echo signals from each transmit antenna set, thereby obtaining the range index and Doppler index corresponding to each transmit set. The 2D Fourier transform (2DFT) is a mathematical tool for converting time-domain signals into frequency-domain signals. In signal processing, the 2D Fast Fourier Transform (FFT) is used to convert received time-domain signals into range-Doppler domain signals. Through the 2D FFT, target range information (via a range-dimensional FFT) and velocity information (via a Doppler-dimensional FFT) can be extracted. In a multiple-input, multiple-output (MIMO) radar system, multiple transmit antennas transmit signals simultaneously or in time-sharing. The receiver needs to separate these mixed signals to distinguish signals from different transmit channels. This separation of signals from different transmit channels allows subsequent processing to independently analyze target information from each transmit channel, thereby improving the radar system's resolution and target detection capabilities. In a MIMO radar system, the two-dimensional fast Fourier transform results of different transmit channels need to be rearranged to generate virtual array signals. This rearrangement allows the generation of virtual array signals, thereby improving the radar's angular resolution. The virtual array signals can be used for subsequent angle estimation and target localization. Constant false alarm rate (CFAR) detection is a signal processing technique used to maintain a constant false alarm rate in noisy and interfering environments, effectively detecting target signals. CFAR dynamically adjusts the detection threshold, allowing the system to maintain a constant false alarm rate despite changes in noise and interference, improving target detection accuracy and reducing false alarms. Based on the target range index and Doppler index corresponding to each transmit antenna set, the virtual channel echo signals corresponding to multiple different transmit antenna sets can be obtained. In this example, by processing the echo signals corresponding to multiple different transmit antenna sets, the echo signals of the virtual channels of these different transmit antenna sets are obtained, improving the accuracy of the generated virtual channel echo signals and, in turn, the accuracy of target angle measurement.

[0182] In an optional embodiment, the processing module 23 is configured to:

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

[0184] Expanding the target velocity detected by the reference antenna set according to the working parameters of the detection device to obtain multiple expanded velocities;

[0185] 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;

[0186] 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.

[0187] Specifically, first, based on the echo signal corresponding to the reference antenna set, the speed of the target detected by the reference antenna set is obtained; then, based on 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, speed measurement range, and maximum unambiguous speed of the detection device. Furthermore, based on the speed of the target 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; based on 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.

[0188] In an optional embodiment, the processing module 23 is configured to:

[0189] The speed of the target detected by the reference antenna set is obtained based on 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 based on the target Doppler index obtained by processing the echo signal corresponding to the reference antenna set and the operating parameters of the detection device. For example, 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 sounding signals of the reference antenna set. The number of transmitted sounding signal chirps of the reference antenna set is equal to the number of sounding signals transmitted by other transmitting antenna sets. Indicates the period of the chirp detection signal transmitted by the transmitting antenna; represents the wavelength of the detection signal chirp; where, , C represents the speed of light, 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 by using the operating parameters of the detection device and the target Doppler index of the reference antenna set, thereby improving the accuracy of the target speed detected by the reference antenna set.

[0195] In an optional embodiment, the processing module 23 is configured 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 in a one-to-one manner.

[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 to 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 speed measurement; Indicates the maximum 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 multiplier 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 speed corresponding to different speed extension multiples is obtained by referring to the target speed detected by the antenna set and the optional speed extension multiple, thereby improving the accuracy of obtaining the extended speed.

[0212] In an optional embodiment, the processing module 23 is configured to:

[0213] The phase deviations of the other transmitting antenna sets at each extended speed are multiplied by the virtual channel echo signals corresponding to the other transmitting antenna sets before compensation to obtain the virtual channel echo signals corresponding to the other transmitting antenna sets after compensation.

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

[0215]

[0216]

[0217]

[0218] in, Indicates 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, Indicates the wavelength of the probe 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 each other transmitting antenna set relative to the detection signal transmitted by the reference antenna set; It represents the complete Doppler phase deviation corresponding to different velocity expansion multiples; representing the compensated virtual channel echo signals of each other transmitting antenna set; represents the virtual channel echo signals of each other transmit antenna set before compensation. In this example, by performing phase offset compensation on the virtual channel echo signals of other transmit antenna sets, the compensated virtual channel echo signals of multiple different transmit antenna sets are obtained, thereby improving the accuracy of obtaining the virtual channel echo signals of each transmit antenna set.

