Millimeter wave radar target detection method, device and equipment based on MIMO

Abstract

The invention discloses a millimeter wave radar target detection method, device and equipment based on MIMO, and belongs to the technical field of wireless communication, and the method comprises the steps: sequentially carrying out windowing processing and FFT processing on a three-dimensional radar data cube, and obtaining speed information and distance information; then, on the basis of the speed information and the distance information, incoherent accumulation is carried out to obtain a distance-speed matrix, the signal-to-noise ratio can be effectively increased, the power of clutter noise can be effectively reduced, then CFAR processing is carried out on the distance-speed matrix to obtain a processed distance-speed matrix, and the distance-speed matrix is subjected to non-coherent accumulation; it is ensured that a radar system achieves a constant false alarm probability in a complex background noise and clutter environment, meanwhile, the discovery probability is improved as much as possible, the occurrence frequency of false alarms and missed alarms is effectively reduced, and finally Doppler compensation and angle estimation are sequentially carried out on the processed distance speed matrix, so that the detection accuracy is improved. The accuracy and precision of target detection can be effectively improved.

Description

Technical Field

[0001] The present invention belongs to the field of wireless communication technology, and in particular relates to a millimeter wave radar target detection method, device and equipment based on MIMO. Background Art

[0002] Target detection algorithms are at the core of automotive millimeter-wave radar research. Given fixed hardware requirements, improving target detection capabilities with automotive millimeter-wave radars primarily relies on algorithm design and optimization. During target detection, automotive millimeter-wave radars struggle to completely filter out clutter, which hinders accurate target detection. Improving target detection accuracy is crucial. Existing technologies primarily measure distance, velocity, and angle of objects. The collected radar data is processed through range and velocity FFTs (Fast Fourier Transforms), which are then used to determine target range and velocity. Targets are then detected using CFAR. Consequently, existing technologies suffer from low signal-to-noise ratios and high clutter noise power, resulting in low target detection accuracy. Summary of the Invention

[0003] The present invention provides a millimeter-wave radar target detection method, device and equipment based on MIMO, which are used to solve the problems in the prior art of low signal-to-noise ratio and high clutter noise power, resulting in low target detection accuracy.

[0004] In a first aspect, the present invention provides a millimeter-wave radar target detection method based on MIMO, comprising: Obtaining raw radar data from a MIMO millimeter-wave radar detecting a target, and performing an initial analysis on the raw radar data to obtain a three-dimensional radar data cube; Performing windowing and FFT processing on the three-dimensional radar data cube in sequence to obtain speed information and distance information; Based on the velocity information and the distance information, performing incoherent accumulation to obtain a range-velocity matrix, and performing CFAR processing on the range-velocity matrix to obtain a processed range-velocity matrix; Based on the range-velocity matrix after the processing, Doppler compensation processing is performed on the receiving antenna data corresponding to each transmitting antenna to obtain target recognition data; Based on the target recognition data, an angle estimation algorithm is used to estimate the angle of the target at the target position where the peak appears, thereby realizing target detection.

[0005] In one possible implementation, obtaining raw radar data of a target detected by a MIMO millimeter-wave radar includes: Control the MIMO millimeter-wave radar to adopt time-division multiplexing to transmit linear frequency-modulated continuous wave signals modulated by sawtooth waves; After transmitting the linear frequency modulated continuous wave signal, the raw radar data for detecting the target is collected.

[0006] In one possible implementation, performing initial parsing on the raw radar data to obtain a three-dimensional radar data cube includes: Read the raw radar data in binary file format and merge its I channel and Q channel data to obtain a three-dimensional radar data cube consisting of range dimension, Doppler dimension, and angle dimension.

[0007] In a possible implementation, performing windowing processing and FFT processing on the three-dimensional radar data cube in sequence to obtain speed information and distance information includes: Performing windowing processing on the three-dimensional radar data cube to obtain a three-dimensional radar data cube after the windowing processing; Performing range FFT on the three-dimensional radar data cube after the windowing process to obtain range information; Perform velocity FFT on the three-dimensional radar data cube after the windowing process to obtain velocity information.

[0008] In a possible implementation, performing windowing processing on the three-dimensional radar data cube to obtain a three-dimensional radar data cube after the windowing processing includes: The data in the three-dimensional radar data cube is multiplied by a Hanning window to obtain a three-dimensional radar data cube after windowing.

