Transmitting system, detection device, radar, terminal equipment and vehicle end

Abstract

The invention discloses a transmitting system, a detection device, a radar, terminal equipment and a vehicle end, and relates to the technical field of millimeter-wave radars. The transmitting system comprises M transmitting antennas, wherein M is an integer greater than 2; the M transmitting antennas are respectively used for transmitting M transmitting signals, and the M transmitting signals are used for detecting a target; the M transmitting signals have M different central frequency points, and the frequency differences between the transmitting signals corresponding to the adjacent central frequency points in the M transmitting signals are different. According to the transmitting system, the frequency spectrum sampling resources of the transmitting signals are non-uniformly divided into M parts which correspond to the M transmitting signals respectively and are transmitted through the M transmitting antennas, so that the sampling rate requirement can be reduced during range diversity, range ambiguity is allowed, and the transmission efficiency is improved. And distance ambiguity resolution is carried out according to the echo signals corresponding to the received M transmitting signals by combining a receiving end, so that the sampling capability requirement of the transmitting system on the ADC can be reduced.

Description

Transmitter system, detection device, radar, terminal equipment and vehicle end Technical Field

[0001] The present application relates to the field of millimeter wave radar technology, and in particular to a transmitting system, a detection device, a radar, a terminal device and a vehicle terminal. Background Art

[0002] Millimeter-wave radar is a radar that operates in the millimeter-wave band. It measures a target's distance, speed, and direction (angle) by emitting electromagnetic wave signals and detecting their reflections from the environment.

[0003] At present, in order to improve the angular resolution of millimeter-wave radar, a virtual aperture is often used to implement multi-antenna multiple-input multiple-output (MIMO) transmission by utilizing multiple transmitting antennas, multiple receiving antennas, and multiple analog-to-digital converter (ADC) channels.

[0004] However, the current general multi-transmit channel MIMO radar needs to rely on higher ADC sampling capabilities, which has a high implementation cost.

[0005] Summary of the Invention

[0006] The embodiments of the present application provide a transmission system, a detection device, a radar, a terminal device, and a vehicle terminal, which can reduce the sampling capability requirements of the multi-transmission channel-MIMO radar on the ADC and reduce the implementation cost.

[0007] In a first aspect, an embodiment of the present application provides a transmission system, the transmission system comprising:

[0008] M transmitting antennas, where M is an integer greater than 2;

[0009] The M transmitting antennas are respectively used to transmit M transmitting signals, and the M transmitting signals are used to detect targets;

[0010] The M transmission signals have M different central frequency points, and among the M transmission signals, frequency differences between transmission signals corresponding to adjacent central frequency points are different.

[0011] In an embodiment of the present application, a transmitting system is provided, wherein the frequency differences between the transmitting signals corresponding to adjacent center frequency points in the M transmitting signals transmitted by the transmitting system are different. It can be understood that the transmitting system divides the spectrum sampling resources of the transmitting signal into M parts unevenly, corresponding to the M transmitting signals respectively. Since the spectrum sampling resources corresponding to the M transmitting signals are unevenly distributed, the frequency differences between the transmitting signals corresponding to different transmitting antennas can achieve more accurate identification of the antennas of the echo signals corresponding to these transmitting signals. Therefore, the sampling rate requirements can be reduced in range diversity, allowing distance ambiguity, and combined with the receiving end to perform distance deambiguation based on the echo signals corresponding to the M transmitting signals received, the sampling capacity requirements of the transmitting system for the ADC can be reduced. It can be seen from this that, through the embodiment of the present application, the frequencies of the transmitting signals of different transmitting antennas are designed to be uneven, which can achieve more accurate identification of the antennas of the echo signals corresponding to these transmitting signals, thereby achieving an increase in the effective detection range of the transmitting system under the same sampling rate conditions, which is equivalent to reducing the sampling capacity requirements of the ADC under the same detection distance requirements.

[0012] In a possible implementation manner, the M transmission signals are obtained by performing frequency shift processing on M sub-signals by M frequency shifters respectively.

[0013] In an embodiment of the present application, a possible specific implementation of M transmit signals is provided. Specifically, the M transmit signals can be obtained by M frequency shifters performing frequency shifting processing on M sub-signals. It is understandable that the frequency shift values ​​applied by the M frequency shifters to the M sub-signals are not completely identical, resulting in different frequency differences between the transmit signals corresponding to adjacent center frequencies in the obtained M transmit signals. The frequency differences between transmit signals corresponding to different transmit antennas enable more accurate identification of the antennas from which the echo signals corresponding to these transmit signals originate. Therefore, when using range diversity, the sampling rate requirement can be reduced, allowing for range ambiguity. Combined with range deambiguation performed by the receiving end based on the echo signals corresponding to the M transmit signals, the sampling capacity requirements of the transmitting system's ADC can be reduced.

[0014] In a second aspect, an embodiment of the present application provides a detection device, comprising: a frequency shifting unit, and a transmitting system as described in the first aspect or any possible implementation manner of the first aspect, wherein:

[0015] The frequency shift unit is used to perform frequency shift processing on M-path signals to obtain M transmission signals.

[0016] In an embodiment of the present application, a detection device is provided, in which a frequency shifting unit in the detection device is used to perform frequency shift processing on M-path sub-signals to obtain M transmission signals, and the M transmission signals can be transmitted through the transmission system described in the first aspect or any possible implementation method of the first aspect, for detecting targets. It can be understood that the frequency shifting values ​​of the frequency shifting unit for frequency shifting the M-path sub-signals are not exactly the same, so that the frequency differences between the transmission signals corresponding to adjacent center frequency points in the obtained M transmission signals are different, and the frequency differences between the transmission signals corresponding to different transmitting antennas can achieve more accurate identification of the antennas of the echo signals corresponding to these transmission signals. Therefore, the sampling rate requirements can be reduced in the case of distance diversity, allowing distance ambiguity, and combined with the receiving end performing distance deambiguation based on the echo signals corresponding to the M transmission signals received, the sampling capacity requirements of the transmission system for the ADC can be reduced. It can be seen from this that through the embodiments of the present application, the frequencies of the transmitted signals of different transmitting antennas are designed to be non-uniform, which can achieve more accurate identification of the antennas of the echo signals corresponding to these transmitted signals, thereby increasing the effective detection distance of the detection device under the same sampling rate conditions, which is equivalent to reducing the sampling capability requirements of the ADC under the same detection distance requirements.

[0017] In a possible implementation, the frequency shifting unit includes:

[0018] M frequency shifters;

[0019] The M frequency shifters are respectively used to perform frequency shift processing on the M channels of sub-signals to obtain the M transmission signals.

[0020] In an embodiment of the present application, a possible embodiment of a frequency shifting unit is provided. Specifically, the frequency shifting unit includes M frequency shifters, which are respectively used to perform frequency shifting processing on M-path signals. It can be understood that the frequency shifting values ​​of the M frequency shifters for shifting the M-path signals are not exactly the same, so that after the frequency shifting processing, M transmission signals with different frequency differences between the transmission signals corresponding to adjacent center frequency points can be obtained.

[0021] In a possible implementation, the detection device further includes:

[0022] N receiving antennas, where N is an integer greater than 2;

[0023] The N receiving antennas are respectively used to receive echo signals corresponding to the M transmitting signals.

[0024] In an embodiment of the present application, a possible specific implementation of a detection device is provided. Specifically, the detection device also includes N receiving antennas, which are respectively used to receive echo signals corresponding to M transmitted signals. The echo signals corresponding to the M transmitted signals can be used for distance deambiguation, thereby reducing the detection device's requirements for the ADC's sampling capability.

[0025] In a possible implementation, the detection device further includes:

[0026] Mixing unit;

[0027] The mixing unit is used to perform mixing processing on the M echo signals and one of the M sub-signals to obtain M mixed signals, and the M mixed signals are used to determine the distance of the target.

[0028] In an embodiment of the present application, a possible specific implementation of a detection device is provided, specifically, the detection device also includes a mixing unit, which is used to perform mixing processing on the M mixed echo signals received by the receiving end and the original signal that has not been frequency shifted (that is, one of the M sub-signals mentioned above) to obtain M mixed signals. The M mixed signals can determine the true distance of the target, thereby increasing the effective detection distance of the detection device under the same sampling rate conditions, or achieving the sampling capability requirements of the ADC under the same detection distance requirements.

[0029] In a possible implementation, the frequency mixing unit includes:

[0030] N mixers;

[0031] The N mixers are respectively used to perform mixing processing on the M echo signals and one of the M sub-signals to obtain the M mixed signals.

[0032] In an embodiment of the present application, a possible specific implementation of a mixing unit is provided, specifically, the mixing unit includes N mixers, which are respectively used to perform mixing processing on the M mixed echo signals and the original signal without frequency shifting (that is, one of the M sub-signals mentioned above) received at the receiving end, so that after the mixing processing, M mixed signals can be obtained for determining the true distance of the target.

[0033] In a possible implementation, the detection device further includes:

[0034] processing unit;

[0035] The processing unit is configured to determine a correspondence between the M echo signals and the M transmission signals according to a frequency difference between the M transmission signals.

[0036] In an embodiment of the present application, a possible specific embodiment of a detection device is provided, specifically, the detection device further includes a processing unit for determining the correspondence between M echo signals and M transmitted signals based on the frequency difference between the above-mentioned M transmitted signals. It can be understood that since the spectrum sampling resources corresponding to the M transmitted signals are unevenly distributed, the frequency difference between the transmitted signals corresponding to different transmitting antennas is different. Therefore, the correspondence between the M echo signals and the M transmitting antennas can be determined based on the frequency difference between the M transmitted signals. Through the embodiment of the present application, the correspondence between the M echo signals and the M transmitted signals can be determined, and distance deambiguation can be achieved, thereby reducing the sampling capacity requirements of the transmitting system for the ADC.

[0037] In a possible implementation, the processing unit is further configured to determine the distance to the target based on a correspondence between the M echo signals and the M transmission signals.

