Detection method and device of multi-input multi-output radar

Abstract

The embodiment of the invention provides a multi-input multi-output radar detection method and device, and relates to the technical field of radar detection. Each group of transmitting antennas of the radar consists of M transmitting antennas, and the M transmitting antennas are uniformly arranged at a first interval; a second interval between the two groups of transmitting antennas is N times of a third interval between the receiving antennas, and the third interval is M times of the first interval; in the wide-beam working mode, each transmitting antenna transmits a first signal according to a respective corresponding first modulation phase, and the respective corresponding first modulation phases of the transmitting antennas are different; and in the narrow beam working mode, each transmitting antenna transmits a second signal according to a respective corresponding second modulation phase, the second modulation phase is obtained by adding a compensation phase on the first modulation phase, and the compensation phase is used for enabling the phases to be the same when the second signals transmitted by the same group of transmitting antennas are transmitted to the target. According to the invention, the detection distance of the radar can be improved.

Description

Technical Field

[0001] The present application relates to the field of radar detection technology, and in particular to a detection method and device for a multi-input multi-output radar. Background Art

[0002] Traffic flow monitoring is a crucial component of modern urban roads, highways, and intelligent transportation systems. Traffic radars typically perform round-the-clock detection of multiple targets within their coverage area. This allows for the perception of traffic conditions, such as traffic flow and parking queues, and the detection of violations such as speeding and driving the wrong way. Most traffic radars are MIMO (Multiple Input Multiple Output) radars, employing multiple transmitting and receiving antennas. The millimeter-level electromagnetic waves emitted by the radar's radio frequency system are reflected by the target, generating an echo signal. By capturing this echo signal, the radar signal processing system can determine information such as the target's distance, angle, Doppler velocity, and signal-to-noise ratio.

[0003] Traffic radars typically use TDM-MIMO (Time Division Multiplexing-Multiple-Input-Multiple-Output) for traffic flow monitoring. However, TDM-MIMO radars only have one transmit channel active at a time, resulting in power loss and limited detection range. Therefore, improving the detection range of MIMO radars has become a pressing technical challenge. Summary of the Invention

[0004] The purpose of the embodiments of the present application is to provide a detection method and apparatus for a multi-input multi-output radar to improve the detection range of the multi-input multi-output radar. The specific technical solution is as follows:

[0005] According to a first aspect of an embodiment of the present application, a detection method for a multi-input multi-output radar is provided. The radar includes two groups of transmitting antennas and N receiving antennas. Each group of transmitting antennas includes M transmitting antennas, and the M transmitting antennas are evenly arranged at a first interval. The interval between the two groups of transmitting antennas is a second interval. The N receiving antennas are evenly arranged at a third interval, and a first receiving antenna is located at the same position as a first transmitting antenna in the first group of transmitting antennas. The second interval is N times the third interval, and the third interval is M times the first interval.

[0006] The method comprises:

[0007] In response to the operating mode being the wide beam operating mode, controlling each of the transmitting antennas to transmit the first signal according to a first modulation phase corresponding to each of the transmitting antennas, wherein the first modulation phases corresponding to each of the transmitting antennas are different;

[0008] In response to the operating mode being the narrow beam operating mode, controlling each of the transmitting antennas to transmit a second signal according to a second modulation phase corresponding to the respective first modulation phases, where the second modulation phase is obtained by adding a compensation phase to the first modulation phase, and the compensation phase is used to ensure that the second signals transmitted by the same group of transmitting antennas have the same phase when transmitted to the target;

[0009] Acquiring the echo signal received by each receiving antenna;

[0010] The target to be detected is detected according to the echo signal.

[0011] In a possible implementation manner, the first modulation phase and the second modulation phase are determined by the following formula:

[0012]

[0013] in, is the first modulation phase, is the second modulation phase, i is the transmission timing number of the chirp signal, j is the sequence number of the transmitting antenna, f0 is the radar carrier frequency, d j is the second interval, and α is the preset transmit beam direction.

[0014] In a possible implementation, detecting the target to be detected according to the echo signal includes:

[0015] generating original coherent range-Doppler spectra of a plurality of preset receiving beams according to the echo signals;

[0016] All the original coherent range-Doppler spectra generated are synthesized to obtain a synthesized coherent range-Doppler spectrum;

[0017] Calculating the speed of each target to be measured based on the synthesized coherent range-Doppler spectrum;

[0018] The value of each unit of the synthetic coherent range-Doppler spectrum satisfies the following conditions:

[0019] The value of the unit in the synthesized coherent range-Doppler spectrum is positively correlated with the value range of the unit in all original coherent range-Doppler spectrums, and is positively correlated with the value of the unit in all original coherent range-Doppler spectrums.

[0020] In a possible implementation, generating original coherent range-Doppler spectra of a plurality of preset receive beams according to the echo signal includes:

[0021] Determining, based on the signal strength of the echo signal in each direction, a direction interval in which the signal strength is greater than a signal strength threshold, wherein the signal strength threshold is positively correlated with the maximum value of the signal strength in each direction;

[0022] Determine a preset number of directions uniformly sampled from the direction interval as target directions;

[0023] Performing Fourier transform on the echo signal, and calculating the components of the Fourier transform results in the respective target directions as the Fourier transform components of the respective target directions;

[0024] The original coherent range-Doppler spectra of the receiving beams in the target directions are calculated based on the Fourier transform components of the target directions.

[0025] In a possible implementation, the value of each unit of the synthetic coherent range-Doppler spectrum is calculated by the processor in the following manner, including:

[0026] If the ratio of the maximum original value to the minimum original value of the unit is not less than a preset ratio threshold, the maximum original value of the unit is used as the value of the unit of the synthetic coherent range-Doppler spectrum;

[0027] If the ratio of the maximum original value to the minimum original value of the unit is less than a preset ratio threshold, the minimum original value of the unit is used as the value of the unit of the synthetic coherent range-Doppler spectrum;

[0028] The maximum original value is the maximum value of the values ​​at the unit in all original coherent distance-Doppler spectra, and the minimum original value is the minimum value of the values ​​at the unit in all original coherent distance-Doppler spectra.

[0029] In a possible implementation, the value of each unit of the synthetic coherent range-Doppler spectrum is calculated by the processor using the following formula, including:

[0030]

[0031] Where Y(n,k) is the value at the distance dimension index n and the velocity dimension index k in the synthetic coherent range-Doppler spectrum, maxX(n,k,m) is the maximum value of the values ​​at the distance dimension index n, the velocity dimension index k, and the beam number m in all original coherent range-Doppler spectra, minX(n,k,m) is the minimum value of the values ​​at the distance dimension index n, the velocity dimension index k, and the beam number m in all original coherent range-Doppler spectra, T r is the preset ratio threshold.

[0032] According to a second aspect of an embodiment of the present application, a detection device for a multi-input multi-output radar is provided. The radar includes two groups of transmitting antennas and N receiving antennas. Each group of transmitting antennas includes M transmitting antennas, and the M transmitting antennas are evenly arranged at a first interval. The interval between the two groups of transmitting antennas is a second interval. The N receiving antennas are evenly arranged at a third interval, and the first receiving antenna is located at the same position as the first transmitting antenna in the first group of transmitting antennas. The second interval is N times the third interval, and the third interval is M times the first interval.