[0009] In a possible implementation, performing a range FFT on the windowed three-dimensional radar data cube to obtain range information includes: Performing a 1D-FFT on the three-dimensional radar data cube after the windowing process to generate multiple peaks with different phases but consistent positions; wherein the frequency corresponding to each peak represents information about the presence of targets at different distances, and the position of each peak is proportional to the frequency; The distances of the multiple targets are obtained based on the multiple peaks having different phases but consistent positions.

[0010] In a possible implementation, performing a velocity FFT on the windowed three-dimensional radar data cube to obtain velocity information includes: A 2D-FFT is performed on the three-dimensional radar data cube after the windowing process, and targets with different radial velocities at the same distance are separated by using the phase difference between the target and the received signal to obtain velocity information.

[0011] In a possible implementation, performing CFAR processing on the range-velocity matrix to obtain a processed range-velocity matrix includes: The improved two-dimensional rectangular detection window is obtained by removing some reference units irrelevant to the decision around the two-dimensional rectangular detection window of CFAR; Based on the improved two-dimensional rectangular detection window, the processed range-velocity matrix is ​​continuously slid, target detection is performed on the data in the processed range-velocity matrix, and the processed range-velocity matrix is ​​obtained.

[0012] In a second aspect, the present invention provides a millimeter-wave radar target detection device based on MIMO, comprising: a data acquisition module, an FFT processing module, an incoherent accumulation and CFAR processing module, a Doppler compensation module, and an angle estimation module; The data acquisition module is used to acquire raw radar data of the MIMO millimeter-wave radar detecting the target, and perform initial analysis on the raw radar data to obtain a three-dimensional radar data cube; The FFT processing module is used to perform windowing processing and FFT processing on the three-dimensional radar data cube in sequence to obtain speed information and distance information; The incoherent accumulation and CFAR processing module is configured to perform incoherent accumulation based on the velocity information and the distance information to obtain a range-velocity matrix, and perform CFAR processing on the range-velocity matrix to obtain a processed range-velocity matrix; The Doppler compensation module is used to perform Doppler compensation processing on the receiving antenna data corresponding to each transmitting antenna based on the processed range-velocity matrix to obtain target recognition data; Based on the target recognition data, an angle estimation algorithm is used to estimate the angle of the target at the target position where the peak appears, thereby realizing target detection.

[0013] In a third aspect, the present invention provides a MIMO-based millimeter-wave radar target detection device, comprising a processor and a memory; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory, so that the processor implements the MIMO-based millimeter-wave radar target detection method as described in the first aspect.

[0014] The present invention provides a MIMO-based millimeter-wave radar target detection method, device, and equipment. The method obtains speed information and distance information by sequentially performing windowing and FFT processing on a three-dimensional radar data cube. Then, based on the speed information and distance information, incoherent accumulation is performed to obtain a range-velocity matrix, which can effectively improve the signal-to-noise ratio and reduce the power of clutter noise. Subsequently, CFAR processing is performed on the range-velocity matrix to obtain a processed range-velocity matrix, ensuring that the radar system achieves a constant false alarm probability in a complex background noise and clutter environment while maximizing the detection probability, thereby effectively reducing the frequency of false alarms and missed alarms. Finally, Doppler compensation and angle estimation are sequentially performed on the processed range-velocity matrix, which can effectively improve the accuracy and precision of target detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0016] Figure 1 A flow chart of a MIMO-based millimeter-wave radar target detection method provided by an embodiment of the present invention.

[0017] Figure 2 A schematic diagram of a radar data cube provided by an embodiment of the present invention.

[0018] Figure 3 A schematic diagram of performing range FFT and velocity FFT on radar data provided by an embodiment of the present invention.

[0019] Figure 4 Schematic diagram of a rectangular detection window and an improved detection window provided in an embodiment of the present invention.

[0020] Figure 5 A schematic diagram of the CFAR algorithm provided in an embodiment of the present invention.

[0021] Figure 6 A schematic structural diagram of a MIMO-based millimeter-wave radar target detection device provided by an embodiment of the present invention.

[0022] Figure 7 A schematic structural diagram of a MIMO-based millimeter-wave radar target detection device provided in an embodiment of the present invention.