[0038] In an embodiment of the present application, a possible specific implementation of a processing unit is provided. Specifically, the processing unit can also be used to determine the true distance of a target based on the correspondence between M echo signals and M transmitted signals. It can be understood that the distance value corresponding to the echo signal corresponding to the transmitted signal that has no frequency shift or minimal frequency shift compared to the original signal without frequency shift (i.e., one of the M sub-signals mentioned above) on the range image formed by the M echo signals is the true distance of the target. Through this embodiment of the present application, the true distance of the target can be determined, thereby achieving the increase in the effective detection range of the detection device under the same sampling rate conditions, or achieving the sampling capacity requirements of the ADC under the same detection distance requirements.

[0039] In a possible implementation, the detection device further includes:

[0040] Filtering unit, sampling unit;

[0041] The filtering unit is configured to perform filtering processing on the M mixed frequency signals;

[0042] The sampling unit is used to sample the M mixed frequency signals after filtering to obtain M digital signals, and the M digital signals are used to determine the distance of the target.

[0043] In an embodiment of the present application, a possible specific implementation of a detection device is provided, specifically, the filtering unit in the detection device is used to perform filtering processing on M mixing signals, and the sampling unit in the detection device is used to sample the M mixing signals after filtering processing to obtain M digital signals. The M digital signals can be used for distance deambiguation, thereby reducing the sampling capability requirements of the detection device for the ADC.

[0044] In a possible implementation manner, a filtering bandwidth of the filtering unit is at least twice as large as a sampling bandwidth of the sampling unit.

[0045] In an embodiment of the present application, a possible specific implementation of a filtering unit and a sampling unit is provided. Specifically, the filtering bandwidth of the filtering unit is greater than at least twice the sampling bandwidth of the sampling unit, so that all echo signals after M transmitted signals pass through the target can be received losslessly to perform distance deambiguation.

[0046] In a possible implementation, the filtering unit includes:

[0047] N intermediate frequency filters;

[0048] The N intermediate frequency filters are respectively used to perform filtering processing on the M mixed signals.

[0049] In a possible implementation, the sampling unit includes:

[0050] N analog-to-digital converters;

[0051] The N analog-to-digital converters are respectively used to sample the M mixed signals after filtering to obtain the M digital signals.

[0052] In a third aspect, an embodiment of the present application provides a transmission system, the transmission system comprising:

[0053] M transmitting antennas, where M is an integer greater than 2;

[0054] The M transmitting antennas are respectively used to transmit M transmitting signals, and the M transmitting signals are used to detect targets;

[0055] The center frequency points of the M transmission signals are located on M frequency bands among W equally spaced frequency bands, where W is an integer greater than M.

[0056] In an embodiment of the present application, a transmitting system is provided, wherein the center frequency points of the M transmitting signals transmitted by the transmitting system are located on M frequency bands among W equally spaced frequency bands. It can be understood that the transmitting system evenly divides the spectrum sampling resources of the transmitting signal into W parts, but only transmits the M transmitting signals corresponding to any M parts of the spectrum sampling resources through M transmitting antennas, and the transmitting signals corresponding to the remaining WM parts of the spectrum resources are not transmitted. Since the spectrum sampling resources corresponding to the W equally spaced frequency bands are evenly distributed, the unoccupied frequency bands in the W equally spaced frequency bands can achieve more accurate identification of the antennas of the echo signals corresponding to these transmitting signals. Therefore, the sampling rate requirements can be reduced in the case of distance diversity, allowing distance ambiguity, and combined with the receiving end performing distance deambiguation based on the echo signals corresponding to the M transmitted signals received, the sampling capacity requirements of the transmitting system for the ADC can be reduced. It can be seen from this that through the embodiments of the present application, the frequency design of the spectrum sampling resources is evenly divided, but the total number of divisions is greater than the number of transmitting antennas, and the transmitting signals corresponding to the frequencies of the number of antennas are selected for transmission. The antennas of the echo signals corresponding to these transmitting signals can be more accurately identified, thereby increasing the effective detection distance of the transmitting system under the same sampling rate conditions, which is equivalent to reducing the sampling capability requirements of the ADC under the same detection distance requirements.

[0057] In a possible implementation manner, the M transmission signals are obtained by performing frequency shift processing on M sub-signals by M frequency shifters respectively.

[0058] In an embodiment of the present application, a possible specific implementation of M transmission signals is provided, specifically, the M transmission signals can be obtained by M frequency shifters performing frequency shift processing on M sub-signals respectively. It can be understood that the frequency shift values ​​of the M frequency shifters for the M sub-signals are integer multiples of a certain value, so that the center frequency points of the obtained M transmission signals are located in M ​​frequency bands among W equally spaced frequency bands, and the unoccupied frequency bands among the W equally spaced frequency bands can achieve more accurate identification of the antennas of the echo signals corresponding to these transmission signals. Therefore, the sampling rate requirements can be reduced in range diversity, allowing distance ambiguity, and combined with the receiving end performing distance deambiguation based on the received echo signals corresponding to the M transmission signals, the sampling capacity requirements of the transmission system for the ADC can be reduced.

[0059] In a fourth aspect, an embodiment of the present application provides a detection device, comprising: a frequency shifting unit, and a transmitting system as described in the third aspect or any possible implementation manner of the third aspect, wherein:

[0060] The frequency shift unit is used to perform frequency shift processing on M-path signals to obtain M transmission signals.

[0061] In an embodiment of the present application, a detection device is provided, wherein a frequency shifting unit in the detection device is used to perform frequency shift processing on M-path sub-signals to obtain M transmission signals, and the M transmission signals can be transmitted through the transmission system described in the third aspect or any possible implementation method of the third aspect to detect the target. It can be understood that the frequency shift value of the frequency shifting unit for frequency shifting the M-path sub-signals is an integer multiple of a certain value, so that the center frequency points of the obtained M transmission signals are located on M frequency bands among W equally spaced frequency bands, and the unoccupied frequency bands among the W equally spaced frequency bands can achieve more accurate identification of the antennas of the echo signals corresponding to these transmission signals. Therefore, the sampling rate requirements can be reduced in range diversity, allowing distance ambiguity, and combined with the receiving end performing distance deambiguation based on the echo signals corresponding to the M transmission signals received, the sampling capacity requirements of the transmission system for the ADC can be reduced. It can be seen from this that through the embodiments of the present application, the frequency design of the spectrum sampling resources is evenly divided, but the total number of divisions is greater than the number of transmitting antennas, and the transmitting signals corresponding to the frequencies of the number of antennas are selected for transmission. The antennas of the echo signals corresponding to these transmitting signals can be more accurately identified, thereby increasing the effective detection distance of the detection device under the same sampling rate conditions, which is equivalent to reducing the sampling capability requirements of the ADC under the same detection distance requirements.

[0062] In a possible implementation, the frequency shifting unit includes:

[0063] M frequency shifters;

[0064] The M frequency shifters are respectively used to perform frequency shift processing on the M channels of sub-signals to obtain the M transmission signals.

[0065] In an embodiment of the present application, a possible embodiment of a frequency shifting unit is provided. Specifically, the frequency shifting unit includes M frequency shifters, which are respectively used to perform frequency shifting processing on M-path signals. It can be understood that the frequency shifting values ​​of the M frequency shifters for shifting the M-path signals are integer multiples of a certain value, so that after the frequency shifting processing, M transmission signals with center frequencies located in M ​​frequency bands among W equally spaced frequency bands can be obtained.

[0066] In a possible implementation, the detection device further includes:

[0067] N receiving antennas, where N is an integer greater than 2;

[0068] The N receiving antennas are respectively used to receive echo signals corresponding to the M transmitting signals.

[0069] In an embodiment of the present application, a possible specific implementation of a detection device is provided. Specifically, the detection device also includes N receiving antennas, which are respectively used to receive echo signals corresponding to M transmitted signals. The echo signals corresponding to the M transmitted signals can be used for distance deambiguation, thereby reducing the detection device's requirements for the ADC's sampling capability.

[0070] In a possible implementation, the detection device further includes:

[0071] Mixing unit;

[0072] The mixing unit is used to perform mixing processing on the M echo signals and one of the M sub-signals to obtain M mixed signals, and the M mixed signals are used to determine the distance of the target.

[0073] In an embodiment of the present application, a possible specific implementation of a detection device is provided, specifically, the detection device also includes a mixing unit, which is used to perform mixing processing on the M mixed echo signals received by the receiving end and the original signal that has not been frequency shifted (that is, one of the M sub-signals mentioned above) to obtain M mixed signals. The M mixed signals can determine the true distance of the target, thereby increasing the effective detection distance of the detection device under the same sampling rate conditions, or achieving the sampling capability requirements of the ADC under the same detection distance requirements.

[0074] In a possible implementation, the frequency mixing unit includes:

[0075] N mixers;

[0076] The N mixers are respectively used to perform mixing processing on the M echo signals and one of the M sub-signals to obtain the M mixed signals.

[0077] In an embodiment of the present application, a possible specific implementation of a mixing unit is provided, specifically, the mixing unit includes N mixers, which are respectively used to perform mixing processing on the M mixed echo signals and the original signal without frequency shifting (that is, one of the M sub-signals mentioned above) received at the receiving end, so that after the mixing processing, M mixed signals can be obtained for determining the true distance of the target.

[0078] In a possible implementation, the detection device further includes:

[0079] processing unit;

[0080] The processing unit is configured to determine a correspondence between the M echo signals and the M transmission signals according to unoccupied frequency bands in the W equally spaced frequency bands.

[0081] In an embodiment of the present application, a possible specific embodiment of a detection device is provided, specifically, the detection device further includes a processing unit for determining the correspondence between M echo signals and M transmission signals based on the unoccupied frequency bands in the above-mentioned W equally spaced frequency bands. It can be understood that since the spectrum sampling resources corresponding to the W equally spaced frequency bands are evenly distributed, the unoccupied frequency bands in the W equally spaced frequency bands result in a larger frequency difference between the transmission signals corresponding to the two transmitting antennas. Therefore, the correspondence between the M echo signals and the M transmitting antennas can be determined based on the unoccupied frequency bands in the W equally spaced frequency bands. Through the embodiment of the present application, the correspondence between the M echo signals and the M transmission signals can be determined, and distance deambiguation can be achieved, thereby reducing the sampling capability requirements of the transmitting system for the ADC.

