Millimeter-wave radar channel separation method, device, millimeter-wave radar and storage medium

Abstract

This application provides a method, apparatus, millimeter-wave radar, and storage medium for channel separation in millimeter-wave radar. The method includes: determining the modulation phase value of each of the M transmitting antennas; calculating the interval values ​​of the first to M transmitting antennas on a range-Doppler graph based on the number of pulses transmitted by the millimeter-wave radar and the modulation phase value, to obtain a set of interval values ​​for the M transmitting antennas; matching the difference between adjacent peaks in the range-Doppler graph with each interval value in the set of interval values, and determining the transmission channel corresponding to the peak based on the matching result. This application can achieve channel separation of millimeter-wave radar, and thus enable angle measurement of the detected target based on the separated transmission channels.

Description

Technical Field

[0001] This application relates to the field of radar signal processing technology, and in particular to a method, apparatus, millimeter-wave radar and storage medium for separating millimeter-wave radar channels. Background Technology

[0002] MIMO (Multiple-Input Multiple-Output) technology refers to using multiple transmit antennas and multiple receive antennas at the transmitting and receiving ends, respectively. Assuming a millimeter-wave radar includes M transmit antennas and N receive antennas, the echo signal received by each receive antenna is virtually converted into M channels of data, resulting in a total of M*N channels of data. Therefore, it is necessary to determine the correspondence between each channel and the transmit antenna to locate the order of the transmit channels, and then determine the angle of the detected target based on the ordered transmit channels.

[0003] For millimeter-wave radars with three transmit antennas and four receive antennas (3T4R), the waveform of DDMA (Doppler Division Multiple Address) modulation can use the method of vacant positions to determine the order of the transmit channels. However, for millimeter-wave radars with more than three transmit antenna arrays, such as millimeter-wave radars with four transmit antennas and four receive antennas (4T4R), if the method of vacant positions is used to determine the order of the transmit channels, the vacant position will be filled by one of the transmit channels, making it impossible to determine the order of the transmit channels and thus impossible to distinguish the individual transmit channels. Summary of the Invention

[0004] This application provides a method, apparatus, millimeter-wave radar, and storage medium for separating millimeter-wave radar channels, in order to solve the problem that the existing technology using the vacancy position method cannot distinguish each transmission channel.

[0005] In a first aspect, this application provides a method for separating channels in a millimeter-wave radar, wherein the millimeter-wave radar includes M transmitting antennas and N receiving antennas, where M and N are positive integers greater than 1, and the method includes:

[0006] Determine the modulation phase value of each of the M transmitting antennas;

[0007] The interval values ​​of the first to Mth transmitting antennas on the range Doppler map are calculated based on the number of pulses transmitted by the millimeter-wave radar and the modulation phase value to obtain the set of interval values ​​of the M transmitting antennas;

[0008] The difference between adjacent peaks in the distance Doppler image is matched with each interval value in the interval value set, and the transmission channel corresponding to the peak is determined based on the matching result.

[0009] In one embodiment of this application, the step of determining the modulation phase value of each of the M transmitting antennas includes:

[0010] A reference value is determined, which is equal to a preset value divided by the number of transmitting antennas M;

[0011] The phase value of each transmitting antenna is determined based on the reference value;

[0012] Phase modulation is performed on the phase value of each transmitting antenna using a fine-tuning value to obtain the modulated phase value of each transmitting antenna, wherein the fine-tuning value is calculated based on the preset value and the number of bits of the phase shifter provided by the millimeter-wave radar.

[0013] In one embodiment of this application, the millimeter-wave radar includes a first transmitting antenna, a second transmitting antenna, a third transmitting antenna, and a fourth transmitting antenna. The step of determining the modulation phase value of each transmitting antenna includes:

[0014] A baseline value is determined, wherein the baseline value = 360 / 4;

[0015] Based on the reference value, the phase values ​​of the first to fourth transmitting antennas are obtained as [0, 90, 180, 270].

[0016] Phase modulation is performed on the phase value of each transmitting antenna using a fine-tuning value to obtain the modulation phase values ​​[0, 90+mΔ, 180+nΔ, 270] corresponding to the first to fourth transmitting antennas;

[0017] Where Δ represents the fine-tuning value, m and n are both integers, m≠n≠0, and the values ​​of mΔ and nΔ are both less than 90.

