Radar data transmission method and radar system

Abstract

A radar data transmission method and a radar system belong to the field of radar data transmission. The method comprises the following steps: S100, controlling a radar detection environment, and obtaining heat map data; s200, performing data point screening on the heat map data by the radar, wherein the data point screening comprises operation of calculating an energy value and a curvature value of each data point in the heat map, and the selected data points comprise data points of which the curvature values are greater than a second threshold M2 and the energy values are greater than a third threshold M3 in the heat map data; s300, forming a transmission data set based on the selected data points, wherein the transmission data set comprises coordinates and energy values of the selected data points in the heat map data; and S400, the radar sends the transmission data set to the host, and the host performs pseudo-random reconstruction on the heat map data by filling the position of the discarded data with a preset value with radar ground noise as a reference based on the received data of the transmission data set. On the premise of ensuring accurate transmission of effective target data, the data transmission quantity between the radar and the host can be remarkably reduced, and the data throughput pressure of a radar system is reduced.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of radar data transmission, and particularly relates to a radar data transmission method and a radar system. BACKGROUND

[0002] Taking a millimeter wave radar as an example, radar devices are rapidly popularized in daily applications. With the enhancement of radar detection functions and the increase of parameter measurement dimensions, such as distance, speed, pitch angle and azimuth angle dimensions, the scale of radar hot map data transmitted to a host becomes huge, and it is difficult to transmit the data to the host in time when the transmission bandwidth of the radar to the host is limited.

[0003] In order to reduce the data transmission amount, an existing technology adopts the following scheme: the laser radar point cloud is compressed by an octree compression algorithm, and only the differential new data is transmitted by an incremental transmission mode, so as to improve the transmission efficiency; however, the compression algorithm adopted by the scheme is complex, and the algorithm occupies a large data processing resource of the system.

[0004] Similarly, in order to reduce the data transmission amount, another existing technology adopts the following scheme: the radar antenna data is subjected to Fourier operation, the received data of a selected antenna is taken as a reference, the difference data between each antenna in the remaining antennas and the selected antenna is obtained, the obtained data is compressed and encoded for transmission, and only the data of one antenna and the difference data are transmitted, so as to improve the transmission efficiency; however, the scheme has almost no data compression capability for the region with thermal noise distribution. SUMMARY

[0005] The present application provides a radar data transmission method and a radar system, which aims to reduce the data transmission amount and data throughput pressure of the radar system. The technical scheme for realizing the present application is as follows:

[0006] In a first aspect, the present application provides a radar data transmission method, comprising:

[0007] S100, controlling a radar detection environment to obtain hot map data;

[0008] S200, controlling the radar to perform data point screening on the hot map data: including the operation of calculating the energy value and the curvature value of each data point in the hot map, and the selected data points include the data points with the curvature value greater than a second threshold M2 and the energy value greater than a third threshold M3 in the hot map data;

[0009] S300, forming a transmission data set based on the selected data points, the transmission data set containing the coordinates and energy values of the selected data points in the hot map data;

[0010] S400, the radar sends the transmission data set to the host computer, and the host computer performs pseudo-random reconstruction on the heat map data by filling a preset value with reference to the radar noise in the positions of the discarded data based on the data of the received transmission data set.

[0011] As a preferred technical solution, the heat map data includes two-dimensional, three-dimensional or four-dimensional heat map data composed of any one dimension or any combination of four dimensions of range, Doppler, pitch angle and azimuth angle obtained by the radar.

[0012] As a preferred technical solution, in step S200, when the heat map data is screened, the selected data points also include maximum points in the heat map data whose energy values are greater than a first threshold M1 and a plurality of points in a preset neighborhood of the maximum points, and M3≥M1.

[0013] As a preferred technical solution, in step S200, for one-dimensional or two-dimensional heat map data, when the heat map data is screened, the operation of inflection point identification is further included for each data point in the heat map, and the selected data points also include inflection points in the heat map data whose energy values are greater than the first threshold M1 and a plurality of data points in a preset neighborhood of the inflection points.

[0014] As a preferred technical solution, in step S200, for heat map data of two or more dimensions, when the heat map data is screened, the operation of saddle point identification is further included for each data point in the heat map, and the selected data points also include saddle points in the heat map data whose energy values are greater than the first threshold M1 and a plurality of data points in a preset neighborhood of the saddle points.