[0082] In a possible implementation, the processing unit is further configured to determine the distance to the target based on a correspondence between the M echo signals and the M transmission signals.

[0083] In an embodiment of the present application, a possible specific implementation of a processing unit is provided. Specifically, the processing unit can also be used to determine the true distance of a target based on the correspondence between M echo signals and M transmitted signals. It can be understood that the distance value corresponding to the echo signal corresponding to the transmitted signal that has no frequency shift or minimal frequency shift compared to the original signal without frequency shift (i.e., one of the M sub-signals mentioned above) on the range image formed by the M echo signals is the true distance of the target. Through this embodiment of the present application, the true distance of the target can be determined, thereby achieving the increase in the effective detection range of the detection device under the same sampling rate conditions, or achieving the sampling capacity requirements of the ADC under the same detection distance requirements.

[0084] In a possible implementation, the detection device further includes:

[0085] Filtering unit, sampling unit;

[0086] The filtering unit is configured to perform filtering processing on the M mixed frequency signals;

[0087] The sampling unit is used to sample the M mixed frequency signals after filtering to obtain M digital signals, and the M digital signals are used to determine the distance of the target.

[0088] In an embodiment of the present application, a possible specific implementation of a detection device is provided, specifically, the filtering unit in the detection device is used to perform filtering processing on M mixing signals, and the sampling unit in the detection device is used to sample the M mixing signals after filtering processing to obtain M digital signals. The M digital signals can be used for distance deambiguation, thereby reducing the sampling capability requirements of the detection device for the ADC.

[0089] In a possible implementation manner, a filtering bandwidth of the filtering unit is at least twice as large as a sampling bandwidth of the sampling unit.

[0090] In an embodiment of the present application, a possible specific implementation of a filtering unit and a sampling unit is provided. Specifically, the filtering bandwidth of the filtering unit is greater than at least twice the sampling bandwidth of the sampling unit, so that all echo signals after M transmitted signals pass through the target can be received losslessly to perform distance deambiguation.

[0091] In a possible implementation, the filtering unit includes:

[0092] N intermediate frequency filters;

[0093] The N intermediate frequency filters are respectively used to perform filtering processing on the M mixed signals.

[0094] In a possible implementation, the sampling unit includes:

[0095] N analog-to-digital converters;

[0096] The N analog-to-digital converters are respectively used to sample the M mixed signals after filtering to obtain the M digital signals.

[0097] In a fifth aspect, an embodiment of the present application provides a chip, which includes the transmission system described in the first aspect or any possible embodiment of the first aspect, or includes the detection device described in the second aspect or any possible embodiment of the second aspect, or includes the transmission system described in the third aspect or any possible embodiment of the third aspect, or includes the detection device described in the fourth aspect or any possible embodiment of the fourth aspect.

[0098] In a sixth aspect, an embodiment of the present application provides a radar or a radar system, which includes the transmitting system described in the first aspect or any possible embodiment of the first aspect, or includes the detection device described in the second aspect or any possible embodiment of the second aspect, or includes the transmitting system described in the third aspect or any possible embodiment of the third aspect, or includes the detection device described in the fourth aspect or any possible embodiment of the fourth aspect, or includes the chip described in the fifth aspect. It should be noted that there may be smart sensors that integrate multiple sensors. When the above-mentioned smart sensor includes a millimeter wave detection function, the above-mentioned smart sensor may also be referred to as a millimeter wave radar or a millimeter wave radar system.

[0099] In the seventh aspect, an embodiment of the present application provides a terminal device, which includes the transmission system described in the first aspect or any possible implementation of the first aspect, or includes the detection device described in the second aspect or any possible implementation of the second aspect, or includes the transmission system described in the third aspect or any possible implementation of the third aspect, or includes the detection device described in the fourth aspect or any possible implementation of the fourth aspect, or includes the chip described in the fifth aspect, or includes the radar or radar system described in the sixth aspect.

[0100] In the eighth aspect, an embodiment of the present application provides a vehicle side, which includes the transmission system described in the first aspect or any possible embodiment of the first aspect, or includes the detection device described in the second aspect or any possible embodiment of the second aspect, or includes the transmission system described in the third aspect or any possible embodiment of the third aspect, or includes the detection device described in the fourth aspect or any possible embodiment of the fourth aspect, or includes the chip described in the fifth aspect, or includes the radar or radar system described in the sixth aspect, or includes the terminal device described in the seventh aspect.

[0101] In the embodiment of the present application, the spectrum sampling resources of the transmission signal are unevenly divided into M parts, which correspond to M transmission signals respectively transmitted through M transmission antennas, or the spectrum sampling resources of the transmission signal are evenly divided into W parts, but only the M transmission signals corresponding to any M parts of the spectrum sampling resources are transmitted through M transmission antennas, and the transmission signals corresponding to the remaining WM parts of the spectrum resources are not transmitted. The antennas of the echo signals corresponding to these transmission signals can achieve more accurate identification. Therefore, the sampling rate requirements can be lowered in the case of distance diversity, allowing distance ambiguity, and combined with the receiving end to perform distance deambiguation based on the echo signals corresponding to the M transmission signals received, the sampling capacity requirements of the transmission system for the ADC can be reduced. It can be seen from this that through the embodiment of the present application, the effective detection range of the transmission system can be increased under the same sampling rate conditions, which is equivalent to reducing the sampling capacity requirements for the ADC under the same detection distance requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0102] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments of the present application. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0103] FIG1 is a schematic diagram of a radar distribution according to an embodiment of the present application;

[0104] FIG2 is a schematic diagram of the architecture of a radar provided in an embodiment of the present application;

[0105] FIG3 is a schematic diagram of the architecture of a radar provided in an embodiment of the present application;

[0106] FIG4 is a schematic structural diagram of a transmission system provided in an embodiment of the present application;

[0107] FIG5 is a schematic diagram of spectrum sampling resource allocation provided in an embodiment of the present application;

[0108] FIG6 is a schematic diagram of a one-dimensional image of a signal provided in an embodiment of the present application;

[0109] FIG7 is a schematic diagram of spectrum sampling resource allocation provided by an embodiment of the present application;

[0110] FIG8A is a schematic diagram of a one-dimensional image of a signal provided in an embodiment of the present application;

[0111] FIG8B is a schematic diagram of a one-dimensional image of a signal provided in an embodiment of the present application;

[0112] FIG9 is a schematic structural diagram of a detection device provided in an embodiment of the present application;

[0113] FIG10 is a schematic structural diagram of a detection device provided in an embodiment of the present application;

[0114] FIG11 is a schematic structural diagram of a detection device provided in an embodiment of the present application;

[0115] FIG12 is a schematic structural diagram of a detection device provided in an embodiment of the present application;

[0116] FIG13 is a schematic structural diagram of a detection device provided in an embodiment of the present application;

[0117] FIG14 is a schematic structural diagram of a detection device provided in an embodiment of the present application;

[0118] FIG15 is a schematic structural diagram of a detection device provided in an embodiment of the present application;

[0119] FIG16 is a schematic structural diagram of a detection device provided in an embodiment of the present application;

[0120] FIG17A is a schematic diagram of a one-dimensional image of a signal provided by an embodiment of the present application;

[0121] FIG17B is a schematic diagram of a one-dimensional image of a signal provided in an embodiment of the present application;

[0122] FIG18 is a schematic diagram of a one-dimensional image of a signal provided in an embodiment of the present application. DETAILED DESCRIPTION

[0123] In order to make the purpose, technical solutions and advantages of this application clearer, the embodiments of this application will be described below in conjunction with the drawings in the embodiments of this application.

[0124] The terms "first" and "second" in the specification, claims, and drawings of this application are used to distinguish different objects, not to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units that are inherent to the process, method, product, or device.

[0125] References to "embodiments" herein mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it refer to independent or alternative embodiments that are mutually exclusive of other embodiments. It will be understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0126] It should be understood that in the present application, "at least one (item)" refers to one or more, "more than one" refers to two or more, "at least two (items)" refers to two or three and more than three, and "and / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0127] As mentioned in the background technology section, current multi-transmit channel MIMO radars rely on high ADC sampling capabilities, resulting in high implementation costs. This application provides a transmission system, detection device, radar, terminal equipment, and vehicle-side system, all related to the field of millimeter-wave radar technology, which can reduce the ADC sampling capability requirements of multi-transmit channel MIMO radars and lower implementation costs.

[0128] In order to more clearly describe the solution of this application, some knowledge related to radar is first introduced below.

[0129] Radar is the transliteration of the English word Radar, which comes from the abbreviation of "radio detection and ranging", meaning "radio detection and ranging". It uses radio methods to detect targets and determine the spatial position of targets.

[0130] Radar uses electromagnetic waves as its detection medium, and it uses the transmission and reception of electromagnetic waves to detect targets, for example, to measure distance, speed, or azimuth. Radar can measure distance to a target based on the time of flight of electromagnetic waves, which is the time difference between the transmission and reception of electromagnetic waves. Radar transmits an electromagnetic wave signal and receives an echo signal. The distance to the target is determined based on the time difference between the received echo signal and the transmitted electromagnetic wave signal and the propagation speed of the electromagnetic wave. The distance between the radar and the target can be determined using the following formula: s = c * t / 2, where s is the distance to the target, t is the time of flight (the time from the radar transmitting the electromagnetic wave signal to the receipt of the echo signal), and c is the speed of light.

[0131] Radar uses the Doppler effect to measure target velocity. The Doppler effect works as follows: when a vibration source, such as sound, light, or radio waves, moves relative to an observer at a relative speed, the frequency of the vibration received by the observer differs from the frequency emitted by the source. When the electromagnetic waves emitted by the radar and the target are in relative motion, the frequency of the echo signal will differ from the frequency of the transmitted electromagnetic wave. When the target approaches the radar antenna, the frequency of the echo signal will be higher than the frequency of the transmitted electromagnetic wave; conversely, when the target moves away from the radar antenna, the frequency of the echo signal will be lower than the frequency of the transmitted electromagnetic wave. The frequency change caused by the Doppler effect is called the Doppler shift, which is proportional to the relative velocity and inversely proportional to the vibration frequency. Therefore, by detecting the frequency difference between the transmitted electromagnetic wave signal and the echo signal, the target's speed relative to the radar—that is, the relative speed between the target and the radar—can be measured.

