Radar-based sensing and communication apparatus, method, and device

Abstract

A radar-based sensing and communication apparatus, a method, and a device, relating to the technical field of electronics, and used for solving the problem of interference caused by a crosstalk signal (S2) in a radar-based sensing and communication apparatus, thereby improving the performance of the apparatus. The apparatus comprises: a first transmit link (21) for transmitting a transmit signal (S1); a loopback link (22) for receiving an input signal and outputting a first crosstalk cancellation signal, the input signal being the transmit signal (S1) or a baseband signal corresponding to the transmit signal (S1); and a first receive link (23) for receiving the first crosstalk cancellation signal and a receive signal, the receive signal comprising the crosstalk signal (S2) corresponding to the transmit signal (S1) and an echo signal obtained when the transmit signal (S1) is reflected by an obstacle. The phase of the first crosstalk cancellation signal is opposite to that of the crosstalk signal (S2), and the absolute value of the difference between the amplitude of the first crosstalk cancellation signal and the amplitude of the crosstalk signal (S2) is less than a preset value.

Description

A radar sensing device, method and equipment

[0001] The present application claims priority to the Chinese patent application No. 202410458446.2, filed on April 16, 2024, and entitled "A radar sensing device, method and equipment", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the technical field of electronics, and in particular to a radar sensing device, method and equipment. BACKGROUND

[0003] Sensing integration refers to the fusion of communication and sensing functions, so that the communication system has both communication and sensing functions. The communication system actively cognizes and analyzes the characteristics of the channel while transmitting information in the wireless channel, so as to perceive the physical characteristics of the surrounding environment, thereby enhancing the communication and sensing functions. Wireless fidelity (WiFi) radar sensing integration, as an important branch of sensing integration, is gaining more and more attention. Currently, the performance bottleneck of WiFi radar sensing integration is mainly the self-blocking between the transmitter-receiver (Tx-Rx) paths.

[0004] In related technologies, in order to avoid self-blocking between the transmitter-receiver (Tx-Rx) paths, a dual-chip WiFi radar system is usually used, that is, the transmitter-receiver (Tx-Rx) paths are arranged separately in two chips, and each chip is coupled with an antenna. In this way, the WiFi radar system can send a transmission signal through the transmitter-receiver (Tx-Rx) path and its coupled antenna, receive a corresponding echo signal through the receiver-receiver (Tx-Rx) path and its coupled antenna, and calculate target information according to the transmission signal and the echo signal.

[0005] However, the above WiFi radar system has the problems of large size, low integration and high cost. SUMMARY

[0006] The present application provides a radar sensing device, method and equipment for solving the blocking problem caused by crosstalk signals in the radar sensing device, thereby improving the performance of the device, and at the same time improving the integration, reducing the size and cost of the device.

[0007] To achieve the above-mentioned purpose, the embodiments of the present application adopt the following technical solutions:

[0008] In a first aspect, a radar sensing device is provided, which can have a radar mode and a communication mode. The device comprises: a first transmitting link configured to transmit a transmitting signal, which can be a transmitting wave in the radar mode; a loopback link configured to receive an input signal, which is the transmitting signal or a baseband signal corresponding to the transmitting signal, and output a first crosstalk cancellation signal; and a first receiving link configured to receive the first crosstalk cancellation signal and a receiving signal, which includes a crosstalk signal corresponding to the transmitting signal and a reflected wave signal of the transmitting signal reflected by an obstacle. The first crosstalk cancellation signal has an opposite phase to that of the crosstalk signal and an absolute value of a difference between amplitudes of the first crosstalk cancellation signal and the crosstalk signal is less than a preset value, such as 0 or close to 0.

[0009] In the above technical solution, the first transmitting link is configured to transmit a transmitting signal, the loopback link is configured to receive an input signal and output a first crosstalk cancellation signal for the first receiving link, and the first receiving link is configured to receive the first crosstalk cancellation signal and a receiving signal. The first crosstalk cancellation signal has an opposite phase to that of a crosstalk signal in the receiving signal and an absolute value of a difference between amplitudes of the first crosstalk cancellation signal and the crosstalk signal is less than a preset value. Thus, the first crosstalk cancellation signal can be used to reduce or cancel the crosstalk signal in the receiving signal, thereby solving the blocking problem caused by the crosstalk signal and improving the performance of the device. Meanwhile, the device can be a single-chip structure, thereby improving the integration, reducing the volume and cost of the device compared with the prior art.

[0010] In a possible implementation of the first aspect, the loopback link comprises a first coupler, a second coupler, a gain and phase adjustment circuit, a first matching resistor and a second matching resistor. One end of the gain and phase adjustment circuit is coupled to an output end of the first transmitting link and one end of the first matching resistor through the first coupler, and the other end of the gain and phase adjustment circuit is coupled to an input end of the first receiving link and one end of the second matching resistor through the second coupler. The other end of the first matching resistor and the other end of the second matching resistor are coupled to a ground end. The gain and phase adjustment circuit is configured to adjust the phase and / or amplitude of the input signal. In the above possible implementation, the gain and phase adjustment circuit can be used to adjust the phase and / or amplitude of the input signal, so that the first crosstalk cancellation signal has an opposite phase to that of a crosstalk signal in the receiving signal and an absolute value of a difference between amplitudes of the first crosstalk cancellation signal and the crosstalk signal is less than a preset value. Thus, the first crosstalk cancellation signal can be used to reduce or cancel the crosstalk signal, thereby solving the blocking problem caused by the crosstalk signal.

[0011] In a possible implementation manner of the first aspect, the gain-phase adjustment circuit comprises a gain controller and a phase shifter, for example, the gain controller can comprise an attenuator and / or an adjustable amplifier. In the possible implementation manner, the amplitude of the input signal is adjusted by the gain controller, and the phase of the input signal is adjusted by the phase shifter, so that flexibility of adjusting the amplitude and the phase of the input signal can be achieved.

[0012] In a possible implementation manner of the first aspect, the gain-phase adjustment circuit comprises a gain controllable phase shifter. In the possible implementation manner, the phase and the amplitude of the input signal are adjusted by the gain controllable phase shifter, so that the complexity of the gain-phase adjustment circuit can be reduced while the phase and the amplitude of the input signal are adjusted.

[0013] In a possible implementation manner of the first aspect, the apparatus further comprises a control circuit configured to control the gain-phase adjustment circuit to adjust the phase and / or the amplitude of the input signal. In the possible implementation manner, the adjustment of the gain-phase adjustment circuit is controlled by the control circuit, so that the accuracy of the adjustment can be improved.

[0014] In a possible implementation manner of the first aspect, the apparatus is configured to transmit and receive radar signals; the first transmitting chain and the first receiving chain are further configured to respectively transmit the transmitting signal and receive the receiving signal; and the loopback chain is further configured to output a plurality of crosstalk cancellation signals, the plurality of crosstalk cancellation signals having different phases and / or amplitudes. The control circuit is further configured to determine a plurality of direct path powers of a plurality of received cancellation signals, the plurality of received cancellation signals being obtained by superimposing the receiving signal and the plurality of crosstalk cancellation signals respectively; and the control circuit is further configured to determine a crosstalk cancellation signal corresponding to a minimum direct path power in the plurality of direct path powers as a first crosstalk cancellation signal. In the possible implementation manner, the direct path powers of the plurality of received cancellation signals are determined, so that the phase and the amplitude of a more appropriate crosstalk cancellation signal, that is, the first crosstalk cancellation signal, can be determined, so that the cancellation effect can be improved when the crosstalk signal in the receiving signal is reduced or cancelled according to the first crosstalk cancellation signal.

[0015] In a possible implementation manner of the first aspect, the apparatus further comprises at least two transceiving channels, and the first transmitting chain and the first receiving chain are located in different transceiving channels of the at least two transceiving channels. In the possible implementation manner, the apparatus can comprise at least two transceiving channels, that is, the apparatus can be a multiple-input multiple-output (MIMO) structure, so that the diversity of the structure of the apparatus is improved, and meanwhile, the use range of the apparatus is also improved.

