Target detection method and device of binary phase modulation radar and electronic equipment

Abstract

The embodiment of the invention provides a target detection method and device of a binary phase modulation radar and electronic equipment, and relates to the technical field of radar detection, and the method is applied to a radar detection system. The radar detection system comprises a plurality of transmitting antennas and a plurality of receiving antennas, the transmitting antennas and the receiving antennas form virtual array elements in virtual arrangement, and a first virtual array element and a second virtual array element are overlapped; the method comprises the following steps: controlling each transmitting antenna to transmit a detection signal at the same time, and controlling each receiving antenna to receive an echo signal; according to the echo signals, a virtual array element sequence enabling the phase difference between the first virtual array element and the second virtual array element to be minimum is determined, and the virtual array element sequence is used for representing the corresponding relation between the echo signals and the virtual array elements; and according to the determined virtual array element sequence and the echo signal received by each receiving antenna, calculating to obtain the angle of each existing detection target. According to the invention, the accuracy of target detection can be improved.

Description

Technical Field

[0001] The present application relates to the field of radar detection technology, and in particular to a target detection method, device and electronic equipment for a binary phase modulation radar. Background Art

[0002] Traffic flow monitoring is a crucial component of modern urban roads, highways, and intelligent transportation systems. Traffic radars are typically used to conduct round-the-clock detection of multiple targets within their coverage area. This allows for the perception of traffic flow, parking queues, and other traffic conditions, as well as the detection of speeding and wrong-way driving. Most traffic radars are MIMO (Multiple Input Multiple Output) radars, with 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 the target's distance, angle, Doppler velocity, signal-to-noise ratio, and track information. This process is called target detection.

[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 target detection method, device, and electronic device for a binary phase modulation radar to improve the detection range of a MIMO radar. The specific technical solution is as follows:

[0005] According to a first aspect of an embodiment of the present application, a target detection method for a binary phase modulation radar is provided. The method is applied to a radar detection system, wherein the radar detection system includes multiple transmitting antennas and multiple receiving antennas, wherein the multiple transmitting antennas and the multiple receiving antennas form virtual array elements in a virtually arranged manner, wherein a first virtual array element formed by a first transmitting antenna and a second receiving antenna overlaps with a second virtual array element formed by a second transmitting antenna and the first receiving antenna. The method includes:

[0006] Controlling each of the transmitting antennas to simultaneously transmit a detection signal, and controlling each of the receiving antennas to receive an echo signal;

[0007] determining, based on the echo signals, a virtual array element sequence that minimizes a phase difference between the first virtual array element and the second virtual array element, wherein the virtual array element sequence is used to represent a correspondence between each echo signal and each virtual array element;

[0008] The angles of the existing detection targets are calculated based on the determined virtual array element sequence and the echo signals received by the receiving antennas.

[0009] In a possible implementation, determining, based on each of the echo signals, a virtual array element sequence that minimizes a phase difference between the first virtual array element and the second virtual array element includes:

[0010] Extracting a first phase of a first echo signal and a second phase of a second echo signal received by the first receiving antenna, and extracting a third phase of the first echo signal and a fourth phase of the second echo signal received by the second receiving antenna; wherein the first echo signal is a signal transmitted by one of the first transmitting antenna and the second transmitting antenna, and the second echo signal is a signal transmitted by the other of the first transmitting antenna;

[0011] Calculating a first difference between the second phase and the third phase and a second difference between the first phase and the fourth phase, and comparing to obtain relative magnitudes of the first difference and the second difference;

[0012] According to the relative sizes, echo signals corresponding to the first virtual array element and the second virtual array element are determined to obtain a virtual array element ranking.

[0013] In a possible implementation manner, the determining, based on the relative sizes, the echo signals corresponding to the first virtual array element and the second virtual array element, respectively:

[0014] If the first difference is less than the second difference, determining the first echo signal received by the first receiving antenna as the echo signal corresponding to the second virtual array element, and determining the second echo signal received by the second receiving antenna as the echo signal corresponding to the first virtual array element;

[0015] If the second difference is smaller than the first difference, the second echo signal received by the first receiving antenna is determined as the echo signal corresponding to the second virtual array element, and the first echo signal received by the second receiving antenna is determined as the echo signal corresponding to the first virtual array element.

[0016] In a possible embodiment, calculating the angle of each existing detection target based on the determined virtual array element sequence and the echo signal received by each receiving antenna includes:

[0017] Calculating the distance, fuzzy velocity, and angle of each detection target in the first data frame and the second data frame according to the determined virtual array element sequence and the echo signals received by each receiving antenna;

[0018] The method further comprises:

[0019] Determining, according to the distance and the angle, a common detection target among the detection targets as a detection target to be solved;

[0020] Determining, based on the fuzzy velocities of the detection target to be solved in the first data frame and the second data frame, candidate values ​​of the true velocity of the detection target to be solved in the first data frame and candidate values ​​of the true velocity of the detection target to be solved in the second data frame;

[0021] A candidate value that minimizes the difference between the true velocities of the target to be detected in the first data frame and the second data frame is calculated as the true velocity of the target to be detected in the second data frame.

[0022] In one possible implementation, the method further includes:

[0023] Obtaining the distance, fuzzy velocity, and angle of each detected target in a third data frame collected by the binary phase modulation radar, wherein the third data frame is after the second data frame;

[0024] Determining the detection target to be solved in the third data frame according to the distance and the angle;

[0025] determining, according to the fuzzy velocity of the detection target to be solved in the third data frame, a candidate value of the true velocity of the detection target to be solved in the third data frame;

[0026] A candidate value that minimizes the difference between the true speed of the target to be detected in the third data frame and the true speed in the second data frame is calculated as the true speed of the target to be detected in the third data frame.

[0027] In a possible implementation, the candidate values ​​of the true velocity of the detected target to be calculated are determined in the following manner:

[0028] v r =m×v max +v a

[0029] Among them, v r is the candidate value of the real speed, m is the preset fuzzy number, v max is the preset maximum unambiguous speed, v ais the fuzzy velocity of the detection target to be solved.

[0030] In a possible implementation, determining the same detection target among the detection targets based on the distance and the angle includes:

[0031] determining, based on the distance and the angle, a first position of each first detected target in the first data frame and a second position of each second detected target in the second data frame;

[0032] For any first detection target in the first data frame, calculating a difference between a first position of the first detection target and a second position of each second detection target in the second data frame; if the difference between the position of the first detection target and the second detection target is less than a preset position threshold, determining the first detection target and the second detection target as the same detection target;

[0033] The preset position threshold is obtained by weighted summing the probability of the detected target belonging to each category and the distance threshold set for each category, and the distance threshold set for each category is positively correlated with the size of the target in each category;

[0034] The method comprises:

[0035] The track of each detected target is determined according to the distance, angle and true speed of each detected target at different times.

[0036] According to a second aspect of an embodiment of the present application, a target detection device for a binary phase modulation radar is provided, which is applied to a radar detection system. The radar detection system includes multiple transmitting antennas and multiple receiving antennas, wherein the multiple transmitting antennas and the multiple receiving antennas form virtual array elements in a virtually arranged manner, wherein a first virtual array element formed by a first transmitting antenna and a second receiving antenna overlaps with a second virtual array element formed by a second transmitting antenna and the first receiving antenna. The device includes:

[0037] An antenna control module is used to control each of the transmitting antennas to simultaneously transmit a detection signal, and to control each of the receiving antennas to receive an echo signal;

[0038] a ranking determining module, configured to determine, based on each of the echo signals, a virtual array element ranking that minimizes a phase difference between the first virtual array element and the second virtual array element, wherein the virtual array element ranking is used to represent a correspondence between each echo signal and each virtual array element;

[0039] The angle calculation module is used to calculate the angle of each existing detection target according to the determined virtual array element sequence and the echo signal received by each receiving antenna.