[0018] In one embodiment of this application, the step of calculating the interval values ​​of the first to M transmitting antennas on the range Doppler map based on the number of pulses transmitted by the millimeter-wave radar and the modulation phase value, to obtain the set of interval values ​​for the M transmitting antennas, includes:

[0019] The fine-tuning value is calculated based on the number of bits x of the phase shifter provided by the millimeter-wave radar, where the fine-tuning value = the preset value / 2^x;

[0020] The interval values ​​of the first to Mth transmitting antennas on the range Doppler map are calculated based on the number of pulses transmitted by the millimeter-wave radar and the fine-tuning value to obtain the set of interval values ​​of the first to Mth transmitting antennas.

[0021] In one embodiment of this application, if M=4 and the preset value is 360, then the set of interval values ​​for the first to fourth transmitting antennas is calculated as follows: ;

[0022] in, , , , , All are integers. Indicates the number of pulses.

[0023] In one embodiment of this application, the step of matching the difference between adjacent peaks in the distance Doppler image with each interval value in the interval value set includes:

[0024] Obtain all Doppler cells of the same distance cell from the distance Doppler map;

[0025] The difference between adjacent peaks is calculated based on the multiple peaks detected by each Doppler unit.

[0026] The difference is matched with each interval value in the set of interval values ​​to obtain the transmission channel corresponding to the peak value.

[0027] In one embodiment of this application, the step of calculating the difference between adjacent peaks based on multiple peaks detected by the Doppler unit includes:

[0028] The coordinates (x, y, z) of each peak are obtained from the distance Doppler image, where x represents the Doppler value, y represents the distance value, and z represents the amplitude value.

[0029] The difference between adjacent peaks is the difference between the x-coordinate values ​​of adjacent peaks.

[0030] In one embodiment of this application, the step of determining the transmitting antenna corresponding to the peak value based on the matching result includes:

[0031] If the difference is equal to Then the transmitting antennas corresponding to the two peak values ​​are determined as the first transmitting antenna and the second transmitting antenna;

[0032] If the difference is equal to Then the transmitting antennas corresponding to the two peak values ​​are determined to be the second transmitting antenna and the third transmitting antenna;

[0033] The difference equals Then the transmitting antennas corresponding to the two peak values ​​are determined to be the third transmitting antenna and the fourth transmitting antenna;

[0034] The difference equals Then the transmitting antennas corresponding to the two peak values ​​are determined to be the fourth transmitting antenna and the first transmitting antenna.

[0035] Secondly, this application also provides a millimeter-wave radar channel separation device, wherein the millimeter-wave radar includes M transmitting antennas and N receiving antennas, and the device includes:

[0036] A modulation module is used to determine the modulation phase value of each of the M transmitting antennas;

[0037] The calculation module is used to calculate the interval values ​​of the first to Mth transmitting antennas on the range Doppler map based on the number of pulses transmitted by the millimeter-wave radar and the modulation phase value, so as to obtain the set of interval values ​​of the M transmitting antennas;

[0038] The matching module is used to match the difference between adjacent peaks in the distance Doppler image with each interval value in the interval value set, and determine the transmission channel corresponding to the peak based on the matching result.

[0039] Thirdly, this application also provides a millimeter-wave radar, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of the millimeter-wave radar channel separation method as described in the first aspect.

[0040] Fourthly, this application also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the millimeter-wave radar channel separation method as described in any of the first aspects.

[0041] The millimeter-wave radar channel separation method, apparatus, millimeter-wave radar, and storage medium provided in this application determine the modulation phase value of each transmitting antenna, calculate the interval value of each transmitting antenna on the range Doppler map based on the number of pulses transmitted by the millimeter-wave radar and the modulation phase value to obtain an interval value set, match the difference between adjacent peaks in the range Doppler map with each interval value in the interval value set, and finally determine the transmitting antenna corresponding to the peak based on the matching result, thereby realizing the channel separation of the millimeter-wave radar, and then the angle measurement of the detected target can be performed based on the separated transmitting channels. Attached Figure Description

[0042] To more clearly illustrate the technical solutions in this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0043] Figure 1 This is a schematic diagram showing the missing positions on a distance-Doppler plot using 3T3R.

[0044] Figure 2 This is a flowchart illustrating the millimeter-wave radar channel separation method provided in this application;

[0045] Figure 3 This is a schematic diagram of the process for determining the modulation phase value provided in this application;

[0046] Figure 4 This is a flowchart illustrating the calculation of the interval value set provided in this application;

[0047] Figure 5 This is a flowchart illustrating the peak matching process provided in this application;

[0048] Figure 6 This is a schematic diagram showing all Doppler cells of the same range cell on a range-Doppler map provided in the embodiments of this application using the 4T4R method;

[0049] Figure 7A This is a schematic diagram showing multiple peaks on a distance Doppler plot of the 4T4R provided in the first embodiment of this application;

[0050] Figure 7B yes Figure 7A A schematic diagram showing the coordinates corresponding to each peak.