[0015] As a preferred technical solution, in step S300, when the selected data points form the transmission data set, the operation of compressing the coordinates and energy value data of the selected data points in the heat map data is further included.

[0016] As a preferred technical solution, in step S400, the operation mode of pseudo-random reconstruction on the heat map data in step S400 is:

[0017] Filling random values subject to a preset statistical distribution in the positions of the discarded data points.

[0018] As a specific technical solution, in step S400, the determination method of the random value subject to the preset statistical distribution includes at least one of the following: ① determining the random value as a Gaussian distribution with the radar noise energy as the variance; ② determining the random value as a uniform distribution within a preset range; ③ determining the random value according to the flicker noise energy spectrum characteristics; ④ determining the random value by filtering a Gaussian white noise through a filter; and the random value is less than the preset first threshold M1.

[0019] In a second aspect, the present application provides a radar system, comprising a radar and a host computer in communication connection with the radar; the radar and the host computer cooperate to perform the radar data transmission method described above.

[0020] As a preferred technical solution, the radar comprises:

[0021] a heat map data acquisition module configured to detect an environment and acquire heat map data;

[0022] a data filtering module configured to perform data point filtering on the heat map data, including operations of calculating an energy value and a curvature value of each data point in the heat map, and selecting data points including data points in the heat map data whose curvature value is greater than a second threshold M2 and whose energy value is greater than a third threshold M3;

[0023] a data set generation module configured to generate a transmission data set based on the selected data points, the transmission data set containing coordinates and energy values of the selected data points in the heat map data;

[0024] a data sending module configured to send the transmission data set to the host computer;

[0025] the host computer comprises:

[0026] a data receiving module configured to receive the transmission data set;

[0027] a heat map reconstruction module configured to perform pseudo-random reconstruction on the heat map data by filling a preset value with reference to a radar floor noise at a position of discarded data based on data of the received transmission data set.

[0028] The technical solution of the present application brings the following beneficial effects: an efficient radar heat map data transmission method is provided, under the premise of ensuring accurate transmission of effective target data, the data processing algorithm is simpler, the amount of data processed is smaller, the data transmission amount between the radar and the host computer can be significantly reduced, and the data throughput pressure of the radar system is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0030] Figure 1 is a flow chart of the radar data transmission method provided by the embodiments of the present application.

[0031] Figure 2 is a structural diagram of the radar system provided by the embodiments of the present application. DETAILED DESCRIPTION

[0032] In order to make the technical solutions of the present application clearer and the technical advantages more apparent, the technical solutions of the present application will be described clearly and completely below in connection with specific embodiments. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort belong to the scope disclosed by the present application.

[0033] It should be noted that, in this document, the terms "comprising", "containing", or any other similar term are intended to encompass non-exclusive inclusion, so that a process, method, article, or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or further includes elements inherent to such a process, method, article, or device. Without more limitations, the element defined by the phrase "comprising a" does not exclude the presence of additional identical elements in the process, method, article, or device including the element, and in addition, components, features, elements with the same name in different embodiments of the present application can have the same meaning or different meanings, and the specific meaning thereof should be determined in the explanation of the specific embodiment or further in conjunction with the context of the specific embodiment.

[0034] It should be understood that although each step in the flowchart in the embodiments of the present application is displayed in sequence according to the arrow, these steps are not necessarily executed in sequence according to the arrow. Unless explicitly stated in this document, the execution of these steps has no strict sequence limitation, and they can be executed in other orders. Moreover, at least part of the steps in the figure can include multiple sub-steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution order is not necessarily sequential, but can be executed alternately or alternately with at least part of other steps or sub-steps or stages of other steps.

[0035] In this document, the term "embodiment" means that the specific features, structures, or properties described in connection with the embodiment can be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily mean the same embodiment, nor is it an independent or alternative embodiment to other embodiments. Those skilled in the art explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0036] In order to make the purpose, technical solutions and advantages of the present application more apparent, the embodiments of the present application will be described in further detail below in connection with the drawings.

