Control method and apparatus, and system

Abstract

A control method and apparatus, and a system, which are used for controlling a radar detection apparatus to transmit a radar signal comprising a mixture of at least two waveforms, i.e., a radar signal with a hybrid waveform, so as to meet different detection requirements and improve a radar detection capability. The method may comprise: on the basis of first information, determining at least two groups of waveform parameters, wherein each group of waveform parameters is associated with a radar waveform, and different groups of waveform parameters each have at least one parameter with a different value; and on the basis of the at least two groups of waveform parameters, controlling a radar detection apparatus to send, in a first mode, a radar signal of at least two waveforms, wherein the radar signal of the at least two waveforms and a corresponding echo signal are used to obtain a detection result.

Description

A control method, device and system Technical Field

[0001] This application relates to the field of detection technology, and in particular to a control method, apparatus and system. Background Technology

[0002] Millimeter-wave radar has become an indispensable sensor configuration for intelligent driving vehicles due to its superior penetration capabilities, all-weather performance, and direct speed measurement capabilities compared to cameras and lidar. For example, automotive millimeter-wave radar can detect targets by emitting frequency-modulated continuous waves (FMCW) through an antenna. After processing the echo signals reflected from the target object, it outputs one or more of the target point cloud's distance, velocity, and angle information.

[0003] The detection results of vehicle-mounted millimeter-wave radar are closely related to the waveform specifications of the transmitted signal (such as waveform type, waveform parameters and characteristics). The waveform parameters directly determine the radar parameters, such as range resolution, velocity resolution, range detection range, unambiguous velocity range, frame period, etc., thus bringing different detection effects.

[0004] In real-world scenarios, different scenarios or different detection targets have significantly different requirements for waveform specifications. How to meet the detection needs of different targets while taking into account radar performance and cost remains an important problem that urgently needs to be solved. Summary of the Invention

[0005] This application provides a control method, apparatus, and system for controlling a radar detection device to emit radar signals comprising at least two waveforms, in order to meet different detection requirements in different scenarios and improve radar detection capabilities.

[0006] Firstly, this application provides a control method, which can be implemented by a control device, which can be integrated into a radar detection device or deployed independently of the radar detection device; the embodiments of this application do not specifically limit this. The method may include: determining at least two sets of waveform parameters based on first information, wherein each set of waveform parameters is associated with a radar waveform, and at least one parameter in different sets of waveform parameters has a different value; and controlling the radar detection device to transmit radar signals of at least two waveforms in a first mode based on the at least two sets of waveform parameters, wherein the at least two waveform radar signals and the corresponding echo signals are used to obtain detection results. The first information may directly or indirectly indicate the radar detection device's need for one or more target detections at a first moment.

[0007] Using the above method, the radar detection device can be controlled to send radar signals of at least two waveforms based on the first information, so as to obtain corresponding detection results based on the transmitted signals and corresponding echo signals of different waveforms, thereby meeting different target detection requirements while taking into account the performance and cost of the radar detection device.

[0008] In conjunction with the first aspect, in one possible implementation, the at least two waveform radar signals may include at least two frequency-modulated continuous wave (FMCW) signals, wherein the at least two FMCW signals correspond to different detection parameters of the radar detection device, and the detection parameters include at least one of the following: detection range, measurement accuracy, and resolution. For example, in different sets of waveform parameters corresponding to different FMCW signals, at least one of the following parameters may have different values: duty cycle, frame period, transmission duration, sweep bandwidth, transmit power, frequency modulation mode, pulse repetition interval (PRI), chirp signal period, number of chirp signals, sampling rate, number of sampling points, and linear frequency modulation slope. It should be understood that this is only an example of FMCW signal waveform parameters and does not constitute any limitation. When the radar signal uses other signal types, the corresponding parameter values ​​can be differentiated as needed to meet different detection requirements, which will not be elaborated further here.

[0009] Taking the signal mixing based on two waveforms as an example, the above-mentioned at least two FMCW signals may include a first signal and a second signal. The at least two sets of waveform parameters include a first waveform parameter corresponding to the first signal and a second waveform parameter corresponding to the second signal. The first waveform parameter is associated with the first waveform, and the second waveform parameter is associated with the second waveform.