[0033] The device comprises:

[0034] A first control module is configured to control each of the transmitting antennas to transmit a first signal according to a first modulation phase corresponding to each of the transmitting antennas in response to the operating mode being a wide beam operating mode, wherein the first modulation phase corresponding to each of the transmitting antennas is different;

[0035] a second control module, configured to, in response to the operating mode being the narrow beam operating mode, control each of the transmitting antennas to transmit a second signal according to a second modulation phase corresponding to the respective transmitting antennas, wherein the second modulation phase is obtained by adding a compensation phase to the first modulation phase, and the compensation phase is used to ensure that the second signals transmitted by the same group of transmitting antennas have the same phase when transmitted to a target;

[0036] A signal acquisition module, configured to acquire the echo signal received by each of the receiving antennas;

[0037] The target detection module is used to detect the target to be detected according to the echo signal.

[0038] In a possible implementation manner, the first modulation phase and the second modulation phase are determined by the following formula:

[0039]

[0040]

[0041] in, is the first modulation phase, is the second modulation phase, i is the transmission timing number of the chirp signal, j is the sequence number of the transmitting antenna, f0 is the radar carrier frequency, d j is the second interval, and α is the preset transmit beam direction.

[0042] In a possible implementation, detecting the target to be detected according to the echo signal includes:

[0043] generating original coherent range-Doppler spectra of a plurality of preset receiving beams according to the echo signals;

[0044] All the original coherent range-Doppler spectra generated are synthesized to obtain a synthesized coherent range-Doppler spectrum;

[0045] Calculating the speed of each target to be measured based on the synthesized coherent range-Doppler spectrum;

[0046] The value of each unit of the synthetic coherent range-Doppler spectrum satisfies the following conditions:

[0047] The value of the unit in the synthesized coherent range-Doppler spectrum is positively correlated with the value range of the unit in all original coherent range-Doppler spectrums, and is positively correlated with the value of the unit in all original coherent range-Doppler spectrums.

[0048] In a possible implementation, generating original coherent range-Doppler spectra of a plurality of preset receive beams according to the echo signal includes:

[0049] Determining, based on the signal strength of the echo signal in each direction, a direction interval in which the signal strength is greater than a signal strength threshold, wherein the signal strength threshold is positively correlated with the maximum value of the signal strength in each direction;

[0050] Determine a preset number of directions uniformly sampled from the direction interval as target directions;

[0051] Performing Fourier transform on the echo signal, and calculating the components of the Fourier transform results in the respective target directions as the Fourier transform components of the respective target directions;

[0052] The original coherent range-Doppler spectra of the receiving beams in the target directions are calculated based on the Fourier transform components of the target directions.

[0053] In a possible implementation, the value of each unit of the synthetic coherent-Doppler spectrum is calculated by the following method, including:

[0054] If the ratio of the maximum original value to the minimum original value of the unit is not less than a preset ratio threshold, the maximum original value of the unit is used as the value of the unit of the synthetic coherent range-Doppler spectrum;

[0055] If the ratio of the maximum original value to the minimum original value of the unit is less than a preset ratio threshold, the minimum original value of the unit is used as the value of the unit of the synthetic coherent range-Doppler spectrum;

[0056] The maximum original value is the maximum value of the values ​​at the unit in all original coherent distance-Doppler spectra, and the minimum original value is the minimum value of the values ​​at the unit in all original coherent distance-Doppler spectra.

[0057] In a possible implementation, the value of each unit of the synthetic coherent range-Doppler spectrum is calculated by the following formula, including:

[0058]

[0059] Where Y(n,k) is the value at the distance dimension index n and the velocity dimension index k in the synthetic coherent range-Doppler spectrum, maxX(n,k,m) is the maximum value of the values ​​at the distance dimension index n, the velocity dimension index k, and the beam number m in all original coherent range-Doppler spectra, minX(n,k,m) is the minimum value of the values ​​at the distance dimension index n, the velocity dimension index k, and the beam number m in all original coherent range-Doppler spectra, T r is the preset ratio threshold.

[0060] An embodiment of the present application further provides an electronic device, including:

[0061] Memory for storing computer programs;

[0062] The processor is configured to implement any of the above-mentioned detection methods for the multi-input multi-output radar when executing the program stored in the memory.

[0063] An embodiment of the present application further provides a computer-readable storage medium, wherein the medium stores a computer program, and when the computer program is executed by a processor, the detection method of any of the above-mentioned multi-input multi-output radars is implemented.

[0064] An embodiment of the present application further provides a computer program product comprising instructions, which, when executed on a computer, enables the computer to execute any of the aforementioned methods for detecting a multi-input multi-output radar.

[0065] An embodiment of the present application provides a detection method and device for a multi-input multi-output radar. The radar includes two groups of transmitting antennas and N receiving antennas. Each group of transmitting antennas consists of M transmitting antennas, and the M transmitting antennas are evenly arranged at a first interval. The interval between the two groups of transmitting antennas is a second interval. The N receiving antennas are evenly arranged at a third interval, and the first receiving antenna is in the same position as the first transmitting antenna in the first group of transmitting antennas. The second interval is N times the third interval, and the third interval is M times the first interval. After the radar is arranged in this way, in a wide-beam operating mode, each transmitting antenna transmits a first signal according to its own corresponding and different first modulation phase, which can realize traditional Doppler division multiplexing multi-input multi-output. In a narrow-beam operating mode, since the second modulation phase corresponding to each transmitting antenna is obtained by adding a compensation phase to the corresponding first modulation phase, and the compensation phase is used to ensure that the second signals transmitted by the same group of transmitting antennas have the same phase when transmitted to the target, transmit beamforming is realized, thereby improving the radar's transmission gain, that is, improving the radar's detection range.

[0066] Of course, it is not necessary to achieve all the advantages described above at the same time when implementing any product or method of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other embodiments can also be obtained based on these drawings.

[0068] Figure 1 A schematic diagram of a multiple-input multiple-output radar provided in an embodiment of the present application;

[0069] Figure 2 An example diagram of a multi-input multi-output radar provided in an embodiment of the present application;

[0070] Figure 3 This is an example diagram of a virtual array in the wide beam working mode provided in an embodiment of the present application;

[0071] Figure 4 This is an example diagram of the transmit beam of the multi-input multi-output radar in the narrow beam working mode provided in an embodiment of the present application;

[0072] Figure 5 This is an example diagram of a virtual array in the narrow beam working mode provided in an embodiment of the present application;

[0073] Figure 6 This is an example diagram of transmit beamforming + receive beamforming provided in an embodiment of the present application;

[0074] Figure 7a Coherent range-Doppler spectrum of the strongest beam formed by digital beamforming;

[0075] Figure 7b Schematic diagram of the synthetic coherent range-Doppler spectrum;

[0076] Figure 8 A schematic diagram of an angle measurement simulation of a multi-input multi-output radar in a wide-beam operating mode provided in an embodiment of the present application;

[0077] Figure 9 A schematic diagram of an angle measurement simulation of a multi-input multi-output radar in a narrow beam operating mode provided in an embodiment of the present application;

[0078] Figure 10 A schematic diagram of a detection method for a multi-input multi-output radar provided in an embodiment of the present application;

[0079] Figure 11 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0080] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field based on this application are within the scope of protection of this application.