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

[0220] Specifically, the target detection results include the target's angle and speed. In practical applications, the detection results also include the target's distance and signal-to-noise ratio. For example, the target's angle includes the horizontal azimuth angle and the vertical pitch angle. In this example, the accuracy of the target detection results is improved by comprehensively detecting the target.

[0221] In an optional embodiment, the processing module 23 is configured to:

[0222] For each transmit antenna set other than the reference antenna set, obtaining, based on virtual channel echo signals corresponding to the compensated overlapping transmit antennas between the other transmit antenna set and the reference antenna set, phase differences between the virtual channel echo signals 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 based on 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 transmitting antenna set other than the reference antenna set, based on the virtual channel echo signals corresponding to the overlapping transmitting antennas after compensation between the other transmitting antenna set and 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; 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 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 at the overlapping antennas of each other transmit antenna set and the reference antenna set are the same. Therefore, there is no phase difference caused by the spatial array element spacing. Only the phase difference exists due to the TDMA time-sharing transmission of the target speed by the two subarrays of the other transmit antenna sets and the reference antenna set. When the correct actual target speed is used for complete Doppler phase offset compensation, the sum of the absolute values ​​of the phase differences of the virtual channels of the other transmit 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 each other transmit antenna set and the reference transmit antenna set under different speed expansion factors. The calculation formula is:

[0225]

[0226] in, Indicates the first virtual antenna in the reference antenna set and the other antenna sets that have the same position as the overlapping virtual antennas. The channel of the virtual receiving antenna is expanded by a factor of When , the virtual channel echo signal after Doppler compensation corresponding to the corresponding 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 Virtual channel echo signals of virtual channels; Indicates taking the minimum value, The speed expansion factor is the maximum value when the sum of the absolute phase differences of the virtual channel echo signals of the other antenna sets and the reference antenna set is the smallest; n represents the number of overlapping virtual channels in the reference antenna set and the other antenna sets. Corresponding expansion speed This is the actual speed of the target. In this example, the phase differences between the virtual channel echo signals from the same location as the reference antenna set and the other antenna sets are calculated at different expansion speeds. The expansion speed corresponding to the minimum sum of the absolute values ​​of the phase differences is used as the actual speed of the target. This eliminates errors and improves the accuracy of target speed detection.

[0227] In an optional embodiment, the processing module 23 is configured to:

[0228] Obtain target angles corresponding to multiple different transmit antenna sets 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;

[0229] 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.

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

[0231] In an optional embodiment, the processing module 23 is configured to:

[0232] Determining a threshold condition based on target detection results corresponding to a plurality of different transmit antenna sets and operating 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 multiple different transmitting antenna sets;

[0234] After removing 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 above 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 target's angle, speed, distance, and signal-to-noise ratio; the target detection results corresponding to each transmitting antenna set may include detection results for one or more targets. For example, for speed, the target detection results corresponding to each transmitting antenna set include multiple speed results; similarly, they also include multiple angle, signal ratio, and distance results. 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] Based on the determined threshold conditions, false target detection results that do not meet the threshold conditions are removed from the target detection results corresponding to multiple different transmit antenna sets. After removing these false target detection results, the target detection results corresponding to the transmit antenna set with the largest effective aperture among the multiple different transmit antenna sets are used as the final target detection results. In this example, by removing false target detection results from the target detection results corresponding to multiple different transmit antenna sets and then using the target detection results corresponding to the transmit antenna set with the largest array aperture as the final target detection result, the accuracy of the target detection results is improved.