[0010] The first waveform parameter may include a first duty cycle, and the second waveform parameter includes a second duty cycle. In one example, the first duty cycle may be greater than the second duty cycle. The first duty cycle may belong to a first interval, and the second duty cycle may belong to a second interval, with the lower limit of the first interval greater than the upper limit of the second interval. For example, the second interval may be a traditional value range, 40%-60%, while the first interval may be a newly added value range, such as 90%-100%. Using a larger duty cycle in the first waveform compared to the second waveform can further improve the radar detection device's near-range target detection capability, static environment perception results, and target acceleration estimation accuracy. Transmitting signals based on a mixture of the first and second waveforms in a single detection operation can both ensure the radar detection device's range-finding capability and improve its near-range target detection capability, thereby meeting differentiated detection needs.

[0011] In another example, the first waveform parameter further includes a first transmission duration, and the second waveform parameter further includes a second transmission duration, wherein the first transmission duration is longer than the second transmission duration. Using a longer transmission duration for the first waveform compared to the second waveform can, for example, achieve higher acceleration estimation accuracy, facilitating more accurate monitoring of the motion state of nearby targets.

[0012] In another example, the first waveform parameters further include a first sweep bandwidth, and the second waveform parameters further include a second sweep bandwidth, wherein the first sweep bandwidth is greater than the second sweep bandwidth. Using a larger sweep bandwidth compared to the second waveform allows for higher range resolution, which is beneficial for improving the short-range target detection capability of the radar detection device.

[0013] In another example, the first waveform parameter may further include a first transmit power, and the second waveform parameter may further include a second transmit power, wherein the first transmit power is less than the second transmit power. Adjusting the transmit power not only meets regulatory power spectrum constraints (requirements) but also reduces the power consumption and heat dissipation of the radar detection device's hardware modules. In an optional implementation, the transmit power can be adjusted based on the design of other waveform parameters to meet relevant requirements. For example, while using a large first sweep bandwidth for the first signal, the first transmit power of the first signal can be reduced to ensure that the first signal meets the lower transmit power requirements stipulated by regulations for a large bandwidth.

[0014] It should be understood that the differences in the waveform parameters mentioned above are merely examples and do not constitute any limitation. In specific implementations, radar signals based on hybrid waveforms and the specifications of each waveform can be designed according to the actual application scenario or requirements, which will not be elaborated here.

[0015] In another example, the first waveform parameter further includes a first frequency modulation method, and the second waveform parameter further includes a second frequency modulation method. The first frequency modulation method and the second frequency modulation method of the second signal can be the same; for example, both the first and second signals are FMCW linear frequency modulation signals, or both the first and second signals are stepped frequency modulated continuous wave (SF-FMCW) signals. The first frequency modulation method and the second frequency modulation method of the second signal can also be different; for example, the first signal is an FMCW linear frequency modulation signal, and the second signal is an SF-FMCW signal. The stepped frequency modulation signal can reduce the influence of interference signals by changing the frequency range, thereby improving the anti-interference capability of the radar signal.

[0016] In an optional implementation, the first waveform parameter may further include a first PRI, and the second waveform parameter may further include a second PRI. When both the first and second signals are FMCW linear frequency modulated signals, the first and second PRIs are linear; when at least one of the first or second signals is an SF-FMCW signal, the first and second PRIs are nonlinear. When using a step-frequency modulation method, introducing a nonlinear PRI can reduce the impact of higher-order phase phase introduction caused by the step-frequency modulation on Doppler dynamics.

[0017] In conjunction with the first aspect, in one possible implementation, the first waveform parameter further includes a first frame period, and the second waveform parameter further includes a second frame period. The first frame period and the second frame period can be the same or different. The first mode can be: within a single frame period, controlling the radar detection device to interleave the first signal and the second signal. Thus, by transmitting signals based on a mixture of the first and second waveforms in a single detection, both the range-finding capability of the radar detection device and its near-range target detection capability can be guaranteed, thereby meeting differentiated detection requirements. In conjunction with the first aspect, in one possible implementation, the method can further include: controlling the radar detection device to stop transmitting radar signals of at least two waveforms in the first mode according to second information; and controlling the radar detection device to transmit radar signals of at least one waveform in the second mode. The second information can, for example, directly or indirectly indicate the radar detection device's need for one or more target detections at a second time point, which is after the first time point. The second mode can be, for example, a different waveform combination method from the first mode, a different signal interleaving method from the first mode, or a different number of waveforms than the first mode; this application embodiment does not specifically limit this.

[0018] Using the above method, as time changes, the radar detection device can also change the waveform or combination of waveforms of the transmitted signal according to the changes in target detection requirements. For example, it can transmit radar signals with at least one waveform, or transmit radar signals with at least two other waveforms.