[0040] According to a third aspect of the embodiments of the present application, an electronic device is provided, including:

[0041] Memory for storing computer programs;

[0042] The processor is configured to implement any of the aforementioned target detection methods for binary phase modulation radar when executing the program stored in the memory.

[0043] In a fourth aspect of an embodiment of the present application, a computer-readable storage medium is provided, wherein a computer program is stored in the computer-readable storage medium. When the computer program is executed by a processor, the target detection method of any of the aforementioned binary phase modulation radars is implemented.

[0044] In the target detection method, device, and electronic device for a binary phase-modulated radar provided in the embodiments of the present application, a first virtual array element formed by the first transmitting antenna and the second receiving antenna of the radar detection system overlaps with a second virtual array element formed by the second transmitting antenna and the first receiving antenna, making it impossible to directly distinguish the correspondence between the echo signal received by the first receiving antenna, the echo signal received by the second receiving antenna, and the first virtual array element and the second virtual array element. However, when the phases of the overlapping array elements are close and the phase difference between the first virtual array element and the second virtual array element is minimized, the correspondence between the echo signal received by the first receiving antenna, the echo signal received by the second receiving antenna, and the first virtual array element and the second virtual array element can be determined. In other words, the correspondence between all echo signals and all virtual array elements can be determined. The angle of each detected target can then be accurately calculated based on the correspondence and each echo signal. By minimizing the phase difference between the overlapping array elements, the signal-to-noise ratio is improved, thereby increasing the detection range of the MIMO radar.

[0045] 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

[0046] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. 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.

[0047] Figure 1 An example diagram of the structure of a radar detection system provided in an embodiment of the present application;

[0048] Figure 2 A first schematic diagram of a target detection method for a binary phase modulation radar provided in an embodiment of the present application;

[0049] Figure 3aThis is an example diagram of the first transmission waveform provided in an embodiment of the present application;

[0050] Figure 3b This is an example diagram of the second transmission waveform provided in an embodiment of the present application;

[0051] Figure 3c This is an example diagram of the third transmission waveform provided in an embodiment of the present application;

[0052] Figure 4 An example diagram of the range-Doppler velocity spectrum provided in an embodiment of the present application;

[0053] Figure 5 An example diagram of virtual array element sorting provided in an embodiment of the present application;

[0054] Figure 6 This is an example diagram of the three-dimensional fast Fourier transform results;

[0055] Figure 7 A second schematic diagram of the target detection method of the binary phase modulation radar provided in an embodiment of the present application;

[0056] Figure 8 An example diagram of the phase-channel correspondence provided in an embodiment of the present application;

[0057] Figure 9 A third schematic diagram of the target detection method of the binary phase modulation radar provided in an embodiment of the present application;

[0058] Figure 10 A fourth schematic diagram of a target detection method for a binary phase modulation radar provided in an embodiment of the present application;

[0059] Figure 11 A fifth schematic diagram of the target detection method of the binary phase modulation radar provided in an embodiment of the present application;

[0060] Figure 12 An example diagram of radar measurement ranges at different times provided in an embodiment of the present application;

[0061] Figure 13 A sixth schematic diagram of the target detection method of the binary phase modulation radar provided in an embodiment of the present application;

[0062] Figure 14 A seventh schematic diagram of the target detection method of the binary phase modulation radar provided in an embodiment of the present application;

[0063] Figure 15 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0064] 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.

[0065] First, the professional terms in the embodiments of this application are explained:

[0066] Overlapping elements: In this context, overlapping elements in an array are referred to as overlapping elements. Overlapping elements increases the effective aperture of the array, thereby improving resolution, and also increases the effective receiving area of ​​the array, thereby improving the signal-to-noise ratio.

[0067] When using BPM-MIMO radar for target detection, binary phase modulation is applied to different transmitting antennas in the slow time dimension, resulting in synchronous radiation of waveform signals from M transmitting antennas. However, due to the constraints of phase modulation encoding, the pulse repetition interval of the chirp signal is effectively extended to M times the original value, resulting in the ambiguity measurement range being reduced to 1 / M of the original value. Therefore, BPM-MIMO radar is typically used in scenarios where the target is stationary or moving slowly. When applied to high-speed target detection, a deambiguation speed algorithm is needed to increase the radar's speed measurement range to meet the requirements of high-speed target detection.

[0068] Traditional track deambiguation algorithms determine a target's true speed by calculating the rate of change of the target's distance over time. However, these algorithms suffer from two problems: 1. When a large target approaches a radar blind spot, the distance change can be inaccurate, rendering the deambiguation speed algorithm ineffective; 2. In the blind speed range common to all radars, when the true speed approaches it, ground clutter can affect the target, making it impossible to effectively detect the target.

[0069] In order to improve the detection range of a MIMO radar, a first aspect of an embodiment of the present application provides a target detection method for a binary phase-modulated radar, which is applied to a radar detection system. The radar detection system includes multiple transmitting antennas and multiple receiving antennas, and the multiple transmitting antennas and the multiple receiving antennas form virtual array elements in a virtual arrangement. A first virtual array element formed by a first transmitting antenna and a second receiving antenna overlaps with a second virtual array element formed by a second transmitting antenna and a first receiving antenna. To achieve overlap between the first virtual array element and the second virtual array element, the phase centers of the first virtual array element and the second virtual array element coincide, that is, the sum of the position vectors of the first transmitting antenna and the second receiving antenna is equal to the sum of the position vectors of the second transmitting antenna and the first receiving antenna.

[0070] It is understandable that, due to possible errors in actual operation, the distance between the phase centers of the first virtual array element and the second virtual array element may not completely overlap, but the distance between the phase centers is less than a preset threshold. In this case, it can also be considered that the first virtual array element and the second virtual array element overlap.

[0071] The receiving antennas further include a third receiving antenna in addition to the first receiving antenna and the second receiving antenna. The third receiving antenna can be one or more.

[0072] For example, Figure 1 The figure shows an example structure of a radar detection system provided by an embodiment of the present application. The radar detection system includes two transmitting antennas and eight receiving antennas, namely, a first transmitting antenna 11, a second transmitting antenna 12, a first receiving antenna 21, a second receiving antenna 22, a third receiving antenna 23, a fourth receiving antenna 24, a fifth receiving antenna 25, a sixth receiving antenna 26, a seventh receiving antenna 27, and an eighth receiving antenna 28. The positions of the first transmitting antenna and the second transmitting antenna are [0; 10.5] × λ, and the positions of the first to eighth receiving antennas are [0; 2.5; 4; 6; 7; 8; 9; 10.5] × λ, respectively. It can be seen that the virtual array elements formed by the first transmitting antenna 11 and the eighth receiving antenna 28 overlap with the virtual array elements formed by the second transmitting antenna 12 and the second receiving antenna 21.