[0037] As Figure 1As shown, as a basic embodiment, the radar data transmission method provided by the embodiment includes:

[0038] S100, controlling radar to detect an environment to obtain thermal map data;

[0039] S200, controlling the radar to perform data point screening on the thermal map data, including operations of calculating an energy value and a curvature value of each data point in the thermal map, and selecting data points including data points with the curvature value greater than a second threshold M2 and the energy value greater than a third threshold M3 in the thermal map data;

[0040] S300, forming a transmission data set based on the selected data points, the transmission data set containing coordinates and energy values of the selected data points in the thermal map data;

[0041] S400, controlling the radar to send the transmission data set to a host, and the host performing pseudo-random reconstruction on the thermal map data by filling a preset value with reference to radar noise at a position of discarded data based on data of the received transmission data set.

[0042] In the step S100, when the radar detects the environment, there is no limitation on the working system of the radar. For example, in a frequency-modulated continuous wave (FMCW) radar, the radar transmits a linear frequency modulation signal to detect the environment, a receiving antenna receives an environmental reflection echo, and after receiving and analog-digital conversion sampling processing of the echo signal, an ADC sampling data matrix collected by each receiving antenna is obtained. Alternatively, for example, in a stepped frequency (SFCW) radar, the radar transmits a frequency-stepped waveform, and then performs corresponding receiving processing to obtain an ADC sampling data matrix.

[0043] The radar data transmission method described above, in the step S100, for obtaining the thermal map data, the specific description is as follows:

[0044] First, the ADC sampling data matrix is subjected to static clutter suppression to remove interference caused by stationary objects / direct current components in the environment. The static clutter suppression can be performed by selecting methods including inter-frame difference, mean cancellation, high-pass filtering, etc.

[0045] In the embodiment, the heat map refers to a distribution map of signal echo energy in a detected environment obtained by processing the echo signal by radar, and includes, according to the measurement dimension of the contained parameters, a conventional two-dimensional heat map, such as a range-velocity heat map, a range-angle heat map, a three-dimensional heat map, such as a range-velocity-pitch angle heat map, a range-velocity-azimuth angle heat map, and the like, and a single measurement dimension heat map obtained by expanding in time, such as a range-time heat map, a velocity-time heat map, an angle-time heat map, and the like. In the embodiment, the heat map obtained by expanding in time in the single measurement dimension is referred to as a single-dimensional heat map. In addition, a four-dimensional heat map, such as a range-velocity-pitch angle-azimuth angle heat map, is also included.

[0046] Unless otherwise necessary, the embodiment does not intentionally distinguish and limit the dimension of the heat map, and is uniformly referred to as heat map data. That is, the heat map data includes two-dimensional, three-dimensional or four-dimensional heat map data of any dimension or any combination of the four dimensions of range, Doppler, pitch angle and azimuth angle obtained by radar.

[0047] The single-dimensional, two-dimensional, three-dimensional and four-dimensional heat map data are introduced below by examples:

[0048] ① Single-dimensional heat map:

[0049] For example, the 1D-FFT processing is performed on the ADC sampling data in the range dimension, and the range-time heat map at a certain time is obtained by taking the modulus or modulus square of the result data. For another example, the 1D-FFT processing is performed on the ADC sampling data in the velocity dimension, and the velocity-time heat map at a certain time is obtained by taking the modulus or modulus square of the result data. For yet another example, the 1D-FFT processing is performed on the ADC sampling data in the angle dimension (pitch or azimuth), and the angle-time (heat) at a certain time is obtained by taking the modulus or modulus square of the result data.

[0050] ② Two-dimensional heat map:

[0051] For example, the 2D-FFT processing is performed on the ADC sampling data, that is, the 1D-FFT is performed in the range dimension, and then the 1D-FFT is performed in the slow time dimension on the result of the range FFT, and the range-velocity heat map data is obtained by taking the modulus or modulus square of the result data.

[0052] For example, the 2D-FFT processing is performed on the ADC sampling data, that is, the 1D-FFT is performed in the range dimension, and then the 1D-FFT is performed in the slow time dimension on the result of the range FFT, and the range-velocity heat map data is obtained by taking the modulus or modulus square of the result data.

[0053] Method 1: The data collected by the multiple antenna receiving antennas is processed by 1D-FFT in the range dimension to obtain the range FFT result, and then 1D-FFT / 2D-FFT is performed in the antenna dimension, and the range-angle heat map data is obtained by taking the modulus or modulus square of the result data.