[0237] In an optional embodiment, the processing module 23 is configured to:

[0238] Perform pairwise subtraction of target detection information in the target detection results corresponding to the reference antenna set and target detection information in the target detection results corresponding to other transmit antenna sets;

[0239] Determining whether pairwise differences in target detection information satisfy a threshold condition for matching target detection results for the multiple different transmit antenna sets; the threshold condition for matching target detection results for the multiple different transmit antenna sets represents a limit range of differences between target detection results corresponding to each of the other transmit antenna sets and target detection results corresponding to the reference antenna set;

[0240] If the pairwise difference results of the target detection information do not meet the threshold condition for matching between the target detection results of multiple different transmitting antenna sets, the target detection results corresponding to the target information that do not meet the threshold condition for matching between the target detection results of 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 detection value of each target in the target detection result corresponding to the other transmitting antenna sets, thereby forming a plurality of distance difference results; similarly, the distance ... 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 the 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 represents 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 the 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 detection value of distance, speed, angle and signal-to-noise ratio of the target detection result corresponding to any other transmitting antenna set; Representing the distance threshold condition, speed threshold condition, angle threshold condition, and signal-to-noise ratio threshold condition, respectively. If the difference results of distance, speed, angle, and signal-to-noise ratio all meet the threshold conditions, the target detection result corresponding to the reference antenna set and the target detection results that meet the threshold conditions in any other reference antenna set are saved. At the same time, the target detection results in any other reference antenna set that meet at least one threshold condition and at most three threshold conditions are eliminated as false target detection results. If any of the difference results of distance, speed, angle, and signal-to-noise ratio do not meet the threshold conditions, 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 taking the difference between each target detection result in the target detection results corresponding to the reference antenna set and any target detection result in the target detection results corresponding to other transmitting antenna sets; and eliminating false target detection results based on 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 in this example includes at least one radar chip. If the detection device includes only one radar chip, the transmit antenna of this radar chip is divided into multiple different transmit antenna sets, where one transmit antenna element is shared among the multiple transmit antenna sets. If the detection device includes multiple radar chips, the transmit antennas of the multiple radar chips are divided into multiple different transmit antenna sets, where each transmit antenna set is divided by the transmit antennas of multiple different radar chips.

[0249] In this example, the transmitting antennas of the radar chip are divided to obtain multiple different transmitting antenna sets, thereby improving the utilization rate of the transmitting antennas of the radar chip and the degree of freedom of transmitting antenna division.

[0250] In the target detection device of the detection device provided in this embodiment, multiple different transmitting antenna sets of the detection device are instructed to send detection signals in time-sharing, 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, echo signals corresponding to multiple 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 multiple 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 detection signals within multiple antenna sets and sending detection signals in time-sharing between multiple antenna sets, and performs phase deviation compensation according to the echo signals corresponding to the overlapping transmitting antennas in multiple transmitting antenna sets, and eliminates false targets through threshold conditions, thereby improving the accuracy of the target detection results of the detection device.

[0251] Example 5

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

[0253] The device includes a processor 291 and memory 292; a communication interface 293, and a bus 294. The processor 291, memory 292, and communication interface 293 can communicate with each other via bus 294. Communication interface 293 can be used for information transmission. Processor 291 can invoke logic instructions in memory 292 to execute the above-described method.

[0254] In addition, the logic instructions in the 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] Memory 292, as a computer-readable storage medium, 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. Processor 291 executes the software programs, instructions, and modules stored in memory 292 to execute functional applications and data processing, thereby implementing the methods in the above-mentioned method examples.

[0256] Memory 292 may include a program storage area and a data storage area. The program storage area may store an operating system and at least one application required for a function; the data storage area may store data generated based on the use of the terminal device. Memory 292 may also include high-speed random access memory and 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 further 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 this application is not limited by the order of the actions described, because according to this 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 this specification are all optional embodiments, and the actions and modules involved are not necessarily required by this application.

[0261] It should be further noted that, although the various steps in the flowchart are shown in sequence as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps may be executed in other orders. Moreover, at least a portion 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 may be executed in different time periods. The execution order of these sub-steps or stages is not necessarily sequential, but may be executed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0262] It should be understood that the above-described device embodiments are merely illustrative, and the device of the present application may also be implemented in other ways. For example, the division of units / modules in the above-described embodiments is merely a logical functional division, and actual implementations may employ other division methods. For example, multiple units, modules, or components may be combined or integrated into another system, or some features may be omitted or not implemented.