[0081] Most traffic radars are MIMO (Multiple Input Multiple Output) radars, employing multiple transmitting and receiving antennas. The radar's radio frequency system transmits millimeter-level electromagnetic waves, which are reflected by the target and produce echo signals. By capturing these echo signals, the radar signal processing system can determine information such as the target's range, angle, Doppler velocity, and signal-to-noise ratio. The greatest advantage of MIMO radar is that it can achieve a higher array aperture with fewer antennas, thereby enhancing angular measurement resolution and accuracy. Depending on the radar system design, commonly used traffic radars include TDM-MIMO radars and DDM-MIMO (Distributed and Dynamic Massive-Multiplexing-Multiple-Input-Multiple-Output) radars.

[0082] DDM-MIMO radar uses high-precision phase modulation of different transmit antennas in the slow time dimension, enabling simultaneous transmission from M transmit antennas. This improves radar detection capabilities compared to TDM-MIMO. However, the improvement achieved with DDM-MIMO is generally limited. For example, for a radar with two transmit antennas, while maintaining the same number of signals in the speed dimension, the gain improvement compared to TDM-MIMO radar is no more than 3dB, insufficient to meet the kilometer-level detection requirements of long-range traffic radar.

[0083] In order to improve the detection range of the MIMO radar, a first aspect of the embodiment of the present application provides a multi-input multi-output radar, such as Figure 1 The figure shows a schematic diagram of a multi-input multi-output radar provided in an embodiment of the present application, including two groups of transmitting antennas and N receiving antennas. Each group of transmitting antennas consists of M transmitting antennas, and the M transmitting antennas are evenly arranged with a first interval a; the interval between the two groups of transmitting antennas is a second interval b; the N receiving antennas are evenly arranged with a third interval c, and the first receiving antenna is in the same position as the first transmitting antenna in the first group of transmitting antennas; the second interval b is N times the third interval c, and the third interval is M times the first interval.

[0084] For example, Figure 2 The figure shows an example diagram of a multi-input multi-output radar provided in an embodiment of the present application, including transmitting antenna 111, transmitting antenna 112, transmitting antenna 113, transmitting antenna 121, transmitting antenna 122, transmitting antenna 123, receiving antenna 21, receiving antenna 22, receiving antenna 23, receiving antenna 24, receiving antenna 25, receiving antenna 26, receiving antenna 27, and receiving antenna 28. Among them, transmitting antenna 111, transmitting antenna 112, and transmitting antenna 113 constitute a first group of transmitting antennas, and transmitting antenna 121, transmitting antenna 122, and transmitting antenna 123 constitute a second group of transmitting antennas. The positions of each transmitting antenna are [0; 0.5; 1; 1.5; 12; 12.5; 13]×λ, and the positions of each receiving antenna are [0; 1.5; 3; 4.5; 6; 7.5; 9; 10.5]×λ.

[0085] The MIMO radar in this application can support wide and narrow beam operating modes in a time-sharing manner. Wide beam and narrow beam operating modes are two typical forms of radar antenna radiation energy coverage, differing in beam width. In narrow beam operating mode, energy is highly concentrated, with high detection accuracy and strong anti-interference, but the coverage is small, making it suitable for narrow area monitoring. In wide beam operating mode, energy is dispersed over a large area, making it suitable for multi-lane monitoring.

[0086] It is understood that the wide-beam operating mode and narrow-beam operating mode of the radar can be switched automatically, such as the wide-beam operating mode and the narrow-beam operating mode running alternately, or the mode switching can be performed after receiving a user instruction, such as the radar is currently in the narrow-beam operating mode and switches to the wide-beam operating mode after receiving a user instruction. Both are possible and are not limited in the embodiments of the present application.

[0087] In the wide beam working mode, each transmitting antenna is used to transmit the first signal according to its corresponding first modulation phase, and the first modulation phase corresponding to each transmitting antenna is different.

[0088] The first modulation phase corresponding to each transmitting antenna is preset, or may be calculated according to a preset calculation rule, which is not limited in this embodiment of the present application. Detailed description of the preset calculation rule is provided below and will not be repeated here.

[0089] It is understandable that the multi-input multi-output radar in the present application can be any form of MIMO radar, such as TDM-MIMO radar, DDM-MIMO radar, BPM-MIMO (Binary Phase Modulation-Multiple-Input-Multiple-Output) radar, FDM-MIMO (Frequency Division Multiplexing-Multiple-Input-Multiple-Output) radar. Different forms of MIMO radars correspond to different first modulation phases. The embodiment of the present application does not limit the form of the multi-input multi-output radar. For ease of description, the DDM-MIMO radar is used as an example below. In the case where the multi-input multi-output radar is a radar of a form other than the DDM-MIMO radar, the working principle of the radar is the same as that of the DDM-MIMO radar, and the only difference is that the first modulation phase is different. The embodiment of the present application does not elaborate on this.

[0090] Since the first receiving antenna is at the same position as the first transmitting antenna in the first group of transmitting antennas, for the convenience of description, Figure 1In the wide beam working mode, the positions of the first receiving antenna and the first transmitting antenna in the first group of transmitting antennas are recorded as 0, that is, the position of the virtual array element formed by the first receiving antenna and the first transmitting antenna in the first group of transmitting antennas is recorded as 0. In the wide beam working mode, the positions of the virtual array elements formed by the first transmitting antenna in the first group of transmitting antennas and the N receiving antennas are: 0, c, 2c, 3c…(N-1)c, and the positions of the virtual array elements formed by the second transmitting antenna and the N receiving antennas are: a, a+c, a+2c, a+3c…, a+(N-1)c, and so on. The positions of the virtual array elements formed by the Mth transmitting antenna in the first group of transmitting antennas and the N receiving antennas are: (M-1)a, (M-1)a+c, (M-1)a+2c, (M-1)a+3c…, (M-1)a+(N-1)c; the positions of the virtual array elements formed by the first transmitting antenna in the second group of transmitting antennas and the N receiving antennas are: The positions of the virtual array elements formed by the second transmitting antenna and the N receiving antennas are: b+a, b+a+c, b+a+2c, b+a+3c…, b+a+(N-1)c, and so on. The positions of the virtual array elements formed by the Mth transmitting antenna and the N receiving antennas of the second group of transmitting antennas are: b+(M-1)a, b+(M-1)a+c,b+(M-1)a+2c,b+(M-1)a+3c…,b+(M-1)a+(N-1)c. Since b=c*N and c=a*M, it can be deduced that in the wide-beam working mode, the slow time-dimensional phase modulation of 2×M transmitting antennas realizes the conventional DDM-MIMO mode, which, combined with N receiving antennas, can be equivalent to a uniform array of 2×M×N channels. The spacing between virtual array elements in the array is a.

