Phase noise suppression method and device

Abstract

The invention provides a phase noise suppression method and device, and the method comprises the steps: determining the position information of a first reflector which generates phase noise for a region of interest of a radar and is located outside the region of interest of the radar, and then forming a transmitting beam power zero point of the radar in a first direction according to the position information of the first reflector, the signal transmitting power of the radar in the first direction is smaller than a threshold value, and the first direction is the direction of the position of the first reflector relative to the radar. Based on the above technical scheme, phase noise generated by reflectors located outside the ROI area of the radar can be eliminated, and the detection probability of the target object is further improved.

Description

Technical Field

[0001] This application relates to the field of radar technology, and more specifically, to a phase noise suppression method and apparatus. Background Technology

[0002] With the expansion of traffic application scenarios (such as highway scenarios and tunnel scenarios), 80GHz traffic radar antennas have been widely deployed, which has also placed higher demands and challenges on the deployment environment, detection, and tracking capabilities of traffic radar antennas. The region of interest (ROI) of traffic radar is the road area, but the environment around the road is often complex, with various reflective objects present (e.g., buildings, road signs, etc.).

[0003] Due to the insufficient frequency accuracy of the signal source in radars employing frequency-modulated continuous wave (FMCW) technology, a phase noise region extending across V dimensions (longitudinal) exists around strongly reflective objects in the radar range-Doppler (RD) spectrum. Furthermore, this significantly hinders the detection of targets (such as pedestrians) falling within this phase noise region on the RD spectrum, leading to a large number of missed detections.

[0004] Therefore, how to reduce the impact of strong reflective objects located outside the radar ROI region on target detection in the phase noise region generated by the RD spectrum has become an urgent problem to be solved. Summary of the Invention

[0005] This application provides a phase noise suppression method that can reduce the impact of highly reflective objects located outside the radar ROI region on target detection in the phase noise region generated by the RD spectrum, thereby improving the probability of target detection.

[0006] In a first aspect, a phase noise suppression method is provided, comprising: determining the position information of a first reflector, wherein the first reflector is a reflector that generates phase noise in the region of interest of a radar and is located outside the region of interest of the radar; and forming a zero point of the transmit beam power of the radar along a first direction based on the position information of the first reflector, such that the signal transmit power of the radar in the first direction is less than a threshold, wherein the first direction is the direction in which the position of the first reflector is relative to the radar.

[0007] In the technical solution of this application, after identifying a first reflector that generates phase noise in the radar's region of interest and is located outside the region of interest, the radar forms a zero-point in the radar's transmitted beam power along the position of the first reflector relative to the radar's direction, making the radar's signal transmission power in this direction less than a threshold. This reduces the power of the echo signal from the first reflector in this direction, eliminating the phase noise region of the first reflector in the radar's RD spectrum, thereby reducing its impact on target detection and improving the probability of target detection.

[0008] In conjunction with the first aspect, in some implementations of the first aspect, determining the position information of the first reflector includes: obtaining the position information of M reflectors, wherein the M reflectors are reflectors that generate phase noise in the region of interest of the radar; determining the position information of N reflectors located outside the region of interest of the radar based on the position information of the M reflectors, wherein the first reflector is one of the N reflectors, wherein M is greater than or equal to N, and M and N are both positive integers.

[0009] Based on the above technical solution, the impact of highly reflective objects located outside the radar ROI region on target detection in the phase noise region generated by the RD spectrum can be reduced, thereby improving the probability of target detection.

[0010] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: receiving multiple echo signals from a target region, the target region including the region of interest; generating a Doppler RD spectrum based on the multiple echo signals; and obtaining the position information of the M reflectors includes: obtaining the position information of the M reflectors according to the RD spectrum.

[0011] In conjunction with the first aspect, in some implementations of the first aspect, obtaining the position information of the M reflectors based on the RD spectrum includes: obtaining at least one phase noise region based on the RD spectrum; and obtaining the position information of the M reflectors based on the at least one phase noise region.

[0012] In conjunction with the first aspect, in some implementations of the first aspect, determining the position information of N reflectors located outside the region of interest of the radar based on the position information of the M reflectors includes: determining the position information of the N reflectors based on the at least one phase noise region and the position information of the M reflectors.

[0013] In conjunction with the first aspect, in some implementations of the first aspect, the RD spectrum is obtained from multiple sub-RD spectra, and the multiple sub-RD spectra correspond one-to-one with multiple receiving channels of the radar, the receiving channels being used to receive the echo signal.

[0014] In conjunction with the first aspect, in some implementations of the first aspect, the location information includes Euclidean coordinate values.