[0016] In a possible implementation manner of the first aspect, the loopback link comprises a second transmitting chain and a third coupler, the second transmitting chain is coupled to the first receiving chain through the third coupler, and the second transmitting chain can multiplex other transmitting chains in the device except the first transmitting chain; the second transmitting chain is configured to receive a baseband signal corresponding to the transmitting signal and output a coupling signal; and the third coupler is configured to receive the coupling signal and output the first crosstalk cancellation signal. In the possible implementation manner, by multiplexing other transmitting chains in the device except the first transmitting chain as the second transmitting chain and outputting the first crosstalk cancellation signal through the second transmitting chain and the third coupler, the integration of the device can be further improved, and the volume and cost can be reduced.

[0017] In a possible implementation manner of the first aspect, the device further comprises a baseband circuit; the loopback link, the first transmitting chain, the first receiving chain and the baseband circuit are integrated in one chip; or the loopback link, a part of the first transmitting chain except a front-end module, a part of the first receiving chain except a front-end module and the baseband circuit are integrated in one chip; or a front-end module corresponding to the first transmitting chain and a front-end module corresponding to the first receiving chain are located outside a chip where the baseband circuit is located. In the possible implementation manner, the flexibility and diversity of the device in design and integration can be improved.

[0018] In a possible implementation manner of the second aspect, the device comprises a first transmitting chain, a loopback link and a first receiving chain, and the method further comprises: the first transmitting chain transmits the transmitting signal; the loopback link receives an input signal and outputs a first crosstalk cancellation signal, the input signal being the transmitting signal or a baseband signal corresponding to the transmitting signal; and the first receiving chain respectively receives the first crosstalk cancellation signal and the receiving signal, the receiving signal comprising a crosstalk signal corresponding to the transmitting signal and a return signal of the transmitting signal reflected by an obstacle, a phase of the first crosstalk cancellation signal being opposite to a phase of the crosstalk signal, and an absolute value of a difference between an amplitude of the first crosstalk cancellation signal and an amplitude of the crosstalk signal being less than a preset value.

[0019] In a possible implementation manner of the second aspect, the device comprises a first transmitting chain, a loopback link and a first receiving chain, and the method further comprises: the first transmitting chain transmits the transmitting signal; the loopback link receives an input signal and outputs a first crosstalk cancellation signal, the input signal being the transmitting signal or a baseband signal corresponding to the transmitting signal; and the first receiving chain respectively receives the first crosstalk cancellation signal and the receiving signal, the receiving signal comprising a crosstalk signal corresponding to the transmitting signal and a return signal of the transmitting signal reflected by an obstacle, a phase of the first crosstalk cancellation signal being opposite to a phase of the crosstalk signal, and an absolute value of a difference between an amplitude of the first crosstalk cancellation signal and an amplitude of the crosstalk signal being less than a preset value.

[0020] In a possible implementation manner of the second aspect, the loopback link comprises: a first coupler, a second coupler, a gain-phase adjustment circuit, a first matching resistor and a second matching resistor; one end of the gain-phase adjustment circuit is coupled with an output end of the first transmit chain and one end of the first matching resistor through the first coupler, the other end of the gain-phase adjustment circuit is coupled with an input end of the first receive chain and one end of the second matching resistor through the second coupler, the other end of the first matching resistor and the other end of the second matching resistor are coupled with a ground end; and the loopback link receiving the input signal and outputting the first crosstalk cancellation signal comprises: the gain-phase adjustment circuit adjusting the phase and / or amplitude of the input signal to obtain the first crosstalk cancellation signal.

[0021] In a possible implementation manner of the second aspect, the gain-phase adjustment circuit comprises a gain controller and a phase shifter; and the gain-phase adjustment circuit adjusting the phase and / or amplitude of the input signal comprises: the gain controller adjusting the amplitude of the input signal and the phase shifter adjusting the phase of the input signal.

[0022] In a possible implementation manner of the second aspect, the gain-phase adjustment circuit comprises a gain-controllable phase shifter; and the gain-phase adjustment circuit adjusting the phase and / or amplitude of the input signal comprises: the gain-controllable phase shifter adjusting the phase and / or amplitude of the input signal.

[0023] In a possible implementation manner of the second aspect, the apparatus further comprises a control circuit, and the method further comprises: the control circuit controlling the gain-phase adjustment circuit to adjust the phase and / or amplitude of the input signal.

[0024] In a possible implementation manner of the second aspect, the loopback link comprises a second transmit chain and a third coupler, the second transmit chain being coupled with the first receive chain through the third coupler; and the loopback link outputting the crosstalk cancellation signal according to the received input signal comprises: the second transmit chain receiving a baseband signal corresponding to the transmit signal and outputting a coupling signal; and the third coupler receiving the coupling signal and outputting the first crosstalk cancellation signal.

[0025] In a third aspect, a chip is provided, which comprises a circuit board and a radar sensing device as provided in the first aspect or any possible implementation manner of the first aspect, and the radar sensing device is arranged on the circuit board.

[0026] In a fourth aspect, an electronic device is provided, which comprises a first antenna, a second antenna and a radar sensing device as provided in the first aspect or any possible implementation manner of the first aspect, the first antenna being coupled with the first transmit chain in the device, and the second antenna being coupled with the first receive chain in the device.

[0027] In a fifth aspect, a computer-readable storage medium is provided, which stores computer instructions, when the computer instructions are executed on a device, cause the device to perform the method provided in the second aspect or any possible implementation of the second aspect.

[0028] In a sixth aspect, a computer program product is provided, which includes a computer program, when the computer program is executed on a device, cause the device to perform the method provided in the second aspect or any possible implementation of the second aspect.

[0029] It can be understood that the beneficial effects achieved by the above-mentioned second aspect to sixth aspect can correspond to the beneficial effects provided in the above-mentioned first aspect or any possible implementation of the first aspect, which will not be described here. BRIEF DESCRIPTION OF DRAWINGS

[0030] FIG. 1 is a structural schematic diagram of a dual-chip WiFi radar system provided by an embodiment of the present application;

[0031] FIG. 2 is a structural schematic diagram of a single-chip WiFi radar system provided by an embodiment of the present application;

[0032] FIG. 3 is a structural schematic diagram of an electronic device provided by an embodiment of the present application;

[0033] FIG. 4 is a structural schematic diagram of a radar sensing device provided by an embodiment of the present application;

[0034] FIG. 5 is a schematic diagram of a working mode of a radar sensing device provided by an embodiment of the present application;

[0035] FIG. 6 is a structural schematic diagram of another radar sensing device provided by an embodiment of the present application;

[0036] FIG. 7 is a structural schematic diagram of still another radar sensing device provided by an embodiment of the present application;

[0037] FIG. 8 is a structural schematic diagram of another radar sensing device provided by an embodiment of the present application;

[0038] FIG. 9 is a structural schematic diagram of still another radar sensing device provided by an embodiment of the present application;

[0039] FIG. 10 is a structural schematic diagram of another radar sensing device provided by an embodiment of the present application;

[0040] FIG. 11 is a schematic diagram of a calibration process of a loopback link provided by an embodiment of the present application;

[0041] FIG. 12 is a waveform diagram of a signal in a radar sensing device provided by an embodiment of the present application;

[0042] FIG. 13 is a structural schematic diagram of another electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0043] The making and using of various embodiments will now be described in detail. It should be appreciated that numerous specific implementation details, relationships, and methods are set forth to provide a full understanding of embodiments of the application. One having ordinary skill in the art will recognize that the application can be practiced without one or more of the specific details or with other methods. In other instances, well-known structures and functions have not been described in detail in order to avoid obscuring the application. This application is not limited to the specific embodiments described herein, but specific embodiments can be practiced with or without the other details described.

[0044] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

[0045] Circuits or other components can be described as or said to be "configured to" perform a task or tasks, in instances of this specific terminology, "configured to" is used to convey structural representations of example circuits / components that perform one or more tasks during operation. Accordingly, a circuit / component can be said to be configured to perform a task even when the specified circuit / component is not currently operational (e.g., is not currently on). Circuits / components used in association with the "configured to" terminology include hardware, such as circuitry, that performs the recited operations.