[0054] Method 2: Through super-resolution algorithms such as MUSIC, MVDR, etc., combined with spectrum search for parameter estimation, distance-angle heat map data is obtained. The present application does not limit the super-resolution algorithm selected by the radar.

[0055] ③ Three-dimensional heat map:

[0056] Taking the distance-velocity-angle heat map as an example: the ADC sampling data collected by multiple receiving antennas is processed by 3D-FFT, that is, the 2D-FFT results of multiple antennas are further processed by 1D-FFT in the antenna dimension, and the distance-velocity-angle heat map data is obtained by taking the modulus or modulus square of the result data. For example, the selected antennas are linearly arranged in the horizontal direction, and the distance-velocity-azimuth heat map data is obtained; for another example, the selected antennas are linearly arranged in the vertical direction, and the distance-velocity-elevation heat map data is obtained; if the selected antennas are arranged in the form of a surface array, the 2D-FFT results of multiple antennas are further processed by 2D-FFT in the antenna dimension, and the distance-velocity-azimuth-elevation four-dimensional heat map data is obtained by taking the modulus or modulus square of the result data.

[0057] The radar data transmission method described above, in step S200, the heat map data is filtered, and the specific description is as follows:

[0058] As a preferred embodiment, in step S200, when filtering the heat map data, the energy value and the curvature value of each data point in the heat map are calculated, and the selected data points include data points in the heat map data whose curvature value is greater than a second threshold M2 and whose energy value is greater than a third threshold M3. Specifically, the second threshold M2 is a curvature value threshold, and the third threshold M3 is a threshold limiting the energy value intensity. This preferred embodiment can more completely find the energy concentration area by retaining non-extreme points with large curvature and high energy intensity, and can avoid missing key data related to the target.

[0059] In the above preferred embodiment, the curvature calculation method includes calculating one-dimensional curve curvature, two-dimensional surface curvature such as Gaussian curvature, average curvature, principal curvature, etc., and high-dimensional Riemann curvature, and the present application does not limit the specific way of calculating curvature.

[0060] As a further preferred embodiment, in step S200, when filtering the heat map data, the selected data points also include maximum value points in the heat map data whose energy value is greater than a first threshold M1 and a plurality of points in the preset neighborhood of the maximum value points, M3≥M1, and the unselected data points are discarded, and the specific description is as follows:

[0061] Let the first threshold M1 be a threshold limiting the energy value intensity, and the first threshold M1 is set according to the radar noise floor.

[0062] Firstly, the selected data points include the maximum value points with energy values greater than a first threshold M1 in the heat map data and a plurality of points in the preset neighborhood of the maximum value points; at this time, the unselected data points can be discarded or the unselected data points can be used for further selection operation.

[0063] Specifically, taking N-dimensional heat map data as an example, a1, a2,...a n ,...,a N represent the coordinates of the data point A on the heat map, b1, b2,...b n ,...,b N represent the coordinates of the data point B on the heat map, if for a given value of n (n = 1, 2, 3,..., N), |b n -a n | does not exceed 1, then B is the neighbor point of A in the nth dimension of the heat map; for all n = 1, 2, 3,..., N, |b n -a n | does not exceed 1, then B is the neighbor point of A in the heat map.

[0064] In the present application, the determination method of the maximum value point includes: 1) the value of a point on the heat map is not less than all the neighbor points of the point on the heat map, then the point is a full-dimension maximum value point; 2) the value of a point on the heat map is not less than the neighbor points of the point on the heat map in a certain dimension, then the point is a maximum value point in the corresponding dimension. The maximum value point can be selected as a full-dimension maximum value point or a maximum value point in a certain specified dimension, and the selection of the maximum value point in part of the specified dimensions is a kind of weakening judgment, which is helpful to retain more data of the heat map, but will increase the data transmission amount, and whether to use it needs to be decided according to the actual transmission bandwidth and demand, and the present application does not constrain it.

[0065] In addition, for point B, if all n = 1, 2, 3,..., N, |b n -a n | does not exceed m, then B is a point in the m-neighborhood of A, where m is an integer. In the present application, the plurality of points in the preset neighborhood of a point on the heat map refer to all the points in the m-neighborhood of the point, and the preset typical value of m is 1, 2, 3, and a large value of m is helpful to retain more data of the heat map, but will increase the data transmission amount, and the range of the neighborhood needs to be preset according to the actual transmission bandwidth and demand, and the present application does not constrain it.