[0015] It should be noted that the Euclidean coordinates of the first reflector can be calculated based on the estimated angle of the first reflector. For example, the Euclidean coordinates of the first reflector can be obtained based on the estimated angle of the first reflector and the abscissa of the phase noise on the RD spectrum.

[0016] In a second aspect, an apparatus is provided, comprising: a processing unit configured to determine position information of a first reflector, wherein the first reflector is a reflector that generates phase noise in a region of interest of a radar and is located outside the region of interest of the radar; the processing unit configured to, based on the position information of the first reflector, form a transmit beam power null point of the radar along a first direction, such that the signal transmit power of the radar in the first direction is less than a threshold, wherein the first direction is the direction in which the position of the first reflector is relative to the radar.

[0017] In conjunction with the second aspect, in some implementations of the second aspect, the processing unit is specifically used to: obtain the position information of M reflectors, wherein the M reflectors are reflectors that generate phase noise in the region of interest of the radar; determine the position information of N reflectors located outside the region of interest of the radar based on the position information of the M reflectors, wherein the first reflector is one of the N reflectors, wherein M is greater than or equal to N, and M and N are both positive integers.

[0018] In conjunction with the second aspect, some implementations of the second aspect further include: a transceiver unit for receiving multiple echo signals from a target area, the target area including the region of interest; a processing unit for generating a Doppler RD spectrum based on the multiple echo signals; and specifically, the processing unit for obtaining the position information of the M reflectors based on the RD spectrum.

[0019] In conjunction with the second aspect, in some implementations of the second aspect, the processing unit is specifically used to: obtain at least one phase noise region based on the RD spectrum; and obtain the position information of the M reflectors based on the at least one phase noise region.

[0020] In conjunction with the second aspect, in some implementations of the second aspect, the processing unit is specifically used to: determine the position information of the N reflectors based on the position information of the at least one phase noise region and the M reflectors.

[0021] In conjunction with the second aspect, in some implementations of the second aspect, the RD spectrum is obtained from multiple sub-RD spectra, and the multiple sub-RD spectra correspond one-to-one with multiple receiving channels of the radar, the receiving channels being used to receive the echo signal.

[0022] In conjunction with the second aspect, in some implementations of the second aspect, the location information includes Euclidean coordinate values.

[0023] Thirdly, an apparatus is provided, including a processor and a memory, the processor being coupled to the memory, the memory being used to store computer programs or instructions, and the processor being used to execute the computer programs or instructions in the memory, such that the method in the first aspect or any possible implementation of the first aspect is performed.

[0024] Fourthly, a radar is provided, including a receiver and a processor, the receiver being configured to receive a plurality of echo signals, and the processor being configured to perform a method as described in the first aspect or any possible implementation thereof based on the plurality of echo signals.

[0025] Fifthly, a computer program product is provided, comprising: a computer program (also referred to as code or instructions) that, when run, causes a computer to perform the methods described in the first aspect and any possible implementation thereof.

[0026] In a sixth aspect, a computer-readable storage medium is provided, storing a computer program or instructions for implementing the methods of the first aspect and any possible implementation thereof.

[0027] A seventh aspect provides a computing device, comprising: an interface; a memory for storing a computer program; and a processor for calling the computer program from the memory, wherein when the computer program is executed, the computing device performs a method as described in the first aspect or any possible implementation thereof.

[0028] Eighthly, a chip is provided, on which a processing system is disposed, the processing system being used to execute instructions of the method in the first aspect or any possible implementation thereof.

[0029] A ninth aspect provides a radar system including a radar for performing the methods of the first aspect and any possible implementation thereof.

[0030] In a tenth aspect, an apparatus is provided, including a circuit and an interface, the interface being configured to receive a signal to be processed and to send the signal to be processed to the circuit and / or output a signal processed by the circuit; the circuit being configured to process the received signal to implement the method as described in the first aspect and any possible implementation thereof.

[0031] In some implementations, the interface can be understood as an electromagnetic transceiver interface, or it can be understood as a transceiver channel.

[0032] For the relevant descriptions and beneficial effects of aspects two through ten, please refer to the relevant descriptions and beneficial effects of aspect one above. Attached Figure Description

[0033] Figure 1 This is a structural example diagram of a radar 100 provided in an embodiment of this application.

[0034] Figure 2 (a) is the beam pattern of a radar.

[0035] Figure 2 (b) is a simulation diagram of the beam pattern of a radar.

[0036] Figure 3 This is a schematic flowchart of a phase noise suppression method 300 provided in an embodiment of this application.

[0037] Figure 4 This is a schematic flowchart of a phase noise suppression method 400 provided in another embodiment of this application.

[0038] Figure 5 A range-Doppler (RD) spectrum provided for an embodiment of this application.

[0039] Figure 6 This application provides spectral information on the angle estimation of a reflector in an embodiment of the present application.