[0091] by Figure 2 Taking the radar shown in the figure as an example, in the wide beam working mode, the six transmitting antennas use slow time dimension phase modulation to realize the conventional DDM-MIMO mode, and with the eight receiving antennas, it can be equivalent to a 48-channel uniform array, as shown in the figure. Figure 3 The figure shows an example diagram of a virtual array in a wide beam working mode provided by an embodiment of the present application, where the spacing between virtual array elements in the virtual array is 0.5λ.

[0092] In the narrow beam operating mode, each transmitting antenna is used to transmit a second signal according to its corresponding second modulation phase, wherein the second modulation phase is obtained by adding a compensation phase to the first modulation phase, and the compensation phase is used to ensure that the second signals transmitted by the same group of transmitting antennas have the same phase when transmitted to the target.

[0093] Since the second signals transmitted by the same group of transmitting antennas have the same phase when transmitted to the target, the same group of transmitting antennas can be used to perform transmit beamforming to form a transmitting module.

[0094] That is, in narrow beam mode, Figure 1 The first group of transmit antennas can be equated to one transmit antenna, and the second group of transmit antennas can be equated to one transmit antenna. In this case, assuming the first group of transmit antennas is the first transmit antenna in the first group, and the second group of transmit antennas is the first transmit antenna in the second group, the positions of the virtual array elements formed by the first group of transmit antennas and the N receive antennas are: 0, c, 2c, 3c…(N-1)c, respectively. The positions of the virtual array elements formed by the second group of transmit antennas and the N receive antennas are: b, b+c, b+2c, b+3c…, b+(N-1)c, respectively. Since b = c*N, it can be deduced that in narrow-beam operating mode, the two transmit modules and N receive antennas can be equivalent to a uniform array with 2×N channels. The two transmit modules can achieve a combined transmit beam and DDM-MIMO mode through slow-time phase modulation. The spacing between two adjacent virtual array elements in the array is c.

[0095] by Figure 2 Take the radar shown as an example, Figure 4 The figure shows an example diagram of the transmitting beam of the multi-input multi-output radar provided by an embodiment of the present application in the narrow beam working mode. Transmitter 1 represents the transmitting antenna equivalent to the first transmitting module, and transmitter 2 represents the transmitting antenna equivalent to the second transmitting antenna. The phase of the signal transmitted by each transmitting antenna in the same transmitting module is the same when it is transmitted to the target. After adding the Tx1 modulation phase on the basis of the phase of transmitter 1, the phase of the signal transmitted by each transmitting antenna in transmitter 1 is the same when it is transmitted to the target. Similarly, after adding the Tx2 modulation phase on the basis of the phase of transmitter 2, the phase of the signal transmitted by each transmitting antenna in transmitter 2 is the same when it is transmitted to the target.

[0096] In the narrow beam working mode, the two transmitting antenna modules can realize the transmission beam and DDM-MIMO combination mode through slow time dimension phase modulation, and can form a 16-channel uniform array with 8 receiving channels. Figure 5 The figure shows an example diagram of a virtual array in a narrow beam working mode provided by an embodiment of the present application, where the minimum array spacing is 1.5λ.

[0097] According to an embodiment of the present application, the radar includes two groups of transmitting antennas and N receiving antennas, each group of transmitting antennas consists of M transmitting antennas, and the M transmitting antennas are evenly arranged at a first interval, the interval between the two groups of transmitting antennas is a second interval, and the N receiving antennas are evenly arranged at a third interval, and the first receiving antenna is in the same position as the first transmitting antenna in the first group of transmitting antennas, the second interval is N times the third interval, and the third interval is M times the first interval. After the radar is arranged in this way, in the wide beam working mode, each transmitting antenna transmits a first signal according to its corresponding and different first modulation phase, which can realize traditional Doppler division multiplexing multiple input and multiple output. In the narrow beam working mode, since the second modulation phase corresponding to each transmitting antenna is obtained by adding a compensation phase to the corresponding first modulation phase, and the compensation phase is used to make the second signals emitted by the same group of transmitting antennas have the same phase when transmitted to the target, transmit beam forming is realized, thereby improving the transmission gain of the radar, that is, improving the detection range of the radar.

[0098] The following describes the preset calculation rules:

[0099] When the first modulation phase corresponding to each transmitting antenna is calculated according to a preset calculation rule, the first modulation phase corresponding to each transmitting antenna is calculated by the following formula:

[0100]

[0101] in, is the first modulation phase, i is the transmission timing number of the chirp signal, and j is the sequence number of the transmitting antenna.

[0102] Since the second modulation phase is obtained by adding the compensation phase to the first modulation phase, in this case, the second modulation phase of each transmitting antenna is calculated using the following formula:

[0103]

[0104] in, is the second modulation phase, f0 is the radar carrier frequency, d j is the second interval, and α is the preset transmit beam direction.

[0105] By using the embodiments of the present application, the modulation phase of each transmitting antenna can be quickly determined in the wide beam working mode and the narrow beam working mode, respectively, so that the multi-input multi-output radar can quickly perform detection tasks in different working modes.

[0106] In related technologies, the receiving antenna of a MIMO radar performs digital beamforming. This typically performs a two-dimensional Fast Fourier Transform (FFT) on the signals received from each virtual channel, extracts the FFT results for all channels, and performs beamforming based on the receiving beam's orientation, generating a coherent range-Doppler spectrum for each receiving beam. However, in related technologies, after obtaining the coherent range-Doppler spectrum for each receiving beam, target detection is performed on each coherent range-Doppler spectrum separately, resulting in a waste of computing power.

[0107] For example, assuming that the transmit beam points to 0°, the design is as follows Figure 6 The receive beam shown, Figure 6 FIG. 1 shows an example diagram of transmit beamforming + receive beamforming provided by an embodiment of the present application. Figure 6 Transmit represents the transmit beam, and Receive 1 to Receive 4 represent four receive beams, pointing to [-7°; 2°; 2°; 7°], respectively. The Doppler radar performs a two-dimensional fast Fourier transform on the received signals of each virtual channel to obtain the two-dimensional fast Fourier transform results. The two-dimensional fast Fourier transform results of all channels are extracted and beamformed according to the preset four receive beam directions using the following formula, resulting in four coherent range-Doppler spectra:

[0108]

[0109] Where n is the distance dimension index, k is the velocity dimension index, m is the beam number, the receiving channel number l=1,2,3...,L, L is the total number of receiving channels, d l is the spacing between receiving channels, α m is the beam pointing angle. X(n,k,m) is the value at the position of range dimension index n, velocity dimension index k, and beam number m in the coherent range-Doppler spectrum.

[0110] Since different receiving beams suppress target amplitudes at different angles differently, for example, Figure 6 As shown, the target at -7° has a very strong signal on receive beam 1, but is almost invisible to receive beam 4.