[0066] As a further preferred embodiment, in step S200, for one-dimensional or two-dimensional heat map data, the operation of inflection point identification is further included when screening the heat map data, and the selected data points further include the inflection points with energy values greater than the first threshold M1 and a plurality of data points in the preset neighborhood of the inflection points. For example, for one-dimensional heat map data, the data points corresponding to the inflection points greater than the first threshold M1 and the data points extending by Q points on both sides of the coordinate position of the inflection points are selected, and the typical values of Q are 1, 2 and 3. For two-dimensional heat map data, all data points in the rectangular region defined by the inflection points greater than the first threshold M1 and the data points extending by P points along both coordinate axes from the coordinate position of the inflection points are selected, and the typical values of P are 1, 2 and 3.

[0067] As a further preferred embodiment, in step S200, for heat map data of two or more dimensions, the operation of saddle point identification is further included when screening the heat map data, and the selected data points further include the saddle points with energy values greater than the first threshold M1 and a plurality of data points in the preset neighborhood of the saddle points. For example, for three-dimensional heat map data, all data points in the cubic region defined by the saddle points greater than the first threshold and the data points extending by K points along three coordinate axes from the coordinate position of the saddle points are selected, and the typical values of K are 1, 2 and 3.

[0068] In the above two preferred embodiments, the inflection points and the saddle points comply with the definition in the public literature, and the present application does not make any superfluous description or constraint.

[0069] The radar data transmission method described above retains the coordinate values and energy intensity values of the selected data points in the heat map as the to-be-transmitted data by screening the data, and constructs a to-be-transmitted data set. The data not selected in the heat map is discarded. The amount of data transmitted to the host can be greatly reduced on the basis of retaining the required key information, and the data throughput pressure of the radar system can be significantly reduced.

[0070] In addition, in step S300 of the radar data transmission method described above, when the selected data points form the transmission data set, the operation of compressing the coordinate and energy value data of the selected data points in the heat map data is further included, which can further reduce the data amount.

[0071] Specifically, the data in the neighborhood of each maximum point (or inflection point, saddle point) is compressed as a group. The compression scheme can select a P-order polynomial model to fit each group, calculate the least squares fitting coefficients, calculate the residual data of the fitted data and the true data, and encode and compress the residual data (such as Huffman coding, quantization to low bit width data or differential coding). The fitting coefficients and the encoded and compressed residual data are used as the corresponding transmission content.

[0072] It can be understood that the data in the neighborhood has correlation, the fitting value is close to the true value, and therefore the residual is relatively small. The number of bits required to encode the small residual is much less than directly encoding the original data. Alternatively, based on the correlation of the data, a simpler differential compression scheme can be used, taking each maximum value point (or inflection point, saddle point) and the data in its neighborhood as a group, selecting the maximum value point (or inflection point, saddle point) as the reference point, calculating the difference between the points in the neighborhood and the reference point, and encoding and compressing the difference (such as Huffman encoding, quantization to low bit width data or differential encoding), and the reference point and the compressed residual are used as the corresponding transmission content. It should be noted that whether the data is compressed and selected or not, the coordinates of each transmitted data point need to be included in the transmission content so that the host can reconstruct the heat map. To further reduce the amount of data transmission, the coordinates of the data points to be transmitted can be compressed, such as only transmitting the coordinates of the reference point (i.e. the maximum value point or the inflection point or the saddle point) completely, and the coordinates of the points in the neighborhood of the center point are not transmitted, but are implicitly represented by the transmission order of the data agreed upon by the host in advance. That is, the radar and the host agree that in each group, the coordinate offset of each data transmitted relative to the reference point, and the host can calculate the coordinates of each transmitted data according to the receiving order of the data in the group and the coordinates of the center point.

[0073] Finally, in step S400 of the radar data transmission method described above, the reconstructed heat map becomes continuous, which facilitates subsequent signal processing and atlas visualization. In step S400, the host reconstructs the heat map data in the following optional ways: filling a fixed constant value in the position of the discarded data point; and / or filling a random value subject to a predetermined statistical distribution with reference to the radar noise in the position of the discarded data point.