[0023] Among them, 601 is a data acquisition module, 602 is an FFT processing module, 603 is an incoherent accumulation and CFAR processing module, 604 is a Doppler compensation module, and 605 is an angle estimation module.

[0024] The above drawings illustrate specific embodiments of the present invention, which will be described in more detail below. These drawings and the accompanying description are not intended to limit the scope of the present invention in any way, but rather to illustrate the concept of the present invention to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0025] Exemplary embodiments will be described in detail herein, examples of which are illustrated in the accompanying drawings. In the following description, when referring to the drawings, like numbers in different figures represent like or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all possible embodiments consistent with the present invention. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present invention, as detailed in the appended claims.

[0026] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0027] like Figure 1 As shown, an embodiment of the present invention provides a millimeter wave radar target detection method based on MIMO, including: S101: Obtaining raw radar data of a target detected by a MIMO millimeter-wave radar, and performing an initial analysis on the raw radar data to obtain a three-dimensional radar data cube; A linear frequency modulated continuous wave (LFM) can be used to process the resulting beat signal as a data cube, thereby obtaining key information such as the target's range, velocity, and direction. The collected raw radar data needs to be merged with the I and Q channel data to obtain a three-dimensional radar data cube consisting of the range, Doppler, and angle dimensions.

[0028] S102, performing windowing processing and FFT processing on the three-dimensional radar data cube in sequence to obtain speed information and distance information; Cube data can be windowed and processed using a range FFT (1D-FFT) to separate targets at different distances mixed in the received signal and obtain range information. Velocity FFT (2D-FFT) can then be performed to separate targets with different radial velocities at the same distance and obtain velocity information.

[0029] S103, performing incoherent accumulation based on the velocity information and the distance information to obtain a range-velocity matrix, and performing CFAR processing on the range-velocity matrix to obtain a processed range-velocity matrix; After the data is processed by incoherent accumulation, it will be compressed into a range-velocity matrix. By performing CFAR processing on the range-velocity matrix, a detection window will be generated that continuously slides in the matrix. Each detection unit in the matrix will calculate a detection threshold value. The two are compared. If it is higher than the detection threshold value, it can be determined that a target exists, thereby separating the target signal from the background clutter noise.

[0030] S104, performing Doppler compensation processing on the receiving antenna data corresponding to each transmitting antenna based on the processed range-velocity matrix to obtain target recognition data; Before estimating the target angle, Doppler compensation must be performed on the receive antenna data corresponding to each transmit antenna. Because of the time-division multiplexing (TDM) operating mode, multiple transmit antennas transmit signals sequentially, resulting in a certain delay during switching. The Doppler effect of a moving target can cause phase differences between virtual array elements corresponding to different transmit antennas, affecting the accuracy of angle measurement. Doppler compensation ensures the accuracy and precision of angle estimation.

[0031] S105 , based on the target recognition data, an angle estimation algorithm is used to estimate the angle of the target at the target position where the peak appears, thereby realizing target detection.

[0032] An angle estimation algorithm is performed at the target position where the peak appears to achieve angle estimation of the target. Targets with the same distance and radial velocity but different angles can be separated to achieve radar detection of the target.

[0033] In one possible implementation, obtaining raw radar data of a target detected by a MIMO millimeter-wave radar includes: Control the MIMO millimeter-wave radar to adopt time-division multiplexing to transmit linear frequency-modulated continuous wave signals modulated by sawtooth waves; After transmitting the linear frequency modulated continuous wave signal, the raw radar data for detecting the target is collected.

[0034] More specifically, the MIMO millimeter-wave radar can be set to a time-division multiplexing working mode, and N chirp signals can be transmitted in sequence through the transmitting antenna, and the data can be received simultaneously through all receiving antennas. After receiving the RX*TX group data, the original radar data for detecting the target can be obtained; wherein, the chirp signal represents a linear frequency-modulated continuous wave signal, RX represents the number of receiving antennas, and TX represents the number of transmitting antennas.

[0035] In one possible implementation, performing initial parsing on the raw radar data to obtain a three-dimensional radar data cube includes: Read the raw radar data in binary file format and merge its I channel and Q channel data to obtain a three-dimensional radar data cube consisting of range dimension, Doppler dimension, and angle dimension.