[0111] Based on this, in one possible implementation, the coherent range-Doppler spectra of each receiving beam can be synthesized, and target detection can be performed in the synthesized coherent range-Doppler spectra. In this case, the radar also includes a processor, which is used to obtain the echo signals received by each receiving antenna when measuring the target to be measured; based on the echo signals, generate multiple original coherent range-Doppler spectra of preset receiving beams; synthesize all the generated original coherent range-Doppler spectra to obtain a synthesized coherent range-Doppler spectra; based on the synthesized coherent range-Doppler spectra, calculate the speed of each target to be measured; wherein the value of each unit of the synthesized coherent range-Doppler spectra meets the following conditions:

[0112] The value of the unit in the synthetic coherent range-Doppler spectrum is positively correlated with the value range of the unit in all original coherent range-Doppler spectrums, and is positively correlated with the value of the unit in all original coherent range-Doppler spectrums.

[0113] Among them, according to the echo signal, the original coherent distance-Doppler spectra of multiple preset receiving beams are generated. It can be that each echo signal is first subjected to a two-dimensional fast Fourier transform, and then the two-dimensional fast Fourier transform results are extracted for beamforming to obtain the original coherent distance-Doppler spectrum of each receiving beam. It can also be that other methods are used to generate the original coherent distance-Doppler spectrum of each receiving beam according to the echo signal. The embodiments of the present application are not limited to this.

[0114] It can be understood that for any cell in each original coherent range-Doppler spectrum, the larger the value range of the cell, the higher the signal-to-noise ratio of the cell can be considered, and vice versa, the lower the signal-to-noise ratio of the cell can be considered. The value range is the range formed by the maximum and minimum values ​​of the cell in all original coherent range-Doppler spectra.

[0115] According to the embodiment of the present application, the value of each unit in the synthesized coherent range-Doppler spectrum is positively correlated with the value range of the unit in all the original coherent range-Doppler spectra, and is positively correlated with the value of the unit in all the original coherent range-Doppler spectra. Therefore, the signal-to-noise ratio of each unit in the synthesized coherent range-Doppler spectrum is high. By synthesizing the coherent range-Doppler spectrum, low signal-to-noise ratio clutter can be filtered out and the target signal-to-noise ratio can be improved.

[0116] However, considering that each original coherent range-Doppler spectrum contains valid signals and noise, and the minimum noise value represents the pure background when there is no signal, providing a reliable reference for signal detection, it is necessary to retain the minimum noise value when synthesizing the coherent range-Doppler spectrum. In this case, the value of each unit of the synthesized coherent range-Doppler spectrum is calculated by the processor through the following methods, including:

[0117] If the ratio of the maximum original value to the minimum original value of the unit is not less than the preset ratio threshold, the maximum original value of the unit is used as the value of the unit of the synthetic coherent distance-Doppler spectrum; if the ratio of the maximum original value to the minimum original value of the unit is less than the preset ratio threshold, the minimum original value of the unit is used as the value of the unit of the synthetic coherent distance-Doppler spectrum.

[0118] The maximum original value is the maximum value of the values ​​at that unit in all the original coherent distance-Doppler spectra, and the minimum original value is the minimum value of the values ​​at that unit in all the original coherent distance-Doppler spectra. The preset ratio threshold is set based on actual experience and needs and is not limited in this embodiment of the present application.

[0119] Exemplarily, assuming that the maximum value at unit 1 in all original coherent distance-Doppler spectra is P, the minimum value is Q, and the preset ratio threshold is w, if P / Q ≥ w, then the value at unit 1 in the synthesized coherent distance-Doppler spectrum is P; if P / Q < w, then the value at unit 1 in the synthesized coherent distance-Doppler spectrum is Q.

[0120] In another example, Figure 2 Take the multi-input multi-output radar shown in the figure as an example. Figure 7a The coherent range-Doppler spectrum of the strongest beam formed by digital beamforming is shown. Figure 7b The diagram shows the synthetic coherent range-Doppler spectrum, which is composed of Figure 7a and Figure 7b It can be seen that the signal-to-noise ratio of each unit in the synthetic coherent range-Doppler spectrum is higher than the signal-to-noise ratio of each unit in the coherent range-Doppler spectrum of the strongest beam formed by digital beamforming.

[0121] According to the embodiment of the present application, the value of each unit in the synthetic coherent range-Doppler spectrum is determined by comparing the ratio of the maximum value to the minimum value of each unit of each coherent range-Doppler spectrum with the preset ratio threshold value. This can retain the maximum value of the target and the minimum value of the noise, improve the signal-to-noise ratio, and filter out low signal-to-noise ratio clutter.

[0122] In order to more quickly determine the value of each unit in the synthetic coherent range-Doppler spectrum, in a possible implementation, the value of each unit in the synthetic coherent range-Doppler spectrum is calculated by the processor using the following formula:

[0123]

[0124] Where Y(n,k) is the value at the distance dimension index n and the velocity dimension index k in the synthetic coherent range-Doppler spectrum, maxX(n,k,m) is the maximum value of the values ​​at the distance dimension index n, the velocity dimension index k, and the beam number m in all original coherent range-Doppler spectra, minX(n,k,m) is the minimum value of the values ​​at the distance dimension index n, the velocity dimension index k, and the beam number m in all original coherent range-Doppler spectra, T r is the preset ratio threshold.

[0125] by Figure 2 As an example, the multi-input multi-output radar shown in Figure 8 The figure shows a schematic diagram of the angle measurement simulation of the multi-input multi-output radar provided by the embodiment of the present application in the wide beam working mode, with an angular resolution of 2.3873 degrees and a maximum field of view of ±90°, which meets the requirements of close-range large-angle detection; Figure 9 The figure shows a schematic diagram of the angular measurement simulation of the multi-input multi-output radar provided in the narrow beam working mode according to an embodiment of the present application. The angular resolution is 2.3873 degrees, the maximum field of view is ±19.47°, and when the intersection distance of the wide and narrow beams is set to 200 meters, the narrow beam can cover approximately 140 meters laterally, meeting the long-distance measurement requirements.

[0126] Furthermore, it is understandable that the aforementioned Figure 6 The four receiving beams shown are only one possible example. In other possible embodiments, the number of receiving beams may be other numbers, such as 3, 5, 6, etc., and the directions of the receiving beams may not be the same. Figure 6 The following will describe how the present application determines the direction of each receiving beam (hereinafter referred to as the target direction) and how to determine the original coherent range-Doppler spectrum of each receiving beam without loss of generality, including:

[0127] Step a: determining a direction interval in which the signal strength is greater than a signal strength threshold according to the signal strength of the echo signal in each direction.

[0128] The signal strength threshold is positively correlated with the maximum signal strength in each direction, and the signal strength threshold should obviously not be greater than the maximum signal strength. In other words, the signal strength threshold should be slightly less than the maximum value. For example, the maximum value minus 3dB can be used as the signal strength threshold, or 90% of the maximum value can be used as the signal strength threshold.