[0073] like Figure 2 FIG. 1 is a schematic diagram of a first target detection method of a binary phase modulation radar provided in an embodiment of the present application. The method includes the following steps:

[0074] Step S10, controlling each transmitting antenna to transmit a detection signal simultaneously, and controlling each receiving antenna to receive an echo signal;

[0075] Step S20: determining, based on each echo signal, a virtual array element sequence that minimizes a phase difference between the first virtual array element and the second virtual array element;

[0076] The virtual array element sequence is used to represent the corresponding relationship between each echo signal and each virtual array element;

[0077] Step S30 : calculating the angles of each existing detection target based on the determined virtual array element sequence and the echo signals received by each receiving antenna.

[0078] In the embodiment of the present application, the first virtual array element formed by the first transmitting antenna and the second receiving antenna of the radar detection system overlaps with the second virtual array element formed by the second transmitting antenna and the first receiving antenna, making it impossible to directly distinguish the correspondence between the echo signal received by the first receiving antenna, the echo signal received by the second receiving antenna, and the first virtual array element, the second virtual array element. However, when the phases of the overlapping array elements are close and the phase difference between the first virtual array element and the second virtual array element is minimized, the correspondence between the echo signal received by the first receiving antenna, the echo signal received by the second receiving antenna, and the first virtual array element, the second virtual array element can be determined. In other words, the correspondence between all echo signals and all virtual array elements can be determined. The angle of each detected target can then be accurately calculated based on this correspondence and each echo signal. By minimizing the phase difference between the overlapping array elements, the signal-to-noise ratio is improved, thereby increasing the detection range of the MIMO radar.

[0079] The above steps S10 to S30 are described in detail below:

[0080] In the above step S10, the detection signal refers to the electromagnetic wave emitted by the transmitting antenna for detecting the target, and the waveform signal is the time domain representation of the detection signal. Controlling each transmitting antenna to simultaneously transmit the detection signal refers to performing binary phase modulation on different transmitting antennas to achieve synchronous radiation of the waveform signal of each transmitting antenna. Figure 1 Taking the radar detection system shown as an example, the modulation phase of the first transmitting antenna 11 is [0; 0; ...; 0; 0], and the modulation phase of the second transmitting antenna 12 is [0; π; ...; 0; π].

[0081] When the transmitting antenna transmits electromagnetic waves, the transmission waveforms of consecutive frames are cycled according to a preset rule. For example, the transmission waveforms of consecutive frames are cycled according to [transmission waveform 1; transmission waveform 2; transmission waveform 3; ...; transmission waveform 1; transmission waveform 2; transmission waveform 3]. Figure 3a The figure shows an example of the first transmission waveform provided by the embodiment of the present application. Figure 3b FIG. 1 is an example diagram of a second transmission waveform provided in an embodiment of the present application. Figure 3c The figure shows an example of the third transmission waveform provided by the embodiment of the present application. The difference between the different transmission waveforms is only the idle time. Figure 3a 、 Figure 3b 、 Figure 3c The idle time 1, idle time 2, and idle time 3 in are different. According to the speed measurement range formula (1), different idle times will lead to different chirp repetition periods, so the speed measurement range of the radar continuous frames is also different:

[0082]

[0083] Where λ is the wavelength, v max is the maximum unambiguous speed, i.e., the maximum speed measurement range, and T is the chirp repetition period. For example, taking a 92 GHz radar as an example, the repetition period and speed measurement range corresponding to different idle times are shown in Table 1 below.

[0084] Table 1 Correspondence between the repetition period and speed measurement range corresponding to the idle time

[0085] Frequency band f0 Wavelength λ Free time Repeat cycle Maximum unambiguous speed 92GHz 3.26mm 4us 31us 94.67km / h 92GHz 3.26mm 6us 33us 88.93km / h 92GHz 3.26mm 8us 35us 83.85km / h

[0086] The electromagnetic waves emitted by the transmitting antenna will reflect back signals, i.e., echo signals, after encountering the target object. Different receiving antennas have different receiving channels for receiving echo signals. Each receiving channel contains mixed echo signals from each transmitting antenna. Since the transmitting antenna is phase modulated, the receiving antenna can separate the mixed echo signals in the receiving channel according to the phase difference to distinguish the signal sources of each echo signal in the mixed echo signal. However, since the phase centers of the overlapping array elements coincide, it is not possible to directly distinguish the signal sources of each echo signal based on the phase difference for the overlapping array elements. For example, after receiving each echo signal, a two-dimensional fast Fourier transform can be performed on the echo signals received by each receiving channel to obtain the results corresponding to each receiving channel, and then the results corresponding to each receiving channel are non-coherently accumulated to obtain the range-Doppler velocity spectrum, and then the distance unit and fuzzy velocity unit where the target to be measured is located are obtained by the constant false alarm rate algorithm. Figure 4 The figure shows an example of a range-Doppler velocity spectrum provided by an embodiment of the present application. The positions of range index 58, velocity index 51 and range index 58, velocity index 307 are related to the spectral "shift" caused by the alternating periodic changes in the transmitted signal. The relative velocity index difference between the two peaks is fixed, but the overall difference varies with the relative target speed. Therefore, it is impossible to distinguish the phase relationship between the two transmitted signals, that is, it is impossible to distinguish between the two transmitting antennas.

[0087] Still Figure 1 Taking the radar detection system shown as an example, the virtual array element formed by the first transmitting antenna 11 and the eighth receiving antenna 28 overlaps with the virtual array element formed by the second transmitting antenna 12 and the first receiving antenna 21. The first receiving antenna 21 receives the echo signal transmitted by the first transmitting antenna 11 and the echo signal transmitted by the second transmitting antenna 12, and the eighth receiving antenna 28 receives the echo signal transmitted by the first transmitting antenna 11 and the echo signal transmitted by the second transmitting antenna 12. It is impossible to determine which echo signal received by the first receiving antenna 21 and the echo signal received by the eighth receiving antenna is transmitted by the first transmitting antenna 11 and which echo signal is transmitted by the second transmitting antenna 12.

[0088] It is understandable that in the related art, during the radar angle measurement process, the angle measurement is performed according to the following steps:

[0089] First, the echo signals received by each receiving antenna are extracted, and the corresponding relationship between each echo signal and each virtual array element is determined;

[0090] Then, the phase of each receiving channel is extracted according to the following formula (1):

[0091]

[0092] Among them, s[m t ,m r ] is the phase of the echo signal corresponding to the virtual array element formed by the tth transmitting antenna and the rth receiving antenna, c is the speed of light, f0 is the frequency band, α is the angle corresponding to the detection target, d t [m t ] is the position of the tth transmitting antenna, d r [m r ] is the position of the rth receiving antenna.

[0093] Finally, according to the phase of each receiving channel, the angle α corresponding to the detected target can be calculated to complete the angle solution.

[0094] However, since there are overlapping elements in the virtual element array of this application, Figure 1 Taking the radar detection system in FIG as an example, assuming that the signal sources of the echo signals of the overlapping array elements can be determined, the phase s[1 t ,8 r ] and the phase s[2 t ,1 r ]:

[0095]

[0096] It can be seen that the phase of the overlapping array element positions is the same or almost the same at any angle or speed. Figure 5 FIG2 shows an example diagram of the virtual array element arrangement according to an embodiment of the present application. As can be seen from the diagram, the positions of the virtual array elements constituting the overlapping array elements overlap, making it impossible to distinguish the correspondence between each virtual array element constituting the overlapping array elements and the echo signal. In other words, it is impossible to distinguish the phases of the receiving channels corresponding to the virtual array elements constituting the overlapping array elements, making it impossible to perform angle resolution calculation.