[0019] In conjunction with the first aspect, in one possible implementation, the first information may correspond to the driving mode of the vehicle where the radar detection device is located, or the first information may correspond to the road scene where the vehicle where the radar detection device is located is located. This application embodiment does not specifically limit the specific implementation of this first information.

[0020] In conjunction with the first aspect, in one possible implementation, the method further includes: receiving the first information from a controller, wherein the controller includes a controller for the vehicle's autonomous driving system or intelligent driver assistance system. In other embodiments, the radar detection device may generate the first information based on the detection results of the previous moment, and the implementation method for obtaining the first information in this application embodiment is not specifically limited.

[0021] In conjunction with the first aspect, in one possible implementation, the detection results include one or more of the following: target point cloud data, wherein the density of the point cloud data for target objects at different detection distances is different; detection results for vulnerable road users (VRUs); motion state estimation results for the nearest CIPV on the path; and synthetic aperture radar (SAR) imaging results for static targets.

[0022] Secondly, this application provides a target detection method, comprising: controlling a radar detection device to transmit radar signals of at least two waveforms in a first mode; receiving echo signals corresponding to the radar signals of at least two waveforms; and obtaining a target detection result based on the radar signals of at least two waveforms and the corresponding echo signals.

[0023] In conjunction with the second aspect, in one possible implementation, the target detection result includes one or more of the following: target point cloud data, wherein the density of the point cloud data for target objects at different detection distances is different; detection results for vulnerable road users (VRUs); motion state estimation results for the nearest CIPV on the path; and synthetic aperture radar (SAR) imaging results for static targets.

[0024] In conjunction with the second aspect, in one possible implementation, the radar signals of at least two waveforms include at least two frequency modulated continuous wave (FMCW) signals, wherein the at least two FMCW signals correspond to different detection indicators of the radar detection device, and the detection indicators include at least one of the following: detection range, measurement accuracy, and resolution.

[0025] In conjunction with the second aspect, in one possible implementation, the following parameters have different values ​​in different groups of waveform parameters corresponding to different FMCW signals: duty cycle, frame period, transmission duration, sweep bandwidth, transmission power, frequency modulation mode, pulse repetition interval (PRI), chirp signal period, number of chirp signals, sampling rate, number of sampling points, and linear frequency modulation slope.

[0026] In conjunction with the second aspect, in one possible implementation, the at least two FMCW signals include a first signal and a second signal, and the at least two sets of waveform parameters include a first waveform parameter corresponding to the first signal and a second waveform parameter corresponding to the second signal. The first waveform parameter includes a first duty cycle, and the second waveform parameter includes a second duty cycle, wherein the first duty cycle is greater than the second duty cycle. The first duty cycle belongs to a first interval, and the second duty cycle belongs to a second interval, wherein the lower limit of the first interval is greater than the upper limit of the second interval.

[0027] In conjunction with the second aspect, in one possible implementation, the first waveform parameter further includes a first transmission duration, and the second waveform parameter further includes a second transmission duration, wherein the first transmission duration is longer than the second transmission duration.

[0028] In conjunction with the second aspect, in one possible implementation, the first waveform parameter further includes a first sweep bandwidth, and the second waveform parameter further includes a second sweep bandwidth, wherein the first sweep bandwidth is greater than the second sweep bandwidth.

[0029] In conjunction with the second aspect, in one possible implementation, the first waveform parameter further includes a first transmission power, and the second waveform parameter further includes a second transmission power, wherein the first transmission power is less than the second transmission power.

[0030] In conjunction with the second aspect, in one possible implementation, the first waveform parameter further includes a first frequency modulation method, and the second waveform parameter further includes a second frequency modulation method, wherein the first signal and the second signal are both FMCW linear frequency modulation signals; or, the first signal is an FMCW linear frequency modulation signal, and the second signal is a stepped frequency modulation continuous wave (SF-FMCW) signal; or, the first signal and the second signal are both SF-FMCW signals.

[0031] In conjunction with the second aspect, in one possible implementation, the first waveform parameter further includes a first PRI, and the second waveform parameter further includes a second PRI. When both the first signal and the second signal are linear FMCW frequency modulation modes, the first PRI and the second PRI are linear; when at least one of the first signal or the second signal is an SF-FMCW signal, the first PRI and the second PRI are nonlinear.

[0032] In conjunction with the second aspect, in one possible implementation, the first waveform parameter further includes a first frame period, and the second waveform parameter further includes a second frame period. The first frame period and the second frame period may be the same or different. The first mode may be: within a single frame period, the radar detection device is controlled to interleave the first signal and the second signal.