[0040] Figure 7 (a) is the RD spectrum after phase noise suppression using the phase noise suppression method of this application.

[0041] Figure 7 (b) is a comparison of the radar's online noise floor before and after using the phase noise suppression method provided in this application.

[0042] Figure 8 This is a schematic block diagram of the device 800 provided in the embodiments of this application.

[0043] Figure 9 Another device 900 is provided for embodiments of this application.

[0044] Figure 10 This application provides a chip system 1000. Detailed Implementation

[0045] The technical solutions in this application will now be described with reference to the accompanying drawings.

[0046] Figure 1This is a structural example diagram of a radar 100 provided in an embodiment of this application. For example... Figure 1 As shown, the radar 100 includes a transmitter 120, a receiver 130, and a processing unit 110. Optionally, the processing unit 110 may include a central processing unit (CPU), a field-programmable gate array (FPGA), or an application-specific integrated circuit (ASIC), or other types of processing chips. During target detection by the radar, the transmitter 120 sends a transmission signal to the target object, which is a pulse signal. The target object reflects the transmission signal, and the receiver 130 receives the echo signal reflected by the target object. In this embodiment, the transmission signal may also be referred to as a transmission signal waveform, a transmission pulse, a transmission pulse signal, or a detection signal, etc., and the echo signal may also be referred to as an echo signal waveform, a received pulse, or a received pulse signal, etc. In this application, the processing unit 110 is mainly used to process the echo signal to detect the target object; optionally, the processing unit 110 may also be used to control the transmitter 120 to transmit signals, without limitation.

[0047] It should be understood that the radar 100 in the embodiments of this application can be a frequency modulated continuous wave (FMCW) radar, or it can be other types of radar, and this application does not limit it.

[0048] To facilitate understanding of the embodiments of this application, the technical terms involved in this application are explained below.

[0049] Radar device: It is an electronic device that uses electromagnetic waves to detect targets. Its working principle is: the transmitter sends electromagnetic wave energy into space in a certain direction through the transmitting antenna. The target object in this direction reflects the electromagnetic wave it encounters. The receiver receives the reflected wave through the receiving antenna and processes it to extract certain information about the target object (e.g., the distance from the target object to the radar device, the rate of change of distance or radial velocity, azimuth, altitude, etc.).

[0050] While the specific uses and structures of various radar devices differ, their basic forms are consistent, all including: transmitter, transmitting antenna, receiver, receiving antenna, display, and radar chip (used for processing target echo information, data compression, data storage, etc.).

[0051] Range-Doppler map (RD map): Usually abbreviated as RD spectrum, in the RD spectrum, R represents the range (unit: m), and sometimes it can also be expressed as the echo delay time (unit: s). D represents the Doppler frequency, which can be used to represent the velocity of the target.

[0052] Region of Interest (ROI): The area of ​​activity of the target object that the radar wants to detect. For traffic radar, the ROI is the road area. For ease of understanding, the term ROI will be used consistently in the following description.

[0053] Phase noise: The high-frequency transmission signal of the radar is generated by hardware. Due to hardware performance limitations, the frequency accuracy and stability of the signal are not perfect, which causes the noise floor in certain areas of the radar RD spectrum to rise, resulting in the obscuring of small targets and thus reducing the probability of detecting small targets.

[0054] Beam pattern: When a radar radiates electromagnetic waves into space through its transmitting antenna, the gain of the radiated power varies in different directions. Similarly, the receiving gain of a radar receiving antenna for electromagnetic echoes from different directions in space also varies. A graph reflecting the gain of the radar transmitting or receiving antenna in different directions is called the radar antenna's beam pattern.

[0055] like Figure 2 As shown, Figure 2 (a) is a beam pattern of a radar. Specifically, the red line represents the transmit or receive beam of the radar antenna, and the direction of the ray connecting any point on the radar (from the radar to that point) represents a certain radiation or reception direction of the radar. The length of the line segment connecting any point on the radar represents the radiation gain in that radiation direction or the reception gain in that reception direction.

[0056] Figure 2 (b) is a simulation diagram of the beam pattern of a radar. Figure 2 As can be seen in (b), the radar's maximum gain direction is 10 degrees, with two beam pattern nulls / zeros.

[0057] It should be explained that a beam pattern null point or null point refers to the angular direction corresponding to the gain dip in the beam pattern. Generally, the radiation gain or receiving gain is the minimum, almost zero, in this angular direction.

[0058] The technical solutions in this application will now be described in detail with reference to the accompanying drawings.

[0059] As described in the background section, due to the inherent limitations of FMCW radar, highly reflective objects located outside the radar's ROI region generate phase noise regions on the RD spectrum, thereby affecting the radar's ability to detect target objects.