[0074] The feasible method of filling a fixed constant value in the position of the discarded data point includes: for heat map data represented in linear amplitude units, zero-filling in the blank position; for heat map data represented in logarithmic power units, supplementing a value 3-5 dB lower than the minimum signal power that can be detected by the radar system in the blank position.

[0075] The more preferred scheme of filling a random value subject to a predetermined statistical distribution in the position of the discarded data point includes:

[0076] ① Determining the random value with a Gaussian distribution with radar noise energy as the variance; the specific process is: let the radar noise energy be , generate a mean value of 0 and a variance of The modulus or modulus square of the generated signal is filled into the position of the discarded data. The random value based on the Gaussian distribution is filled, and compared with filling the constant value, pseudo-random fluctuations can be brought, simulating the data jitter caused by noise in the real thermal map, and the visual effect is better when visualized on the host computer. It is especially suitable for scenes dominated by thermal noise (determined by the characteristics of the radar circuit), and since thermal noise usually obeys Gaussian distribution, the random value based on Gaussian distribution is closer to the real situation.

[0077] ② The random value is determined by uniform distribution in a preset range. The specific process is that a random value with uniform distribution is generated in the interval [A, B], and the generated value is filled into the position of the discarded data, wherein B is less than the preset first threshold M1, and A is less than B. Filling the random value based on the uniform distribution brings pseudo-random fluctuations compared with filling the constant value, simulates the data jitter caused by noise in the real thermal map, and the visual effect is better when visualized on the host computer. It is relatively simple to generate random numbers with uniform distribution, and the complexity is low.

[0078] ③ The random value is determined according to the flicker noise energy spectrum characteristics; wherein the essence of the flicker noise is that the power spectrum density satisfies The specific process is that a time-domain Gaussian white noise signal is first generated, the time-domain signal is processed by FFT to obtain a frequency-domain Gaussian white noise signal, a frequency-domain filter with amplitude spectrum characteristics satisfying is designed, the frequency-domain Gaussian white noise signal is filtered by using the filter, and then converted back to time domain through IFFT processing, the real part is taken and gain adjusted to obtain a random signal satisfying the flicker noise energy spectrum characteristics, and the modulus or modulus square of the generated signal is filled into the position of the discarded data. The random value determined according to the flicker noise energy spectrum characteristics is filled, and compared with filling the constant value, pseudo-random fluctuations can be brought, simulating the data jitter caused by noise in the real thermal map, and the visual effect is better when visualized on the host computer. It is suitable for scenes dominated by flicker noise as the main noise component (determined by the characteristics of the radar circuit), and is closer to the corresponding actual situation.

[0079] ④ Determining a random value after filtering the Gaussian white noise through a filter; the specific process is as follows: first, a time-domain Gaussian white noise signal with a mean value of 0 and a variance of 1 is generated; then, a target filter (high-pass / low-pass / band-pass) is designed according to requirements; finally, the Gaussian white noise signal and the target filter are convolved in the time domain to realize filtering, and a random signal of the Gaussian white noise filtered through the filter is obtained. The modulus or modulus square of the generated signal is filled into the position of the discarded data. Similar to the above, filling the random value determined after filtering the Gaussian white noise through the filter will bring pseudo-random fluctuations, simulating the data jitter caused by noise in the real heat map, which is better in visual effect when visualized on the host computer; it is suitable for scenes dominated by other types of noise. By using the Gaussian white noise in combination with the filter frequency shaping, the noise characteristics of a certain type are simulated, so that the filled pseudo-random value is more realistic and conforms to the actual noise jitter characteristics.

[0080] It should be noted that the random values of the preset random distribution generated by all the above methods should be less than the preset first threshold M1.

[0081] Referring to Figure 2 The embodiment of the application further provides a radar system, which comprises a radar and a host computer in communication connection with the radar; the radar and the host computer cooperate to execute the radar data transmission method described above.