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

[0264] If an integrated unit / module is implemented in hardware, the hardware may be digital circuits, analog circuits, 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, GPU, FPGA, DSP, and ASIC. Unless otherwise specified, the storage unit may be any appropriate magnetic storage medium or magneto-optical storage medium, such as resistive random access memory (RRAM), dynamic random access memory (DRAM), static random access memory (SRAM), enhanced dynamic random access memory (EDRAM), high-bandwidth memory (HBM), 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 and includes a number of instructions for enabling 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), random access memory (RAM), mobile hard disk, magnetic disk, or optical disk, etc., various media that can store program code.

[0266] In the above embodiments, the description of each embodiment has its own emphasis. For parts not described in detail in a particular embodiment, please refer to the relevant description of other embodiments. The technical features of the above embodiments can be combined in any way. To keep the description concise, not all possible combinations of the technical features in the above embodiments are 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 invention after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present invention that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as exemplary only.

[0268] It will 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 other embodiments of the present invention will readily occur to those skilled in the art after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses, or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structure described above and shown in the drawings. Various modifications and variations may be made without departing from the scope of the present invention.

Claims

1. A target detection method for 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 a time-sharing manner; 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; Acquire echo signals corresponding to the multiple different transmitting antenna sets; the echo signals corresponding to the transmitting antenna sets are echo signals received by the receiving antennas of the detection device and corresponding to the detection signals emitted by the transmitting antenna sets; Obtaining virtual channel echo signals corresponding to the multiple different transmit antenna sets based on the echo signals corresponding to each transmit antenna set; selecting a reference antenna set from the multiple different transmit antenna sets, and performing phase offset compensation on virtual channel echo signals corresponding to other transmit antenna sets in the multiple different transmit antenna sets except the reference antenna set based on the virtual channel echo signals corresponding to the reference antenna set; performing signal processing and detection based on 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 to obtain target detection results corresponding to the multiple different transmit antenna sets; and obtaining a final target detection result based on the target detection results corresponding to the multiple different transmit antenna sets; The signal processing and detection is performed based on 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 to obtain target detection results corresponding to the multiple different transmit antenna sets, including: For each transmitting antenna set other than the reference antenna set, obtaining, based on virtual channel echo signals corresponding to the transmitting antennas that overlap after compensation between the other transmitting antenna set and the reference antenna set, 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 extended speed corresponding to the time when the sum of the absolute values ​​of the phase differences is minimized is used as the target speed detected by each transmitting antenna set to obtain target speed detection results corresponding to the multiple different transmitting antenna sets; the extended speed is obtained based on the expansion of the target speed detected by the reference antenna set.

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

3. The method according to claim 1, characterized in that The obtaining, according to the echo signal corresponding to each transmit antenna set, virtual channel echo signals corresponding to the multiple different transmit antenna sets specifically includes: Performing two-dimensional Fourier transform, transmit channel separation, two-dimensional Fourier transform result rearrangement, and constant false alarm rate detection on the echo signals corresponding to the multiple different transmit antenna sets, to obtain range indexes and Doppler indexes corresponding to the multiple different transmit antenna sets; According to the distance index and the Doppler index corresponding to each transmitting antenna set, virtual channel echo signals corresponding to the multiple different transmitting antenna sets are obtained.

4. The method according to claim 1, wherein 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 signal corresponding to the reference antenna set specifically includes: Obtaining a target speed detected by the reference antenna set based on a target Doppler index obtained from an echo signal corresponding to the reference antenna set; Expanding the target speed detected by the reference antenna set according to the operating parameters of the detection device to obtain multiple expanded speeds; 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 set at each expansion speed, phase deviation compensation is performed on the virtual channel echo signal corresponding to the other transmitting antenna set.

5. The method according to claim 4, characterized in that Obtaining the target speed detected by the reference antenna set according to the Doppler index obtained from 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.

6. The method according to claim 4, 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; The target speed detected by the reference antenna set is expanded according to the multiple speed expansion multiples to obtain multiple expanded speeds; the multiple expanded speeds correspond to the multiple speed expansion multiples in a one-to-one manner.