[0033] In conjunction with the second aspect, in one possible implementation, the method may further include: controlling the radar detection device to stop transmitting radar signals of the at least two waveforms in a first mode; and controlling the radar detection device to transmit radar signals of at least one waveform in a second mode.

[0034] Thirdly, this application provides a control device, comprising: a determining unit, configured to determine at least two sets of waveform parameters based on first information, wherein each set of waveform parameters is associated with a radar waveform, and at least one parameter in different sets of waveform parameters has a different value; and a control unit, configured to control a radar detection device to transmit radar signals of at least two waveforms in a first mode based on the at least two sets of waveform parameters, wherein the radar signals of the at least two waveforms and the corresponding echo signals are used to obtain detection results.

[0035] In conjunction with the third aspect, in one possible implementation, the radar signals of at least two waveforms include at least two frequency modulated continuous wave (FMCW) signals, wherein the at least two FMCW signals correspond to different detection indicators of the radar detection device, and the detection indicators include at least one of the following: detection range, measurement accuracy, and resolution.

[0036] In conjunction with the third aspect, in one possible implementation, at least one of the following parameters will have different values ​​in different groups of waveform parameters corresponding to different FMCW signals: duty cycle, frame period, transmission duration, sweep bandwidth, transmit power, frequency modulation mode, pulse repetition interval (PRI), chirp signal period, number of chirp signals, sampling rate, number of sampling points, and linear frequency modulation slope. It should be understood that this example only uses waveform parameters of a frequency-modulated continuous wave signal and does not constitute any limitation. When the radar signal uses other signal types, the values ​​of corresponding parameters can be designed as needed, which will not be elaborated upon here.

[0037] Taking the signal mixing based on two waveforms as an example, the above-mentioned at least two FMCW signals may include a first signal and a second signal. The at least two sets of waveform parameters include a first waveform parameter corresponding to the first signal and a second waveform parameter corresponding to the second signal. The first waveform parameter is associated with the first waveform, and the second waveform parameter is associated with the second waveform.

[0038] The first waveform parameter includes a first duty cycle, and the second waveform parameter includes a second duty cycle. In one example, the first duty cycle is greater than the second duty cycle. The first duty cycle may belong to a first interval, and the second duty cycle may belong to a second interval. The lower limit of the first interval is greater than the upper limit of the second interval.

[0039] In another example, the first waveform parameter further includes a first transmission duration, and the second waveform parameter further includes a second transmission duration, wherein the first transmission duration is longer than the second transmission duration.

[0040] In another example, the first waveform parameter further includes a first sweep bandwidth, and the second waveform parameter further includes a second sweep bandwidth, wherein the first sweep bandwidth is greater than the second sweep bandwidth.

[0041] In another example, the first waveform parameter further includes a first transmit power, and the second waveform parameter further includes a second transmit power, wherein the first transmit power is less than the second transmit power.

[0042] In another example, the first waveform parameter further includes a first frequency modulation mode, and the second waveform parameter further includes a second frequency modulation mode, wherein the first signal and the second signal are both linear FMCW linear frequency modulation signals; or, the first signal is an FMCW linear frequency modulation mode, and the second signal is an SF-FMCW step frequency modulation signal; or, the first signal and the second signal are both SF-FMCW step frequency modulation signals.

[0043] In another example, the first waveform parameter further includes a first PRI, and the second waveform parameter further includes a second PRI, wherein when both the first signal and the second signal are FMCW linear frequency modulation signals, the first PRI and the second PRI are linear; when at least one of the first signal or the second signal is an SF-FMCW signal, the first PRI and the second PRI are nonlinear.

[0044] In conjunction with the third aspect, in one possible implementation, the first waveform parameter further includes a first frame period, and the second waveform parameter further includes a second frame period. The first frame period and the second frame period may be the same or different. The first mode may be: within a single frame period, the radar detection device is controlled to interleave the first signal and the second signal.

[0045] In conjunction with the third aspect, in one possible implementation, the control unit can also be used to: control the radar detection device to stop transmitting radar signals of the at least two waveforms in the first mode according to second information; and control the radar detection device to transmit radar signals of at least one waveform in the second mode. The second information may, for example, directly or indirectly indicate the radar detection device's need for one or more target detections at a second time point, which is after the first time point.

[0046] In conjunction with the third aspect, in one possible implementation, the first information corresponds to the driving mode of the vehicle where the radar detection device is located, or the first information corresponds to the road scene of the vehicle where the radar detection device is located.