[0132] Radar can use amplitude method, phase method and other methods to measure azimuth angle. The amplitude method uses the amplitude value of the echo signal received by the antenna to measure the angle. The change pattern of the amplitude value depends on the antenna radiation pattern and the antenna scanning method; the phase method uses the phase difference between the echo signals received by multiple antenna units to measure the angle. For example, the radar receives the echo signal reflected by the same target through the antenna array, and calculates the azimuth angle of the target based on the phase difference of the echo signal.

[0133] Millimeter-wave radar uses electromagnetic waves within a certain wavelength range, such as microwaves. Currently, millimeter waves and adjacent centimeter waves (e.g., centimeter waves in the 24 GHz band) are more commonly used. Millimeter waves have wavelengths of 1 to 10 millimeters (mm), with those in the 24 GHz band having wavelengths slightly larger than 10 mm. Because the wavelength of millimeter-wave radar's detection medium lies in the overlapping wavelength range of microwaves and far-infrared waves, it combines the characteristics of both spectrums. According to wave propagation theory, higher frequencies and shorter wavelengths yield higher resolution and greater penetration, but also greater propagation losses and shorter transmission distances. Conversely, lower frequencies and longer wavelengths yield greater diffraction resistance and longer transmission distances. Therefore, compared to microwaves, millimeter-wave radar's detection medium offers higher resolution, better directivity, stronger anti-interference capabilities, and superior detection performance. Compared to infrared, millimeter-wave radar experiences less atmospheric attenuation, has better penetration of smoke and dust, and is less affected by weather. Therefore, millimeter-wave radar has been increasingly widely used in many fields such as smart vehicles, drones, smart transportation, and industrial automation.

[0134] Radar can be categorized by detection range into long-range radar (LRR), mid-range radar (MRR), and short-range radar (SRR). LRR has higher detection range requirements but lower angular detection width requirements. SRR has lower detection range requirements but higher angular detection width requirements. MRR's detection range and angular detection width requirements can be understood as falling between those of LRR and SRR. For example, LRR's detection range can exceed 200 meters and its angular detection width can be ±15°; MRR's detection range is within 100 meters and its angular detection width can be ±45°; and SRR's detection range is within 60 meters and its angular detection width can be ±80°. Different types of radar can be installed in different locations on the vehicle body, depending on the autonomous driving functional requirements and the use of other sensors. The number and type of radars can be selected as needed.

[0135] Please refer to FIG1 , which is a schematic diagram of a radar distribution provided in an embodiment of the present application.

[0136] FIG1 shows possible installation locations of several types of radars. This is only an example. In actual use, a greater or lesser number of radars may be selected, and the types may also be adjusted.

[0137] As shown in Figure 1, the LRR can be installed in front of the vehicle as a forward-facing radar; the MRR can be installed in front of or behind the vehicle as a forward-facing radar or a rear-facing radar; and the SRR can be installed on the side or at the four corners of the vehicle as a side-facing radar or a corner radar. Furthermore, the MRR can also be installed on the side or at the four corners of the vehicle, and the SRR can also be installed in the front or rear of the vehicle.

[0138] Radars can be classified based on the modulation method (or radiation method) of their electromagnetic waves. Radar electromagnetic wave modulation methods include pulse and continuous wave, so radars can be divided into pulse radars and continuous wave radars. Continuous wave methods can be further divided into frequency shift keying (FSK), phase shift keying (PSK), constant frequency / single frequency continuous wave (CW), frequency modulated continuous wave (FMCW), multiple frequency shift keying (MFSK), and phase modulated continuous wave (PMCW). FMCW has become the mainstream radar modulation method due to its ability to detect multiple targets, high resolution, and low cost.

[0139] Please refer to FIG2 , which is a schematic diagram of the architecture of a radar provided in an embodiment of the present application.

[0140] As shown in Figure 2, the radar includes a control circuit 110, a signal generator 120, a power amplifier (PA) 130, a low-noise amplifier (LNA) 140, a mixer 150, a filter 160, an analog-to-digital converter (ADC) 170, and a signal processor 180. The signal processor is typically used to process digital signals, such as a digital signal processor (DSP). Under the control of the control circuit 110, the signal generator 120 generates an electromagnetic wave signal (also known as a radar signal) waveform. For example, in a radar using FMCW modulation, the signal generator 120 generates a sawtooth or triangular wave under the control of the control circuit 110. The signal generator 120 is, for example, a voltage-controlled oscillator, and the control circuit 110 is used to generate a control voltage. The generated electromagnetic wave signal waveform undergoes frequency conversion modulation to the desired frequency band, such as between 76 GHz and 77 GHz. After being amplified by the PA 130, it is radiated into space through the transmit antenna (TX).

[0141] The electromagnetic wave signal radiated by the transmitting antenna hits the target, reflects into space, and is received by the radar's receiving antenna (RX). After being amplified by LNA 140, it is mixed with a reference signal by mixer 150. The reference signal can typically be the electromagnetic wave signal generated above. After filtering by filter 160, mixer 150 generates an analog baseband signal, which is sampled by ADC 170 to generate a digital baseband signal. The digital baseband signal is processed by signal processor 180 to obtain target range, velocity, and angle information. Furthermore, this information can be used for clustering and / or tracking to further determine the target's trajectory, size, type, and other information.

[0142] The various components of the radar described above can be integrated as needed to achieve miniaturization of the radar. For example, components such as the control circuit 110, signal generator 120, power amplifier (PA) 130, low noise amplifier (LNA) 140, mixer 150, filter 160, and analog-to-digital converter (ADC) 170 can be integrated on at least one chip, such as a monolithic microwave integrated circuit (MMIC).

[0143] For details, please refer to Figure 3, which is a schematic diagram of the architecture of a radar provided in an embodiment of the present application.

[0144] As shown in Figure 3, the radar includes an MMIC, a microcontroller unit (MCU), and a power management integrated circuit (PMIC). The MMIC can integrate the functions of the RF part, and the MCU can integrate the functions of the above baseband part, such as the functions of the above signal processor. In addition, it can also provide a communication interface with other on-board devices. The PMIC is the chip that powers the radar hardware system.

[0145] In response to the problem that current general multi-transmit channel MIMO radars rely on higher ADC sampling capabilities and have high implementation costs, the present application provides a transmission system, detection device, radar, terminal equipment and vehicle end, involving the field of millimeter wave radar technology, which can reduce the multi-transmit channel MIMO radar's requirements for ADC sampling capabilities and reduce implementation costs.

[0146] The launch system and detection device provided in the embodiments of the present application are described below in conjunction with the drawings in the embodiments of the present application.

[0147] Please refer to FIG4 , which is a schematic structural diagram of a transmitting system provided in an embodiment of the present application.

[0148] As shown in Figure 4, the launch system includes:

[0149] M transmit antennas (e.g., Tx1, Tx2, ..., TxM), where M is an integer greater than 2;

[0150] The M transmitting antennas are respectively used to transmit M transmitting signals, and the M transmitting signals are used to detect targets;

[0151] The M transmitted signals have M different center frequencies. For example, the center frequency of the transmitted signal from transmit antenna Tx1 may be fc+Δf1, the center frequency of the transmitted signal from transmit antenna Tx2 may be fc+Δf2, the center frequency of the transmitted signal from transmit antenna Tx3 may be fc+Δf3, the center frequency of the transmitted signal from transmit antenna TxM may be fc+ΔfM, and so on. The above fc represents the center frequency of the original signal, and Δf1, Δf2, Δf3, ..., ΔfM respectively represent the frequency offsets of the above M transmitted signals relative to the original signal (with the center frequency fc).

[0152] Optionally, there may be a case where a frequency deviation value of 0 exists in the above Δf1, Δf2, Δf3, ..., ΔfM. For example, the value of Δf1 is 0. At this time, the transmission signal of the transmitting antenna Tx1 does not have a frequency deviation compared to the original signal (fc), or it can be understood that the transmission signal of the transmitting antenna Tx1 at this time is the original signal.

[0153] It can be understood that the above Δf1, Δf2, Δf3, ..., ΔfM are only exemplary aliases for frequency deviation values, and their specific values ​​can be multiple. This application does not impose any restrictions on this. It is only necessary to satisfy that the M transmitted signals have M different center frequency points.

[0154] Furthermore, to address the technical issue of current MIMO radars relying on higher ADC sampling capabilities, the M transmitted signals must meet the following conditions:

[0155] This can reduce the sampling rate requirement when using range diversity, allowing distance ambiguity. Combined with the receiver performing distance deambiguation based on the echo signals corresponding to the M transmitted signals received, the sampling capacity requirement of the transmitting system on the ADC can be reduced.

[0156] In order to obtain M transmission signals that meet the above conditions, the embodiments of the present application provide the following design solutions:

[0157] Option 1:

[0158] Among the M transmission signals transmitted by the transmission system, the frequency differences between the transmission signals corresponding to adjacent center frequency points are different.

[0159] It can be understood that the transmission system divides the spectrum sampling resources of the transmission signal into M parts non-uniformly, corresponding to the M transmission signals respectively.

[0160] For example, please refer to FIG5 , which is a schematic diagram of spectrum sampling resource allocation provided in an embodiment of the present application.

[0161] As shown in Figure 5, the spectrum sampling resources (the available frequency range fs) are unevenly distributed into M parts, so that compared with the above-mentioned original signal (the center frequency is fc), the frequency deviations of each transmission channel are arranged from small to large as 0, Δf1, Δf2, ..., Δf(M-1), respectively, corresponding to M transmission signals, and the center frequencies of the M transmission signals are fc, fc+Δf1, fc+Δf2, ..., fc+Δf(M-1), respectively. The M transmission signals are respectively transmitted by the transmitting antennas (Tx1, Tx2, ..., TxM) corresponding to each transmission channel for target detection.