[0097] Since the phases of the two virtual array elements constituting the overlapping array elements are identical or almost identical, and there is a large phase difference between the two virtual array elements that do not constitute the overlapping array elements, the virtual array element order that minimizes the phase difference between the first virtual array element and the second virtual array element can be determined in step S20.

[0098] For example, assuming that the echo signals received by the first receiving antenna are echo signal 1 and echo signal 2, and the echo signals received by the second receiving antenna are echo signal 3 and echo signal 4, if echo signal 1 is sent by the second transmitting antenna, echo signal 2 is sent by the first transmitting antenna, echo signal 3 is sent by the first transmitting antenna, and echo signal 4 is sent by the second transmitting antenna, then the phase difference between the first virtual array element and the second virtual array element is minimized. Then, it can be determined that the first virtual array element corresponds to echo signal 3, and the second virtual array element corresponds to echo signal 1.

[0099] After determining the order of the virtual array elements constituting the overlapping array elements, the correspondence between each virtual array element and each echo signal can be obtained, that is, the virtual array element order, and then the angle of the detected target can be calculated in step S30. In the above step S30, the angle can be solved by using a three-dimensional fast Fourier transform, or other methods can be used for solving the angle, which is not limited in the embodiment of the present application. Figure 6 The following is an example of the 3D Fast Fourier Transform results. After the 3D Fast Fourier Transform, the point cloud data of the detected target can be obtained, including the distance, Doppler velocity (hereinafter referred to as fuzzy velocity) and angle. Figure 6 It can be seen that the horizontal angle resolution of the binary phase modulation radar provided in the embodiment of the present application is 2.6649°.

[0100] In one possible implementation, in step S20, determining, based on each echo signal, a virtual element ordering that minimizes the phase difference between the first virtual element and the second virtual element may be performed by inputting each echo signal into a pre-trained machine learning model, with the model outputting the virtual element ordering. During training, the machine learning model learns how to order the virtual elements so as to minimize the phase difference between the first virtual element and the second virtual element.

[0101] In another possible implementation, the phase difference between the echo signals received by the first receiving antenna and the second receiving antenna may be determined, and the virtual array element sequence may be determined according to the magnitude of the phase difference.

[0102] Based on this, Figure 7 FIG2 is a second schematic diagram of a target detection method for a binary phase modulation radar provided in an embodiment of the present application, wherein the method comprises the following steps:

[0103] Step S10, controlling each transmitting antenna to transmit a detection signal simultaneously, and controlling each receiving antenna to receive an echo signal;

[0104] Step S201, extracting a first phase of a first echo signal and a second phase of a second echo signal received by a first receiving antenna, and extracting a third phase of the first echo signal and a fourth phase of the second echo signal received by a second receiving antenna;

[0105] The first echo signal is a signal transmitted by one of the first transmitting antenna and the second transmitting antenna, and the second echo signal is a signal transmitted by the other one of the first transmitting antenna and the second transmitting antenna;

[0106] Step S202, calculating a first difference between the second phase and the third phase and a second difference between the first phase and the fourth phase, and comparing the first difference and the second difference to obtain relative magnitudes;

[0107] Step S203 : Determine the echo signals corresponding to the first virtual array element and the second virtual array element respectively according to their relative sizes, and obtain a virtual array element ranking.

[0108] Step S30 : calculating the angles of each existing detection target based on the determined virtual array element sequence and the echo signals received by each receiving antenna.

[0109] The above steps S10 and 30 are as mentioned above and will not be described again here. Steps 201 to S203 are specific refinements of step S20 above. The above steps S201 to S203 are described below.

[0110] In the above step S201, the phase of the echo signal received by each receiving antenna is extracted. The above formula (1) can be used, matched filtering + peak phase extraction can be used, Doppler processing can be used, or other methods can be used, which are not limited in the embodiments of the present application.

[0111] As can be seen from the above, in this application, binary phase modulation is performed on the transmitting antenna. Therefore, the phase of the first echo signal when it is sent by the first transmitting antenna is different from the phase when the first echo signal is sent by the second transmitting antenna. The phase of the second echo signal when it is sent by the first transmitting antenna is different from the phase when the second echo signal is sent by the second transmitting antenna.

[0112] Therefore, in the above step S201, phase extraction is performed respectively for when the first echo signal is a signal sent by the first transmitting antenna, when the first echo signal is a signal sent by the second transmitting antenna, when the second echo signal is a signal sent by the first transmitting antenna, and when the second echo signal is a signal sent by the second transmitting antenna.

[0113] Still Figure 1For example, the radar detection system with 2 transmitters and 8 receivers, the first phase extracted is s[1 t ,8 r ], indicating the phase of the echo signal sent by the first transmitting antenna 11 and received by the eighth receiving antenna 28; the second phase is s[2 t ,8 r ], indicating the phase of the echo signal sent by the second transmitting antenna 12 and received by the eighth receiving antenna 28; the third phase is s[1 t ,1 r ], which indicates the phase of the echo signal sent by the first transmitting antenna 11 and received by the first receiving antenna 21; the fourth phase is s[2 t ,1 r ], which represents the phase of the echo signal sent by the second transmitting antenna 12 and received by the first receiving antenna 21. The phase of each virtual channel corresponding to the distance and speed of the detection target is extracted and solved as follows Figure 8 As shown, Figure 8 This is an example diagram of the phase-channel correspondence provided in an embodiment of the present application. In the diagram, the solid lines represent channels sorted according to order 0, and the dotted lines represent channels sorted according to order 1.

[0114] Then calculate the first difference between the second phase and the third phase The second difference between the fourth phase

[0115]

[0116] In step S203, the echo signals corresponding to the first virtual array element and the second virtual array element are determined based on their relative sizes to obtain a virtual array element ranking. This can be accomplished by inputting the calculated relative sizes of the first difference and the second difference into a pre-trained model, and having the model output the virtual array element ranking. During the training process, the model learns how to rank the virtual array elements based on the relative sizes of the differences.

[0117] In the embodiment of the present application, since the phases of the overlapping array elements are close, for the receiving antennas in the virtual array elements constituting the overlapping array elements, the phases of the echo signals received by the receiving antennas are extracted, and then the phase differences of the different echo signals are calculated. When the phase difference is minimized, the correspondence between the echo signal received by the first receiving antenna, the echo signal received by the second receiving antenna, and the first and second virtual array elements can be determined. In other words, the correspondence between all echo signals and all virtual array elements is determined, thereby completing the angle measurement.

[0118] As can be seen from the foregoing, the phases of the two virtual array elements constituting overlapping array elements are identical or nearly identical, while a large phase difference exists between the two virtual array elements that do not constitute overlapping array elements. Therefore, in another possible implementation, the minimum value of the first difference and the second difference may be determined, and the signal sources of the first echo signal and the second echo signal may be determined based on the minimum value, thereby determining the echo signals corresponding to the first virtual array element and the second virtual array element, respectively.