[0047] In conjunction with the third aspect, in one possible implementation, the method further includes: receiving the first information from a controller, wherein the controller includes a controller for the vehicle's autonomous driving system or intelligent driver assistance system.

[0048] In conjunction with the third aspect, in one possible implementation, the detection results include one or more of the following: target point cloud data, wherein the density of the point cloud data for target objects at different detection distances is different; detection results for vulnerable road users (VRUs); motion state estimation results for the nearest CIPV on the path; and synthetic aperture radar (SAR) imaging results for static targets.

[0049] Fourthly, this application provides a target detection system, including a radar detection device and a processing device; the radar detection device is used to transmit radar signals of at least two waveforms in a first mode; and to receive echo signals corresponding to the radar signals of at least two waveforms; the processing device is used to obtain target detection results based on the radar signals of at least two waveforms and the corresponding echo signals.

[0050] In conjunction with the fourth aspect, in one possible implementation, the target detection result may include one or more of the following: target point cloud data, wherein the density of the point cloud data for target objects at different detection distances is different; detection results for vulnerable road users (VRUs); motion state estimation results for the nearest CIPV on the path; and synthetic aperture radar (SAR) imaging results for static objects.

[0051] In conjunction with the fourth aspect, in one possible implementation, the at least two waveform radar signals may include at least two FMCW signals, wherein the at least two FMCW signals correspond to different detection indicators of the radar detection device, and the detection indicators include at least one of the following: detection range, measurement accuracy, and resolution. For example, in different groups of waveform parameters corresponding to different FMCW signals, at least one of the following parameters may have different values: duty cycle, frame period, transmission duration, sweep bandwidth, transmit power, frequency modulation mode, pulse repetition interval (PRI), chirp signal period, number of chirp signals, sampling rate, number of sampling points, and linear frequency modulation slope.

[0052] In conjunction with the fourth aspect, in one possible implementation, the at least two FMCW signals include a first signal and a second signal, and the at least two sets of waveform parameters include a first waveform parameter corresponding to the first signal and a second waveform parameter corresponding to the second signal, wherein the first waveform parameter is associated with the first waveform and the second waveform parameter is associated with the second waveform.

[0053] The first waveform parameter includes a first duty cycle, and the second waveform parameter includes a second duty cycle, wherein the first duty cycle is greater than the second duty cycle. The first duty cycle belongs to a first interval, and the second duty cycle belongs to a second interval, wherein the lower limit of the first interval is greater than the upper limit of the second interval.

[0054] In conjunction with the fourth aspect, in one possible implementation, the first waveform parameter further includes a first transmission duration, and the second waveform parameter further includes a second transmission duration, wherein the first transmission duration is longer than the second transmission duration.

[0055] In conjunction with the fourth aspect, in one possible implementation, the first waveform parameter further includes a first sweep bandwidth, and the second waveform parameter further includes a second sweep bandwidth, wherein the first sweep bandwidth is greater than the second sweep bandwidth.

[0056] In conjunction with the fourth aspect, in one possible implementation, the first waveform parameter further includes a first transmission power, and the second waveform parameter further includes a second transmission power, wherein the first transmission power is less than the second transmission power.

[0057] In conjunction with the fourth aspect, in one possible implementation, the first waveform parameter further includes a first frequency modulation method, and the second waveform parameter further includes a second frequency modulation method, wherein the first signal and the second signal are both FMCW linear frequency modulation signals; or, the first signal is an FMCW linear frequency modulation signal and the second signal is an SF-FMCW signal; or, the first signal and the second signal are both SF-FMCW signals.

[0058] In conjunction with the fourth aspect, in one possible implementation, the first waveform parameter further includes a first PRI, and the second waveform parameter further includes a second PRI, wherein when both the first signal and the second signal are FMCW linear frequency modulation signals, the first PRI and the second PRI are linear; when at least one of the first signal or the second signal is an SF-FMCW signal, the first PRI and the second PRI are nonlinear.

[0059] In conjunction with the fourth aspect, in one possible implementation, the first waveform parameter further includes a first frame period, and the second waveform parameter further includes a second frame period. The first frame period and the second frame period may be the same or different. The first mode may be: within a single frame period, the radar detection device is controlled to interleave the first signal and the second signal.

[0060] In conjunction with the fourth aspect, in one possible implementation, the radar detection device is further configured to stop transmitting radar signals of at least two waveforms in a first mode; and to transmit radar signals of at least one waveform in a second mode. The second mode may differ from the first mode in waveform combination, signal interleaving, or the number of waveforms; this application does not specifically limit this aspect.