[0162] For example, transmitting antenna Tx1 transmits a transmit signal corresponding to a frequency deviation of 0, and the center frequency of this transmit signal is fc. Transmitting antenna Tx2 transmits a transmit signal corresponding to a frequency deviation of Δf1, and the center frequency of this transmit signal is fc+Δf1. Transmitting antenna Tx3 transmits a transmit signal corresponding to a frequency deviation of Δf2, and the center frequency of this transmit signal is fc+Δf2. Transmitting antenna TxM transmits a transmit signal corresponding to a frequency deviation of Δf(M-1), and the center frequency of this transmit signal is fc+Δf(M-1), and so on.

[0163] It can be understood that the above spectrum sampling resources (usable frequency range fs) are unevenly distributed into M parts, and it is designed that the frequency differences between the transmission signals corresponding to adjacent center frequency points in the M transmission signals transmitted by the transmission system are different.

[0164] A specific design is to design the frequency offset of each transmit channel so that the frequency offsets between two adjacent groups of transmit channels are different. For example, the difference between frequency offset 0 and frequency offset Δf1 is different from the difference between frequency offset Δf1 and frequency offset Δf2. It should be understood that the above-mentioned frequency offset 0, frequency offset Δf1, and frequency offset Δf2 are merely exemplary frequency offsets corresponding to two adjacent groups of transmit channels. Frequency offsets Δf1, Δf2, Δf3, and so on may also be used, and this embodiment of the present application is not limited thereto.

[0165] It should be understood that the possible designs listed above are only exemplary descriptions of unevenly distributing spectrum resources (usable frequency range fs) into M parts and obtaining the above-mentioned M transmission signals through frequency difference design. There may be other design schemes for obtaining the above-mentioned M transmission signals. The embodiments of the present application do not limit this. It is only necessary to satisfy the requirement that the frequency differences between the transmission signals corresponding to adjacent center frequency points in the obtained M transmission signals are different.

[0166] Correspondingly, the one-dimensional image of the echo signal corresponding to the M transmission signals designed by the spectrum sampling resource allocation method shown in FIG5 can be referred to FIG6 , which is a schematic diagram of a one-dimensional image of a signal provided in an embodiment of the present application.

[0167] As shown in Figure 6, the one-dimensional image of the echo signals corresponding to the M transmitted signals produces echoes of different transmitted signals at different distances. The range diversity corresponds to the frequency difference design of the transmitted signals. The abscissa f(R) of this one-dimensional image represents the frequency diversity, and the ordinate I represents the signal strength corresponding to each frequency within the frequency diversity.

[0168] For example, the interval between the one-dimensional image of the echo signal corresponding to the signal transmitted by transmit antenna Tx1 and the one-dimensional image of the echo signal corresponding to the signal transmitted by transmit antenna Tx2 is different from the interval between the one-dimensional image of the echo signal corresponding to the signal transmitted by transmit antenna Tx2 and the one-dimensional image of the echo signal corresponding to the signal transmitted by transmit antenna Tx3. Correspondingly, the difference between the frequency offset corresponding to the signal transmitted by transmit antenna Tx1 and the frequency offset corresponding to the signal transmitted by transmit antenna Tx2 is different from the difference between the frequency offset corresponding to the signal transmitted by transmit antenna Tx2 and the frequency offset corresponding to the signal transmitted by transmit antenna Tx3.

[0169] It can be understood that since the spectrum sampling resources corresponding to the M transmission signals are unevenly distributed, the frequency difference between the transmission signals corresponding to different transmitting antennas can reduce the sampling rate requirements during distance diversity, allowing distance ambiguity, and combined with the receiving end performing distance deambiguation based on the echo signals corresponding to the M transmission signals received, the sampling capability requirements of the transmitting system for the ADC can be reduced.

[0170] It can be seen from this that through the embodiments of the present application, the frequencies of the transmitted signals of different transmitting antennas are designed to be non-uniform, so that the effective detection distance of the transmitting system can be increased under the same sampling rate conditions, which is equivalent to reducing the sampling capability requirements of the ADC under the same detection distance requirements.

[0171] Option 2:

[0172] The center frequency points of the M transmission signals transmitted by the transmission system are located in M ​​frequency bands among W equally spaced frequency bands, where W is an integer greater than M.

[0173] It can be understood that the transmission system evenly divides the spectrum sampling resources of the transmission signal into W parts, but only transmits M transmission signals corresponding to any M parts of the spectrum sampling resources through M transmitting antennas, and the transmission signals corresponding to the remaining WM parts of the spectrum resources are not transmitted.

[0174] For example, please refer to FIG7 , which is a schematic diagram of spectrum sampling resource allocation provided in an embodiment of the present application.

[0175] As shown in FIG7 , the spectrum sampling resource (usable frequency range fs) is evenly distributed into W parts. To make the description more concise and clear, the spectrum sampling resource fs is optionally evenly distributed into M+1 parts, so that compared with the above original signal (center frequency fc), the frequency offsets of each transmission channel are 0, fs / (M+1), 2fs / (M+1), ..., (M)fs / (M+1), respectively corresponding to M+1 transmission signals, and the center frequencies of the M transmission signals are fc, fc+fs / (M+1), fc+2fs / (M+1), ..., fc+(M)fs / (M+1), respectively. M transmission signals are arbitrarily selected from them and transmitted by the transmitting antennas (Tx1, Tx2, ..., TxM) corresponding to each transmission channel for target detection. The remaining transmission signal is not transmitted.

[0176] For example, transmit antenna Tx1 transmits a transmit signal corresponding to a frequency offset of 0, with a center frequency of fc. Transmit antenna Tx2 transmits a transmit signal corresponding to a frequency offset of fs / (M+1), with a center frequency of fc+fs / (M+1). Transmit antenna Tx3 transmits a transmit signal corresponding to a frequency offset of 2fs / (M+1), with a center frequency of fc+2fs / (M+1). Transmit antenna TxM transmits a transmit signal corresponding to a frequency offset of (M-1)fs / (M+1), with a center frequency of fc+(M-1)fs / (M+1), and so on. The transmit signal corresponding to a frequency offset of (M)fs / (M+1) is not transmitted (as shown by the dotted line in Figure 7).

[0177] It can be understood that the above-mentioned spectrum sampling resources fs are evenly distributed into M+1 parts, and are designed so that the center frequency points of the M transmission signals transmitted by the transmission system are located on M frequency bands among M+1 equally spaced frequency bands. The specific design is that the difference between the frequency offsets of each transmission channel is an integer multiple relationship. For example, the difference between the frequency offset corresponding to the transmission signal of the transmitting antenna Tx3 and the frequency offset corresponding to the transmission signal of the transmitting antenna Tx1 is an integer multiple of the difference between the frequency offset corresponding to the transmission signal of the transmitting antenna Tx2 and the frequency offset corresponding to the transmission signal of the transmitting antenna Tx1.

[0178] Correspondingly, the one-dimensional images of the echo signals corresponding to the M transmission signals designed by the spectrum sampling resource allocation method shown in Figure 7 can be found in Figures 8A and 8B, which are schematic diagrams of two one-dimensional images of signals provided in the embodiments of the present application.

[0179] As shown in Figures 8A and 8B, the one-dimensional image of the echo signals corresponding to the M transmitted signals produces echoes of different transmitted signals at different distances. The range diversity corresponds to the frequency difference design of the transmitted signals. The abscissa f(R) of this one-dimensional image represents the frequency diversity, and the ordinate I represents the signal strength corresponding to each frequency within the frequency diversity.

[0180] Specifically, as shown in Figure 8A, the one-dimensional image of the target's echo in the first free range interval is displayed. That is, from the M+1 evenly distributed spectrum sampling resources fs, the one-dimensional image of the echo signal corresponding to the M transmitted signals in the first M portions is selected. It can be seen that the energy of the transmitted signal is distributed in the first M intervals. For example, the interval between the one-dimensional image of the echo signal corresponding to the signal transmitted by transmitting antenna Tx1 and the one-dimensional image of the echo signal corresponding to the signal transmitted by transmitting antenna Tx2 is the same as the interval between the one-dimensional image of the echo signal corresponding to the signal transmitted by transmitting antenna Tx2 and the one-dimensional image of the echo signal corresponding to the signal transmitted by transmitting antenna Tx3. Correspondingly, the difference between the frequency offset corresponding to the transmitted signal of transmitting antenna Tx1 and the frequency offset corresponding to the transmitted signal of transmitting antenna Tx2 is the same as the difference between the frequency offset corresponding to the transmitted signal of transmitting antenna Tx2 and the frequency offset corresponding to the transmitted signal of transmitting antenna Tx3. Moreover, there is no energy distribution of the transmission signal in the M+1th interval, and the transmission signal Tx(M+1) corresponding to the frequency offset of (M)fs / (M+1) is not transmitted (as shown by the dotted arrow in FIG8A ).

[0181] Figure 8B shows the one-dimensional image of the target's echo in the second free range interval. This image is formed by selecting the M transmitted signals corresponding to the last M portions of the evenly distributed spectrum sampling resource fs (M+1 portions). It can be seen that the transmitted signal energy is distributed in the last M intervals, i.e., intervals 2 to M+1, and there is no transmitted signal energy distribution in the first interval (as indicated by the dotted arrow in Figure 8B).

[0182] It is understandable that, since the spectrum sampling resources corresponding to the W equally spaced frequency bands are evenly distributed, the unoccupied frequency bands in the W equally spaced frequency bands can achieve more accurate identification of the antennas of the echo signals corresponding to the transmitted signals.

[0183] Specifically, the unoccupied frequency bands among the W equally spaced frequency bands result in a larger frequency difference between the transmitted signals corresponding to the two transmitting antennas. Therefore, the correspondence between the M echo signals and the M transmitting antennas can be determined based on the unoccupied frequency bands among the W equally spaced frequency bands. For example, in FIG8A , the frequency band with a frequency offset of (M)fs / (M+1) to fs is unoccupied, indicating that there is no transmitted signal in this frequency band. When transmitting the M transmitted signals, the first M transmitted signals are selected, and the transmitted signal Tx(M+1) corresponding to the frequency offset of (M)fs / (M+1) is not transmitted. It can be concluded that the transmitted signal TxM corresponding to the frequency offset of (M-1)fs / (M+1) is transmitted in the first frequency band of the frequency band with a frequency offset of (M)fs / (M+1) to fs. Similarly, the correspondence between the M echo signals and the M transmitting antennas can be determined.