7. The method according to claim 4, 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 extended speed specifically includes: The phase deviation of the other transmitting antenna set at each extended speed is multiplied by the virtual channel echo signal corresponding to the other transmitting antenna set before compensation to obtain the virtual channel echo signal corresponding to the other transmitting antenna set after compensation.

8. The method according to claim 1, characterized in that The target detection result includes the speed and angle of the target.

9. The method according to claim 1, characterized in that The performing signal processing and detection based on the virtual channel echo signal corresponding to the reference antenna set and the compensated virtual channel echo signals corresponding to the other transmit antenna sets to obtain target detection results corresponding to the multiple different transmit antenna sets includes: Obtaining target angles detected by the multiple different transmit antenna sets based on the virtual channel echo signal corresponding to the reference antenna set and the compensated virtual channel echo signals corresponding to the other transmit 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.

10. The method according to claim 1, characterized in that The target detection result corresponding to the transmitting antenna set includes multiple target detection results; Obtaining a final target detection result according to the target detection results corresponding to the multiple different transmit antenna sets includes: determining a threshold condition based on target detection results corresponding to the multiple different transmit antenna sets and operating parameters of the detection device; Eliminating, 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 transmit antenna sets; After removing 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.

11. The method according to claim 10, characterized in that Eliminating, 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 transmit antenna sets includes: performing pairwise subtraction of target detection information in the target detection results corresponding to the reference antenna set and target detection information in the target detection results corresponding to other transmit antenna sets; Determining whether pairwise differences in target detection information satisfy a threshold condition for matching target detection results for a plurality of different transmit antenna sets; the threshold condition for matching target detection results for a plurality of different transmit antenna sets represents a limit range of differences between target detection results corresponding to each of the other transmit antenna sets and the target detection results corresponding to the reference antenna set; If the pairwise difference results of the target detection information do not meet the threshold condition for matching between the target detection results of the multiple different transmitting antenna sets determined, the target detection results corresponding to the target information of the target detection results corresponding to the transmitting antenna set that do not meet the threshold condition for matching between the target detection results of the multiple different transmitting antenna sets determined are eliminated as false target detection results.

12. The method according to any one of claims 1 to 11, 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 multiple different transmitting antenna sets are obtained 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.

13. A target detection device of a detection device, characterized in that: The device comprises: a transmitting module, configured to instruct a plurality of different transmitting antenna sets of the detection device to transmit detection signals in a time-sharing manner; wherein at least one transmitting antenna overlaps among the plurality of different transmitting antenna sets, and the transmitting antennas in each transmitting antenna set transmit detection signals simultaneously; an acquisition module, configured to acquire echo signals corresponding to the multiple different transmitting antenna sets; the echo signals corresponding to the transmitting antenna sets are echo signals received by the receiving antennas of the detection device and corresponding to the detection signals emitted by the transmitting antenna sets; a processing module, configured to obtain virtual channel echo signals corresponding to the multiple different transmit antenna sets based on the echo signals corresponding to each transmit antenna set; select a reference antenna set from the multiple different transmit antenna sets, and perform phase offset compensation on virtual channel echo signals corresponding to other transmit antenna sets in the multiple different transmit antenna sets except the reference antenna set based on the virtual channel echo signals corresponding to the reference antenna set; perform signal processing and detection based on 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 to obtain target detection results corresponding to the multiple different transmit antenna sets; and obtain a final target detection result based on the target detection results corresponding to the multiple different transmit antenna sets; Wherein, the processing module is specifically used to: For each transmitting antenna set other than the reference antenna set, obtaining, based on virtual channel echo signals corresponding to the transmitting antennas that overlap after compensation between the other transmitting antenna set and the reference antenna set, 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 extended speed corresponding to the time when the sum of the absolute values ​​of the phase differences is minimized is used as the target speed detected by each transmitting antenna set to obtain target speed detection results corresponding to the multiple different transmitting antenna sets; the extended speed is obtained based on the expansion of the target speed detected by the reference antenna set.

14. 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 12.

15. 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 12 when executed by a processor.

16. 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 12 when the computer program is executed by a processor.

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