[0060] Based on this, this application aims to provide a phase noise suppression method that can reduce the impact of highly reflective objects located outside the radar ROI region on target detection in the phase noise region generated by the RD spectrum, and further improve the radar's detection probability of target objects in the phase noise region.

[0061] The embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0062] Figure 3 This is a schematic flowchart illustrating a phase noise suppression method 300 provided in an embodiment of this application. The method is executed by a radar, such as... Figure 3 As shown, the method includes at least the following steps.

[0063] S310, Determine the position information of the first reflector.

[0064] The first reflector is a reflector that generates phase noise within the radar's Region of Interest (ROI) and is located outside the ROI. For example, the ROI of the radar can be determined from the radar's instruction manual, and further, the first reflector located outside the ROI and its location information can be identified.

[0065] In one possible implementation, the position information of the first reflector can be its Euclidean coordinates. It should be noted that the Euclidean coordinates of the first reflector can be calculated based on an estimated angle of the first reflector, combined with the abscissa of the phase noise region generated by the first reflector on the RD spectrum.

[0066] S320, based on the position information of the first reflector, forms a zero point of radar transmit beam power along the first direction, so that the radar signal transmit power in the first direction is less than a threshold.

[0067] Here, the first direction refers to the direction in which the position of the first reflector is relative to the radar. Specifically, after the radar determines the position information of the first reflector, it forms a zero-power transmit beam along the direction of the first reflector's position relative to the radar, making the radar's signal transmission power less than a threshold in the first direction. In other words, after determining the position information of the first reflector, the radar's signal transmission power along the direction of the first reflector's position relative to the radar is less than a threshold.

[0068] It should be noted that the threshold mentioned above is a pre-set signal transmission power threshold.

[0069] Optionally, before step S310, the method may further include the following steps: S301 and S302.

[0070] S301, obtain the position information of M reflectors.

[0071] Among them, M reflectors are reflectors that generate phase noise in the ROI region of the radar.

[0072] Optionally, before step S301, the method may further include: receiving multiple echo signals from the target area and generating an RD spectrum based on the multiple echo signals. It should be noted that the aforementioned RD spectrum is obtained from multiple sub-RD spectra, and these multiple sub-RD spectra correspond one-to-one with multiple receiving channels of the radar. It should also be noted that in this embodiment, the target area includes a Region of Interest (ROI), or it can be understood that the ROI is located within the target area. For example, in the case of a traffic scenario, the ROI is a road area.

[0073] First, the radar is set up in the target area, and both the radar's transmitting and receiving antenna arrays are aligned with the radar's ROI area. The radar is then turned on and transmits signals to the target area.

[0074] Subsequently, the radar receives multiple echo signals reflected from the target area. Assuming the radar has L receiving channels, for example:

[0075] The radar receives multiple echo signals in each receiving channel and obtains a sub-RD spectrum based on these multiple echo signals. This can be understood as one receiving channel corresponding to one sub-RD spectrum, resulting in a total of L sub-RD spectra for the radar. Further, the radar performs non-coherent accumulation (NCI) on these L sub-RD spectra to obtain a single RD spectrum (or RD-NCI spectrum). For example, this RD spectrum has a dimension of M×N, where the first dimension is the Doppler velocity dimension and the second dimension is the range dimension.

[0076] After obtaining the RD spectrum, the method may further include: obtaining at least one phase noise region based on the RD spectrum, and then obtaining the position information of M reflectors based on the at least one phase noise region.

[0077] Specifically, the radar detects and extracts Q online noise floor values ​​on this RD spectrum, for example, [noise0, noise1, ..., noise]. Q-1 Subsequently, based on the Q online noise floor values, M phase noise regions were calculated.

[0078] For example, [[index_start0,index_end0],[index_start1,index_end1],……,[index_start M-1 ,index_end M-1 ]).

[0079] Among them, index_start i index_end is the distance dimension index starting from the i-th phase noise region. i This is the distance index where the i-th phase noise region ends. It should be noted that since the phase noise region on the RD spectrum spans the Doppler velocity dimension, only the distance index needs to be recorded.

[0080] Finally, based on the obtained M phase noise regions, the radar obtains the position information of the M reflectors corresponding to the M phase noise regions.

[0081] For example, the radar can use a super-resolution method to solve for the position information of the M reflectors in the M phase noise regions.

[0082] In one possible implementation, the position information of the M reflectors can be the angle estimates of the M reflectors, for example, [angle0, angle1, ..., angle...]. M-1 ].

[0083] In one possible implementation, the position information of the M reflectors can be the Euclidean coordinates of the M reflectors, for example, [[cordx0,cordy0],[cordx1,cordy1],……,[cordx... M-1 ,cordy M-1 ]).