[0051] Figure 8A This is a schematic diagram showing multiple peaks on a distance Doppler plot of the 4T4R provided in the second embodiment of this application;

[0052] Figure 8B yes Figure 8A A schematic diagram showing the coordinates corresponding to each peak.

[0053] Figure 8C yes Figure 8A A schematic diagram of channel separation;

[0054] Figure 9 This is a schematic diagram of the structure of the millimeter-wave radar channel separation device provided in this application. Detailed Implementation

[0055] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0056] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that the embodiments described herein can be implemented in a sequence other than that illustrated or described herein.

[0057] The following describes the technical terms used in this application:

[0058] Millimeter-wave radar is a type of radar that operates in the millimeter-wave band. Millimeter waves typically refer to the 30–300 GHz frequency range (wavelength 1–10 mm). Because the wavelength of millimeter waves falls between microwaves and centimeter waves, millimeter-wave radar combines some advantages of microwave radar and electro-optical radar.

[0059] Please refer to Figure 1 , Figure 1 This is a schematic diagram showing the missing positions on a distance-Doppler plot using 3T3R. Figure 1 The horizontal axis represents the Doppler value, and the vertical axis represents the range value. Typically, the horizontal axis is divided into four equal parts. Starting from the transmission channel Tx1 (i.e., the transmission channel Tx1 corresponding to the transmitting antenna Tx1 in the range Doppler diagram), the position of transmission channel Tx2 is shifted to the right by 1 / 4 of the entire horizontal axis relative to transmission channel Tx1. Similarly, Tx3 is shifted to the right by 1 / 4 of the entire horizontal axis relative to Tx2. At this point, another 1 / 4 of the horizontal axis position remains unoccupied; this position is called the vacant position.

[0060] Figure 1 The image shows, from left to right, transmission channel Tx3, the empty position, transmission channel Tx1, and transmission channel Tx2. For a 3T3R millimeter-wave radar, through... Figure 1 In a typical range-Doppler radar, the gaps in the data are easily distinguishable between different transmission channels. However, for millimeter-wave radars with four or more transmitting antennas, such as 4T4R, the gaps on the range-Doppler plot will be filled, making it impossible to distinguish between the different transmission channels.

[0061] To address the problem that existing methods using vacant locations cannot distinguish between different transmission channels, this application provides a millimeter-wave radar channel separation method, apparatus, millimeter-wave radar, and storage medium. By determining the modulation phase value of each transmitting antenna, and then calculating the interval value of each transmitting antenna on the range-Doppler graph based on the number of pulses transmitted by the millimeter-wave radar and the modulation phase value, a set of interval values ​​is obtained. The difference between adjacent peaks in the range-Doppler graph is matched with each interval value in the interval value set. Finally, the transmitting antenna corresponding to the peak is determined based on the matching result, thus achieving channel separation of the millimeter-wave radar. This allows for angle measurement of the detected target based on the separated transmission channels.

[0062] The following is combined Figures 2-9 This application describes a method, apparatus, millimeter-wave radar, and storage medium for separating millimeter-wave radar channels.

[0063] Please refer to Figure 2 , Figure 2 This is a flowchart illustrating the millimeter-wave radar channel separation method provided in this application. A millimeter-wave radar channel separation method is provided, wherein the millimeter-wave radar includes M transmitting antennas and N receiving antennas, where M and N are positive integers greater than 1. The method includes:

[0064] Step 201: Determine the modulation phase value of each of the M transmitting antennas.

[0065] Step 202: Calculate the interval values ​​of the first to Mth transmitting antennas on the range Doppler graph based on the number of pulses and modulation phase values ​​transmitted by the millimeter-wave radar, so as to obtain a set of interval values ​​for the M transmitting antennas.

[0066] Step 203: Match the difference between adjacent peaks in the distance Doppler image with each interval value in the interval value set, and determine the transmission channel corresponding to the peak based on the matching result.

[0067] The following is a detailed description of steps 201 to 203 above.