[0129] It is understandable that, because the signal strength threshold is slightly less than the maximum value, if the signal strength in a direction exceeds the signal strength threshold, the echo signal in that direction can be considered sufficiently strong. However, the strength of noise signals is often limited. When the signal strength of the echo signal in a certain direction is sufficiently strong, the signal-to-noise ratio of the echo signal in that direction can be considered sufficiently high, that is, the echo signal in that direction is sufficiently accurate, and target detection can be performed based on the echo signal in that direction. Conversely, if the signal strength of the echo signal in that direction is insufficient, the echo signal in that direction can be considered insufficiently accurate, and target detection based on the echo signal in that direction is no longer necessary.

[0130] Step b: determine a preset number of directions uniformly sampled from the direction interval as the target direction.

[0131] For ease of description, the preset number is recorded as N. It can be understood that N target directions can divide the direction interval into N+1 subintervals. For example, assuming the direction interval is [-12°, 12°], N=4, and the four target directions are -7°, -2°, 2°, and 7°, the direction interval can be divided into the following five subintervals: [-12°, -7°], [-7°, -2°], [-2°, 2°], [2°, 7°], and [7°, 12°].

[0132] In this paper, uniform sampling means that the lengths of the N+1 subintervals are as consistent as possible. The length of a subinterval refers to the difference between the upper and lower limits of the subinterval. For example, the length of the subinterval [-12°, -7°] is 5°.

[0133] Step c: Performing Fourier transform on the echo signal, and calculating the components of the Fourier transform results in each target direction as the Fourier transform components of each target direction.

[0134] Step d: Calculate the original coherent range-Doppler spectrum of the receiving beam in each target direction based on the Fourier transform components of each target direction.

[0135] This embodiment avoids selecting target directions with low signal-to-noise ratios for target detection, improving target detection accuracy while also avoiding wasting computing resources. Furthermore, it makes the receiving beam direction more spatially uniform, reducing the possibility of missed detections due to improperly set receiving beam directions.

[0136] Corresponding to the first aspect, the second aspect of the embodiment of the present application provides a detection method for a multi-input multi-output radar, such as Figure 10 FIG. 1 is a schematic diagram of a detection method for a multi-input multi-output radar provided in an embodiment of the present application. The method includes the following steps:

[0137] Step S100: In response to the operating mode being the wide-beam operating mode, controlling each transmitting antenna in the multiple-input multiple-output radar to transmit a first signal according to a first modulation phase corresponding to each transmitting antenna, wherein the first modulation phase corresponding to each transmitting antenna is different;

[0138] Among them, the multiple-input multiple-output radar is the multiple-input multiple-output radar of the first aspect mentioned above.

[0139] Step S200: In response to the operating mode being the narrow beam operating mode, controlling each transmitting antenna in the multiple-input multiple-output radar to transmit a second signal according to a second modulation phase corresponding to each antenna;

[0140] The second modulation phase is obtained by adding a compensation phase to the first modulation phase, and the compensation phase is used to ensure that the second signals transmitted by the same group of transmitting antennas have the same phase when transmitted to the target;

[0141] Step S300, obtaining the echo signal received by each receiving antenna;

[0142] Step S400: detecting the target to be detected according to the echo signal.

[0143] According to an embodiment of the present application, the radar includes two groups of transmitting antennas and N receiving antennas, each group of transmitting antennas consists of M transmitting antennas, and the M transmitting antennas are evenly arranged at a first interval, the interval between the two groups of transmitting antennas is a second interval, and the N receiving antennas are evenly arranged at a third interval, and the first receiving antenna is in the same position as the first transmitting antenna in the first group of transmitting antennas, the second interval is N times the third interval, and the third interval is M times the first interval. After the radar is arranged in this way, in the wide beam working mode, each transmitting antenna transmits a first signal according to its corresponding and different first modulation phase, which can realize the detection of a traditional multi-input multi-output radar. In the narrow beam working mode, since the second modulation phase corresponding to each transmitting antenna is obtained by adding a compensation phase to the corresponding first modulation phase, and the compensation phase is used to make the second signals emitted by the same group of transmitting antennas have the same phase when transmitted to the target, transmit beam forming is realized, thereby improving the transmission gain of the radar, that is, improving the detection range of the radar.

[0144] In a possible implementation, the first modulation phase and the second modulation phase are determined by the following formula:

[0145]

[0146] in, is the first modulation phase, is the second modulation phase, i is the transmission timing number of the chirp signal, j is the sequence number of the transmitting antenna, f0 is the radar carrier frequency, d jis the second interval, and α is the preset transmit beam direction.

[0147] It is understood that in the above step S400, the detection of the target to be measured based on the echo signal may obtain at least one of the speed, angle, and position of the target to be measured. In the case where the detection of the target to be measured based on the echo signal obtains the speed of the target to be measured, the above step S400 includes:

[0148] Generate original coherent range-Doppler spectra of multiple preset receiving beams according to the echo signal;

[0149] All the original coherent range-Doppler spectra generated are synthesized to obtain a synthesized coherent range-Doppler spectrum;

[0150] The speed of each target to be measured is calculated based on the synthesized coherent range-Doppler spectrum;

[0151] The value of each unit of the synthetic coherent range-Doppler spectrum satisfies the following conditions:

[0152] The value of the unit in the synthetic coherent range-Doppler spectrum is positively correlated with the value range of the unit in all original coherent range-Doppler spectrums, and is positively correlated with the value of the unit in all original coherent range-Doppler spectrums.

[0153] In a possible implementation, the value of each unit of the synthetic coherent-Doppler spectrum is calculated by the following method, including:

[0154] If the ratio of the maximum original value to the minimum original value of the unit is not less than the preset ratio threshold, the maximum original value of the unit is used as the value of the unit of the synthetic coherent range-Doppler spectrum;

[0155] If the ratio of the maximum original value to the minimum original value of the unit is less than a preset ratio threshold, the minimum original value of the unit is used as the value of the unit of the synthetic coherent range-Doppler spectrum;

[0156] The maximum original value is the maximum value of the values ​​at the unit in all original coherent distance-Doppler spectra, and the minimum original value is the minimum value of the values ​​at the unit in all original coherent distance-Doppler spectra.

[0157] In a possible implementation, the value of each unit of the synthetic coherent range-Doppler spectrum is calculated using the following formula, including:

[0158]

[0159] Where Y(n,k) is the value at the distance dimension index n and the velocity dimension index k in the synthetic coherent range-Doppler spectrum, maxX(n,k,m) is the maximum value of the values ​​at the distance dimension index n, the velocity dimension index k, and the beam number m in all original coherent range-Doppler spectra, minX(n,k,m) is the minimum value of the values ​​at the distance dimension index n, the velocity dimension index k, and the beam number m in all original coherent range-Doppler spectra, T r is the preset ratio threshold.