[0084] It should be understood that the above method for obtaining the position information of M reflectors based on M phase noise regions is merely an example, and this application does not impose any limitations on it.

[0085] S302, determine the position information of N reflectors located outside the ROI area of ​​the radar based on the position information of M reflectors, where M is greater than or equal to N, and M and N are both positive integers.

[0086] In other words, after acquiring the position information of M reflectors, the radar, based on the positions of the M reflectors, determines the reflectors located outside the ROI region and their position information. For example, the following example uses Euclidean coordinates for the position information of the M reflectors:

[0087] Specifically, the radar can determine which of the M reflectors is located outside the ROI region based on the Euclidean coordinates of the M reflectors.

[0088] In one possible implementation, if it is determined that N of the M reflectors are located outside the ROI region, then a first reflector is selected from the N reflectors, and then step S320 described above is executed.

[0089] In one possible implementation, if it is determined that (MN) of the M reflective objects are not located outside the ROI region, that is, if it is determined that (MN) reflective objects are located within the ROI region, then the following steps are performed:

[0090] The radar transmits a beam with a transmission power less than a threshold relative to the direction of the radar, not at the position of any of the (MN) reflectors.

[0091] It should be noted that the Euclidean coordinates of the first reflector can be calculated based on the estimated angle of the first reflector. For example, the Euclidean coordinates of the first reflector can be obtained based on the estimated angle of the first reflector and the abscissa of the phase noise on the RD spectrum.

[0092] It should also be noted that the selection of a first reflector from N reflectors, as described above, can be random or can be selected according to some rule. It should be understood that this application does not impose any restrictions on this.

[0093] The phase noise suppression method provided in this application embodiment will be described in detail below with reference to specific examples.

[0094] Before introducing the phase noise suppression method provided in the embodiments of this application, it should be noted that the phase noise suppression method provided in this application requires that the number of transmitting antenna elements and receiving antenna elements of the radar be greater than or equal to 2, which means that the number of transmitting channels and receiving channels of the radar are also required to be greater than or equal to 2. At the same time, it is also recommended that the spacing between the transmitting antenna elements of the radar be 0.5 times the electrical length, that is, it is recommended that the spacing between two adjacent transmitting antenna elements of the radar be 0.5 times the electrical length. It should be understood that the specific values ​​of the transmitting antenna element spacing mentioned above are only illustrative examples, and this application does not impose any limitations on them.

[0095] Figure 4 A schematic flowchart of a phase noise suppression method 400 provided in another embodiment of this application, the method being executed by a radar, such as... Figure 4 As shown, the method includes at least the following steps.

[0096] S410 transmits signals to the target area and receives multiple echo signals reflected from the target area.

[0097] For example, taking the target area as the traffic scenario and the ROI area as the road area, it should be understood that the traffic scenario includes the road area and the buildings, streetlights, etc. on both sides of the road area.

[0098] Specifically, the radar is installed in a traffic scene, with both its transmitting and receiving antenna arrays pointed towards the road area. The radar is then powered on and transmits signals into the traffic scene. Subsequently, the radar receives multiple echo signals reflected from the traffic scene.

[0099] S420 generates an RD spectrum based on multiple received echo signals.

[0100] Taking a radar with L receiving channels as an example: the radar receives multiple echo signals in each receiving channel and obtains a sub-RD spectrum based on these multiple echo signals. Subsequently, the radar performs non-coherent integration (NCI) on these L sub-RD spectra to obtain an RD spectrum (or it can also be called an RD-NCI spectrum), such as... Figure 5 As shown, Figure 5 An RD spectrum is provided for an embodiment of this application. The vertical axis of the RD spectrum represents the Doppler velocity dimension, and the horizontal axis represents the range dimension.

[0101] S430, at least one phase noise region is obtained based on the RD spectrum, and then the position information of M reflectors is obtained based on the at least one phase noise region.

[0102] See also Figure 5 The phase noise region obtained by the radar based on the RD spectrum is located in Figure 5 The radar then solves for the position information of M reflectors in the phase noise region, as shown in the figure. Figure 6 As shown, Figure 6 This application provides spectral information on the angle estimation of a reflector in an embodiment of the present application.

[0103] It should be noted that the descriptions regarding the radar obtaining the phase noise region from the RD spectrum and the position information of M reflectors from the phase noise region can be found in the preceding text.

[0104] S440, the radar determines the position information of N reflectors from the position information of M reflectors, where N ≤ M, and both N and M are positive integers. Then, the radar selects a first reflector from the N reflectors.

[0105] Specifically, the N reflectors are reflectors that generate phase noise in the road area of ​​the radar and are located outside the road area. For a description of step S440, please refer to step S302 above.