[0068] Please refer to Figure 3 , Figure 3 This is a schematic diagram of the process for determining the modulation phase value provided in this application. In step 201 above, the step of determining the modulation phase value of each of the M transmitting antennas includes:

[0069] Step 301: Determine a reference value, which is equal to a preset value divided by the number of transmitting antennas M.

[0070] For example, if a millimeter-wave radar includes 4 transmitting antennas, then the reference value = preset value / 4. If the preset value is 360, then the reference value equals 360 / 4 = 90. As another example, if a millimeter-wave radar includes 6 transmitting antennas, then the reference value = preset value / 6. If the preset value is 360, then the reference value equals 360 / 60 = 60.

[0071] Step 302: Determine the phase value of each transmitting antenna based on the reference value.

[0072] For example, as mentioned above, for a millimeter-wave radar with four transmitting antennas and a reference value of 90, the phase value of the first transmitting antenna Tx1 can be set to 0, the phase value of the second transmitting antenna Tx2 to 90, the phase value of the third transmitting antenna Tx3 to 180, and the phase value of the fourth transmitting antenna Tx4 to 270.

[0073] Similarly, for a millimeter-wave radar with 6 transmitting antennas and a reference value of 60, the phase value of the first transmitting antenna Tx1 can be set to 0, the phase value of the second transmitting antenna Tx2 to 60, the phase value of the third transmitting antenna Tx3 to 120, the phase value of the fourth transmitting antenna Tx4 to 240, the phase value of the fifth transmitting antenna Tx5 to 240, and the phase value of the sixth transmitting antenna to 300.

[0074] It should be noted that the units of the phase value, modulation phase value, and fine-tuning value mentioned in this application are degrees.

[0075] Step 303: Phase modulation is performed on the phase value of each transmitting antenna using a fine-tuning value to obtain the modulated phase value of each transmitting antenna, wherein the fine-tuning value is calculated based on the preset value and the number of bits of the phase shifter provided by the millimeter-wave radar.

[0076] For example, phase modulation of the phase value of each transmitting antenna is achieved by slightly shifting the phase interval of each transmitting antenna forward and backward to obtain a fine-tuning value, and the fine-tuning value can be designed according to the actual situation.

[0077] For example, in a millimeter-wave radar with four transmitting antennas, the phase value of the second transmitting antenna (90°) is fine-tuned by mΔ to obtain a modulation phase value of 90+mΔ; the phase value of the third transmitting antenna (180°) is fine-tuned by nΔ to obtain a modulation phase value of 180+nΔ. Therefore, the modulation phase values ​​corresponding to the first to fourth transmitting antennas can be obtained as [0, 90+mΔ, 180+nΔ, 270°]. Here, Δ represents the fine-tuning value, m and n are both integers, m≠n≠0, and the values ​​of mΔ and nΔ are both less than 90.

[0078] Please refer to Figure 4 , Figure 4 This is a flowchart illustrating the calculation of the interval value set provided in this application. In step 202 above, the step of calculating the interval values ​​of the first to Mth transmitting antennas on the range Doppler map based on the number of pulses transmitted by the millimeter-wave radar and the modulation phase value, to obtain the interval value set of the M transmitting antennas, includes:

[0079] Step 401: Calculate the fine-tuning value based on the number of bits x of the phase shifter provided by the millimeter-wave radar, where the fine-tuning value = preset value / 2^x.

[0080] For example, for a millimeter-wave radar with 4 transmitting antennas, i.e. M=4, assuming the preset value is 360 and the phase shifter is 7 bits, then Δ=360 / 2^7=2.8125.

[0081] Step 402: Calculate the interval values ​​of the first to Mth transmitting antennas on the range Doppler map based on the number of pulses transmitted by the millimeter-wave radar and the fine-tuning value, so as to obtain the set of interval values ​​of the first to Mth transmitting antennas.

[0082] For example, for a millimeter-wave radar with four transmitting antennas, i.e., M=4, assuming a preset value of 360, the set of interval values ​​for the first to fourth transmitting antennas is as follows: .

[0083] in, , , , , All are integers. Indicates the number of pulses, that is, One chirp (pulse).

[0084] Please refer to Figure 5 , Figure 5 This is a flowchart illustrating the peak matching process provided in this application. Step 203 above, which involves matching the difference between adjacent peaks in the Doppler image with each interval value in the interval value set, includes:

[0085] Step 501: Obtain all Doppler cells of the same distance cell from the distance Doppler map.