[0046] The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application. In the present application, "at least one" means one or more, and "multiple" means two or more. The association relationship of the associated objects is described by "and / or", which means that there can be three kinds of relationships, for example, A and / or B can represent the following three cases: A exists alone, A and B exist together, and B exists alone, where A and B can be singular or plural. The character " / " generally represents an "or" relationship between the associated objects before and after it. "At least one of the following" or similar expressions means any combination of these items, including single or multiple combinations of any combination. For example, at least one of a, b or c can represent a, b, c, a and b, a and c, b and c, a, b and c; where a, b and c can be single or multiple.

[0047] The embodiments of the present application use "first" and "second" and the like to distinguish objects with similar names or functions or roles. Those skilled in the art can understand that "first" and "second" and the like do not limit the quantity and execution order. The word "coupled" is used to represent electrical connection, including direct connection through wires or connection terminals or indirect connection through other devices. Therefore, "coupled" should be regarded as a broad sense of electronic communication connection.

[0048] It should be noted that the terms "exemplary" and / or "for example" are used herein to mean "an example of" rather than "an ideal". Any implementation described herein as "exemplary" and / or "for example" is not necessarily to be construed as preferred or advantageous over other implementations. Rather, the term "exemplary" is intended to indicate a non-limiting example on one specific implementation. The implementation described in the application as "exemplary" and / or "for example" is intended to be a specific implementation, but not the only implementation. Other implementations can have been implemented or can be implemented, which are not expressly mentioned in the present application. Numerous specific details are described herein in order to provide a thorough understanding of the application. The purpose of the detailed description is to illustrate the application by examples and not by way of limitation.

[0049] Before introducing the embodiments of the present application, the application scenarios involved in the present application are first introduced.

[0050] Sensing integration refers to the fusion of communication and sensing functions, so that the communication system has both communication and sensing functions. The communication system transmits information through a wireless channel, actively cognizes and analyzes the characteristics of the channel, and thus perceives the physical characteristics of the surrounding environment, so that the communication and sensing functions are enhanced. Wireless fidelity (WiFi) radar sensing integration, as an important branch of sensing integration, is gaining more and more attention. The performance bottleneck of the above WiFi radar sensing integration mainly lies in the self-blocking between the transmit path and the receive path (Tx-Rx).

[0051] In order to avoid self-blocking between the transmit path and the receive path, a WiFi radar system with double chips (or double antennas-double chips) is usually used. That is, the transmit path and the receive path are arranged in two chips, and each chip is coupled with an antenna. For example, as shown in FIG. 1, the WiFi radar system with double chips includes a WiFi chip 1 provided with a transmit path and a WiFi chip 2 provided with a receive path, the WiFi chip 1 is coupled with a Tx antenna, and the WiFi chip 2 is coupled with an Rx antenna. In this way, the WiFi radar system can send a transmit signal (or a transmit wave) through the transmit path in the WiFi chip 1 and the coupled Tx antenna, receive a backwave signal of the transmit signal reflected by an obstacle (such as a person) through the receive path in the WiFi chip 2 and the coupled Rx antenna, and calculate target information according to the transmit signal and the backwave signal, such as comparing the backwave signal with the waveform of the transmit signal stored and known by itself. However, the above WiFi radar system has the problems of large size, low integration level and high cost.

[0052] Compared with the above-mentioned dual-chip WiFi radar system, the single-chip WiFi radar system has significant advantages in cost and performance. For example, FIG. 2 is a structural schematic diagram of a single-chip WiFi radar system, which includes a WiFi chip provided with a transmitting path and a receiving path, and a Tx antenna and an Rx antenna coupled with the WiFi chip. The working principle of the single-chip WiFi radar system is similar to that of the above-mentioned dual-chip WiFi radar system, and will not be described here.

[0053] In the single-chip WiFi radar system, the transmitting path and the receiving path share one chip package, and the positions and pitches of the package pins corresponding to the two paths are affected by factors such as floor plan and package size, resulting in limited isolation of the two paths. Therefore, the self-blocking situation under the single-chip architecture is more severe than that under the dual-chip architecture, and the main blocking includes: 1st, direct-path crosstalk signals directly received by the Rx antenna from the Tx antenna; 2nd, coupling crosstalk signals between the feed lines of the Tx antenna and the Rx antenna in the board-level scheme; 3rd, coupling crosstalk signals in the radio frequency and intermediate frequency parts inside the WiFi chip; and 4th, coupling crosstalk signals between the package pins of the WiFi chip.

[0054] The strength of the above-mentioned crosstalk signals is often much greater than that of the echo signal, and similar to the form and nature of the echo signal, so that signal separation is difficult to achieve in the back-end processing, and serious interference is formed for more distant and more fine target detection. A typical example is: in the 2.4 GHz band, under the condition that the gain of the Tx antenna and the Rx antenna is 2dBi, for a 0.5m 2 The strength of the above-mentioned crosstalk signals is often much greater than that of the echo signal, and similar to the form and nature of the echo signal, so that signal separation is difficult to achieve in the back-end processing, and serious interference is formed for more distant and more fine target detection. A typical example is: in the 2.4 GHz band, under the condition that the gain of the Tx antenna and the Rx antenna is 2dBi, for a 0.5m

[0055] Based on this, the embodiment of the present application provides a radar sensing device (such as a WiFi radar sensing device), a loopback link in the radar sensing device can be used to output a first crosstalk cancellation signal for a receiving link, and the first crosstalk cancellation signal is opposite in phase to a crosstalk signal in a receiving signal of the receiving link, and the absolute value of the difference between the amplitudes is less than a preset value, so that the first crosstalk cancellation signal can be used to reduce or cancel the crosstalk signal of the receiving signal, thereby solving the blocking problem caused by the crosstalk signal, and further improving the performance of the device.

[0056] The technical solution of the present application can be applied to electronic devices with the radar sensing device. The electronic devices include but are not limited to mobile phones, tablet computers, notebook computers, desktop computers, palm computers, ultra-mobile personal computers (UMPC), mobile internet devices (MID), netbooks, video cameras, cameras, wearable devices (such as smart watches and smart bracelets), vehicle-mounted devices (such as cars, bicycles, electric vehicles, airplanes, ships, trains, high-speed rails, etc.), virtual reality (VR) devices, augmented reality (AR) devices, wireless terminals in industrial control, smart home devices (such as refrigerators, televisions, air conditioners, electricity meters, etc.), smart robots, plant equipment, wireless terminals in self-driving, wireless terminals in remote medical surgery, wireless terminals in smart grids, wireless terminals in transportation safety, wireless terminals in smart cities, or wireless terminals in smart homes, flight devices (such as smart robots, hot air balloons, drones, airplanes), etc.

[0057] FIG. 3 is a structural schematic diagram of an electronic device provided by the embodiment of the present application, which is taken as an example of a vehicle. The electronic device can include a processor 110, an external memory interface 120, an internal memory 121, a universal serial bus (USB) interface 130, a wireless communication module 160, an audio module 170, a sensor module 180, a key 190, a motor 191, an indicator 192, a camera 193, and a vehicle-mounted display device 194, etc.

[0058] The processor 110 can include one or more processing units, for example: the processor 110 can include an application processor (AP), a modem processor, a graphics processing unit (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU), etc. Different processing units can be independent devices or integrated in one or more processors.

[0059] The controller described above can generate operation control signals according to instruction operation codes and timing signals, and complete the control of fetching and executing instructions. Optionally, the controller is a vehicle-mounted controller. In a possible example, the controller is a cockpit domain controller (CDC).

[0060] The processor 110 can also be provided with a memory for storing instructions and data. In some embodiments, the memory in the processor 110 is a cache memory. The memory can save instructions or data that have just been used or are used repeatedly by the processor 110. If the processor 110 needs to use the instructions or data again, it can be directly called from the memory. This avoids repeated access and reduces the waiting time of the processor 110, thereby improving the efficiency of the system.

[0061] In some embodiments, the processor 110 can include one or more interfaces. The interfaces can include an inter-integrated circuit (I2C) interface, an inter-integrated circuit sound (I2S) interface, a pulse code modulation (PCM) interface, a universal asynchronous receiver / transmitter (UART) interface, a mobile industry processor interface (MIPI), a general-purpose input / output (GPIO) interface, a subscriber identity module (SIM) interface, and / or a universal serial bus (USB) interface, etc.