[0184] Furthermore, the correspondence between the M echo signals and the M transmit antennas can be used to determine the true distance to the target. Specifically, the distance corresponding to the echo signal corresponding to the transmit signal with no frequency shift or minimal frequency shift, compared to the original, unshifted signal (i.e., one of the M sub-signals), on the range image formed by the M echo signals, is the true distance to the target.

[0185] Therefore, the unoccupied frequency bands among the above-mentioned W equally spaced frequency bands can reduce the sampling rate requirements during distance diversity, allow distance ambiguity, and combine with the receiving end to perform distance deambiguation based on the echo signals corresponding to the M transmitted signals received, thereby reducing the sampling capability requirements of the transmitting system for the ADC.

[0186] It can be seen from this that through the embodiments of the present application, the frequency design of the spectrum sampling resources is evenly divided, but the total number of divisions is greater than the number of transmitting antennas, and the transmitting signals corresponding to the frequencies of the number of antennas are selected for transmission. This can achieve the increase of the effective detection distance of the transmitting system under the same sampling rate conditions, which is equivalent to reducing the sampling capability requirements of the ADC under the same detection distance requirements.

[0187] Based on the transmission system shown in FIG. 4 and the frequency design schemes of the transmission signals described in Scheme 1 and Scheme 2 above, the present application also provides a detection device for realizing target detection in a MIMO transmission scenario.

[0188] The detection device provided in this application is described below with reference to FIG. 9 to FIG. 16 .

[0189] Please refer to FIG9 , which is a schematic structural diagram of a detection device provided in an embodiment of the present application.

[0190] As shown in FIG9 , the detection device includes a frequency shift unit 10 and the transmitting system shown in FIG4 above.

[0191] The frequency shift unit 10 in the detection device is used to perform frequency shift processing on the M-path sub-signals (fc) to obtain M transmission signals. The M transmission signals can be transmitted through the transmission system shown in Figure 4 to detect targets.

[0192] Optionally, the frequency shifting unit 10 shifts the M sub-signals by different frequency shift values, so that the frequency differences between the transmitted signals corresponding to adjacent center frequency points in the obtained M transmitted signals are different, which are the M transmitted signals in the above-mentioned solution 1.

[0193] It can be understood that the frequency difference between the transmitted signals corresponding to different transmitting antennas can reduce the sampling rate requirements during distance diversity, allowing distance ambiguity, and combined with the receiving end performing distance deambiguation based on the echo signals corresponding to the M transmitted signals received, the transmitting system's sampling capability requirements for the ADC can be reduced.

[0194] It can be seen from this that through the embodiments of the present application, the frequencies of the transmitted signals of different transmitting antennas are designed to be non-uniform, so that the effective detection distance of the detection device can be increased under the same sampling rate conditions, which is equivalent to reducing the sampling capability requirements of the ADC under the same detection distance requirements.

[0195] Optionally, the frequency shift value of the frequency shift unit 10 for the M-channel signals is an integer multiple of a certain value, so that the center frequencies of the obtained M transmission signals are located on M frequency bands among W equally spaced frequency bands, which are the M transmission signals in the above-mentioned solution 2.

[0196] It can be understood that the unoccupied frequency bands among the W equally spaced frequency bands make it possible to reduce the sampling rate requirements during distance diversity, allowing distance ambiguity, and combining the distance deambiguation performed by the receiving end based on the echo signals corresponding to the M transmitted signals received, thereby reducing the sampling capability requirements of the transmitting system for the ADC.

[0197] It can be seen from this that through the embodiments of the present application, the frequency design of the spectrum sampling resources is evenly divided, but the total number of divisions is greater than the number of transmitting antennas, and the transmitting signals corresponding to the frequencies of the number of antennas are selected for transmission. This can achieve the increase of the effective detection distance of the detection device under the same sampling rate conditions, which is equivalent to reducing the sampling capability requirements of the ADC under the same detection distance requirements.

[0198] Please refer to FIG. 10 , which is a schematic structural diagram of a detection device provided in an embodiment of the present application.

[0199] It can be understood that the detection device in the embodiment of the present application can be regarded as a variation or supplement of the detection device shown in Figure 9 above, or it can be regarded as a separate solution implementation.

[0200] As shown in FIG10 , the detection device includes a frequency shift unit 10 and the transmitting system shown in FIG4 above.

[0201] The frequency shift unit 10 includes:

[0202] M frequency shifters;

[0203] The M frequency shifters are used to perform frequency shift processing on the M-path sub-signals (fc) (frequency shifting by Δf1, Δf2, Δf3, ..., ΔfM respectively) to obtain M transmit signals (fc+Δf1, fc+Δf2, fc+Δf3, ..., fc+ΔfM respectively).

[0204] Optionally, the frequency shifting process performed by the M frequency shifters in the embodiment of the present application is similar to the frequency shifting process performed by the frequency shifting unit 10 shown in FIG. 9 . For details, please refer to the above and will not be repeated here.

[0205] Please refer to FIG. 11 , which is a schematic structural diagram of a detection device provided in an embodiment of the present application.

[0206] It can be understood that the detection device in the embodiment of the present application can be regarded as a variation or supplement of the detection device shown in Figures 9 to 10 above, or can be regarded as a separate solution implementation.

[0207] As shown in FIG11 , the detection device includes M frequency shifters and the transmitting system as shown in FIG4 above. The connection relationship, signal flow and functional description thereof can be found in the descriptions in FIG4 , FIG9 to FIG10 above, and will not be repeated here.

[0208] In addition, the detection device in the embodiment of the present application further includes:

[0209] N receiving antennas (e.g., Rx1, Rx2, Rx3, ..., RxN), where N is an integer greater than 2;

[0210] The N receiving antennas are respectively used to receive echo signals corresponding to the M transmitting signals.

[0211] The echo signals corresponding to the M transmission signals can be used for distance deambiguation, thereby reducing the sampling capability requirement of the detection device on the ADC.

[0212] Please refer to FIG. 12 , which is a schematic structural diagram of a detection device provided in an embodiment of the present application.

[0213] It can be understood that the detection device in the embodiment of the present application can be regarded as a variation or supplement of the detection device shown in Figures 9 to 11 above, or can be regarded as a separate solution implementation.

[0214] As shown in Figure 12, the detection device includes M frequency shifters, N receiving antennas, and the transmitting system shown in Figure 4 above. The connection relationship, signal flow and functional description can be found in the descriptions in Figures 4, 9 to 11 above, and will not be repeated here.

[0215] In addition, the detection device in the embodiment of the present application further includes:

[0216] Mixing unit 20;

[0217] The mixing unit 20 is used to perform mixing processing on the M echo signals and one of the M sub-signals (with a center frequency of fc) to obtain M mixed signals. The M mixed signals are used to determine the distance of the target.

[0218] It can be understood that the mixing unit 20 is used to perform mixing processing on the M mixed echo signals received by the receiving end and the original signal that has not been frequency shifted (that is, one of the M sub-signals mentioned above) to obtain M mixed signals. The M mixed signals can determine the true distance of the target, thereby increasing the effective detection distance of the detection device under the same sampling rate conditions, or achieving the sampling capability requirements of the ADC under the same detection distance requirements.

[0219] Please refer to FIG. 13 , which is a schematic structural diagram of a detection device provided in an embodiment of the present application.

[0220] It can be understood that the detection device in the embodiment of the present application can be regarded as a variation or supplement of the detection device shown in Figures 9 to 12 above, or can be regarded as a separate solution implementation.

[0221] As shown in Figure 13, the detection device includes M frequency shifters, N receiving antennas, a mixing unit 20, and a transmitting system as shown in Figure 4 above. The connection relationship, signal flow and functional description can be found in the descriptions in Figures 4, 9 to 12 above, and will not be repeated here.

[0222] The frequency mixing unit 20 includes:

[0223] N mixers;

[0224] The N mixers are respectively used to perform mixing processing on the M echo signals and one of the M sub-signals (with a center frequency point of fc) to obtain M mixed signals.

[0225] Optionally, the frequency shifting processing performed by the N frequency shifters in the embodiment of the present application is similar to the frequency mixing processing performed by the frequency mixing unit 20 shown in FIG. 12 . For details, please refer to the above and will not be repeated here.

[0226] Please refer to FIG. 14 , which is a schematic structural diagram of a detection device provided in an embodiment of the present application.

[0227] It can be understood that the detection device in the embodiment of the present application can be regarded as a variation or supplement of the detection device shown in Figures 9 to 13 above, or can be regarded as a separate solution implementation.

[0228] As shown in Figure 14, the detection device includes M frequency shifters, N receiving antennas, N mixers, and the transmitting system shown in Figure 4 above. The connection relationship, signal flow and functional description can be found in the descriptions in Figures 4, 9 to 13 above, and will not be repeated here.

[0229] In addition, the detection device in the embodiment of the present application further includes:

[0230] Filtering unit 30, sampling unit 40;

[0231] The filtering unit 30 is configured to perform filtering processing on the M mixed signals;

[0232] The sampling unit 40 is used to sample the M mixed signals after filtering to obtain M digital signals. The M digital signals are used to determine the distance of the target.

[0233] It can be understood that the filtering unit in the detection device is used to perform filtering processing on the M mixing signals, and the sampling unit in the detection device is used to sample the M mixing signals after filtering processing to obtain M digital signals. The M digital signals can be used for distance deambiguation, thereby reducing the detection device's sampling capability requirements for the ADC.

[0234] In a possible embodiment, the filtering bandwidth of the filtering unit 30 is at least twice the sampling bandwidth of the sampling unit 40 , so that all echo signals of the M transmitted signals after passing the target can be received losslessly for range deambiguation.

[0235] Please refer to FIG. 15 , which is a schematic structural diagram of a detection device provided in an embodiment of the present application.

[0236] It can be understood that the detection device in the embodiment of the present application can be regarded as a variation or supplement of the detection device shown in Figures 9 to 14 above, or can be regarded as a separate solution implementation.