[0086] For example, to obtain all Doppler cells of the same distance cell from a range Doppler map, please refer to... Figure 6 , Figure 6 This is a schematic diagram of the 4T4R provided in this application, showing all Doppler cells of the same range cell on a range-Doppler map. The horizontal axis in the figure represents the Doppler value, that is, each row includes multiple Doppler cells; the vertical axis represents the range value, that is, each column includes multiple range cells.

[0087] Step 502: Calculate the difference between adjacent peaks based on the multiple peaks detected by each Doppler unit, and match the difference with each interval value in the interval value set to obtain the transmission channel corresponding to the peak.

[0088] For example, please refer to Figure 7A , Figure 7B , Figure 7A This is a schematic diagram showing multiple peaks on a distance Doppler plot of the 4T4R provided in the first embodiment of this application. Figure 7B yes Figure 7A A schematic diagram showing the coordinates corresponding to each peak. Figure 7A , Figure 7BThe horizontal axis represents the Doppler value, and the vertical axis represents the range. The figure shows four target points, with the peak value of each target point corresponding to a transmission channel.

[0089] Assuming M=4, m=-4, n=8, and Δ=360 / 2^7=2.8125, then the modulation phase values ​​corresponding to the first to fourth transmitting antennas (Tx1~Tx2) are [0, 90-11.25, 180+22.5, 270].

[0090] And assume Then the set of interval values ​​S = .according to , , , The interval value set S = [112, 176, 96, 128] can be calculated.

[0091] from Figure 7B The distance-Doppler image shown contains four target points from left to right. The coordinates (x, y, z) of the peak value for each target point can be obtained from this image, where x represents the Doppler value, y represents the distance value, and z represents the amplitude value. For example, the coordinates of the first target point are (11, 34, 87.69), the second target point is (123, 34, 87, 69), the third target point is (299, 34, 87.69), and the fourth target point is (395, 34, 87.69). The difference between adjacent peak values ​​is the difference in their x-coordinates. For example, the difference between the peak value corresponding to the second target point and the peak value corresponding to the first target point is the difference in their x-coordinates, which is the difference between the x-coordinates of the second and first target points. Figure 7B The x-coordinate of the second target point is 123, and the x-coordinate of the first target point is 11. Therefore, the difference is 123 - 11 = 112. This difference of 112 is then compared with the interval set S calculated above. This means matching each interval value in S = [112, 176, 96, 128]. It can be seen that the difference 112 matches the interval value in S. If the values ​​are equal, then it can be confirmed that the first target point is the transmission channel Tx1 and the second target point is the transmission channel Tx2.

[0092] Next, it is necessary to confirm whether the third and fourth target points are launch channels Tx3 and Tx4, respectively. Similarly, subtracting the x-coordinate of the second target point (123) from the x-coordinate of the third target point (299) gives a difference of 299 - 123 = 176. It can be seen that the difference of 176 is related to the value in S... If the values ​​are equal, then it can be confirmed that the third target point is set to launch channel Tx3.

[0093] Similarly, subtracting the x-coordinate of the third target point (299) from the x-coordinate of the fourth target point (395), the difference is 395 - 299 = 96. It can be seen that the difference of 96 is related to the x-coordinate of S. If the values ​​are equal, then it can be confirmed that the fourth target point is set to launch channel Tx4.

[0094] Based on the above calculations, it can be confirmed that... Figure 7B The four target points in the diagram, from left to right, are the launch channels Tx1, Tx2, Tx3, and Tx4, thus separating the four launch channels.

[0095] For example, please refer to Figure 8A , Figure 8B , Figure 8C , Figure 8A This is a schematic diagram showing multiple peaks on a distance Doppler plot of the 4T4R provided in the second embodiment of this application. Figure 8B yes Figure 8A A schematic diagram showing the coordinates corresponding to each peak. Figure 8C yes Figure 8A A schematic diagram of channel separation.

[0096] from Figure 8B The distance-Doppler image shown contains four target points from left to right. The coordinates (x, y, z) of the peak value for each target point can be obtained from this image, where x represents the Doppler value, y represents the distance value, and z represents the amplitude value. For example, the coordinates of the first target point are (77, 35, 86.03), the second target point is (173, 35, 86.03), the third target point is (301, 35, 86.03), and the fourth target point is (413, 35, 86.03). The difference between adjacent peak values ​​is the difference in their x-coordinates. For example, the difference between the peak value corresponding to the second target point and the peak value corresponding to the first target point is the difference in their x-coordinates, which is the difference between the x-coordinates of the second and first target points. Figure 8B The x-coordinate of the second target point shown is 173, and the x-coordinate of the first target point is 77. Therefore, the difference is 173 - 77 = 96. This difference of 96 is then compared with the interval set S calculated above. This means matching each interval value in S = [112, 176, 96, 128]. It can be seen that the difference 96 matches the interval value in S. If the values ​​are equal, then it can be confirmed that the first target point is the transmission channel Tx3 and the second target point is the transmission channel Tx4.