[0061] Fifthly, this application provides a detection device, including at least one processor and an interface circuit, wherein the interface circuit is used to provide data or code instructions to the at least one processor, and the at least one processor is used to implement the method as described in the first aspect and any possible design of the first aspect through logic circuits or executing code instructions, or to implement the method as described in the second aspect and any possible design of the second aspect.

[0062] In a sixth aspect, embodiments of this application provide a computer-readable storage medium storing program code that, when executed on a computer, causes the computer to perform the method as described in the first aspect and any possible design of the first aspect, or, when executed on a computer, causes the computer to perform the method as described in the second aspect and any possible design of the second aspect.

[0063] In a seventh aspect, embodiments of this application provide a computer program product that, when run on a computer, causes the computer to perform the method as described in the first aspect and any possible design of the first aspect, or to perform the method as described in the second aspect and any possible design of the second aspect.

[0064] Eighthly, embodiments of this application provide a terminal device, including units for implementing the method as described in the first aspect and any possible design of the first aspect, or for implementing the method as described in the second aspect and any possible design of the second aspect. For example, the terminal device includes, but is not limited to: intelligent transportation equipment (such as automobiles, ships, drones, trains, trucks, etc.), intelligent manufacturing equipment (such as robots, industrial equipment, intelligent logistics, intelligent factories, etc.), and intelligent terminals (mobile phones, computers, tablets, PDAs, desktop computers, headphones, speakers, wearable devices, in-vehicle equipment, etc.). For example, the terminal device may be a vehicle or a roadside unit.

[0065] Based on the implementations provided in the above aspects, the embodiments of this application can be further combined to provide more implementations.

[0066] The technical effects that can be achieved by any possible implementation of any of the second to eighth aspects mentioned above can be described with reference to the technical effects that can be achieved by any possible implementation of the first aspect mentioned above, and the repetitions will not be discussed. Attached Figure Description

[0067] Figure 1 provides a schematic diagram of a radar device;

[0068] Figure 2 is a schematic diagram of a frequency-modulated continuous wave;

[0069] Figure 3 is a schematic diagram showing the linear change of frequency of frequency-modulated continuous wave over time;

[0070] Figure 4 provides a schematic diagram of possible frequency variations of the transmitted signal, reflected signal, and intermediate frequency signal;

[0071] Figure 5 is a schematic diagram of a possible application scenario of an embodiment of this application;

[0072] Figures 6A-6C are schematic diagrams of the system architecture of three examples of embodiments of this application;

[0073] Figure 7 is a flowchart illustrating the control method according to an embodiment of this application;

[0074] Figure 8 is a schematic diagram of the environment in which the vehicle is located according to an embodiment of this application;

[0075] Figure 9 is a flowchart illustrating the control method according to an embodiment of this application;

[0076] Figure 10 is a schematic diagram illustrating the principle of wave generation based on the mixing of two waveforms, as exemplified in an embodiment of this application.

[0077] Figure 11 is a schematic diagram of the mixed waveform signal according to an embodiment of this application;

[0078] Figure 12A is a schematic diagram of a mixed waveform signal of an example embodiment of this application;

[0079] Figure 12B is a schematic diagram of a mixed waveform signal in another example of an embodiment of this application;

[0080] Figure 13 is a schematic diagram of a mixed waveform signal in another example of an embodiment of this application;

[0081] Figure 14 is a possible structural schematic diagram of the control device according to an embodiment of this application;

[0082] Figure 15 is a possible structural schematic diagram of a radar detection device according to an embodiment of this application;

[0083] Figure 16 is a possible structural schematic diagram of the target detection system according to an embodiment of this application;

[0084] Figure 17 is a schematic diagram of another possible structure of the radar detection device according to an embodiment of this application;

[0085] Figure 18 is a schematic diagram of the structure of a communication device according to an embodiment of this application. Detailed Implementation

[0086] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the embodiments of this application will be further described in detail below with reference to the accompanying drawings.

[0087] The following explanations of some terms used in the embodiments of this application are provided to facilitate understanding by those skilled in the art.

[0088] 1) Radar, also known as a radar device, detector, radar detection device, or radar signal transmitting device, works by transmitting signals (or detection signals) and receiving reflected signals (or echo signals) from target objects to detect them. The signals transmitted by radar can be radar signals, and correspondingly, the reflected signals received from target objects can also be radar signals.