[0036] The collected raw radar data is usually stored in the computer in the form of binary files, and uses an orthogonal dual-channel I / Q structure. When reading the data, it is necessary to parse the binary file format and merge the I channel and Q channel data to obtain a three-dimensional radar data cube consisting of distance dimension, Doppler dimension, and angle dimension. The three-dimensional radar data cube is as follows: Figure 2 The distance dimension corresponds to the values ​​of all sampling points within a single chirp signal cycle, which reflects the distance information of the target. The velocity dimension corresponds to the sampling values ​​of a group of chirps at the same sampling point, which is also called the Doppler dimension.

[0037] In a possible implementation, performing windowing processing and FFT processing on the three-dimensional radar data cube in sequence to obtain speed information and distance information includes: Performing windowing processing on the three-dimensional radar data cube to obtain a three-dimensional radar data cube after the windowing processing; Performing range FFT on the three-dimensional radar data cube after the windowing process to obtain range information; Perform velocity FFT on the three-dimensional radar data cube after the windowing process to obtain velocity information.

[0038] In a possible implementation, performing windowing processing on the three-dimensional radar data cube to obtain a three-dimensional radar data cube after the windowing processing includes: The data in the three-dimensional radar data cube is multiplied by a Hanning window to obtain a three-dimensional radar data cube after windowing.

[0039] By multiplying the raw radar data by a finite-length window function, the processed signal becomes smoother, with the main peak energy more concentrated. At the same time, the sidelobes are suppressed, becoming flatter and decreasing in amplitude. This process improves the target's signal-to-noise ratio. Further FFT processing yields more accurate spectral information, facilitating subsequent target detection using the CFAR algorithm.

[0040] In a possible implementation, performing a range FFT on the windowed three-dimensional radar data cube to obtain range information includes: Performing a 1D-FFT on the three-dimensional radar data cube after the windowing process to generate multiple peaks with different phases but consistent positions; wherein the frequency corresponding to each peak represents information about the presence of targets at different distances, and the position of each peak is proportional to the frequency; Based on the multiple peaks with different phases but consistent positions, the distances of the multiple targets are obtained as follows:

[0041] in, represents the beat signal frequency, It represents the ratio of bandwidth to the frequency modulation period of the transmitted signal, c represents the speed of light, B represents the frequency modulation bandwidth of the transmitted signal, and T represents the frequency modulation period of the transmitted signal. represents the delay time, and d represents the distance to the target.

[0042] like Figure 3 As shown in the figure, 1D-FFT processing can separate targets at different distances from the received signal, obtaining distance information. When multiple targets are simultaneously within the radar's detection range, Fourier transforming a set of chirp signals generates N peaks with different phases but consistent positions. The frequency corresponding to each peak represents the presence of a target at a different distance. Since the position of each peak is proportional to its frequency, the distances of multiple targets can be calculated.

[0043] In a possible implementation, performing a velocity FFT on the windowed three-dimensional radar data cube to obtain velocity information includes: A 2D-FFT is performed on the three-dimensional radar data cube after the windowing process, and targets with different radial velocities at the same distance are separated by using the phase difference between the target and the received signal to obtain velocity information.

[0044] For example, suppose there are two targets. After performing a range FFT on a set of chirp signals, N peaks with different phases but consistent positions are generated. The phase contained in each peak is the superposition of the two target phases. At this time, performing another FFT on the N phases can distinguish the two targets. The time interval of the chirp signal is , and are the phase differences between the two targets and the received signal, and λ is the wavelength of light. The speeds of the two targets can be calculated as follows:

[0045] in, represents the speed of one of the targets, represents the speed of another target, Represents pi.

[0046] The data can then be incoherently accumulated, the angle dimension compressed, and multiple channels superimposed. Furthermore, at this point the signal has lost its phase information, and the data containing only amplitude information will be compressed into a distance-velocity matrix.