[0097] Next, it is necessary to confirm whether the third and fourth target points are launch channels Tx1 and Tx2, respectively. Similarly, subtracting the x-coordinate of the second target point (173) from the x-coordinate of the third target point (301) gives a difference of 301 - 173 = 128. It can be seen that the difference of 128 is related to the value in S... If the values ​​are equal, then it can be confirmed that the third target point is set to launch channel Tx1.

[0098] Similarly, subtracting the x-coordinate of the third target point (301) from the x-coordinate of the fourth target point (413), the difference is 413 - 301 = 112. It can be seen that the difference of 112 is related to the x-coordinate of S. If the values ​​are equal, then it can be confirmed that the fourth target point is set to launch channel Tx2.

[0099] Based on the above calculations, it can be confirmed that... Figure 8B The four target points in the image, from left to right, are the launch channels Tx3, Tx4, Tx1, and Tx2 (e.g., ...). Figure 8C As shown in the figure, four transmission channels were separated.

[0100] The millimeter-wave radar channel separation device provided in this application is described below. The millimeter-wave radar channel separation device described below can be referred to in correspondence with the millimeter-wave radar channel separation method described above.

[0101] Please refer to Figure 9 , Figure 9 This is a schematic diagram of the structure of the millimeter-wave radar channel separation device provided in this application. A millimeter-wave radar channel separation device 900 is provided, wherein the millimeter-wave radar includes M transmitting antennas and N receiving antennas, and the device includes a modulation module 901, a calculation module 902, and a matching module 903.

[0102] For example, the modulation module 901 is used to determine the modulation phase value of each of the M transmitting antennas.

[0103] For example, the calculation module 902 is used to calculate the interval values ​​of the first to Mth transmitting antennas on the range Doppler map based on the number of pulses transmitted by the millimeter-wave radar and the modulation phase value, so as to obtain the set of interval values ​​of the M transmitting antennas.

[0104] For example, the matching module 903 is used to match the difference between adjacent peaks in the distance Doppler image with each interval value in the interval value set, and determine the transmission channel corresponding to the peak based on the matching result.

[0105] Exemplarily, the modulation module 901 is further configured to:

[0106] A reference value is determined, which is equal to a preset value divided by the number of transmitting antennas M;

[0107] The phase value of each transmitting antenna is determined based on the reference value;

[0108] Phase modulation is performed on the phase value of each transmitting antenna using a fine-tuning value to obtain the modulated phase value of each transmitting antenna, wherein the fine-tuning value is calculated based on the preset value and the number of bits of the phase shifter provided by the millimeter-wave radar.

[0109] Exemplarily, the modulation module 901 is further configured to:

[0110] A baseline value is determined, wherein the baseline value = 360 / 4;

[0111] Based on the reference value, the phase values ​​of the first to fourth transmitting antennas are obtained as [0, 90, 180, 270].

[0112] Phase modulation is performed on the phase value of each transmitting antenna using a fine-tuning value to obtain the modulation phase values ​​[0, 90+mΔ, 180+nΔ, 270] corresponding to the first to fourth transmitting antennas;

[0113] Where Δ represents the fine-tuning value, m and n are both integers, m≠n≠0, and the values ​​of mΔ and nΔ are both less than 90.

[0114] For example, the computing module 902 is further configured to:

[0115] The fine-tuning value is calculated based on the number of bits x of the phase shifter provided by the millimeter-wave radar, where the fine-tuning value = the preset value / 2^x;

[0116] The interval values ​​of the first to Mth transmitting antennas on the range Doppler map are calculated based on the number of pulses transmitted by the millimeter-wave radar and the fine-tuning value to obtain the set of interval values ​​of the first to Mth transmitting antennas.

[0117] For example, the computing module 902 is further configured to:

[0118] If M=4, and the preset value is 360, then the set of interval values ​​for the first to fourth transmitting antennas is calculated as follows: ;

[0119] in, , , , , All are integers. Indicates the number of pulses.

[0120] For example, the matching module 903 is also used for:

[0121] Obtain all Doppler cells of the same distance cell from the distance Doppler map;

[0122] The difference between adjacent peaks is calculated based on the multiple peaks detected by each Doppler unit.