[0119] like Figure 9 FIG3 is a third schematic diagram of a target detection method for a binary phase modulation radar provided in an embodiment of the present application, the method comprising the following steps:

[0120] Step S10, controlling each transmitting antenna to transmit a detection signal simultaneously, and controlling each receiving antenna to receive an echo signal;

[0121] Step S201, extracting a first phase of a first echo signal and a second phase of a second echo signal received by a first receiving antenna, and extracting a third phase of the first echo signal and a fourth phase of the second echo signal received by a second receiving antenna;

[0122] The first echo signal is a signal transmitted by one of the first transmitting antenna and the second transmitting antenna, and the second echo signal is a signal transmitted by the other one of the first transmitting antenna and the second transmitting antenna;

[0123] Step S202, calculating a first difference between the second phase and the third phase and a second difference between the first phase and the fourth phase, and comparing the first difference and the second difference to obtain relative magnitudes;

[0124] Step S2031: If the first difference is less than the second difference, determine the first echo signal received by the first receiving antenna as the echo signal corresponding to the second virtual array element, and determine the second echo signal received by the second receiving antenna as the echo signal corresponding to the first virtual array element;

[0125] Step S2032: If the second difference is smaller than the first difference, the second echo signal received by the first receiving antenna is determined as the echo signal corresponding to the second virtual array element, and the first echo signal received by the second receiving antenna is determined as the echo signal corresponding to the first virtual array element.

[0126] Step S30 : calculating the angles of each existing detection target based on the determined virtual array element sequence and the echo signals received by each receiving antenna.

[0127] Among them, step S10 and step S30 and step S201 to step S202 refer to the above and will not be repeated here. Step S2031 to step S2032 are Figure 7 Specific refinement steps of step S203.

[0128] Still with the above Figure 1 As an example of the radar detection system shown in the figure, if It is considered that the first virtual array element is composed of the first transmitting antenna 11 and the eighth receiving antenna 28, and the second virtual array element is composed of the second transmitting antenna 12 and the first receiving antenna 21; if It is considered that the first virtual array element is composed of the second transmitting antenna 12 and the eighth receiving antenna 28, and the second virtual array element is composed of the first transmitting antenna 12 and the first receiving antenna 21. When , an error message is sent.

[0129] According to the embodiments of the present application, for the receiving antennas in the virtual array elements constituting the overlapping array elements, the phases of the echo signals received by the receiving antennas are extracted, and the phase differences of the different echo signals are calculated. By comparing the phase differences of the different echo signals, the correspondence between all echo signals and all virtual array elements can be accurately determined.

[0130] It is understandable that when radar detects a target, in order to accurately detect the target, it is necessary to determine not only the angle of the target, but also the speed and distance of the target. However, as mentioned above, the radar has a maximum unambiguous speed v max , when the true speed of the detected target exceeds v max , the velocity measurements are folded to [-v max ,v max ] In this range, it is manifested as fuzzy speed, and the true speed of the detected target cannot be determined, nor can the target be accurately detected. Based on this, the second aspect of the embodiment of the present application provides a target detection method of a binary phase modulation radar, such as Figure 10 FIG4 is a fourth schematic diagram of a target detection method of a binary phase modulation radar provided in an embodiment of the present application, the method comprising the following steps:

[0131] Step S100, obtaining the distance, fuzzy velocity and angle of each detected target in the first data frame and the second data frame collected by the binary phase modulation radar;

[0132] The angle is calculated using the target detection method of the binary phase-modulated radar described in the first aspect. The distance and fuzzy velocity of each detected target can be calculated using the target detection method of the binary phase-modulated radar described in the first aspect, or can be obtained using existing radar ranging and velocity measurement methods, which are not limited in this embodiment of the present application.

[0133] Step S200, determining the same detection target among the detection targets based on the distance and angle as the detection target to be solved;

[0134] Specifically, for each detection target in two adjacent frames, if the time interval between the first data frame and the second data frame is very small, it can be assumed that the position and angle of the same target do not change much within the time interval. Therefore, detection targets whose distance change is less than a preset distance threshold and whose angle change is less than a preset angle threshold are determined to be the same detection target. For example, assuming that in the first data frame, the position of detection target 1 is position 1 and the angle is angle 1, and in the second data frame, the position of detection target 2 is position 2 and the angle is angle 1, and the time interval between the first data frame and the second data frame is less than a preset time threshold, if the difference between position 1 and position 2 is less than the preset distance threshold and the difference between angle 1 and angle 2 is less than the preset angle threshold, then detection target 1 and detection target 2 are the same detection target to be solved.

[0135] Step S300 , determining candidate values ​​of the true velocity of the target to be detected in the first data frame and the true velocity of the target to be detected in the second data frame according to the fuzzy velocity of the target to be detected in the first data frame and the second data frame.

[0136] Since the fuzzy velocity is caused by the periodic aliasing of the Doppler frequency shift, and the fuzzy number can reflect the number of such periodic aliasing, it is possible to determine multiple candidate values ​​of the true velocity of the target to be resolved in the first data frame based on the fuzzy number and the fuzzy velocity of the target to be resolved in the first data frame. For example, assuming that the fuzzy velocity in the first data frame is x1 and the fuzzy number is {-1, 0, 1}, the candidate values ​​of the true velocity are: -v max +x1,x1,v max +x1.

[0137] Step S400 , calculating a candidate value that minimizes the difference between the true velocities of the target to be detected in the first data frame and the second data frame, and using the candidate value as the true velocity of the target to be detected in the second data frame.

[0138] It can be understood that the speed change of the detection target to be solved in a short period of time should be small. Since the time interval between the first data frame and the second data frame is less than the preset time threshold, it can be considered that the difference between the true speed of the detection target to be solved in the first data frame and the true speed in the second data frame should be the smallest.

[0139] For example, assuming that the fuzzy velocity of the target to be detected in the first data frame is x1, the fuzzy number is {-1, 0, 1}, and the fuzzy velocity in the second data frame is x2, the fuzzy number is {-1, 0, 1}, then the candidate value of the true velocity of the target to be detected in the first data frame is: -v max +x1,x1,v max +x1, then the candidate value of the true speed in the second data frame is: -vmax +x2,x2,v max +x2, the difference between each candidate value of the true speed in the first data frame and the candidate value of the true speed in the second data frame is calculated, and the true speed of the target to be detected in the second data frame is determined when the difference is the smallest. For example, assuming that x1 and v max +x2 is the smallest, then the true speed of the target to be detected in the first data frame is x1.

[0140] By using the embodiment of the present application, it is possible to determine whether the detection targets at different times are the same detection target based on the angle and distance of each detection target. Since the true speeds of the same detection target in the first data frame and the second data frame should be close, the true speed of the detection target to be solved in the second data frame can be determined based on the candidate value when the difference between the true speeds of the detection target to be solved in the first data frame and the second data frame is the smallest, thereby achieving accurate calculation of the true speed of the detection target and improving the accuracy of target detection.

[0141] The above description explains the calculation of the true speed of the detection target in the second data frame. However, for data frames after the second data frame, the calculation method can also be used to calculate the true speed of the detection target in other data frames. Figure 11 FIG. 5 is a fifth schematic diagram of a target detection method for a binary phase modulation radar provided in an embodiment of the present application. The method includes the following steps:

[0142] Step S100, obtaining the distance, fuzzy velocity and angle of each detected target in the first data frame and the second data frame collected by the binary phase modulation radar;

[0143] Step S200, determining the same detection target among the detection targets based on the distance and angle as the detection target to be solved;

[0144] Step S300 , determining candidate values ​​of the true velocity of the target to be detected in the first data frame and the true velocity of the target to be detected in the second data frame according to the fuzzy velocity of the target to be detected in the first data frame and the second data frame.

[0145] Step S400 , calculating a candidate value that minimizes the difference between the true velocities of the target to be detected in the first data frame and the second data frame, and using the candidate value as the true velocity of the target to be detected in the second data frame.

[0146] Step S500, obtaining the distance, fuzzy velocity and angle of each detected target in the third data frame collected by the binary phase modulation radar;

[0147] The third data frame is received after the second data frame, that is, the receiving time of the third data frame is later than the receiving time of the second data frame.