[0106] S450, the radar forms a zero point of the radar's transmit beam power along a first direction based on the position information of the first reflector, so that the radar's signal transmit power in the first direction is less than a threshold, wherein the first direction is the direction in which the position of the first reflector is relative to the radar.

[0107] Specifically, the position information of the first reflector is an angle estimate. This angle estimate can be understood as the angle estimate of the first reflector's position along the radar's direction. That is, when the radar determines the angle estimate of the first reflector, the radar forms a zero-power transmit beam along the direction of the first reflector's angle estimate. The following explanation uses the position information of the first reflector as the angle estimate.

[0108] For example, the angle estimate of the first reflector could be angle. i This can be understood as the estimated angle of the position of the first reflector along the radar direction being angle. i Therefore, radar can utilize any industry-standard beam pattern null generation method to make the radar's transmitted beam pattern appear within the specified angle. i A zero point is generated at the angle, meaning that the radar is made to be at the angle. i The signal transmission power in this angular direction is less than a certain threshold, thereby reducing the power of the echo signal of the first reflector and thus eliminating the phase noise region generated by the first reflector in the radar RD spectrum.

[0109] The following is combined Figure 7 The phase noise suppression results of this application are explained. Figure 7 (a) is the RD spectrum after phase noise suppression using the phase noise suppression method of this application, and is similar to the spectrum shown above. Figure 5 In comparison, it is clear that the phase noise in the phase noise region is significantly reduced.

[0110] Figure 7 (b) is a comparison of the radar's online noise floor before and after using the phase noise suppression method provided in this application. As can be seen from the figure, the noise floor before phase noise suppression is significantly higher than the noise floor after phase noise suppression. That is to say, the phase noise suppression method provided in this application can eliminate the phase noise generated by strong reflective objects located outside the ROI area of ​​the radar, thereby improving the detection probability of target objects.

[0111] It should be understood that some optional features in the various embodiments of this application may not depend on other features in some scenarios, or may be combined with other features in other scenarios, without limitation.

[0112] It is also understood that the solutions in the various embodiments of this application can be used in a reasonable combination, or the solutions in the various embodiments of this application can be reasonably decoupled, and the explanations or descriptions of the various terms appearing in the embodiments can be referenced or explained to each other in the various embodiments, without limitation.

[0113] It should also be understood that the various numerical sequences in the embodiments of this application do not imply the order of execution, but are merely distinctions for ease of description and should not constitute any limitation on the implementation process of the embodiments of this application.

[0114] It is also understood that some names are involved in the various embodiments of this application, such as reflective object, target area, region of interest, etc. It should be understood that their naming does not limit the protection scope of the embodiments of this application.

[0115] It is also understood that the methods and operations implemented by radar in the above method embodiments can also be implemented by radar components (such as chips or circuits), and this application does not limit this. Corresponding to the methods given in the above method embodiments, this application also provides corresponding apparatuses, which include modules for executing the corresponding methods in the above method embodiments. These modules can be software, hardware, or a combination of software and hardware. It is understood that the technical features described in the above method embodiments are also applicable to the following apparatus embodiments.

[0116] It should be understood that the radar can perform some or all of the steps in the above embodiments. These steps or operations are merely examples, and the embodiments of this application can also perform other operations or variations thereof. Furthermore, the steps can be performed in different orders as presented in the above embodiments, and it is not necessary to perform all the operations in the above embodiments.

[0117] The above combination Figures 3-7 The phase noise suppression method provided in the embodiments of this application is described in detail below. Figures 8 to 10 The apparatus provided in the embodiments of this application is described in detail. It should be understood that the description of the apparatus embodiments corresponds to the description of the method embodiments. Therefore, for content not described in detail, please refer to the method embodiments above. For the sake of brevity, some content will not be repeated.

[0118] Figure 8 This is a schematic block diagram of the device 800 provided in an embodiment of this application. Figure 8 As shown, the device 800 includes a transceiver unit 810. The transceiver unit 810 can perform the functions of transmitting and receiving electromagnetic waves; it can also be referred to as a transmission and reception channel. Optionally, the device 800 further includes a processing unit 820 for data processing. The device 800 is used to implement the aforementioned... Figures 3 to 7 The radar function is shown in the method embodiment.

[0119] When the device 800 is used to achieve Figures 3 to 7In the method embodiment shown, when the radar functions, the processing unit 820 is used to: determine the position information of the first reflector; and based on the position information of the first reflector, form a zero point of the radar's transmit beam power along a first direction, so that the radar's signal transmit power in the first direction is less than a threshold.

[0120] Optionally, the processing unit 820 is specifically used to: obtain the position information of M reflectors; and determine the position information of N reflectors located outside the region of interest of the radar based on the position information of the M reflectors.