[0062] The MIPI interface can be used to connect the processor 110 and peripheral devices such as the vehicle display device 194 and the camera 193. The MIPI interface includes a camera serial interface (CSI), a display serial interface (DSI), etc. In some embodiments, the processor 110 and the camera 193 communicate through the CSI interface to implement the photographing function of the electronic device. The processor 110 and the vehicle display device 194 communicate through the DSI interface to implement the display function of the electronic device.

[0063] The USB interface 130 is an interface conforming to the USB standard specification, and can be a Mini USB interface, a Micro USB interface, a USB Type C interface, etc. The USB interface 130 can be used to connect a charger to charge the electronic device, and can also be used to transmit data between the electronic device and a peripheral device. It can also be used to connect earphones to play audio through the earphones. The interface can also be used to connect other electronic devices, such as augmented reality (AR) devices, etc.

[0064] It can be understood that the interface connection relationship between the modules shown in the embodiments of the present application is only illustrative and does not constitute a structural limitation on the electronic device. In some other embodiments of the present application, the electronic device can also use different interface connection methods or combinations of multiple interface connection methods in the above embodiments.

[0065] The wireless communication function of the electronic device can be implemented through an antenna, a wireless communication module 160, a modem processor, and a baseband processor, etc.

[0066] An antenna is used to transmit and receive electromagnetic wave signals. Each antenna in the electronic device can be used to cover a single or multiple communication frequency bands. Different antennas can also be multiplexed to improve the utilization of the antennas. For example, the antennas can be multiplexed as diversity antennas for wireless local area networks. In some other embodiments, the antennas can be used in combination with a tuning switch.

[0067] The wireless communication module 160 can provide solutions for wireless communication applied on the electronic device, including wireless local area networks (WLAN) (such as wireless fidelity (WiFi) networks), Bluetooth (BT), global navigation satellite system (GNSS), frequency modulation (FM), near field communication (NFC), infrared technology (IR), etc. The wireless communication module 160 can be one or more devices integrating at least one communication processing module. The wireless communication module 160 receives electromagnetic waves via an antenna, performs frequency modulation and filtering processing on the electromagnetic wave signals, and sends the processed signals to the processor 110. The wireless communication module 160 can also receive signals to be sent from the processor 110, perform frequency modulation, amplification, and convert the signals to electromagnetic wave radiation via the antenna.

[0068] In some embodiments, the electronic device can communicate with a network and other devices by wireless communication technology. The wireless communication technology can include global system for mobile communications (GSM), general packet radio service (GPRS), code division multiple access (CDMA), wideband code division multiple access (WCDMA), time-division code division multiple access (TD-SCDMA), long term evolution (LTE), BT, GNSS, WLAN, NFC, FM, and / or IR technology, etc. The GNSS can include global positioning system (GPS), global navigation satellite system (GLONASS), beidou navigation satellite system (BDS), quasi-zenith satellite system (QZSS), and / or satellite based augmentation systems (SBAS).

[0069] The electronic device implements a display function through a GPU, a vehicle display device 194, and an application processor, etc. The GPU is a microprocessor for image processing, which is connected to the vehicle display device 194 and the application processor. The GPU is used to perform mathematical and geometric calculations for graphics rendering. The processor 110 can include one or more GPUs, which execute program instructions to generate or change display information.

[0070] The in-vehicle display device 194 is configured to display images, videos, and the like. The in-vehicle display device 194 can include a display panel. The display panel can be manufactured by using a liquid crystal display (LCD), for example, an organic light-emitting diode (OLED), an active-matrix organic light-emitting diode (AMOLED), a flex light-emitting diode (FLED), a mini light emitting diode (Mini-LED), a micro-LED, a micro-OLED, a quantum dot light emitting diode (QLED), or the like. Optionally, the electronic device can include one or more in-vehicle display devices 194.

[0071] The camera 193 is configured to capture still images or videos. An object generates an optical image through a lens and projects the optical image to a photosensitive element. The photosensitive element can be a charge coupled device (CCD) or a complementary metal-oxide-semiconductor (CMOS) phototransistor. The photosensitive element converts the optical signal into an electrical signal, and then transmits the electrical signal to an ISP to convert the electrical signal into a digital image signal. The ISP outputs the digital image signal to a DSP for processing. The DSP converts the digital image signal into an image signal in a standard red green blue (RGB), luminance chrominance (YUV), or the like. Optionally, the electronic device can include one or more cameras 193.

[0072] The external memory interface 120 can be configured to connect an external memory card, such as a Micro SD card, to expand the storage capacity of the electronic device. The external memory card communicates with the processor 110 through the external memory interface 120 to implement a data storage function. For example, music, video, and the like are saved in the external memory card.

[0073] The internal memory 121 can be used to store computer executable program codes including instructions. The internal memory 121 can include a program storage area and a data storage area. The program storage area can store an operating system, at least one application program required by a function (e.g., a sound play function and an image play function), and the like. The data storage area can store data created during use of the electronic device (e.g., audio data and a phonebook), and the like. In addition, the internal memory 121 can include a high-speed random access memory, and can further include a non-volatile memory such as at least one of a magnetic disk storage device, a flash memory device, a universal flash storage (UFS), and the like. The processor 110 performs various function applications and data processing of the electronic device by executing instructions stored in the internal memory 121 and / or instructions stored in a memory disposed in the processor 110.

[0074] The audio module 170 is used to convert digital audio information into an analog audio signal output, and is also used to convert an analog audio input into a digital audio signal. The audio module 170 can also be used to encode and decode audio signals. In some embodiments, the audio module 170 can be disposed in the processor 110, or part of the function modules of the audio module 170 can be disposed in the processor 110. The electronic device can play music, record sound, and the like through the audio module 170. The audio module 170 can include a speaker, a receiver, a microphone, a headphone interface, and an application processor, and the like to implement audio functions.

[0075] The sensor module 180 can include a pressure sensor, a gyro sensor, a barometric pressure sensor, a magnetic sensor, an acceleration sensor, a distance sensor, a proximity light sensor, a fingerprint sensor, a temperature sensor, a touch sensor, an ambient light sensor, and a bone conduction sensor, and the like.

[0076] The touch sensor, also referred to as a "touch device". The touch sensor can be disposed in a display screen in the vehicle-mounted display device 194, and a touch screen, also referred to as a "touch screen", is formed by the touch sensor and the display screen. The touch sensor is used to detect a touch operation acting on or near it. The touch sensor can pass the detected touch operation to the application processor to determine the touch event type. Visual output related to the touch operation can be provided through the display screen. In other embodiments, the touch sensor can also be disposed on the surface of the electronic device, which is different from the position where the display screen is located.

[0077] The key 190 includes a home key, a power-on key, a volume key, and the like. The key 190 can be a mechanical key. It can also be a touch key. The electronic device can receive a key input, generate a key signal input related to user settings and function control of the electronic device.

[0078] The motor 191 can be used for touch vibration feedback. For example, different vibration feedback effects can be used for touch operations of different applications. Different vibration feedback effects can also be used for touch operations on different areas of the display screen of the vehicle-mounted display device 194. The touch vibration feedback effects can also be customized.

[0079] The indicator 192 can be an indicator light, which can be used to indicate changes in power, messages, turn signals, seat belt reminder lights, and the like.

[0080] It can be understood that the structure illustrated in the embodiments of the present application does not constitute a specific limitation on the electronic device. In other embodiments of the present application, the electronic device can include more or fewer components than the illustration, or combine certain components, or split certain components, or different component arrangements. The illustrated components can be implemented in hardware, software, or a combination of software and hardware.

[0081] FIG. 4 is a structural schematic diagram of a radar sensing device according to an embodiment of the present application. The device includes a first transmitting link 21, a loopback link 22, and a first receiving link 23. The first transmitting link 21 is configured to transmit a transmitting signal, which can be a radar transmitting wave. The loopback link 22 is configured to receive an input signal, output a first crosstalk cancellation signal, and output a first crosstalk cancellation signal. The input signal is the transmitting signal or a baseband signal corresponding to the transmitting signal. The first receiving link 23 is configured to receive the first crosstalk cancellation signal and a receiving signal. The receiving signal includes a crosstalk signal corresponding to the transmitting signal and a reflected echo signal of the transmitting signal. The phase of the first crosstalk cancellation signal is opposite to the phase of the crosstalk signal. The absolute value of the difference between the amplitude of the first crosstalk cancellation signal and the amplitude of the crosstalk signal is less than a preset value.