[0089] 2) The transmission cycle of a radar detection device (or, referred to as the sweep cycle, sweep time, or sweep duration, etc.) refers to the period during which the radar detection device transmits a radar signal with a complete waveform. Radar detection devices typically transmit radar signals for multiple sweep cycles within a continuous duration to improve the signal-to-noise ratio (SNR). This continuous duration can be called the duty cycle or frame time.

[0090] 3) Radar signal duty cycle refers to the proportion of time that the radar transmits a signal within the radar's operating cycle. Duty cycle is usually expressed as a percentage, reflecting the proportion of the radar's transmitted signal duration to the entire radar operating cycle. When multiple frequency sweep cycles of radar signals are transmitted within one operating cycle, the radar signals from multiple frequency sweep cycles, plus the frame interval, constitute a single frame.

[0091] 4) The initial frequency of a radar detection device: At the beginning of a transmission cycle, the radar detection device transmits radar signals at a frequency called the initial frequency. Some radar detection devices vary their transmission frequency throughout the transmission cycle based on this initial frequency. However, some radar detection devices transmit at a constant frequency, and the transmission frequency of these devices does not change during the transmission cycle.

[0092] 5) The sweep bandwidth of the radar detection device: the bandwidth occupied by the waveform of the radar signal transmitted by the radar detection device. It should be noted that "sweep bandwidth" is a definition for ease of explanation; technically, it refers to the bandwidth occupied by the waveform of the radar signal transmitted by the radar detection device, i.e., the transmitted signal bandwidth. Furthermore, the frequency band occupied by the waveform of the radar signal transmitted by the radar detection device can be called the sweep bandwidth.

[0093] 6) Frequency-modulated continuous wave (FMCW): an electromagnetic wave whose frequency changes with time.

[0094] 7) Linear frequency modulated continuous wave: an electromagnetic wave whose frequency changes linearly with time. Here, linear change generally refers to linear change within one transmission cycle.

[0095] 8) Step frequency-modulated continuous wave (SF-FMCW): A continuous wave signal whose frequency gradually changes in a certain step size within a given frequency range.

[0096] 9) The maximum ranging range of a radar detection device, also known as the maximum detection range or the farthest detection range, is a parameter related to the configuration of the radar detection device (e.g., related to the factory settings). For example, if the radar detection device is a radar, the maximum ranging range of an adaptive cruise control (ACC) radar is greater than 300 meters (m).

[0097] 10) Intermediate Frequency (IF) Signal: Taking radar as an example, the radar's local oscillator signal and the reflected signal received by the radar (the signal after the radar's transmitted signal is reflected by the target object) are processed by a mixer, and then passed through a low-pass filter to obtain the IF signal. Specifically, a frequency-modulated continuous wave signal generated by an oscillator is partly used as the local oscillator signal and partly used as the transmitted signal and transmitted through the transmitting antenna. The reflected signal of the transmitted signal received by the receiving antenna is mixed with the local oscillator signal to obtain the "IF signal". From the IF signal, one or more of the target object's position, velocity, or angle information can be obtained. Position information can be the target object's position relative to the current radar; velocity information can be the target object's velocity relative to the current radar; and angle information can be the target object's angle relative to the current radar. Furthermore, the frequency of the IF signal is called the intermediate frequency.

[0098] 11) "At least one" means one or more, and "more than" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0099] Furthermore, unless otherwise stated, the ordinal numbers such as "first" and "second" mentioned in the embodiments of this application are used to distinguish multiple objects and are not used to limit the order, timing, priority, or importance of multiple objects. For example, "first waveform" and "second waveform" are only used to distinguish different waveforms and do not indicate a difference in priority, transmission order, or importance between the two waveforms.

[0100] The above describes some concepts involved in the embodiments of this application. The technical features of the embodiments of this application are described below.

[0101] With societal development, more and more machines in modern life are becoming automated and intelligent, and cars for mobility are no exception. Intelligent cars are gradually entering people's daily lives. In recent years, Advanced Driving Assistant Systems (ADAS) have played a crucial role in intelligent cars. These systems utilize various sensors installed on the vehicle to sense the surrounding environment, collect data, identify, detect, and track stationary and moving objects, and combine this data with navigation map data for system calculations and analysis. This allows the driver to anticipate potential dangers, effectively increasing driving comfort and safety. It can be said that true autonomous driving is the culmination of ADAS development. In the autonomous driving architecture, the sensing layer is likened to the car's "eyes," including visual sensors such as onboard cameras and radar sensors such as onboard millimeter-wave radar, lidar, and ultrasonic radar. Millimeter-wave radar, due to its lower cost and more mature technology, has become the primary sensor in autonomous driving systems. Currently, ADAS has developed more than ten functions, among which adaptive cruise control, automatic emergency braking, lane change assist, and blind spot monitoring all rely on vehicle-mounted millimeter-wave radar.