[0121] Optionally, the transceiver unit 810 is configured to: receive multiple echo signals from a target area, the target area including the region of interest;

[0122] The processing unit 820 is used to generate a Doppler RD spectrum based on the plurality of echo signals; and to obtain the position information of the M reflectors based on the RD spectrum.

[0123] Optionally, the processing unit 820 is further configured to: obtain at least one phase noise region based on the RD spectrum; and obtain the position information of the M reflectors based on the at least one phase noise region.

[0124] Optionally, the processing unit 820 is further configured to: determine the position information of the N reflectors based on the position information of the at least one phase noise region and the M reflectors.

[0125] For a more detailed description of the transceiver unit 810 and the processing unit 820, as well as the meanings of terms such as the position information of the first reflector, the null point of the transmitted beam power, and the region of interest, please refer to [reference needed]. Figures 3 to 7 The method embodiments shown are described.

[0126] It should also be understood that the device 800 here is embodied in the form of a functional unit. The term "unit" here can refer to an application-specific integrated circuit (ASIC), electronic circuitry, a processor (e.g., a shared processor, a proprietary processor, or a group processor, etc.) and memory for executing one or more software or firmware programs, integrated logic circuitry, and / or other suitable components supporting the described functions. In an alternative example, those skilled in the art will understand that the device 800 can be specifically the radar in the above embodiments, and can be used to execute the various processes and / or steps corresponding to the radar in the above method embodiments; to avoid repetition, these will not be described again here.

[0127] The apparatus 800 of each of the above-described schemes has the function of implementing the corresponding steps performed by the radar in the above-described methods. The function can be implemented by hardware or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above functions; for example, the transceiver unit can be replaced by a transceiver (e.g., the transmitting unit in the transceiver unit can be replaced by a transmitter, and the receiving unit in the transceiver unit can be replaced by a receiver), and other units, such as processing units, can be replaced by processors, each executing the transceiver operations and related processing operations in each method embodiment.

[0128] In addition, the transceiver unit 810 may also be a transceiver circuit (for example, it may include a receiving circuit and a transmitting circuit), and the processing unit 820 may be a processing circuit.

[0129] It should be pointed out that, Figure 8 The device mentioned can be the radar in the foregoing embodiments, or it can be a chip or a chip system, such as a system-on-a-chip (SoC), or the device can refer to a radar system, etc. The transceiver unit can be an input / output circuit, a receiving antenna / transmitting antenna; the processing unit is a processor, microprocessor, or integrated circuit integrated on the chip. No limitations are imposed here.

[0130] like Figure 9 As shown, this application provides another device 900. The device 900 includes a processor 910 coupled to a memory 920. The memory 920 is used to store computer programs or instructions and / or data. The processor 910 is used to execute the computer programs or instructions stored in the memory 920, or to read the data stored in the memory 920, to perform the methods in the above method embodiments.

[0131] When device 900 is used to achieve Figures 3 to 7 In the method shown, the processor 910 is used to implement the functions of the processing unit 820 described above.

[0132] Optionally, there may be one or more processors 910.

[0133] Optionally, the memory 920 may be one or more.

[0134] Alternatively, the memory 920 can be integrated with the processor 910, or it can be set separately.

[0135] Optionally, such as Figure 10 As shown, the device 900 also includes a transceiver 930 for receiving and / or transmitting electromagnetic waves. For example, a processor 910 is used to control the transceiver 930 to receive and / or transmit electromagnetic waves.

[0136] When device 900 is used to achieve Figures 3 to 7 In the method shown, transceiver 910 is used to implement the functions of transceiver unit 810 described above.

[0137] For example, processor 910 is used to execute computer programs or instructions stored in memory 920 to implement the relevant operations of the radar in the various method embodiments described above. For example, Figures 3 to 7 The radar method in any of the illustrated embodiments.

[0138] It should be understood that the processor mentioned in the embodiments of this application can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor.

[0139] It should also be understood that the memory mentioned in the embodiments of this application can be volatile memory and / or non-volatile memory. Non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory can be random access memory (RAM). For example, RAM can be used as an external cache. By way of example and not limitation, RAM includes the following forms: static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous linked dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM).

[0140] It should be noted that when the processor is a general-purpose processor, DSP, ASIC, FPGA, or other programmable logic device, discrete gate or transistor logic device, or discrete hardware component, the memory (storage module) can be integrated into the processor.

[0141] It should also be noted that the memory described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0142] like Figure 10 This application provides a chip system 1000. The chip system 1000 (or processing system) includes logic circuitry 1010 and an input / output interface 1020. It should be understood that the chip system 1000 can be installed in the aforementioned device 800, or the aforementioned device 800 can also include the chip system 1000.