[0237] As shown in Figure 15, the detection device includes M frequency shifters, N receiving antennas, a mixing unit 20, a filtering unit 30, a sampling unit 40, and the transmitting system shown in Figure 4 above. The connection relationship, signal flow and functional description can be found in the descriptions in Figures 4, 9 to 14 above, and will not be repeated here.

[0238] The filtering unit 30 includes:

[0239] N intermediate frequency filters;

[0240] The N intermediate frequency filters are respectively used to perform filtering processing on the M mixed frequency signals.

[0241] The sampling unit 40 includes:

[0242] N analog-to-digital converters;

[0243] The N analog-to-digital converters are respectively used to sample the M mixed frequency signals after filtering to obtain M digital signals.

[0244] Optionally, the filtering processing performed by the N intermediate frequency filters in the embodiment of the present application is similar to the filtering processing performed by the filtering unit 30 shown in Figure 14 above, and the sampling processing performed by the N analog-to-digital converters in the embodiment of the present application is similar to the sampling processing performed by the sampling unit 40 shown in Figure 14 above. Please refer to the above for details and will not be repeated here.

[0245] Please refer to FIG. 16 , which is a schematic structural diagram of a detection device provided in an embodiment of the present application.

[0246] It can be understood that the detection device in the embodiment of the present application can be regarded as a variation or supplement of the detection device shown in Figures 9 to 15 above, or can be regarded as a separate solution implementation.

[0247] As shown in Figure 16, the detection device includes M frequency shifters, N receiving antennas, N mixers, N intermediate frequency filters, N analog-to-digital converters, and the transmitting system shown in Figure 4 above. The connection relationship, signal flow and functional description can be found in the descriptions in Figures 4, 9 to 15 above, and will not be repeated here.

[0248] In addition, the detection device in the embodiment of the present application further includes:

[0249] processing unit 50;

[0250] on the one hand:

[0251] The processing unit 50 is configured to determine a correspondence between the M echo signals and the M transmission signals according to the frequency differences between the M transmission signals.

[0252] It can be understood that since the spectrum sampling resources corresponding to the M transmitted signals are unevenly distributed, the frequency differences between the transmitted signals corresponding to different transmitting antennas are different. Therefore, the correspondence between the M echo signals and the M transmitting antennas can be determined based on the frequency differences between the M transmitted signals.

[0253] By using the embodiments of the present application, the correspondence between M echo signals and M transmission signals is determined, and distance deambiguation can be achieved, thereby reducing the sampling capability requirements of the transmission system on the ADC.

[0254] The processing unit 50 may also be configured to determine the distance to the target based on the correspondence between the M echo signals and the M transmission signals.

[0255] It can be understood that, compared with the original signal without frequency shift (i.e., one of the M sub-signals mentioned above), the distance value corresponding to the echo signal corresponding to the transmitted signal without frequency shift or with the smallest frequency shift on the distance image formed by the M echo signals is the actual distance of the target.

[0256] Through the embodiments of the present application, the true distance of the target can be determined, thereby increasing the effective detection distance of the detection device under the same sampling rate conditions, or achieving the sampling capability requirements of the ADC under the same detection distance requirements.

[0257] on the other hand:

[0258] The processing unit 50 is configured to determine a correspondence between the M echo signals and the M transmit signals based on unoccupied frequency bands among the W equally spaced frequency bands.

[0259] It can be understood that since the spectrum sampling resources corresponding to the W equally spaced frequency bands are evenly distributed, the unoccupied frequency bands in the W equally spaced frequency bands result in a larger frequency difference between the transmitted signals corresponding to the two transmitting antennas. Therefore, the correspondence between the M echo signals and the M transmitting antennas can be determined based on the unoccupied frequency bands in the W equally spaced frequency bands.

[0260] By using the embodiments of the present application, the correspondence between M echo signals and M transmission signals is determined, and distance deambiguation can be achieved, thereby reducing the sampling capability requirements of the transmission system on the ADC.

[0261] The processing unit 50 may also be configured to determine the distance to the target based on the correspondence between the M echo signals and the M transmission signals.

[0262] It can be understood that, compared with the original signal without frequency shift (i.e., one of the M sub-signals mentioned above), the distance value corresponding to the echo signal corresponding to the transmitted signal without frequency shift or with the smallest frequency shift on the distance image formed by the M echo signals is the actual distance of the target.

[0263] Through the embodiments of the present application, the true distance of the target can be determined, thereby increasing the effective detection distance of the detection device under the same sampling rate conditions, or achieving the sampling capability requirements of the ADC under the same detection distance requirements.

[0264] It is understood that the detection devices shown in Figures 9 to 16 above are merely exemplary detection devices and should not be construed as limiting this application. Any combination of detection devices resulting from reasonable variations in the structure of any of the detection devices shown in Figures 9 to 16 above falls within the scope of protection of this application.

[0265] In addition, this application will also provide several examples in MIMO detection scenarios based on the transmission system shown in Figure 4 above, the detection devices in Figures 9 to 16 above, and the frequency difference design schemes described in Scheme 1 and Scheme 2.

[0266] The following description will be given with reference to FIG. 17A , FIG. 17B and FIG. 18 .

[0267] Please refer to FIG. 17A , which is a schematic diagram of a one-dimensional image of a signal provided in an embodiment of the present application.

[0268] As shown in FIG17A , a schematic diagram of the one-dimensional signal images corresponding to two targets at 50 m and 300 m respectively is shown.

[0269] In order to detect the above two targets, a transmitting system or detection device with four transmitting antennas transmits corresponding transmitting signals according to the frequency difference design in the above scheme one, that is, the spectrum sampling resources are unevenly divided into four parts, corresponding to the four transmitting signals, and transmitted through the four transmitting antennas.

[0270] The inherent maximum unambiguous distance of the target is 400m. The 50m target is in the first unambiguous interval (0-100m), and the 300m target is at the edge of the third unambiguous interval (200-300m) and the fourth unambiguous interval (300-400m).

[0271] Based on the frequency differences between the four transmitted signals and the distance intervals in the one-dimensional signal image shown in FIG17A , it is possible to see the correspondence between the echo signals and the four transmitted signals, as well as the distance values ​​corresponding to the echo signals corresponding to each transmitted signal in the one-dimensional signal image.

[0272] For example, for a target located 50 meters away, the echo signal corresponding to transmitting antenna Tx1 has a distance value of 50 meters in the one-dimensional signal image, the echo signal corresponding to transmitting antenna Tx2 has a distance value of 190 meters in the one-dimensional signal image, the echo signal corresponding to transmitting antenna Tx3 has a distance value of 290 meters in the one-dimensional signal image, and the echo signal corresponding to transmitting antenna Tx4 has a distance value of 10 meters in the one-dimensional signal image. It can be seen that the distance value of 50 meters corresponding to Tx1 is the actual distance to the target. At this point, the echo signals from the other antennas need to be jointly processed to determine the actual distance to the target. It should be noted that the transmitting antennas "Tx1, Tx2, Tx3, Tx4" labeled in Figure 17A do not actually exist and are only included for ease of explanation.

[0273] For example, for a target located 300 meters away, the echo information corresponding to transmitting antenna Tx1 corresponds to a distance value of 300 meters in the one-dimensional signal image, the echo signal corresponding to transmitting antenna Tx2 corresponds to a distance value of 40 meters in the one-dimensional signal image, the echo signal corresponding to transmitting antenna Tx3 corresponds to a distance value of 140 meters in the one-dimensional signal image, and the echo signal corresponding to transmitting antenna Tx4 corresponds to a distance value of 260 meters in the one-dimensional signal image. It can be seen that the distance value of 300 meters corresponding to Tx1 is the actual distance to the target. At this point, the echo signals from the other antennas need to be jointly processed to determine the actual distance to the target. It should be noted that the transmitting antennas "Tx1, Tx2, Tx3, Tx4" labeled in Figure 17A do not actually exist and are only labeled for convenience of explanation.

[0274] Through the embodiments of the present application, an unambiguous measurement distance of 400m is achieved by utilizing the sampling capability of an ADC that originally corresponds to an unambiguous distance of 400 / 4=100m, thereby increasing the effective detection distance of the detection device under the same sampling rate conditions, which is equivalent to reducing the sampling capability requirements for the ADC under the same detection distance requirements.

[0275] Please refer to FIG. 17B , which is a schematic diagram of a one-dimensional image of a signal provided in an embodiment of the present application.

[0276] As shown in Figure 17B, in the detection scenario of Figure 17A above, by using M transmitting antennas, N receiving antennas and N ADC channels, M·N equivalent antenna arrays and M·N equivalent ADC channels can be realized, and M·N echo signal arrays can be obtained. After matching processing, the M·N echo signal array can obtain the schematic diagram of the one-dimensional image of the signal shown in Figure 17B.

[0277] As can be seen from FIG17B , the signal energy corresponding to the positions of 50 m and 300 m has high peak values, indicating that the actual distances between the two targets are 50 m and 300 m, respectively.

[0278] Please refer to FIG. 18 , which is a schematic diagram of a one-dimensional image of a signal provided in an embodiment of the present application.

[0279] As shown in Figure 18, a schematic diagram of the one-dimensional signal images corresponding to three targets at 50m, 120m and 300m respectively is shown.

[0280] In order to detect the above three targets, the transmitting system or detection device with 4 transmitting antennas transmits the corresponding transmitting signals according to the frequency difference design in the above-mentioned scheme 2, that is, the spectrum sampling resources are evenly divided into 5 parts, corresponding to 5 transmitting signals respectively, but only the 4 transmitting signals corresponding to any 4 parts of the spectrum sampling resources are transmitted through the 4 transmitting antennas, and the transmitting signal corresponding to the remaining 1 part of the spectrum resource is not transmitted.

[0281] The inherent maximum unambiguous distance of the target is 400m. The 50m target is in the first unambiguous interval (0-100m), the 120m target is in the second unambiguous interval (100-200m), and the 300m target is at the edge of the third unambiguous interval (200-300m) and the fourth unambiguous interval (300-400m).

[0282] Based on the unoccupied frequency bands in the five equally spaced frequency bands and the distance intervals in the one-dimensional signal image shown in Figure 18, it can be seen that there is a correspondence between the echo signal and the four transmitted signals, as well as the distance values ​​corresponding to the echo signals corresponding to each transmitted signal in the one-dimensional signal image.