[0047] The accuracy of target detection primarily relies on the optimization of the Constant False Alarm Rate (CFAR) algorithm, which uses statistical principles to set judgment criteria. This technology statistically analyzes background noise and adaptively determines the detection threshold based on statistical characteristics, thereby ensuring a constant false alarm probability in complex background noise and clutter environments. This maximizes the probability of detection, reduces the occurrence of false alarms and missed alarms, and effectively improves detection accuracy. The choice of detection window significantly affects the accuracy of the CFAR algorithm. Traditional CFAR algorithms use rectangular detection windows, which introduce many reference cells that are irrelevant to the decision. This increases the noise variance and affects the precise estimation of the background clutter power level, resulting in lower detection accuracy for the CFAR algorithm and reduced target detection sensitivity. Therefore, embodiments of the present invention improve the detection window.

[0048] In a possible implementation, performing CFAR processing on the range-velocity matrix to obtain a processed range-velocity matrix includes: The improved two-dimensional rectangular detection window is obtained by removing some irrelevant reference cells from the upper left corner, upper right corner, lower left corner, and lower right corner. This removes six reference cells each from the upper left corner, upper right corner, lower left corner, and lower right corner to avoid excessive reference cells that affect the estimation of background clutter power levels. Based on the improved two-dimensional rectangular detection window, the processed range-velocity matrix is ​​continuously slid, target detection is performed on the data in the processed range-velocity matrix, and the processed range-velocity matrix is ​​obtained.

[0049] like Figure 4 As shown, Figure 4 The left side shows a two-dimensional rectangular detection window, with X representing the target cell to be detected, surrounded by several guard cells. The guard cells are excluded from the calculation to prevent energy leakage from the target cell, which could affect the estimation of the background clutter power level. However, the rectangular detection window has a disadvantage: it introduces many reference cells that are irrelevant to the decision, increasing the noise variance and affecting the accurate estimation of the background clutter power level. Figure 4 On the right is the improved detection window. Some reference units irrelevant to the decision are removed around the two-dimensional rectangular detection window. This improves the estimation accuracy of the background clutter power level and ensures a higher detection accuracy.

[0050] Furthermore, the OS-CFAR (Ordered Statistical Constant False Alarm Rate) algorithm is performed in the distance dimension, and each column of reference cells in the N columns of the detection window is sorted from small to large, and the first The sorted reference cells are represented as , the larger k A large value will result in a higher threshold, reducing the false alarm rate, but will reduce the probability of detection; a smaller k value will result in a lower threshold, increasing the probability of detection and reducing missed detection, but will increase the false alarm rate. k The value is selected as 3, which is neither too large nor too small. It can balance the false alarm rate and target detection probability of the system to a certain extent, thereby optimizing the radar signal detection performance.

[0051] Then, the CA-CFAR (cell-averaged constant false alarm rate) algorithm is used in the Doppler dimension to calculate the arithmetic mean of the results obtained in the first step. The background clutter power level is estimated as:

[0052] It is the estimated value of the clutter power of all reference units, that is, the detection threshold value, with relatively high accuracy.

[0053] The false alarm probability is:

[0054] Where T is the threshold normalization factor, is the power value of the false target, is the false alarm probability. Because the improved two-dimensional CFAR algorithm uses the OS-CFAR and CA-CFAR algorithms, the algorithm has a constant false alarm characteristic, which is consistent with the characteristics of the CFAR algorithm.

[0055] By performing CFAR processing on the distance-velocity matrix, statistical analysis of the background noise is performed, and the detection threshold is adaptively determined based on the statistical characteristics. This ensures that the radar system achieves a constant false alarm probability in a complex background noise and clutter environment, while maximizing the detection probability, thereby effectively reducing the frequency of false alarms and missed alarms, and ultimately improving the radar's target detection performance. It refers to the probability that the system will mistakenly report the presence of a target when no target exists. It refers to the probability that the system correctly reports the occurrence of the target.

[0056] like Figure 5 As shown in Figure 1, the CFAR algorithm generates a detection window that slides continuously within a matrix. Each detection cell in the matrix calculates a detection threshold value by comparing it to a reference cell in the detection window. If the value exceeds the detection threshold, a target is detected, separating the target signal from background noise.

[0057] The present invention provides a millimeter-wave radar target detection method based on MIMO. The method obtains speed information and distance information by sequentially performing windowing processing and FFT processing on a three-dimensional radar data cube. Then, based on the speed information and the distance information, non-coherent accumulation is performed to obtain a range-velocity matrix, which can effectively improve the signal-to-noise ratio and reduce the power of clutter noise. Then, CFAR processing is performed on the range-velocity matrix to obtain a processed range-velocity matrix, ensuring that the radar system achieves a constant false alarm probability in a complex background noise and clutter environment while maximizing the detection probability, thereby effectively reducing the occurrence frequency of false alarms and missed alarms. Finally, Doppler compensation and angle estimation are sequentially performed on the processed range-velocity matrix, which can effectively improve the accuracy and precision of target detection.