[0160] Corresponding to the aforementioned second aspect, a third aspect of the embodiments of the present application provides a detection device for a multi-input multi-output radar, the radar comprising two groups of transmitting antennas and N receiving antennas; wherein each group of transmitting antennas comprises M transmitting antennas, and the M transmitting antennas are evenly arranged at a first interval; the interval between the two groups of transmitting antennas is a second interval; the N receiving antennas are evenly arranged at a third interval, and the first receiving antenna is in the same position as the first transmitting antenna in the first group of transmitting antennas; the second interval is N times the third interval, and the third interval is M times the first interval;

[0161] The device comprises:

[0162] A first control module is configured to control each of the transmitting antennas to transmit a first signal according to a first modulation phase corresponding to each of the transmitting antennas in response to the operating mode being a wide beam operating mode, wherein the first modulation phase corresponding to each of the transmitting antennas is different;

[0163] a second control module, configured to, in response to the operating mode being the narrow beam operating mode, control each of the transmitting antennas to transmit a second signal according to a second modulation phase corresponding to the respective transmitting antennas, wherein the second modulation phase is obtained by adding a compensation phase to the first modulation phase, and the compensation phase is used to ensure that the second signals transmitted by the same group of transmitting antennas have the same phase when transmitted to a target;

[0164] A signal acquisition module, configured to acquire the echo signal received by each of the receiving antennas;

[0165] The target detection module is used to detect the target to be detected according to the echo signal.

[0166] In a possible implementation manner, the first modulation phase and the second modulation phase are determined by the following formula:

[0167]

[0168] in, is the first modulation phase, is the second modulation phase, i is the transmission timing number of the chirp signal, j is the sequence number of the transmitting antenna, f0 is the radar carrier frequency, d j is the second interval, and α is the preset transmit beam direction.

[0169] In a possible implementation, detecting the target to be detected according to the echo signal includes:

[0170] generating original coherent range-Doppler spectra of a plurality of preset receiving beams according to the echo signals;

[0171] All the original coherent range-Doppler spectra generated are synthesized to obtain a synthesized coherent range-Doppler spectrum;

[0172] Calculating the speed of each target to be measured based on the synthesized coherent range-Doppler spectrum;

[0173] The value of each unit of the synthetic coherent range-Doppler spectrum satisfies the following conditions:

[0174] The value of the unit in the synthesized coherent range-Doppler spectrum is positively correlated with the value range of the unit in all original coherent range-Doppler spectrums, and is positively correlated with the value of the unit in all original coherent range-Doppler spectrums.

[0175] In a possible implementation, generating original coherent range-Doppler spectra of a plurality of preset receive beams according to the echo signal includes:

[0176] Determining, based on the signal strength of the echo signal in each direction, a direction interval in which the signal strength is greater than a signal strength threshold, wherein the signal strength threshold is positively correlated with the maximum value of the signal strength in each direction;

[0177] Determine a preset number of directions uniformly sampled from the direction interval as target directions;

[0178] Performing Fourier transform on the echo signal, and calculating the components of the Fourier transform results in the respective target directions as the Fourier transform components of the respective target directions;

[0179] The original coherent range-Doppler spectra of the receiving beams in the target directions are calculated based on the Fourier transform components of the target directions.

[0180] In a possible implementation, the value of each unit of the synthetic coherent-Doppler spectrum is calculated by the following method, including:

[0181] If the ratio of the maximum original value to the minimum original value of the unit is not less than a preset ratio threshold, the maximum original value of the unit is used as the value of the unit of the synthetic coherent range-Doppler spectrum;

[0182] If the ratio of the maximum original value to the minimum original value of the unit is less than a preset ratio threshold, the minimum original value of the unit is used as the value of the unit of the synthetic coherent range-Doppler spectrum;

[0183] The maximum original value is the maximum value of the values ​​at the unit in all original coherent distance-Doppler spectra, and the minimum original value is the minimum value of the values ​​at the unit in all original coherent distance-Doppler spectra.

[0184] In a possible implementation, the value of each unit of the synthetic coherent range-Doppler spectrum is calculated by the following formula, including:

[0185]

[0186] Where Y(n,k) is the value at the distance dimension index n and the velocity dimension index k in the synthetic coherent range-Doppler spectrum, maxX(n,k,m) is the maximum value of the values ​​at the distance dimension index n, the velocity dimension index k, and the beam number m in all original coherent range-Doppler spectra, minX(n,k,m) is the minimum value of the values ​​at the distance dimension index n, the velocity dimension index k, and the beam number m in all original coherent range-Doppler spectra, T r is the preset ratio threshold.

[0187] The present application also provides an electronic device, such as Figure 11 Shown, including:

[0188] Memory 1101, used for storing computer programs;

[0189] The processor 1102 is configured to implement any of the aforementioned multiple-input multiple-output radar detection methods when executing the program stored in the memory 1101.

[0190] The memory may include random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage. Alternatively, the memory may be at least one storage device located away from the processor.

[0191] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0192] In another embodiment provided in the present application, a computer-readable storage medium is further provided, wherein a computer program is stored in the medium. When the computer program is executed by a processor, the steps of any of the above-mentioned detection methods of the multi-input multi-output radar are implemented.

[0193] In another embodiment provided by the present application, a computer program product including instructions is further provided, which, when executed on a computer, enables the computer to execute any one of the detection methods for the multi-input multi-output radar in the above embodiments.

[0194] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrations. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a solid-state drive (SSD).

[0195] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0196] Each embodiment in this specification is described in a related manner. Similar parts between the various embodiments can be referred to in conjunction with each other. Each embodiment focuses on the differences between the other embodiments. In particular, the method embodiments are generally similar to the system embodiments, so the description is relatively simple. For related parts, refer to the description of the system embodiments.

[0197] The above description is only a preferred embodiment of the present application and is not intended to limit the scope of protection of the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application are included in the scope of protection of the present application.

Claims

1. A detection method for a multi-input multi-output radar, characterized in that: The radar includes two groups of transmitting antennas and N receiving antennas; each group of transmitting antennas consists of M transmitting antennas, and the M transmitting antennas are evenly arranged at a first interval; the interval between the two groups of transmitting antennas is a second interval; the N receiving antennas are evenly arranged at a third interval, and the first receiving antenna is in the same position as the first transmitting antenna in the first group of transmitting antennas; the second interval is N times the third interval, and the third interval is M times the first interval; The method comprises: In response to the operating mode being the wide beam operating mode, controlling each of the transmitting antennas to transmit the first signal according to a first modulation phase corresponding to each of the transmitting antennas, wherein the first modulation phases corresponding to each of the transmitting antennas are different; In response to the operating mode being the narrow beam operating mode, controlling each of the transmitting antennas to transmit a second signal according to a second modulation phase corresponding to the respective first modulation phases, where the second modulation phase is obtained by adding a compensation phase to the first modulation phase, and the compensation phase is used to ensure that the second signals transmitted by the same group of transmitting antennas have the same phase when transmitted to the target; Acquiring the echo signal received by each receiving antenna; The target to be detected is detected according to the echo signal.

2. The method according to claim 1, characterized in that The first modulation phase and the second modulation phase are determined by the following formula: in, is the first modulation phase, is the second modulation phase, i is the transmission timing number of the chirp signal, j is the sequence number of the transmitting antenna, f0 is the radar carrier frequency, d j is the second interval, and α is the preset transmit beam direction.