[0123] The difference is matched with each interval value in the set of interval values ​​to obtain the transmission channel corresponding to the peak value.

[0124] For example, the matching module 903 is also used for:

[0125] The coordinates (x, y, z) of each peak are obtained from the distance Doppler image, where x represents the Doppler value, y represents the distance value, and z represents the amplitude value.

[0126] The difference between adjacent peaks is the difference between the x-coordinate values ​​of adjacent peaks.

[0127] For example, the matching module 903 is also used for:

[0128] If the difference is equal to Then the transmitting antennas corresponding to the two peak values ​​are determined as the first transmitting antenna and the second transmitting antenna;

[0129] If the difference is equal to Then the transmitting antennas corresponding to the two peak values ​​are determined to be the second transmitting antenna and the third transmitting antenna;

[0130] The difference equals Then the transmitting antennas corresponding to the two peak values ​​are determined to be the third transmitting antenna and the fourth transmitting antenna;

[0131] The difference equals Then the transmitting antennas corresponding to the two peak values ​​are determined to be the fourth transmitting antenna and the first transmitting antenna.

[0132] It should be noted that the millimeter-wave radar channel separation device provided in this application embodiment can implement all the method steps implemented in the above method embodiment and can achieve the same technical effect. Here, the parts that are the same as those in the method embodiment and the beneficial effects will not be described in detail.

[0133] In some embodiments of this application, this application also provides a millimeter-wave radar, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of the millimeter-wave radar channel separation method as described above.

[0134] Furthermore, when the logical instructions in the aforementioned memory can be implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0135] On the other hand, this application also provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium. The computer program includes program instructions, and when the program instructions are executed by a computer, the computer is able to execute the millimeter-wave radar channel separation method provided by the above methods, the method including:

[0136] Determine the modulation phase value of each of the M transmitting antennas;

[0137] The interval values ​​of the first to Mth transmitting antennas on the range Doppler map are calculated based on the number of pulses transmitted by the millimeter-wave radar and the modulation phase value to obtain the set of interval values ​​of the M transmitting antennas;

[0138] The difference between adjacent peaks in the distance Doppler image is matched with each interval value in the interval value set, and the transmission channel corresponding to the peak is determined based on the matching result.

[0139] Furthermore, this application also provides a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, is implemented to perform the millimeter-wave radar channel separation methods provided above, the method comprising:

[0140] Determine the modulation phase value of each of the M transmitting antennas;

[0141] The interval values ​​of the first to Mth transmitting antennas on the range Doppler map are calculated based on the number of pulses transmitted by the millimeter-wave radar and the modulation phase value to obtain the set of interval values ​​of the M transmitting antennas;

[0142] The difference between adjacent peaks in the distance Doppler image is matched with each interval value in the interval value set, and the transmission channel corresponding to the peak is determined based on the matching result.

[0143] This application provides a millimeter-wave radar, a computer program product, and a processor-readable storage medium. The computer program stored thereon enables the processor to implement all the method steps implemented in the above method embodiments and achieve the same technical effect. Here, the parts that are the same as those in the method embodiments and the beneficial effects will not be described in detail.

[0144] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0145] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0146] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A method for separating channels in a millimeter-wave radar, wherein the millimeter-wave radar comprises M transmitting antennas and N receiving antennas, where M and N are positive integers greater than 1, characterized in that, The method includes: The modulation phase value of each of the M transmitting antennas is determined, wherein the modulation phase value is obtained by phase modulation of the uniformly distributed phase value by introducing a fine-tuning value, and the fine-tuning value is calculated based on a preset value and the number of bits of the phase shifter provided by the millimeter-wave radar; The interval values ​​of the first to Mth transmitting antennas on the range Doppler map are calculated based on the number of pulses transmitted by the millimeter-wave radar and the modulation phase value to obtain the set of interval values ​​of the M transmitting antennas; The difference between adjacent peaks in the distance Doppler image is matched with each interval value in the interval value set, and the transmission channel corresponding to the peak is determined based on the matching result.

2. The millimeter-wave radar channel separation method according to claim 1, characterized in that, The step of determining the modulation phase value of each of the M transmitting antennas includes: A reference value is determined, which is equal to a preset value divided by the number of transmitting antennas M; The phase value of each transmitting antenna is determined based on the reference value; Phase modulation is performed on the phase value of each transmitting antenna using a fine-tuning value to obtain the modulated phase value of each transmitting antenna.