[0148] Step S600, determining the detection target to be solved in the third data frame according to the distance and angle;

[0149] Step S700, determining candidate values ​​of the true velocity of the detection target to be solved in the third data frame according to the fuzzy velocity of the detection target to be solved in the third data frame;

[0150] Step S800 , calculating a candidate value that minimizes the difference between the true velocity of the target to be detected in the third data frame and the true velocity in the second data frame, and taking the candidate value as the true velocity of the target to be detected in the third data frame.

[0151] Among them, steps S100 to 400 refer to the above text, step S500 is similar to the aforementioned step S100, the only difference is that in step S500, it is obtained in the third data frame, while in step S100, it is obtained in the first data frame and the second data frame; step S600 is similar to the aforementioned step S200, step S700 is similar to step S300, and step S800 is similar to step S400, the only difference is that in step S400, the real speed in the second data frame is determined based on the candidate value of the real speed of the detection target to be solved in the first data frame and the candidate value of the real speed in the second data frame, while in step S800, the real speed in the third data frame is determined based on the real speed of the speed to be solved in the second data frame and the candidate value of the real speed in the third data frame. The above steps S500 to S800 are not repeated here.

[0152] Using the embodiment of the present application, since the true speeds of the same detection target in adjacent data frames should be close, the true speed of the detection target to be solved in the third data frame can be determined based on the candidate value when the difference between the true speed of the detection target to be solved in the second data frame and the true speed in the third data frame is the smallest, thereby achieving accurate calculation of the true speed of the detection target at any time.

[0153] It can be understood that the difference between the position difference of the same detection target in different data frames with a time interval t and the distance traveled by the detection target at the actual speed for t time should be small, such as Figure 12 The figure shows an example diagram of the radar measurement range at different times provided by an embodiment of the present application. The radar can measure the position of the truck at time T0 and the position of the truck at time T1 at the radar detection point position shown in the figure. If the size of the detection target to be solved is large, the calculated position difference of the detection target to be solved in different data frames with a time interval of t is inaccurate, and it is impossible to determine whether the detection targets in the two data frames are the same detection target.

[0154] Based on this, in a possible implementation, as Figure 13 FIG. 6 is a sixth schematic diagram of a target detection method for a binary phase modulation radar provided in an embodiment of the present application. The method includes the following steps:

[0155] Step S100, obtaining the distance, fuzzy velocity and angle of each detected target in the first data frame and the second data frame collected by the binary phase modulation radar;

[0156] Step S2001, determining a first position of each first detection target in a first data frame and a second position of each second detection target in a second data frame according to the distance and the angle;

[0157] The position of each detection target can be calculated based on the distance and angle of the detection target in the data frame. In this case, the position is represented by the coordinates of the detection target in space, or by the distance and angle of the detection target in the data frame.

[0158] Step S2002: For any first detection target in the first data frame, calculate the difference between the first position of the first detection target and the second position of each second detection target in the second data frame; if the difference between the position of the first detection target and the position of the second detection target is less than a preset position threshold, determine the first detection target and the second detection target as the same detection target;

[0159] The difference between the position of the first detected target and the position of the second detected target is less than a preset position threshold. This means that the difference between the position of the first detected target and the position of the second detected target and the distance moved at the true speed during the time interval between the first data frame and the second data frame is less than the preset position threshold. Specifically, the following formula (7) can be used to determine whether the detected targets in each data frame are the same target:

[0160] |(R last -R start )-v r ×t| <T r (7)

[0161] Among them, R start is the first position of the first detected target in the first data frame, R last is the second position of the second detection target in the second data frame, v r is the true speed, T r is the preset position threshold.

[0162] The preset location threshold is obtained by weighted summing the probability of the detected target belonging to each category and the distance threshold set for each category. In one possible embodiment, the categories are divided according to the size of the detected target. The larger the size of the detected target, the larger the distance threshold set for the category to which the detected target belongs. Specifically, the relationship between the preset location threshold and each category is as follows:

[0163] T r =∑P(x)×T x (8)

[0164] Among them, P(x) is the probability of detecting target classification, T x For example, assuming that the detection target is a vehicle, the distance threshold set for a large vehicle is 10 meters, the distance threshold set for a small vehicle is 5 meters, and the distance threshold set for a non-motor vehicle is 2 meters. The probability of the detection target being a large vehicle is 80%, the probability of being a small vehicle is 15%, and the probability of being a non-motor vehicle is 5%. The preset position threshold T r =80%×10+15%×5+5%×2=8.85 meters.

[0165] The distance threshold of the category to which the detection target belongs is determined by the size of the detection target, and the preset position threshold is set according to the probability of the category to which the detection target belongs, so that the preset position threshold is more reasonable, thereby reducing the possibility of misjudging the same detection target as different detection targets due to the large size of the detection target. It can accurately determine whether the detection targets in two data frames are the same target, thereby improving the accuracy of target detection.

[0166] Step S300 , determining candidate values ​​of the true velocity of the target to be detected in the first data frame and the true velocity of the target to be detected in the second data frame according to the fuzzy velocity of the target to be detected in the first data frame and the second data frame.

[0167] Step S400 , calculating a candidate value that minimizes the difference between the true velocities of the target to be detected in the first data frame and the second data frame, and using the candidate value as the true velocity of the target to be detected in the second data frame.

[0168] By using an embodiment of the present application, a preset position threshold is determined according to the probability that the detection target belongs to each category and the distance threshold set for each category. By comparing the difference between the first position of the first detection target in the first data frame and the second position of the second detection target in the second data frame with the preset position threshold, the possibility of misjudging the same detection target as different detection targets due to the large size of the detection target can be reduced, thereby improving the accuracy of determining the same detection target.

[0169] In order to avoid missing candidate values ​​of the true velocity, in one possible implementation, the candidate values ​​of the true velocity of the target to be detected may be determined in the following manner:

[0170] v r =m×v max1 +v a1 (9)

[0171] Among them, v r is the candidate value of the real speed, m is the preset fuzzy number, v max is the preset maximum unambiguous speed, v a The fuzzy number can be determined by the multi-pulse repetition frequency method, or can be set by the user based on experience and needs, or can be determined by other methods, which is not limited in the present embodiment.

[0172] Understandably, according to Figure 3a 、 Figure 3b 、 Figure 3c It can be seen that the frequency changes with time, and the frequency change will inevitably cause the wavelength to change. According to formula (1) and the figure, the maximum unambiguous speed is different for different wavelengths, that is, the maximum unambiguous speed is also different at different times.

[0173] In order to more clearly illustrate the process of calculating the true speed of the detection target to be calculated in different data frames in the embodiment of the present application, the following is an explanation with reference to specific embodiments.

[0174] Assume that there are y frames of data for the detection target to be solved, and y ≥ 3.

[0175] For the first data frame where the target to be detected appears, assume that the fuzzy velocity of the target to be detected in the first data frame is v a1 , the maximum unambiguous velocity corresponding to the first data frame is v max1 , the fuzzy number is m1 = {-1, 0, 1}, then the candidate value of the true velocity of the target to be detected in the first data frame can be determined by formula (4): v r11 =-v max1 +v a1 , v r12 =v a1 , v r13 =v max1 +v a1 ;

[0176] For the second data frame, assume that the fuzzy velocity of the detection target to be solved in the second data frame is v a2 , the maximum unambiguous speed corresponding to the second data frame is v max2, the fuzzy number is m2 = {-1, 0, 1}, then the fuzzy numbers m1 and m2 that minimize the difference are determined using the following formula:

[0177]

[0178] Assume that when m1=0, m2=0 (m1×v max1 +v a1 ) and (m2×v max2 +v a2 ) is the smallest, then the true velocity v of the target to be detected in the second data frame can be calculated r2 =0×v max2 +v a2 =v a2 .