3. The method according to claim 1, characterized in that The detecting the target to be detected according to the echo signal includes: generating original coherent range-Doppler spectra of a plurality of preset receiving beams according to the echo signals; All the original coherent range-Doppler spectra generated are synthesized to obtain a synthesized coherent range-Doppler spectrum; Calculating the speed of each target to be measured based on the synthesized coherent range-Doppler spectrum; The value of each unit of the synthetic coherent range-Doppler spectrum satisfies the following conditions: The value of the unit in the synthesized coherent range-Doppler spectrum is positively correlated with the value range of the unit in all original coherent range-Doppler spectrums, and is positively correlated with the value of the unit in all original coherent range-Doppler spectrums.

4. The method according to claim 3, characterized in that Generating original coherent range-Doppler spectra of a plurality of preset receiving beams according to the echo signal includes: Determining, based on the signal strength of the echo signal in each direction, a direction interval in which the signal strength is greater than a signal strength threshold, wherein the signal strength threshold is positively correlated with the maximum value of the signal strength in each direction; Determine a preset number of directions uniformly sampled from the direction interval as target directions; Performing Fourier transform on the echo signal, and calculating the components of the Fourier transform results in the respective target directions as the Fourier transform components of the respective target directions; The original coherent range-Doppler spectra of the receiving beams in the target directions are calculated based on the Fourier transform components of the target directions.

5. The method according to claim 3, characterized in that The value of each unit of the synthetic coherent-Doppler spectrum is calculated by the following method, including: If the ratio of the maximum original value to the minimum original value of the unit is not less than a preset ratio threshold, the maximum original value of the unit is used as the value of the unit of the synthetic coherent range-Doppler spectrum; If the ratio of the maximum original value to the minimum original value of the unit is less than a preset ratio threshold, the minimum original value of the unit is used as the value of the unit of the synthetic coherent range-Doppler spectrum; The maximum original value is the maximum value of the values ​​at the unit in all original coherent distance-Doppler spectra, and the minimum original value is the minimum value of the values ​​at the unit in all original coherent distance-Doppler spectra.

6. The method according to claim 5, characterized in that The value of each unit of the synthetic coherent range-Doppler spectrum is calculated by the following formula, including: Where Y(n,k) is the value at the distance dimension index n and the velocity dimension index k in the synthetic coherent range-Doppler spectrum, maxX(n,k,m) is the maximum value of the values ​​at the distance dimension index n, the velocity dimension index k, and the beam number m in all original coherent range-Doppler spectra, minX(n,k,m) is the minimum value of the values ​​at the distance dimension index n, the velocity dimension index k, and the beam number m in all original coherent range-Doppler spectra, T r is the preset ratio threshold.

7. A detection device for a multiple-input multiple-output radar, characterized in that: The radar includes two groups of transmitting antennas and N receiving antennas; each group of transmitting antennas consists of M transmitting antennas, and the M transmitting antennas are evenly arranged at a first interval; the interval between the two groups of transmitting antennas is a second interval; the N receiving antennas are evenly arranged at a third interval, and the first receiving antenna is in the same position as the first transmitting antenna in the first group of transmitting antennas; the second interval is N times the third interval, and the third interval is M times the first interval; The device comprises: A first control module is configured to control each of the transmitting antennas to transmit a first signal according to a first modulation phase corresponding to each of the transmitting antennas in response to the operating mode being a wide beam operating mode, wherein the first modulation phase corresponding to each of the transmitting antennas is different; a second control module, configured to, in response to the operating mode being the narrow beam operating mode, control each of the transmitting antennas to transmit a second signal according to a second modulation phase corresponding to the respective transmitting antennas, wherein the second modulation phase is obtained by adding a compensation phase to the first modulation phase, and the compensation phase is used to ensure that the second signals transmitted by the same group of transmitting antennas have the same phase when transmitted to a target; A signal acquisition module, configured to acquire the echo signal received by each of the receiving antennas; The target detection module is used to detect the target to be detected according to the echo signal.

8. The device according to claim 7, characterized in that The first modulation phase and the second modulation phase are determined by the following formula: in, is the first modulation phase, is the second modulation phase, i is the transmission timing number of the chirp signal, j is the sequence number of the transmitting antenna, f0 is the radar carrier frequency, d j is the second interval, α is the preset transmit beam direction; and / or The detecting the target to be detected according to the echo signal includes: generating original coherent range-Doppler spectra of a plurality of preset receiving beams according to the echo signals; All the original coherent range-Doppler spectra generated are synthesized to obtain a synthesized coherent range-Doppler spectrum; Calculating the speed of each target to be measured based on the synthesized coherent range-Doppler spectrum; The value of each unit of the synthetic coherent range-Doppler spectrum satisfies the following conditions: The value of the unit in the synthesized coherent range-Doppler spectrum is positively correlated with the value range of the unit in all original coherent range-Doppler spectrums, and is positively correlated with the value of the unit in all original coherent range-Doppler spectrums; and / or Generating original coherent range-Doppler spectra of a plurality of preset receiving beams according to the echo signal includes: Determining, based on the signal strength of the echo signal in each direction, a direction interval in which the signal strength is greater than a signal strength threshold, wherein the signal strength threshold is positively correlated with the maximum value of the signal strength in each direction; Determine a preset number of directions uniformly sampled from the direction interval as target directions; Performing Fourier transform on the echo signal, and calculating the components of the Fourier transform results in the respective target directions as the Fourier transform components of the respective target directions; Calculating the original coherent range-Doppler spectra of the receiving beams in the respective target directions according to the respective Fourier transform components of the respective target directions; and / or The value of each unit of the synthetic coherent-Doppler spectrum is calculated by the following method, including: If the ratio of the maximum original value to the minimum original value of the unit is not less than a preset ratio threshold, the maximum original value of the unit is used as the value of the unit of the synthetic coherent range-Doppler spectrum; If the ratio of the maximum original value to the minimum original value of the unit is less than a preset ratio threshold, the minimum original value of the unit is used as the value of the unit of the synthetic coherent range-Doppler spectrum; The maximum original value is the maximum value of the values ​​at the unit in all original coherent distance-Doppler spectra, and the minimum original value is the minimum value of the values ​​at the unit in all original coherent distance-Doppler spectra; and / or The value of each unit of the synthetic coherent range-Doppler spectrum is calculated by the following formula, including: Where Y(n,k) is the value at the distance dimension index n and the velocity dimension index k in the synthetic coherent range-Doppler spectrum, maxX(n,k,m) is the maximum value of the values ​​at the distance dimension index n, the velocity dimension index k, and the beam number m in all original coherent range-Doppler spectra, minX(n,k,m) is the minimum value of the values ​​at the distance dimension index n, the velocity dimension index k, and the beam number m in all original coherent range-Doppler spectra, T r is the preset ratio threshold.

9. An electronic device, characterized in that: include: Memory for storing computer programs; A processor, configured to implement the method according to any one of claims 1 to 6 when executing a program stored in a memory.

10. A computer-readable storage medium, characterized in that The medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

Images