[0082] In this document, the link can also be referred to as a path, that is, the transmitting link can also be referred to as a transmitting path, the loopback link can also be referred to as a loopback path, and the receiving link can also be referred to as a receiving path. In addition, the absolute value of the difference between the amplitude of the first crosstalk cancellation signal and the amplitude of the crosstalk signal being less than a preset value can mean that the difference between the amplitude of the first crosstalk cancellation signal and the amplitude of the crosstalk signal is equal to 0 or close to 0. The preset value can be set according to actual conditions, and the embodiments of the present application do not make specific limitations.

[0083] The first transmitting chain 21 can be coupled with a transmitting antenna (denoted as Tx antenna), and the first transmitting chain 21 can transmit the transmitting signal through the Tx antenna. Optionally, the first transmitting chain 21 can include at least one of a digital to analog converter (DAC), a low pass filter (LPF), a mixer (MIX), an amplifier (AMP), a pre-power amplifier (PPA), a power amplifier (PA), or a transmitting filter.

[0084] The first receiving chain 23 can be coupled with a receiving antenna (denoted as Rx antenna), and the first receiving chain 23 can receive the echo signal of the transmitting signal reflected by the obstacle through the Rx antenna. Optionally, the first receiving chain 23 can include at least one of an analog to digital converter (ADC), a variable gain amplifier (VGA), a mixer (MIX), a low pass filter (LPF), an amplifier (AMP), a low noise amplifier (LNA), or a receiving filter.

[0085] Optionally, the radar sensing device can have two working modes, i.e., a radar mode and a communication mode. The radar mode can also be referred to as a radar transceiving mode. For example, as shown in FIG. 5, the radar sensing device can be a WiFi radar sensing device, and the WiFi radar sensing device can have a WiFi radar mode and a WiFi communication mode, and the WiFi radar mode can also be referred to as a WiFi radar transceiving mode. The device can work in the WiFi radar mode and the WiFi communication mode by using the same frequency or different frequencies, and the device can transmit radar frames or radar signals in the WiFi radar mode, and the device can transmit communication frames or communication signals in the WiFi communication mode. In one possible example, the device can continuously transmit communication frames, or continuously transmit radar frames, or transmit the communication frames and the radar frames at intervals, and the communication frames and the radar frames can be transmitted by using different powers or the same power, and the embodiments of the present application do not make a specific limitation in this regard.

[0086] The radar mode is used for transmitting and receiving radar signals, and the radar signals can be used for detecting the surrounding environment, such as detecting the distance and the moving speed of a target object. The communication mode is used for transmitting and receiving communication signals, and the communication signals can be used for realizing the communication between the device and other devices, such as transmitting data to other devices or receiving data from other devices.

[0087] Further, the loopback link 22 can have various structures, and the input signal of the loopback link 22 can be different when the structure of the loopback link 22 is different. The structure of the loopback link 22 and the corresponding input signal are described below.

[0088] In a first possible embodiment, as shown in FIGS. 6 and 7, the loopback link 22 includes a first coupler 221, a second coupler 222, a gain and phase adjustment circuit 223, a first matching resistor R1 and a second matching resistor R2. One end of the gain and phase adjustment circuit 223 is coupled to the output end of the first transmit chain 21 and one end of the first matching resistor R1 through the first coupler 221. The other end of the gain and phase adjustment circuit 223 is coupled to the input end of the first receive chain 23 and one end of the second matching resistor R2 through the second coupler 222. The other end of the first matching resistor R1 and the other end of the second matching resistor R2 are coupled to the ground. In an example, the first matching resistor R1 is 50 ohms (Ω), and the second matching resistor R2 is 50 Ω. The directivity of the first coupler 221 and the second coupler 222 can be improved by the first matching resistor R1 and the second matching resistor R2.

[0089] Specifically, the first coupler 221 can be used to receive the transmit signal sent by the first transmit chain 21 and output the input signal of the loopback link 22. The gain and phase adjustment circuit 223 can be used to adjust the phase and / or amplitude of the input signal and output the adjusted signal to the second coupler 222. The second coupler 222 can be used to receive the adjusted signal and output the first crosstalk cancellation signal, i.e., couple the adjusted signal to the first receive chain 23 to output the first crosstalk cancellation signal for the first receive chain 23.

[0090] In a possible example, as shown in (a) and (b) of FIG. 6, the gain and phase adjustment circuit 223 includes a gain controller 2231 and a phase shifter 2232. The gain controller 2231 can be used to adjust the amplitude of the input signal, and the phase shifter 2232 can be used to adjust the phase of the input signal. For example, the gain controller 2231 can include an adjustable attenuator and / or an adjustable amplifier. In FIG. 6, the first transmit chain 21 includes a power amplifier PA or a power amplifier PA and an amplifier AMP, and the first receive chain 23 includes a low noise amplifier LNA or an amplifier AMP and a low noise amplifier LNA are taken as examples for illustration.

[0091] Optionally, the number of gain controllers 2231 and the number of phase shifters 2232 included in the gain phase adjustment circuit 223 can be one or more, which can be coupled in series, in parallel, or in a combination of series and parallel, and the present embodiments do not make a specific limitation thereon.

[0092] The gain controller 2231 and the phase shifter 2232 can also be integrated or combined together, for example, the gain controller 2231 and the phase shifter 2232 can be combined together to be implemented by one device, such as a gain controllable phase shifter.

[0093] In another possible example, as shown in FIG. 7, the gain phase adjustment circuit 223 includes a gain controllable phase shifter 2233. The gain controllable phase shifter 2233 can be used to adjust the phase and amplitude of the input signal. In FIG. 7, the first transmit chain 21 includes a power amplifier PA and an amplifier AMP, and the first receive chain 23 includes a low noise amplifier LNA and an amplifier AMP are taken as examples for illustration. In an example, the gain controllable phase shifter 2233 includes an I-path amplifier, a Q-path amplifier, and a summer, and the I-path amplifier and the Q-path amplifier can be VGAs. The input terminals of the I-path amplifier and the Q-path amplifier are coupled together as the input terminal Vin of the gain controllable phase shifter 2233; the output terminals of the I-path amplifier and the Q-path amplifier are coupled to the two input terminals of the summer, and the output terminal of the summer is the output terminal Vout of the summer.

[0094] Optionally, the apparatus can be a multiple-input multiple-output (MIMO) structure. For example, the apparatus further includes at least two transceiver channels (CHs), and the first transmit chain 21 and the first receive chain 23 are located in different transceiver channels of the at least two transceiver channels. For example, as shown in FIG. 8, the at least two transceiver channels include a first channel CH1 and a second channel CH2, each of the first channel CH1 and the second channel CH2 includes a transmit chain and a receive chain, and the transmit chain and the receive chain located in the same channel can be coupled to the antenna corresponding to the channel through a selection switch, the first transmit chain 21 can be a transmit chain in the first channel CH1, and the first receive chain 23 can be a receive chain in the second channel CH2. In FIG. 8, the transmit chain and the receive chain of each channel include an amplifier AMP, and the gain controller 2231 and the phase shifter 2232 are combined together in the loopback chain 22 to be implemented by a gain controllable phase shifter 2233.

[0095] In a second possible embodiment, as shown in FIG. 9, the loopback link 22 includes a second transmitting chain 24 and a third coupler 224, the second transmitting chain 24 is coupled with the first receiving chain 23 through the third coupler 224. In this case, the second transmitting chain 24 can be configured to receive the baseband signal and output a coupling signal; and the third coupler 224 can be configured to receive the coupling signal and output the first crosstalk cancellation signal, i.e., the third coupler 224 is configured to couple the coupling signal to the first receiving chain 23 to output the first crosstalk cancellation signal for the first receiving chain 23.