[0082] Specifically, the radar comprises:

[0083] A heat map data acquisition module configured to detect an environment and acquire heat map data;

[0084] A data screening module configured to perform data point screening on the heat map data, including operations of calculating an energy value and a curvature value of each data point in the heat map, and selecting data points including data points in the heat map data with a curvature value greater than a second threshold M2 and an energy value greater than a third threshold M3;

[0085] A data set generation module configured to generate a transmission data set based on the selected data points, wherein the transmission data set comprises coordinates and energy values of the selected data points in the heat map data;

[0086] A data sending module configured to send the transmission data set to the host computer;

[0087] Specifically, the host computer comprises:

[0088] A data receiving module configured to receive the transmission data set;

[0089] A heat map reconstruction module configured to perform pseudo-random reconstruction on the heat map data by filling a preset value with radar noise as a reference into the position of the discarded data based on the data of the received transmission data set.

[0090] The above merely provides the preferred embodiment of the application, and cannot allude the protection scope of the application, therefore any equivalent changes made according to the claims of the application shall be within the scope of the application.

Claims

1. A radar data transmission method, characterized by, Comprise: S100, control radar to detect the environment, obtain heat map data; S200, control radar to the heat map data data point screening: including calculating the energy value and curvature value of each data point in the heat map operation, the selected data points include the data points in the heat map data whose curvature value is greater than the second threshold M2 and energy value is greater than the third threshold M3; S300, based on the selected data points to form the transmission data set, the transmission data set contains the coordinates and energy values of the selected data points in the heat map data; S400, control radar to host sends the transmission data set, host based on the data received by the transmission data set, by filling in the position of the discarded data with the preset value referred to radar noise, the heat map data is pseudo-randomly reconstructed.

2. The radar data transmission method of claim 1, wherein, The heat map data includes: radar obtained distance dimension, doppler dimension, pitch angle dimension, azimuth angle dimension or any combination of four dimensions to form two-dimensional, three-dimensional or four-dimensional heat map data.

3. The radar data transmission method of claim 1, wherein, In step S200, when the heat map data is screened, the selected data points also include the maximum value points in the heat map data whose energy value is greater than the first threshold M1 and a plurality of points in the preset neighborhood, M3≥M1.

4. The radar data transmission method of claim 3, wherein, In step S200, for one-dimensional or two-dimensional heat map data, when the heat map data is screened, it also includes the operation of inflection point identification of each data point in the heat map, and the selected data points also include the inflection points in the heat map data whose energy value is greater than the first threshold M1 and a plurality of data points in the preset neighborhood of the inflection points.

5. The radar data transmission method of claim 3, wherein, In step S200, for heat map data above two dimensions, when the heat map data is screened, it also includes the operation of identifying the saddle point of each data point in the heat map, and the selected data points also include the saddle points in the heat map data whose energy value is greater than the first threshold M1 and a plurality of data points in the preset neighborhood of the saddle points.

6. The radar data transmission method of claim 1, wherein, In step S300, based on the selected data points to form the transmission data set, it also includes the operation of compressing the coordinates and energy value data of the selected data points in the heat map data.

7. The radar data transmission method of claim 3, wherein, In step S400, the operation mode of pseudo-randomly reconstructing the heat map data is: Fill in the position of the discarded data point with a random value subject to a preset statistical distribution.

8. The radar data transmission method of claim 7, wherein, In step S400, the determination method of the random value of the preset statistical distribution includes at least one of the following: ① determine the random value with the radar noise energy as the variance of the Gaussian distribution; ② determine the random value with the uniform distribution in the preset range; ③ determine the random value according to the flicker noise energy spectrum characteristics; ④ determine the random value by filtering the Gaussian white noise through a filter; The random value is less than the preset first threshold M1.

9. A radar system comprising a radar and a host machine in communication connection with the radar; the radar and the host machine cooperate to perform the radar data transmission method of any one of claims 1-8.

10. The radar system of claim 9, wherein, The radar comprises: A heat map data acquisition module for detecting the environment and obtaining heat map data; A data screening module for screening data points of the heat map data, including calculating the energy value and curvature value of each data point in the heat map operation, the selected data points include the data points in the heat map data whose curvature value is greater than the second threshold M2 and energy value is greater than the third threshold M3; The data set generation module generates a transmission data set based on the selected data points, and the transmission data set contains coordinates and energy values of the selected data points in the heat map data. The data sending module is configured to send the transmission data set to the host computer. The host computer comprises: The data receiving module is configured to receive the transmission data set. The heat map reconstruction module performs pseudo-random reconstruction on the heat map data by filling a preset value with reference to a radar floor noise at a position of the discarded data based on the received data of the transmission data set.

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