[0283] For example, for a target at 50 meters, the echo signal corresponding to transmitting antenna Tx1 has a distance value of 50 meters in the one-dimensional signal image, the echo signal corresponding to transmitting antenna Tx2 has a distance value of 130 meters in the one-dimensional signal image, the echo signal corresponding to transmitting antenna Tx3 has a distance value of 210 meters in the one-dimensional signal image, and the echo signal corresponding to transmitting antenna Tx4 has a distance value of 290 meters in the one-dimensional signal image. There is no signal energy distribution within the fourth unambiguous interval (300-400 meters). It can be seen that the distance value of 50 meters corresponding to Tx1 is the actual distance to the target. It should be noted that the transmitting antennas "Tx1, Tx2, Tx3, Tx4" labeled in Figure 18 do not actually exist and are only labeled for convenience of explanation.

[0284] For example, for a target at a distance of 120 meters, the echo signal corresponding to transmitting antenna Tx1 has a distance value of 120 meters in the one-dimensional signal image, the echo signal corresponding to transmitting antenna Tx2 has a distance value of 200 meters in the one-dimensional signal image, the echo signal corresponding to transmitting antenna Tx3 has a distance value of 280 meters in the one-dimensional signal image, and the echo signal corresponding to transmitting antenna Tx4 has a distance value of 360 meters in the one-dimensional signal image. There is no signal energy distribution within the first unambiguous interval (0-100 meters). It can be seen that the distance value of 120 meters corresponding to Tx1 is the actual distance to the target. It should be noted that the transmitting antennas "Tx1, Tx2, Tx3, Tx4" labeled in Figure 18 do not actually exist and are only labeled for convenience of explanation.

[0285] For example, for a target at 300 meters, the echo information corresponding to transmitting antenna Tx1 corresponds to a distance value of 300 meters in the one-dimensional signal image. The echo signal corresponding to transmitting antenna Tx2 corresponds to a distance value of 380 meters in the one-dimensional signal image. The echo signal corresponding to transmitting antenna Tx3 corresponds to a distance value of 60 meters in the one-dimensional signal image. The echo signal corresponding to transmitting antenna Tx4 corresponds to a distance value of 140 meters in the one-dimensional signal image. There is no signal energy distribution within the third unambiguous interval (200-300 meters). It can be seen that the distance value of 300 meters corresponding to Tx1 is the actual distance to the target. It should be noted that the transmitting antennas "Tx1, Tx2, Tx3, Tx4" labeled in Figure 18 do not actually exist and are only labeled for convenience of explanation.

[0286] Through the embodiments of the present application, an unambiguous measurement distance of 400m is achieved by utilizing the sampling capability of an ADC that originally corresponds to an unambiguous distance of 400 / 4=100m, thereby increasing the effective detection distance of the detection device under the same sampling rate conditions, which is equivalent to reducing the sampling capability requirements for the ADC under the same detection distance requirements.

[0287] The present application provides a chip, which includes the transmitting system or detection device provided in the present application.

[0288] This application provides a radar or radar system, which includes the transmitting system or detection device or the aforementioned chip provided in this application. It should be noted that there may be smart sensors that integrate multiple sensors. If the above-mentioned smart sensor includes millimeter wave detection function, the above-mentioned smart sensor can also be called a millimeter wave radar or millimeter wave radar system.

[0289] This application provides a terminal device that includes the transmission system or detection device provided herein. For example, the terminal device can be a transportation vehicle, such as a car, truck, aircraft, drone, slow-moving transport vehicle, spacecraft, or ship, used in any possible scenario. It can also be any device capable of carrying a millimeter wave detection device, such as surveying and mapping equipment. One or more transmission systems or detection devices provided herein are deployed on the terminal device.

[0290] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A launch system, characterized in that: The transmitting system includes M transmitting antennas, where M is an integer greater than 2; The M transmitting antennas are respectively used to transmit M transmitting signals, and the M transmitting signals are used to detect targets; The M transmission signals have M different central frequency points, and among the M transmission signals, frequency differences between transmission signals corresponding to adjacent central frequency points are different.

2. The launch system according to claim 1, characterized in that The M transmission signals are obtained by performing frequency shift processing on M-path sub-signals by M frequency shifters respectively.

3. A detection device, characterized in that: include: A frequency shift unit, and a transmitting system according to any one of claims 1 to 2, wherein: The frequency shift unit is used to perform frequency shift processing on M-path signals to obtain M transmission signals.

4. The detection device according to claim 3, characterized in that The frequency shift unit includes: M frequency shifters; The M frequency shifters are respectively used to perform frequency shift processing on the M channels of sub-signals to obtain the M transmission signals.

5. The detection device according to claim 3 or 4, characterized in that: The detection device also includes: N receiving antennas, where N is an integer greater than 2; The N receiving antennas are respectively used to receive echo signals corresponding to the M transmitting signals.

6. The detection device according to claim 5, characterized in that The detection device also includes: Mixing unit; The mixing unit is used to perform mixing processing on the M echo signals and one of the M sub-signals to obtain M mixed signals, and the M mixed signals are used to determine the distance of the target.

7. The detection device according to claim 6, characterized in that The frequency mixing unit comprises: N mixers; The N mixers are respectively used to perform mixing processing on the M echo signals and one of the M sub-signals to obtain the M mixed signals.

8. The detection device according to claim 6 or 7, characterized in that: The detection device also includes: processing unit; The processing unit is configured to determine a correspondence between the M echo signals and the M transmission signals according to a frequency difference between the M transmission signals.

9. The detection device according to claim 8, characterized in that The processing unit is further configured to determine the distance to the target based on the correspondence between the M echo signals and the M transmission signals.

10. The detection device according to any one of claims 6 to 9, characterized in that The detection device also includes: Filtering unit, sampling unit; The filtering unit is configured to perform filtering processing on the M mixed frequency signals; The sampling unit is used to sample the M mixed frequency signals after filtering to obtain M digital signals, and the M digital signals are used to determine the distance of the target.

11. The detection device according to claim 10, characterized in that: The filtering bandwidth of the filtering unit is at least twice as large as the sampling bandwidth of the sampling unit.

12. The detection device according to claim 11, characterized in that The filtering unit comprises: N intermediate frequency filters; The N intermediate frequency filters are respectively used to perform filtering processing on the M mixed signals.

13. The detection device according to any one of claims 10 to 12, characterized in that: The sampling unit comprises: N analog-to-digital converters; The N analog-to-digital converters are respectively used to sample the M mixed signals after filtering to obtain the M digital signals.

14. A launch system, characterized in that: The transmitting system includes M transmitting antennas, where M is an integer greater than 2; The M transmitting antennas are respectively used to transmit M transmitting signals, and the M transmitting signals are used to detect targets; The center frequency points of the M transmission signals are located on M frequency bands among W equally spaced frequency bands, where W is an integer greater than M.

15. The detection device according to claim 14, characterized in that The M transmission signals are obtained by performing frequency shift processing on M-path sub-signals by M frequency shifters respectively.

16. A detection device, characterized in that: include: A frequency shift unit, and a transmitting system according to any one of claims 14 to 15, wherein: The frequency shift unit is used to perform frequency shift processing on M-path signals to obtain M transmission signals.

17. The detection device according to claim 16, characterized in that The frequency shift unit includes: M frequency shifters; The M frequency shifters are respectively used to perform frequency shift processing on the M channels of sub-signals to obtain the M transmission signals.

18. The detection device according to claim 16 or 17, characterized in that: The detection device also includes: N receiving antennas, where N is an integer greater than 2; The N receiving antennas are respectively used to receive echo signals corresponding to the M transmitting signals.

19. The detection device according to claim 18, characterized in that The detection device also includes: Mixing unit; The mixing unit is used to perform mixing processing on the M echo signals and one of the M sub-signals to obtain M mixed signals, and the M mixed signals are used to determine the distance of the target.

20. The detection device according to claim 19, characterized in that The frequency mixing unit comprises: N mixers; The N mixers are respectively used to perform mixing processing on the M echo signals and one of the M sub-signals to obtain the M mixed signals.

21. The detection device according to claim 19 or 20, characterized in that The detection device also includes: processing unit; The processing unit is configured to determine a correspondence between the M echo signals and the M transmission signals according to unoccupied frequency bands in the W equally spaced frequency bands.

22. The detection device according to claim 21, characterized in that The processing unit is further configured to determine the distance to the target based on the correspondence between the M echo signals and the M transmission signals.

23. The detection device according to any one of claims 19 to 22, characterized in that The detection device also includes: Filtering unit, sampling unit; The filtering unit is configured to perform filtering processing on the M mixed frequency signals; The sampling unit is used to sample the M mixed frequency signals after filtering to obtain M digital signals, and the M digital signals are used to determine the distance of the target.

24. The detection device according to claim 23, characterized in that The filtering bandwidth of the filtering unit is at least twice as large as the sampling bandwidth of the sampling unit.

25. The detection device according to claim 24, characterized in that The filtering unit comprises: N intermediate frequency filters; The N intermediate frequency filters are respectively used to perform filtering processing on the M mixed signals.

26. The detection device according to any one of claims 23 to 25, characterized in that The sampling unit comprises: N analog-to-digital converters; The N analog-to-digital converters are respectively used to sample the M mixed signals after filtering to obtain the M digital signals.

27. A radar, characterized in that: The radar comprises the transmitting system according to any one of claims 1 to 2, or the detecting device according to any one of claims 3 to 13, or the transmitting system according to any one of claims 14 to 15, or the detecting device according to any one of claims 16 to 26.

28. A terminal device, characterized in that: The terminal device includes the transmitting system according to any one of claims 1 to 2, or the detecting device according to any one of claims 3 to 13, or the transmitting system according to any one of claims 14 to 15, or the detecting device according to any one of claims 16 to 26, or the radar according to claim 27.

29. A vehicle end, characterized in that: The vehicle end includes the transmitting system according to any one of claims 1 to 2, or the detection device according to any one of claims 3 to 13, or the transmitting system according to any one of claims 14 to 15, or the detection device according to any one of claims 16 to 26, or the radar according to claim 27, or the terminal device according to claim 28.

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