[0179] For the other data frames after the second data frame, hereinafter referred to as the third data frame, it is assumed that the fuzzy velocity of the detection target to be solved in the third data frame is v a3 , the maximum unambiguous speed corresponding to the second data frame is v max3 , the fuzzy number is m3 = {-1, 0, 1}, and the true speed of the target to be detected can be calculated according to the following formula (11):

[0180]

[0181] Assume that when m3=1(m3×v max2 +v a3 ) and v r2 The difference is the smallest, then the true speed v of the target to be detected in the third data frame can be calculated r3 =1×v max3 +v a3 .

[0182] Based on the first and second aspects above, after accurately obtaining the angle and speed of the detected target, the track of the detected target can be determined. Based on this, in the third aspect of the embodiment of the present application, a target track determination method of a binary phase modulation radar is provided, such as Figure 14 FIG. 7 is a seventh schematic diagram of a target detection method for a binary phase modulation radar provided in an embodiment of the present application. The method includes the following steps:

[0183] Step S1, obtaining the distance, true speed, and angle of each detected target in the data frame collected by the binary phase modulation radar;

[0184] The angle is calculated by the target detection method of the binary phase modulation radar according to the first aspect, and the true speed is calculated by the target detection method of the binary phase modulation radar according to the second aspect.

[0185] Step S2: determining the track of each detected target according to the distance, angle and true speed of each detected target at different times.

[0186] For step S1, please refer to the contents of the first and second aspects above, which will not be repeated here.

[0187] In the embodiment of the present application, the first virtual array element formed by the first transmitting antenna and the second receiving antenna of the radar detection system overlaps with the second virtual array element formed by the second transmitting antenna and the first receiving antenna, making it impossible to directly distinguish the correspondence between the echo signal received by the first receiving antenna, the echo signal received by the second receiving antenna, and the first virtual array element, the second virtual array element. However, when the phases of the overlapping array elements are close and the phase difference between the first virtual array element and the second virtual array element is minimized, the correspondence between the echo signal received by the first receiving antenna, the echo signal received by the second receiving antenna, and the first virtual array element, the second virtual array element can be determined. In other words, the correspondence between all echo signals and all virtual array elements can be determined. The angle of each detected target can then be accurately calculated based on this correspondence and each echo signal. By minimizing the phase difference between the overlapping array elements, the signal-to-noise ratio is improved, thereby increasing the detection range of the MIMO radar. Since the true speeds of the same detected target in adjacent data frames should be similar, the candidate value with the smallest difference between the target's true speed in the second and third data frames can be used to determine the target's true speed in the third data frame, accurately calculating the target's true speed at any moment. This allows the target's track to be precisely determined after accurately determining its angle and speed, improving the accuracy of the target's track.

[0188] According to a fourth aspect of the embodiments of the present application, a binary phase modulation radar angle measurement device is provided, which is applied to a radar detection system. The radar detection system includes multiple transmitting antennas and multiple receiving antennas, wherein the multiple transmitting antennas and the multiple receiving antennas form virtual array elements in a virtually arranged manner, wherein a first virtual array element formed by a first transmitting antenna and a second receiving antenna overlaps with a second virtual array element formed by a second transmitting antenna and the first receiving antenna. The device includes:

[0189] An antenna control module is used to control each of the transmitting antennas to simultaneously transmit a detection signal, and to control each of the receiving antennas to receive an echo signal;

[0190] a ranking determining module, configured to determine, based on each of the echo signals, a virtual array element ranking that minimizes a phase difference between the first virtual array element and the second virtual array element, wherein the virtual array element ranking is used to represent a correspondence between each echo signal and each virtual array element;

[0191] The angle calculation module is used to calculate the angle of each existing detection target according to the determined virtual array element sequence and the echo signal received by each receiving antenna.

[0192] In a possible implementation, the order determination module determines, based on the echo signals, a virtual array element order that minimizes the phase difference between the first virtual array element and the second virtual array element, including: extracting a first phase of a first echo signal and a second phase of a second echo signal received by the first receiving antenna, and extracting a third phase of the first echo signal and a fourth phase of the second echo signal received by the second receiving antenna; wherein the first echo signal is a signal transmitted by one of the first transmitting antenna and the second transmitting antenna, and the second echo signal is a signal transmitted by the other; calculating a first difference between the second phase and the third phase and a second difference between the first phase and the fourth phase, and comparing the relative magnitudes of the first and second differences; and determining, based on the relative magnitudes, the echo signals corresponding to the first and second virtual array elements, to obtain the virtual array element order.

[0193] In a possible implementation, the ranking determination module determines, based on the relative sizes, the echo signals corresponding to the first virtual array element and the second virtual array element, respectively, including: if the first difference is less than the second difference, determining the first echo signal received by the first receiving antenna as the echo signal corresponding to the second virtual array element, and determining the second echo signal received by the second receiving antenna as the echo signal corresponding to the first virtual array element; and if the second difference is less than the first difference, determining the second echo signal received by the first receiving antenna as the echo signal corresponding to the second virtual array element, and determining the first echo signal received by the second receiving antenna as the echo signal corresponding to the first virtual array element.

[0194] In a possible embodiment, the angle calculation module calculates the angle of each existing detection target based on the determined virtual array element order and the echo signals received by each receiving antenna, including: calculating the distance, fuzzy speed and angle of each detection target existing in the first data frame and the second data frame based on the determined virtual array element order and the echo signals received by each receiving antenna; the device also includes: a speed determination module, which is used to determine the candidate value of the true speed of the detection target to be solved in the first data frame and the candidate value of the true speed in the second data frame based on the fuzzy speed of the detection target to be solved in the first data frame and the second data frame; a speed calculation module, which is used to calculate the candidate value that minimizes the difference between the true speeds of the detection target to be solved in the first data frame and the second data frame, as the true speed of the detection target to be solved in the second data frame.

[0195] In a possible embodiment, the speed calculation module is also used to obtain the distance, fuzzy speed and angle of each detection target in the third data frame collected by the binary phase modulation radar, wherein the third data frame is after the second data frame; based on the distance and the angle, the detection target to be solved is determined in the third data frame; based on the fuzzy speed of the detection target to be solved in the third data frame, a candidate value of the true speed of the detection target to be solved in the third data frame is determined; and the candidate value that minimizes the difference between the true speed of the detection target to be solved in the third data frame and the true speed in the second data frame is calculated as the true speed of the detection target to be solved in the third data frame.

[0196] In a possible implementation, the candidate values ​​of the true velocity of the detected target to be calculated are determined in the following manner:

[0197] v r =m×v max +v a

[0198] Among them, v r is the candidate value of the real speed, m is the preset fuzzy number, v max is the preset maximum unambiguous speed, v a is the fuzzy velocity of the detection target to be solved.