[0096] Optionally, the apparatus can include multiple transmitting chains, and the second transmitting chain 24 can be a transmitting chain other than the first transmitting chain 21 in the apparatus, i.e., the loopback link 22 can multiplex a transmitting chain other than the first transmitting chain 21 in the apparatus. In an example, the second transmitting chain 24 and the first receiving chain 23 can be located in the same channel (e.g., in the first channel CH1). Further, the apparatus can also include multiple receiving chains, e.g., the apparatus can also include a second receiving chain 25, and the second receiving chain 25 and the first transmitting chain 21 can be located in the same channel (e.g., in the second channel CH2). Optionally, the transmitting chain and the receiving chain located in the same channel can be coupled with an antenna corresponding to the channel through a selection switch.

[0097] In an example, as shown in FIG. 9, the transmitting chains in the first channel CH1 and the second channel CH2 can include coupled digital-to-analog converters DAC, low-pass filters LPF, mixers MIX, pre-stage power amplifiers PPA, and power amplifiers PA (the PPA and the PA are coupled at a first node), and the receiving chains can include coupled analog-to-digital converters ADC, variable gain amplifiers VGA, mixers MIX, and low-noise amplifiers LNA (the MIX and the LNA are coupled at a second node), wherein the third coupler 224 in the loopback link 22 can be coupled between the first node and the second node.

[0098] It can be understood that the coupling relationship between the third coupler 224 and the transmitting chain in the first channel CH1 and the receiving chain in the second channel CH2 shown in FIG. 9 is only an example. In some other examples, the third coupler 224 can also be coupled with the transmitting chain in the first channel CH1 and the receiving chain in the second channel CH2 through other nodes, e.g., the coupling points of the third coupler 224 and the transmitting chain in the first channel CH1 and the receiving chain in the second channel CH2 can be located before the mixer MIX, or other nodes after the mixer MIX, etc., and the embodiments of the present application do not make a specific limitation in this regard.

[0099] Further, the apparatus further comprises a baseband circuit, and all links, partial links, or partial devices in the partial links in the apparatus can be integrated in one chip with the baseband circuit. Optionally, the loopback link 22, the first transmitting link 21, the first receiving link 23, and the baseband circuit are integrated in one chip; or, the loopback link 22, parts of the first transmitting link 21 except front end module (FEM), parts of the first receiving link 23 except FEM, and the baseband circuit are integrated in one chip; or, the loopback link 22, the FEM corresponding to the first transmitting link 21, and the FEM corresponding to the first receiving link are located outside the chip where the baseband circuit is located. For example, the chip can be referred to as a WiFi chip. For example, the FEM can include but is not limited to one or more of PA, LNA, or switching switch.

[0100] In one example, as shown in FIG. 6 and FIG. 8, the first transmitting link 21, the loopback link 22, and the first receiving link 23 in the apparatus can all be located in the WiFi chip; or, as shown in FIG. 9, the first transmitting link 21, the loopback link 22, the first receiving link 23, the second transmitting link 24, and the second receiving link 25 in the apparatus can all be located in the WiFi chip.

[0101] In another example, as shown in FIG. 7, parts of the first transmitting link 21 and the first receiving link 23 in the apparatus are located in the WiFi chip, for example, devices before the power amplifier PA in the first transmitting link 21 and devices before the low noise amplifier LNA in the first receiving link 23 can be located in the WiFi chip, the power amplifier PA in the first transmitting link 21, the low noise amplifier LNA in the first receiving link 23, and the loopback link 22 are located outside the WiFi chip, for example, on a circuit board corresponding to the WiFi chip.

[0102] In yet another example, as shown in FIG. 10, the first transmitting chain 21 and the first receiving chain 23 in the apparatus, and the loopback link 22 are located in the WiFi chip, for example, the devices in the first transmitting chain 21 and the first receiving chain 23 before the front end module (FEM), such as the amplifier AMP, can be located in the WiFi chip, and the FEM in the first transmitting chain 21 and the first receiving chain 23 can be located outside the WiFi chip. For example, the devices in the FEM can include at least one of a power amplifier PA and a switching switch, a low noise amplifier LNA, or a switching switch, etc. In the above examples, the FEM in the transmitting chain and the receiving chain in FIG. 10 is located in the apparatus, and in actual applications, the FEM in the transmitting chain and the receiving chain can also be located outside the apparatus, and the embodiments of the present application do not make specific limitations thereto.

[0103] It can be understood that the baseband circuit in the apparatus can be located in the WiFi chip, and the baseband circuit in the WiFi chip is not shown in the above FIG. 7 to FIG. 10.

[0104] Further, the apparatus can further include a control circuit 26, which can be integrated in the WiFi chip or not integrated in the WiFi chip, and the control circuit 26 can be specifically used to control the phase and / or amplitude of the first crosstalk cancellation signal output by the loopback link 22. For example, in the above first possible embodiment, the control circuit 26 can be used to control the gain phase adjustment circuit 223 to adjust the phase and / or amplitude of the input signal; or in the second possible embodiment, the control circuit 26 can be used to control the phase and / or amplitude of the signal output by the second transmitting chain 24 to the third coupler 224. Optionally, the control circuit 26 can be a processor or a controller, etc. In the above FIG. 6 to FIG. 8 and FIG. 10, the control circuit 26 is located in the WiFi chip as an example.

[0105] Optionally, when the apparatus is used for transmitting and receiving radar signals, the first transmitting chain 21 and the first receiving chain 23 are further configured to respectively transmit a transmitting signal and receive a corresponding receiving signal; the loopback chain 22 is further configured to output a plurality of crosstalk cancellation signals with different phases and / or amplitudes; the control circuit 26 is further configured to determine a plurality of direct path powers of a plurality of receiving cancellation signals, the plurality of receiving cancellation signals being obtained by superimposing the receiving signal and the plurality of crosstalk cancellation signals respectively; and the control circuit 26 is further configured to determine the crosstalk cancellation signal corresponding to the minimum direct path power in the plurality of direct path powers as the first crosstalk cancellation signal, the crosstalk cancellation signal corresponding to the minimum direct path power being used to cancel the crosstalk signal. Here, the crosstalk cancellation signal corresponding to the minimum direct path power refers to the crosstalk cancellation signal corresponding to the minimum direct path power when the direct path power of the receiving cancellation signal obtained by superimposing the receiving signal and a certain crosstalk cancellation signal is the minimum. The amplitude and / or phase of the first crosstalk cancellation signal used to cancel the crosstalk signal are equal to the phase and / or amplitude of the crosstalk cancellation signal corresponding to the minimum direct path power.

[0106] In a possible embodiment, the loopback chain 22 includes a gain controller and a phase shifter, the gain controller being an attenuator, and the control circuit 26 controls the phase and / or amplitude of the crosstalk cancellation signal output by the loopback chain 22 by controlling the attenuator and the phase shifter. Hereinafter, the control process of the control circuit 26 (or the calibration process of the loopback chain 22) is introduced and described by taking the control circuit 26 controlling the phase shifter to adjust the phase first and then controlling the attenuator to adjust the amplitude as an example.

[0107] In an example, as shown in (a) of FIG. 11, the process of the control circuit 26 controlling the phase shifter can include: S11, controlling the apparatus to be in a radar transceiving mode; S12, the apparatus transmitting and receiving corresponding signals by using a fast time compression algorithm; S13, determining the direct path power according to the receiving signal; S14, adjusting the phase of the phase shifter according to the obtained direct path power; S15, determining whether the current direct path power is the minimum, if yes, performing S16, if not, returning to S11; S16, storing the phase of the phase shifter, i.e., setting the phase of the phase shifter to the phase corresponding to the minimum direct path power.

[0108] In another example, as shown in (b) of FIG. 11, the process in which the control circuit 26 controls the attenuator can include: S21, controlling the device to be in radar transceiving mode; S22, the device transmits and receives corresponding signals using a fast time compression algorithm; S23, determining the direct path power according to the received signal; S24, adjusting the attenuator according to the obtained direct path power; S25, determining whether the current direct path power is the minimum, if yes, executing S26, if not, returning to S21; S26, storing the state of the attenuator, i.e., setting the gain corresponding to the current state of the attenuator to the gain corresponding to the minimum direct path power.

[0109] After the control circuit 26 determines the phase of the phase shifter and the gain of the attenuator through the above process, when the device is in the radar transceiving mode and performs normal signal transceiving, the control circuit 26 can adjust the phase and gain determined through the above process to the phase and gain of the phase shifter and the attenuator in normal operation, respectively.