3. The millimeter-wave radar channel separation method according to claim 2, characterized in that, The millimeter-wave radar includes a first transmitting antenna, a second transmitting antenna, a third transmitting antenna, and a fourth transmitting antenna. The steps for determining the modulation phase value of each transmitting antenna include: A baseline value is determined, wherein the baseline value = 360 / 4; Based on the reference value, the phase values ​​of the first to fourth transmitting antennas are obtained as [0, 90, 180, 270]. Phase modulation is performed on the phase value of each transmitting antenna using a fine-tuning value to obtain the modulation phase values ​​[0, 90+mΔ, 180+nΔ, 270] corresponding to the first to fourth transmitting antennas; Where Δ represents the fine-tuning value, m and n are both integers, m≠n≠0, and the values ​​of mΔ and nΔ are both less than 90.

4. The millimeter-wave radar channel separation method according to claim 3, characterized in that, The step of calculating the interval values ​​of the first to Mth transmitting antennas on the range Doppler map based on the number of pulses transmitted by the millimeter-wave radar and the modulation phase value, to obtain the set of interval values ​​of the M transmitting antennas, includes: The fine-tuning value is calculated based on the number of bits x of the phase shifter provided by the millimeter-wave radar, where the fine-tuning value = the preset value / 2^x; The interval values ​​of the first to Mth transmitting antennas on the range Doppler map are calculated based on the number of pulses transmitted by the millimeter-wave radar and the fine-tuning value to obtain the set of interval values ​​of the first to Mth transmitting antennas.

5. The millimeter-wave radar channel separation method according to claim 4, characterized in that, If M=4, and the preset value is 360, then the set of interval values ​​for the first to fourth transmitting antennas is calculated as [ ; in, , , , , All are integers. Indicates the number of pulses.

6. The millimeter-wave radar channel separation method according to claim 1, characterized in that, The step of matching the difference between adjacent peaks in the distance Doppler image with each interval value in the interval value set includes: Obtain all Doppler cells of the same distance cell from the distance Doppler map; The difference between adjacent peaks is calculated based on the multiple peaks detected by each Doppler unit. The difference is matched with each interval value in the set of interval values ​​to obtain the transmission channel corresponding to the peak value.

7. The millimeter-wave radar channel separation method according to claim 6, characterized in that, The step of calculating the difference between adjacent peaks based on multiple peaks detected by each Doppler unit includes: The coordinates (x, y, z) of each peak are obtained from the distance Doppler image, where x represents the Doppler value, y represents the distance value, and z represents the amplitude value. The difference between adjacent peaks is the difference between the x-coordinate values ​​of adjacent peaks.

8. The millimeter-wave radar channel separation method according to claim 5, characterized in that, The step of determining the transmitting antenna corresponding to the peak value based on the matching result includes: If the difference is equal to Then the transmitting antennas corresponding to the two peak values ​​are determined as the first transmitting antenna and the second transmitting antenna; If the difference is equal to Then the transmitting antennas corresponding to the two peak values ​​are determined to be the second transmitting antenna and the third transmitting antenna; The difference equals Then the transmitting antennas corresponding to the two peak values ​​are determined to be the third transmitting antenna and the fourth transmitting antenna; The difference equals Then the transmitting antennas corresponding to the two peak values ​​are determined to be the fourth transmitting antenna and the first transmitting antenna.

9. A millimeter-wave radar channel separation device, wherein the millimeter-wave radar comprises M transmitting antennas and N receiving antennas, characterized in that, The device includes: A modulation module is used to determine the modulation phase value of each of the M transmitting antennas, wherein the modulation phase value is obtained by phase modulation of a uniformly distributed phase value by introducing a fine-tuning value, and the fine-tuning value is calculated based on a preset value and the number of bits of the phase shifter provided by the millimeter-wave radar. The calculation module is used to calculate the interval values ​​of the first to Mth transmitting antennas on the range Doppler map based on the number of pulses transmitted by the millimeter-wave radar and the modulation phase value, so as to obtain the set of interval values ​​of the M transmitting antennas; The matching module is used to match the difference between adjacent peaks in the distance Doppler image with each interval value in the interval value set, and determine the transmission channel corresponding to the peak based on the matching result.

10. A millimeter-wave radar, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the steps of the millimeter-wave radar channel separation method as described in any one of claims 1 to 8.

11. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the millimeter-wave radar channel separation method as described in any one of claims 1 to 8.

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