[0058] like Figure 6 As shown, the embodiment of the present invention provides a millimeter wave radar target detection device based on MIMO, including: a data acquisition module 601, an FFT processing module 602, an incoherent accumulation and CFAR processing module 603, a Doppler compensation module 604 and an angle estimation module 605; The data acquisition module 601 is used to acquire raw radar data of the target detected by the MIMO millimeter wave radar, and perform initial analysis on the raw radar data to obtain a three-dimensional radar data cube; The FFT processing module 602 is used to perform windowing processing and FFT processing on the 3D radar data cube in sequence to obtain speed information and distance information; The incoherent accumulation and CFAR processing module 603 is configured to perform incoherent accumulation based on the velocity information and the distance information to obtain a range-velocity matrix, and perform CFAR processing on the range-velocity matrix to obtain a processed range-velocity matrix; The Doppler compensation module 604 is configured to perform Doppler compensation processing on the receiving antenna data corresponding to each transmitting antenna based on the processed range-velocity matrix to obtain target recognition data; Based on the target recognition data 605, an angle estimation algorithm is used to estimate the angle of the target at the target position where the peak appears, thereby achieving target detection.

[0059] An embodiment of the present invention provides a millimeter-wave radar target detection device based on MIMO, which can implement the above-mentioned method and technical solution. Its principles and beneficial effects are similar and will not be repeated here.

[0060] like Figure 7As shown, an embodiment of the present invention provides a millimeter wave radar target detection device based on MIMO, including a processor and a memory, and the processor and the memory are connected via a bus; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory, so that the processor performs the above-mentioned MIMO-based millimeter-wave radar target detection method.

[0061] For example, the memory may include, but is not limited to, random access memory (RAM), read-only memory (ROM), flash memory, first-in-first-out memory (FIFO), and / or first-in-last-out memory (FILO). Specifically, the processor may include one or more processing cores, such as a quad-core processor or an octa-core processor. The processor may be implemented in at least one of the following hardware forms: a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), or a PLA (Programmable Logic Array). Furthermore, the processor may include a main processor and a coprocessor. The main processor is a processor for processing data in an awake state, also known as a CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in a standby state.

[0062] The present invention provides a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are executed by a processor, they are used to implement the MIMO-based millimeter-wave radar target detection method described in Example 1.

[0063] Those skilled in the art will appreciate that the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage modules, CD-ROMs, optical storage modules, WORM, or blockchains, etc.) containing computer-usable program code.

[0064] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processing module of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine module, so that the instructions executed by the processing module of the computer or other programmable data processing device generate instructions for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0065] These computer program instructions may also be stored in a computer-readable storage module that can direct a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable storage module produce an article of manufacture including an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0066] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0067] Those skilled in the art will understand that all or part of the steps in implementing the above facts and methods can be completed by instructing relevant hardware through a program, and the program involved or the program can be stored in a computer-readable storage medium. When the program is executed, it includes the following steps: At this time, the corresponding method steps are introduced, and the storage medium can be ROM / RAM, a disk, an optical disk, WORM or a blockchain, etc.

[0068] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A millimeter-wave radar target detection method based on MIMO, characterized in that: include: Obtaining raw radar data from a MIMO millimeter-wave radar detecting a target, and performing an initial analysis on the raw radar data to obtain a three-dimensional radar data cube; Performing windowing and FFT processing on the three-dimensional radar data cube in sequence to obtain speed information and distance information; Based on the velocity information and the distance information, performing incoherent accumulation to obtain a range-velocity matrix, and performing CFAR processing on the range-velocity matrix to obtain a processed range-velocity matrix; Based on the range-velocity matrix after the processing, Doppler compensation processing is performed on the receiving antenna data corresponding to each transmitting antenna to obtain target recognition data; Based on the target recognition data, an angle estimation algorithm is used to estimate the angle of the target at the target position where the peak appears, thereby realizing target detection.