[0110] When the radar transceiving device provided by the embodiments of the present application is used to cancel (or cancel or eliminate) the crosstalk signal, for example, the gain phase adjustment circuit is used to adjust the phase and amplitude, the expected cancellation effect is related to the bit width of the gain phase adjustment circuit. For example, in the case of using a 5-bit phase shifter, the crosstalk cancellation performance can be improved by more than 18 dBc.

[0111] After actual testing of the device, a schematic diagram of the crosstalk signal of the device in radar transceiving mode, and the cancellation crosstalk signal obtained after superimposing the crosstalk signal and the crosstalk cancellation signal can be obtained. For example, in the case of using a 5-bit phase shifter and a 0.5 dB adjustable attenuator to adjust the gain, FIG. 12 shows a schematic diagram of the transmit signal S1, the crosstalk signal S2 and the cancellation crosstalk signal S3 in the device. In (a) of FIG. 12, the time domain signals corresponding to S1, S2 and S3, or the waveform diagram in the time domain (the horizontal axis of the figure is time, and the vertical axis is amplitude), and the noise after the transmit signal S1 stops transmitting are shown; (b) of FIG. 12 shows the waveform diagram of the time domain signal power of S1, S2 and S3 (i.e., the transmit waveform power is suppressed), and the waveform after the transmit noise floor is suppressed (the horizontal axis of the figure is time, and the vertical axis is power). According to the diagram, it can be seen that the amplitude and power of the cancellation crosstalk signal obtained after superimposing the crosstalk signal and the crosstalk cancellation signal in the device are greatly reduced.

[0112] In the radar sensing device provided in the embodiments of the present application, the first transmitting link 21 can be used to send a transmitting signal, the loopback link 22 can be used to receive an input signal and output a first crosstalk cancellation signal for the first receiving link 23, the first receiving link 23 can be used to receive the first crosstalk cancellation signal and a receiving signal, and the first crosstalk cancellation signal has a phase opposite to that of a crosstalk signal in the receiving signal and an absolute value of a difference between amplitudes of the first crosstalk cancellation signal and the crosstalk signal is less than a preset value, so that the first crosstalk cancellation signal can be used to reduce or cancel the crosstalk signal of the receiving signal, thereby solving the blocking problem caused by the crosstalk signal and further improving the performance of the device.

[0113] Based on this, the embodiments of the present application further provide a control method of a radar sensing device, the method being applied to the radar sensing device provided above, and the method comprising: the first transmitting link sending a transmitting signal; the loopback link receiving an input signal and outputting a first crosstalk cancellation signal, the input signal being the transmitting signal or a baseband signal corresponding to the transmitting signal; and the first receiving link receiving the first crosstalk cancellation signal and a receiving signal, the receiving signal including a crosstalk signal corresponding to the transmitting signal and an echo signal of the transmitting signal reflected by an obstacle, the first crosstalk cancellation signal having a phase opposite to that of the crosstalk signal, and an absolute value of a difference between amplitudes of the first crosstalk cancellation signal and the crosstalk signal being less than a preset value.

[0114] In a possible embodiment, if the loopback link includes a first coupler, a second coupler, a gain and phase adjustment circuit, a first matching resistor and a second matching resistor, the loopback link receiving an input signal and outputting a first crosstalk cancellation signal comprises: the gain and phase adjustment circuit adjusting a phase and / or an amplitude of the input signal to obtain the first crosstalk cancellation signal.

[0115] In an example, if the gain and phase adjustment circuit includes a gain controller and a phase shifter, the gain and phase adjustment circuit adjusting the phase and / or the amplitude of the input signal comprises: the gain controller adjusting the amplitude of the input signal, and the phase shifter adjusting the phase of the input signal.

[0116] In another example, if the gain and phase adjustment circuit includes a gain-controllable phase shifter, the gain and phase adjustment circuit adjusting the phase and / or the amplitude of the input signal comprises: the gain-controllable phase shifter adjusting the phase and / or the amplitude of the input signal.

[0117] In another possible embodiment, if the loopback link includes a second transmitting link and a third coupler, the second transmitting link being coupled with the first receiving link through the third coupler; the loopback link receiving an input signal and outputting a first crosstalk cancellation signal comprises: the second transmitting link receiving a baseband signal corresponding to the transmitting signal and outputting a coupling signal; and the third coupler receiving the coupling signal and outputting the first crosstalk cancellation signal.

[0118] Further, if the apparatus further comprises a control circuit, the method further comprises: the control circuit controls the loopback link to adjust the phase and / or amplitude of the first crosstalk cancellation signal. For example, the control circuit controls the gain controller and the phase shifter to adjust the phase and amplitude of the first crosstalk cancellation signal respectively; or the control circuit controls the gain controllable phase shifter to adjust the phase and amplitude of the first crosstalk cancellation signal; or the control circuit controls the second transmitting link to adjust the phase and amplitude of the first crosstalk cancellation signal.

[0119] Further, the control circuit can also be used to control the apparatus to perform a calibration procedure to determine the phase and amplitude of the first crosstalk cancellation signal when the apparatus is working normally. In one possible example, the apparatus is used to transmit and receive radar signals, and the calibration procedure comprises: when the apparatus transmits a transmitting signal and receives a corresponding receiving signal; the apparatus generates a plurality of crosstalk cancellation signals, the plurality of crosstalk cancellation signals have different phases and / or amplitudes; determining a plurality of direct path powers of a plurality of receiving cancellation signals, the plurality of receiving cancellation signals are obtained by superimposing the receiving signal and the plurality of crosstalk cancellation signals respectively; determining the crosstalk cancellation signal corresponding to the smallest direct path power in the plurality of direct path powers as the first crosstalk cancellation signal. In the above, the phase and / or amplitude of the first crosstalk cancellation signal is equal to the phase and / or amplitude of the crosstalk cancellation signal corresponding to the smallest direct path power.

[0120] In the embodiments of the present application, the loopback link outputs the crosstalk cancellation signal for the first receiving link, so that the first receiving link can receive the first crosstalk cancellation signal and the receiving signal, and the phase of the first crosstalk cancellation signal is opposite to that of the crosstalk signal in the receiving signal, and the absolute value of the difference between the amplitudes is less than a preset value, so that the first crosstalk cancellation signal can be used to reduce or cancel the crosstalk signal of the receiving signal, thereby solving the blocking problem caused by the crosstalk signal, and further improving the performance of the apparatus.

[0121] In another aspect of the present application, a chip is also provided, which comprises a circuit board, and a radar sensing apparatus disposed on the circuit board, the radar sensing apparatus being any of the radar sensing apparatuses provided above.

[0122] In yet another aspect of the present application, an electronic device is also provided, as shown in FIG. 13, which comprises a first antenna, a second antenna, and any of the radar sensing apparatuses provided above; wherein the first antenna can be coupled with the first transmitting link in the apparatus, and the second antenna can be coupled with the first receiving link in the apparatus. Optionally, the electronic device further comprises a memory for storing computer instructions, and the radar sensing apparatus is configured to execute the computer instructions, so that the electronic device implements the control method of any of the radar sensing apparatuses provided above.

[0123] It can be understood that all the related contents of the above device embodiments can be cited into the embodiments of the control method of the radar sensing device, and the embodiments of the chip and the electronic device. Herein, the embodiments of the present application will not be described again.

[0124] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented by other manners. For example, the above-described device embodiments are only illustrative, for example, the division of the modules or units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another device, or some features can be ignored or not executed.

[0125] The units described as separate components can or can not be physically separate, and the components shown as units can be one physical unit or multiple physical units, that is, can be located in one place, or can be distributed to multiple different places. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiments of the present application.

[0126] The integrated unit, if implemented in the form of a software function unit and sold or used as an independent product, can be stored in a readable storage medium, which can include a U disk, a mobile hard disk, a read-only memory, a random access memory, a magnetic disk or an optical disk, and various storage medium that can store program codes. Based on such understanding, the technical solutions of the embodiments of the present application essentially or say the parts that make contributions to the prior art or the whole or part of the technical solutions can be embodied in the form of a software product.