[0199] In one possible implementation, determining the same detection target among the detection targets based on the distance and the angle includes: determining a first position of each first detection target in the first data frame and a second position of each second detection target in the second data frame based on the distance and the angle; calculating, for any first detection target in the first data frame, a difference between the first position of the first detection target and the second position of each second detection target in the second data frame; and determining the first detection target and the second detection target as the same detection target if the difference between the position of the first detection target and the second detection target is less than a preset position threshold; wherein the preset position threshold is obtained by taking a weighted sum of a probability of the detection target belonging to each category and a distance threshold set for each category, and the distance threshold set for each category is positively correlated with the size of the target in the category.

[0200] In a possible implementation, the device further includes a track determination module, configured to determine the track of each of the detected targets based on the distance, angle, and true speed of each of the detected targets at different moments.

[0201] In a third aspect of the embodiments of the present application, an electronic device is provided, such as Figure 15 As shown, including:

[0202] Memory 1501, used for storing computer programs;

[0203] The processor 1502 is configured to implement the target detection method of the binary phase modulation radar described in the first aspect when executing the program stored in the memory 1501.

[0204] 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.

[0205] In an eighth aspect of the embodiments of the present application, a computer-readable storage medium is further provided, which stores a computer program. When the computer program is executed by a processor, the steps of the target detection method of the binary phase modulation radar described in the first aspect are implemented.

[0206] 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 the target detection method of any binary phase modulation radar in the above embodiments.

[0207] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When software is used for implementation, 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 a 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).

[0208] 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 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 additional identical elements in the process, method, article, or device comprising the element.

[0209] Each embodiment in this specification is described in a related manner. Similar portions between the embodiments can be referred to in conjunction with each other. Each embodiment focuses on the differences from other embodiments. In particular, the device embodiments are generally similar to the method embodiments, so their description is relatively simple. For related portions, refer to the description of the method embodiments.

[0210] 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 target detection method for a binary phase modulation radar, characterized in that: A method is applied to a radar detection system, the radar detection system comprising a plurality of transmitting antennas and a plurality of receiving antennas, the plurality of transmitting antennas and the plurality of receiving antennas forming a virtual array element in a virtually arranged manner, wherein a first virtual array element formed by a first transmitting antenna and a second receiving antenna overlaps with a second virtual array element formed by a second transmitting antenna and the first receiving antenna; the method comprising: Controlling each of the transmitting antennas to simultaneously transmit a detection signal, and controlling each of the receiving antennas to receive an echo signal; determining, based on the echo signals, a virtual array element sequence that minimizes a phase difference between the first virtual array element and the second virtual array element, wherein the virtual array element sequence is used to represent a correspondence between each echo signal and each virtual array element; The angles of the existing detection targets are calculated based on the determined virtual array element sequence and the echo signals received by the receiving antennas.

2. The method according to claim 1, characterized in that The determining, based on each of the echo signals, a virtual array element sequence that minimizes a phase difference between the first virtual array element and the second virtual array element includes: Extracting a first phase of a first echo signal and a second phase of a second echo signal received by the first receiving antenna, and extracting a third phase of the first echo signal and a fourth phase of the second echo signal received by the second receiving antenna; wherein the first echo signal is a signal transmitted by one of the first transmitting antenna and the second transmitting antenna, and the second echo signal is a signal transmitted by the other of the first transmitting antenna; Calculating a first difference between the second phase and the third phase and a second difference between the first phase and the fourth phase, and comparing to obtain relative magnitudes of the first difference and the second difference; According to the relative sizes, echo signals corresponding to the first virtual array element and the second virtual array element are determined to obtain a virtual array element ranking.

3. The method according to claim 2, characterized in that determining the echo signals corresponding to the first virtual array element and the second virtual array element respectively according to the relative size If the first difference is less than the second difference, determining the first echo signal received by the first receiving antenna as the echo signal corresponding to the second virtual array element, and determining the second echo signal received by the second receiving antenna as the echo signal corresponding to the first virtual array element; If the second difference is smaller than the first difference, the second echo signal received by the first receiving antenna is determined as the echo signal corresponding to the second virtual array element, and the first echo signal received by the second receiving antenna is determined as the echo signal corresponding to the first virtual array element.

4. The method according to claim 1, wherein The calculating the angle of each existing detection target according to the determined virtual array element sequence and the echo signal received by each receiving antenna includes: Calculating the distance, fuzzy velocity, and angle of each detection target in the first data frame and the second data frame according to the determined virtual array element sequence and the echo signals received by each receiving antenna; The method further comprises: Determining, according to the distance and the angle, a common detection target among the detection targets as a detection target to be solved; Determining, based on the fuzzy velocities of the detection target to be solved in the first data frame and the second data frame, candidate values ​​of the true velocity of the detection target to be solved in the first data frame and candidate values ​​of the true velocity of the detection target to be solved in the second data frame; A candidate value that minimizes the difference between the true velocities of the target to be detected in the first data frame and the second data frame is calculated as the true velocity of the target to be detected in the second data frame.

5. The method according to claim 4, characterized in that The method further comprises: Obtaining the distance, fuzzy velocity, and angle of each detected target in a third data frame collected by the binary phase modulation radar, wherein the third data frame is after the second data frame; Determining the detection target to be solved in the third data frame according to the distance and the angle; determining, according to the fuzzy velocity of the detection target to be solved in the third data frame, a candidate value of the true velocity of the detection target to be solved in the third data frame; A candidate value that minimizes the difference between the true speed of the target to be detected in the third data frame and the true speed in the second data frame is calculated as the true speed of the target to be detected in the third data frame.

6. The method according to claim 4, characterized in that The candidate values ​​of the true velocity of the target to be detected are determined in the following manner: v r =m×v max +v a Among them, v r is the candidate value of the real speed, m is the preset fuzzy number, v max is the preset maximum unambiguous speed, v a is the fuzzy velocity of the detection target to be solved.

7. The method according to claim 4, characterized in that Determining the same detection target among the detection targets based on the distance and the angle includes: determining, based on the distance and the angle, a first position of each first detected target in the first data frame and a second position of each second detected target in the second data frame; For any first detection target in the first data frame, calculating a difference between a first position of the first detection target and a second position of each second detection target in the second data frame; if the difference between the position of the first detection target and the second detection target is less than a preset position threshold, determining the first detection target and the second detection target as the same detection target; The preset position threshold is obtained by weighted summing the probability of the detected target belonging to each category and the distance threshold set for each category, and the distance threshold set for each category is positively correlated with the size of the target in each category; The method further comprises: The track of each detected target is determined according to the distance, angle and true speed of each detected target at different times.

8. A target detection device for a binary phase modulation radar, characterized in that: Applied to a radar detection system, the radar detection system comprising a plurality of transmitting antennas and a plurality of receiving antennas, the plurality of transmitting antennas and the plurality of receiving antennas forming a virtual array element in a virtually arranged manner, wherein a first virtual array element formed by a first transmitting antenna and a second receiving antenna overlaps with a second virtual array element formed by a second transmitting antenna and the first receiving antenna; the apparatus comprising: An antenna control module is used to control each of the transmitting antennas to simultaneously transmit a detection signal, and to control each of the receiving antennas to receive an echo signal; a ranking determining module, configured to determine, based on each of the echo signals, a virtual array element ranking that minimizes a phase difference between the first virtual array element and the second virtual array element, wherein the virtual array element ranking is used to represent a correspondence between each echo signal and each virtual array element; The angle calculation module is used to calculate the angle of each existing detection target according to the determined virtual array element sequence and the echo signal received by each receiving antenna.

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 7 when executing a program stored in a memory.

10. A computer-readable storage medium, characterized in that The computer-readable storage 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 7 is implemented.

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