2. The MIMO-based millimeter-wave radar target detection method according to claim 1, characterized in that: Obtain raw radar data from MIMO millimeter-wave radar detection of targets, including: Control the MIMO millimeter-wave radar to adopt time-division multiplexing to transmit linear frequency-modulated continuous wave signals modulated by sawtooth waves; After transmitting the linear frequency modulated continuous wave signal, the raw radar data for detecting the target is collected.

3. The MIMO-based millimeter-wave radar target detection method according to claim 1, characterized in that: Performing an initial analysis on the raw radar data to obtain a three-dimensional radar data cube includes: Read the raw radar data in binary file format and merge its I channel and Q channel data to obtain a three-dimensional radar data cube consisting of range dimension, Doppler dimension, and angle dimension.

4. The MIMO-based millimeter-wave radar target detection method according to claim 3, characterized in that: Performing windowing processing and FFT processing on the three-dimensional radar data cube in sequence to obtain speed information and distance information, the speed information and distance information being obtained include: Performing windowing processing on the three-dimensional radar data cube to obtain a three-dimensional radar data cube after the windowing processing; Performing range FFT on the three-dimensional radar data cube after the windowing process to obtain range information; Perform velocity FFT on the three-dimensional radar data cube after the windowing process to obtain velocity information.

5. The MIMO-based millimeter-wave radar target detection method according to claim 3, characterized in that: Performing windowing processing on the three-dimensional radar data cube to obtain a three-dimensional radar data cube after the windowing processing includes: The data in the three-dimensional radar data cube is multiplied by a Hanning window to obtain a three-dimensional radar data cube after windowing.

6. The MIMO-based millimeter-wave radar target detection method according to claim 3, characterized in that: Performing a range FFT on the windowed 3D radar data cube to obtain range information includes: Performing a 1D-FFT on the three-dimensional radar data cube after the windowing process to generate multiple peaks with different phases but consistent positions; wherein the frequency corresponding to each peak represents information about the presence of targets at different distances, and the position of each peak is proportional to the frequency; The distances of the multiple targets are obtained based on the multiple peaks having different phases but consistent positions.

7. The MIMO-based millimeter-wave radar target detection method according to claim 3, characterized in that: Performing velocity FFT on the windowed 3D radar data cube to obtain velocity information includes: A 2D-FFT is performed on the three-dimensional radar data cube after the windowing process, and targets with different radial velocities at the same distance are separated by using the phase difference between the target and the received signal to obtain velocity information.

8. The MIMO-based millimeter-wave radar target detection method according to claim 7, characterized in that: Performing CFAR processing on the range-velocity matrix to obtain a processed range-velocity matrix includes: The improved two-dimensional rectangular detection window is obtained by removing some reference units irrelevant to the decision around the two-dimensional rectangular detection window of CFAR; Based on the improved two-dimensional rectangular detection window, the processed range-velocity matrix is ​​continuously slid, target detection is performed on the data in the processed range-velocity matrix, and the processed range-velocity matrix is ​​obtained.

9. A millimeter-wave radar target detection device based on MIMO, characterized in that: include: Data acquisition module, FFT processing module, incoherent accumulation and CFAR processing module, Doppler compensation module and angle estimation module; The data acquisition module is used to acquire raw radar data of the MIMO millimeter-wave radar detecting the target, and perform initial analysis on the raw radar data to obtain a three-dimensional radar data cube; The FFT processing module is used to perform windowing processing and FFT processing on the three-dimensional radar data cube in sequence to obtain speed information and distance information; The incoherent accumulation and CFAR processing module is configured to perform incoherent accumulation based on the velocity information and the distance information to obtain a range-velocity matrix, and perform CFAR processing on the range-velocity matrix to obtain a processed range-velocity matrix; The Doppler compensation module is used to perform Doppler compensation processing on the receiving antenna data corresponding to each transmitting antenna based on the processed range-velocity matrix to obtain target recognition data; Based on the target recognition data, an angle estimation algorithm is used to estimate the angle of the target at the target position where the peak appears, thereby realizing target detection.

10. A millimeter wave radar target detection device based on MIMO, characterized in that: including processor and memory; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory, so that the processor implements the MIMO-based millimeter-wave radar target detection method according to any one of claims 1 to 8.

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