[0127] In another embodiment of the present application, a readable storage medium is also provided, and the readable storage medium stores computer execution instructions. When a device (which can be a single-chip microcomputer, a chip, etc.) or a processor executes the steps in the above method embodiments.

[0128] In still another embodiment of the present application, a computer program product is also provided, and the computer program product includes a computer program stored in a readable storage medium. At least one processor of a device can read the computer program from the readable storage medium, and when the computer program is executed by the at least one processor, the steps in the above method embodiments are executed by the device.

[0129] Finally, it should be noted that: the above description is only a specific implementation of the present application, but the protection scope of the present application is not limited to this. Any change or replacement within the technical scope disclosed in the present application should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A radar sensory device, characterized in that, The device comprises: a first transmitting chain for transmitting a transmitting signal; a loopback chain for receiving an input signal, and outputting a first crosstalk cancellation signal, the input signal being the transmitting signal or a baseband signal corresponding to the transmitting signal; a first receiving chain for receiving the first crosstalk cancellation signal and a receiving signal, the receiving signal comprising a crosstalk signal corresponding to the transmitting signal and a echo signal of the transmitting signal reflected by an obstacle, a phase of the first crosstalk cancellation signal being opposite to a phase of the crosstalk signal, and an absolute value of a difference between an amplitude of the first crosstalk cancellation signal and an amplitude of the crosstalk signal being less than a preset value.

2. The apparatus of claim 1, wherein, The loopback chain comprises a first coupler, a second coupler, a gain and phase adjustment circuit, a first matching resistor and a second matching resistor, one end of the gain and phase adjustment circuit being coupled with an output end of the first transmitting chain and one end of the first matching resistor through the first coupler, the other end of the gain and phase adjustment circuit being coupled with an input end of the first receiving chain and one end of the second matching resistor through the second coupler, the other end of the first matching resistor and the other end of the second matching resistor being coupled with a ground terminal; The gain and phase adjustment circuit is configured to adjust a phase and / or an amplitude of the input signal.

3. The apparatus of claim 2, wherein, The gain and phase adjustment circuit comprises a gain controller and a phase shifter.

4. The apparatus of claim 2, wherein, The gain and phase adjustment circuit comprises a gain-controllable phase shifter.

5. The device of any one of claims 2-4, wherein, The device further comprises: a control circuit configured to control the gain and phase adjustment circuit to adjust the phase and / or the amplitude of the input signal.

6. The apparatus of claim 5, wherein, The device is configured to transmit and receive radar signals. The first transmitting chain and the first receiving chain are further configured to respectively transmit the transmitting signal and receive the receiving signal. The loopback chain is further configured to output a plurality of crosstalk cancellation signals, the plurality of crosstalk cancellation signals having different phases and / or amplitudes. The control circuit is further configured to determine a plurality of direct-path powers of a plurality of receiving cancellation signals, the plurality of receiving cancellation signals being obtained by respectively superimposing the receiving signal and the plurality of crosstalk cancellation signals; The control circuit is further configured to determine, as the first crosstalk cancellation signal, a crosstalk cancellation signal corresponding to a smallest direct-path power in the plurality of direct-path powers.

7. The device of any one of claims 1-6, wherein, The device further comprises at least two transceiving channels, the first transmitting chain and the first receiving chain being located in different transceiving channels of the at least two transceiving channels.

8. The apparatus of claim 1, wherein, The loopback chain comprises a second transmitting chain and a third coupler, the second transmitting chain being coupled with the first receiving chain through the third coupler; The second transmitting chain is configured to receive a baseband signal corresponding to the transmitting signal, and output a coupling signal. The third coupler is configured to receive the coupling signal, and output the first crosstalk cancellation signal.

9. The device of any one of claims 1-8, wherein, The device further comprises a baseband circuit; The loopback chain, the first transmitting chain, the first receiving chain and the baseband circuit are integrated in one chip; or, The loopback link, the part of the first transmitting link except the front-end module, the part of the first receiving link except the front-end module and the baseband circuit are integrated in one chip; or, The loopback link, the front-end module corresponding to the first transmitting link and the front-end module corresponding to the first receiving link are located outside the chip where the baseband circuit is located.

10. A control method of a radar sensor, characterized by, A method for controlling a radar sensing device as claimed in any one of claims 1-9, the device being configured to transmit and receive radar signals, the method comprising: The device transmits a transmitting signal and receives a corresponding receiving signal; The device generates a plurality of crosstalk cancellation signals, the plurality of crosstalk cancellation signals having different phases and / or amplitudes; The device determines a plurality of direct-path powers of a plurality of receiving cancellation signals, the plurality of receiving cancellation signals being obtained by superimposing the receiving signal and the plurality of crosstalk cancellation signals respectively; The device determines a crosstalk cancellation signal corresponding to a minimum direct-path power of the plurality of direct-path powers as a first crosstalk cancellation signal.

11. The method of claim 10, wherein, The device comprises a first transmitting link, a loopback link and a first receiving link, and the method further comprises: The first transmitting link transmits the transmitting signal; The loopback link receives an input signal, and outputs the first crosstalk cancellation signal, the input signal being the transmitting signal or a baseband signal corresponding to the transmitting signal; The first receiving link receives the first crosstalk cancellation signal and the receiving signal respectively, the receiving signal comprising a crosstalk signal corresponding to the transmitting signal and a echo signal of the transmitting signal reflected by an obstacle, the phase of the first crosstalk cancellation signal being opposite to the phase of the crosstalk signal, and the absolute value of the difference between the amplitude of the first crosstalk cancellation signal and the amplitude of the crosstalk signal being less than a preset value.

12. The method of claim 11, wherein, The loopback link comprises a first coupler, a second coupler, a gain and phase adjustment circuit, a first matching resistor and a second matching resistor, one end of the gain and phase adjustment circuit being coupled with an output end of the first transmitting link and one end of the first matching resistor through the first coupler, the other end of the gain and phase adjustment circuit being coupled with an input end of the first receiving link and one end of the second matching resistor through the second coupler, the other end of the first matching resistor and the other end of the second matching resistor being coupled with a ground terminal; The loopback link receives an input signal, and outputs the first crosstalk cancellation signal, comprising: The gain and phase adjustment circuit adjusts the phase and / or amplitude of the input signal to obtain the first crosstalk cancellation signal.

13. The method of claim 12, wherein, The gain and phase adjustment circuit comprises a gain controller and a phase shifter, and the gain and phase adjustment circuit adjusts the phase and / or amplitude of the input signal, comprising: The gain controller adjusts the amplitude of the input signal, and the phase shifter adjusts the phase of the input signal.

14. The method of claim 12, wherein, The gain and phase adjustment circuit comprises a gain-controllable phase shifter, and the gain and phase adjustment circuit adjusts the phase and / or amplitude of the input signal, comprising: The gain-controllable phase shifter adjusts the phase and / or amplitude of the input signal. The device further comprises a control circuit, and the method further comprises:

15. The method according to any one of claims 12-14, characterized in that, The control circuit controls the gain and phase adjustment circuit to adjust the phase and / or amplitude of the input signal. The control circuit controls the gain-phase adjustment circuit to adjust the phase and / or amplitude of the input signal.

16. The method of claim 11, wherein, The loopback link comprises a second transmit chain and a third coupler, the second transmit chain being coupled with the first receive chain through the third coupler; The loopback link receives an input signal, and outputs the first crosstalk cancellation signal, comprising: The second transmit chain receives a baseband signal corresponding to the transmit signal, and outputs a coupling signal; The third coupler receives the coupling signal, and outputs the first crosstalk cancellation signal.

17. A chip, characterized by The chip comprises a circuit board, and the radar sensing device as claimed in any one of claims 1-9 disposed on the circuit board.

18. An electronic device, comprising: The electronic device comprises a first antenna, a second antenna, and the radar sensing device as claimed in any one of claims 1-9, the first antenna being coupled with the first transmit chain in the device, and the second antenna being coupled with the first receive chain in the device.

19. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions, which, when executed on a device, cause the device to perform the method as claimed in any one of claims 10-16.

20. A computer program product, characterised in that, The computer program product comprises a computer program, which, when executed by a device, causes the device to perform the method as claimed in any one of claims 10-16.

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