[0143] The logic circuit 1010 can be a processing circuit in the chip system 1000. The logic circuit 1010 can be coupled to a memory unit, calling instructions from the memory unit, enabling the chip system 1000 to implement the methods and functions of the embodiments of this application. The input / output interface 1020 can be an input / output circuit in the chip system 1000, outputting processed information from the chip system 1000, or inputting data or signaling information to be processed into the chip system 1000 for processing.

[0144] As one approach, the chip system 1000 is used to implement the operations performed by the radar in the various method embodiments described above.

[0145] For example, logic circuit 1010 is used to implement the processing-related operations performed by the radar in the above method embodiments, such as... Figures 3 to 7 In any of the illustrated embodiments, the radar processing-related operations are as follows: The logic circuit 1010 is used to implement the functions of the processing unit 820 described above; the input / output interface 1020 is used to implement the transmission and / or reception-related operations performed by the radar in the above method embodiments, such as... Figures 3 to 7 The radar in any of the illustrated embodiments performs transmission and / or reception-related operations, that is, the input / output interface 1020 is used to implement the functions of the transceiver unit 810 described above.

[0146] This application also provides a computer-readable storage medium storing computer instructions for implementing the methods executed by radar in the above-described method embodiments.

[0147] For example, when the computer program is executed by the computer, it enables the computer to implement the methods executed by the radar in the various embodiments of the above methods.

[0148] This application also provides a computer program product comprising instructions that, when executed by a computer, implement the methods performed by the radar in the above-described method embodiments.

[0149] The explanations and beneficial effects of the relevant contents in any of the devices provided above can be found in the corresponding method embodiments provided above, and will not be repeated here.

[0150] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of apparatus or units may be electrical, mechanical, or other forms.

[0151] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0152] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0153] 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 units can be selected to achieve the purpose of this embodiment according to actual needs.

[0154] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0155] If the aforementioned functions are 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.

[0156] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A phase noise suppression method, characterized in that, include: Determine the location information of the first reflector, which is a reflector that generates phase noise in the radar's region of interest and is located outside the radar's region of interest; Based on the position information of the first reflector, a zero-point is formed in the radar's transmit beam power along the first direction, so that the radar's signal transmit power in the first direction is less than a threshold. Wherein, the first direction is the direction in which the position of the first reflector is relative to the radar.

2. The method according to claim 1, characterized in that, The determination of the position information of the first reflector includes: The location information of M reflectors is obtained, wherein the M reflectors are reflectors that generate phase noise in the region of interest of the radar; Based on the position information of the M reflectors, the position information of N reflectors located outside the region of interest of the radar is determined, wherein the first reflector is one of the N reflectors. Where M is greater than or equal to N, and both M and N are positive integers.

3. The method according to claim 2, characterized in that, The method further includes: Receive multiple echo signals from a target region, the target region including the region of interest; A Doppler RD spectrum is generated based on the multiple echo signals; The acquisition of the position information of the M reflectors includes: The position information of the M reflectors is obtained based on the RD spectrum.

4. The method according to claim 3, characterized in that, Obtaining the position information of the M reflectors based on the RD spectrum includes: At least one phase noise region is obtained from the RD spectrum; The position information of the M reflectors is obtained based on the at least one phase noise region.

5. The method according to claim 4, characterized in that, Determining the position information of N reflectors located outside the radar's region of interest based on the position information of the M reflectors includes: The position information of the N reflectors is determined based on the position information of the at least one phase noise region and the M reflectors.

6. The method according to any one of claims 3 to 5, wherein the RD spectrum is obtained from a plurality of sub-RD spectra, the plurality of sub-RD spectra corresponding one-to-one with a plurality of receiving channels of the radar, and the receiving channels are used to receive the echo signal.

7. The method according to any one of claims 1 to 6, characterized in that, The location information includes Euclidean coordinates.

8. An apparatus, characterized in that, The device includes a processor and a memory, the processor being coupled to the memory, the memory being used to store computer programs or instructions, and the processor being used to execute the computer programs or instructions in the memory, such that the method of any one of claims 1 to 7 is performed.

9. A radar, characterized in that, The device includes a receiver and a processor, the receiver being configured to receive a plurality of echo signals, and the processor being configured to perform the method as described in any one of claims 1 to 7 based on the plurality of echo signals.

10. A computer program product containing instructions, characterized in that, when run on a computer, This causes the method described in any one of claims 1 to 7 to be performed.

11. A computer-readable storage medium, characterized in that, The device contains a computer program or instructions for implementing the method of any one of claims 1 to 7.

12. An apparatus, characterized in that, The device includes a circuit and an interface, wherein the interface is used to receive a signal to be processed and to send the signal to be processed to the circuit and / or output a signal processed by the circuit; the circuit is used to process the received signal to implement the method as described in any one of claims 1 to 7.

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