[0102] Millimeter waves refer to electromagnetic waves with wavelengths (λ) between 1 and 10 mm, corresponding to a frequency range typically between 30 and 300 GHz. Within this frequency band, the characteristics associated with millimeter waves make them ideal for automotive applications. These characteristics include: wide bandwidth (abundant frequency domain resources, low antenna sidelobes, facilitating imaging or quasi-imaging); short wavelength (reduced radar equipment size and antenna aperture, resulting in lighter weight); narrow beam (millimeter wave beams are much narrower than microwave beams for the same antenna size, leading to higher radar resolution); and strong penetration (compared to lidar and optical systems, they have a greater ability to penetrate smoke, dust, and fog, enabling all-weather operation).

[0103] Millimeter-wave radar has become an indispensable sensor configuration for intelligent driving vehicles due to its superior penetration capabilities, all-weather performance, and direct speed measurement capabilities compared to cameras and lidar. Onboard millimeter-wave radar can detect target objects by emitting FMCW signals through its antenna. After processing the echo signals reflected from the target object, it can output one or more of the target point cloud's distance, velocity, and angle information.

[0104] A vehicle-mounted millimeter-wave radar system typically includes an oscillator, transmitting antenna, receiving antenna, mixer, processor, and controller. Figure 1 shows a schematic diagram of the working principle of a millimeter-wave radar. The oscillator generates a radar signal whose frequency increases linearly with time; this radar signal is generally a frequency-modulated continuous wave (FM continuous wave). A portion of this radar signal is output to the mixer via a directional coupler as the local oscillator signal, while another portion is transmitted through the transmitting antenna. The receiving antenna receives the radar signal reflected back after encountering an object in front of the vehicle, i.e., the echo signal. The mixer mixes the received radar signal with the local oscillator signal to obtain an intermediate frequency (IF) signal. The IF signal contains information such as the relative distance, speed, and angle between the target object and the radar system. The IF signal passes through a low-pass filter (not shown in the figure) and is amplified before being sent to the processor. The processor processes the received signal, typically performing a Fast Fourier Transform (FFT) and spectral analysis to obtain information such as the distance, speed, and angle of the target object relative to the radar system. Finally, the processor outputs the obtained information to the controller to control the vehicle's behavior.

[0105] The FMCW waveform of millimeter-wave radar is generally a sawtooth wave or a triangular wave. The following will take the sawtooth wave as an example to introduce the ranging principle of millimeter-wave radar in detail. The ranging principle of the triangular wave is similar.

[0106] As shown in Figure 2, the time-domain signal diagram illustrates a linear frequency modulated (LFM) continuous wave, which is a signal whose frequency changes linearly with time. The LFM continuous wave signal shown in Figure 2 is also referred to as a linear frequency modulated pulse chirp signal.

[0107] As shown in Figure 3, the frequency domain signal diagram shows that the period of the linear frequency modulated continuous wave is represented by T. c The slope is a0, the sweep bandwidth is B, the starting frequency is b0, and the ending frequency is b1, which is the sum of the starting frequency b0 and the sweep bandwidth B. b0 and b1 can also be replaced with f0 and f1. T c It can also be called the chirp signal period.

[0108] The equivalent baseband signal of the single-cycle frequency-modulated continuous wave output by the oscillator of the millimeter-wave radar can be expressed as:

[0109] Where A represents the amplitude of the equivalent baseband signal, a0 represents the slope of the equivalent baseband signal, and b0 represents the intercept of the equivalent baseband signal on the Y-axis. Let represent the initial phase of the equivalent baseband signal, and exp represent the exponential function of e. Since frequency is defined as the rate of change of phase relative to time, the frequency of the above equivalent baseband signal is:

[0110] The graph of Formula 1.2 is shown in Figure 3.

[0111] The equivalent baseband signal emitted by the oscillator, after up-conversion, is radiated outward by the transmitting antenna of the millimeter-wave radar. The transmitted signal can be expressed as:

[0112] When the signal encounters an obstacle, it is reflected back and then received by the millimeter-wave radar. The waveforms of the transmitted and reflected signals are the same, except that the reflected signal waveform has a time delay τ relative to the transmitted signal waveform, as shown in Figure 4. In Figure 4, the echo signal is the reflected signal. The received reflected signal can be represented as:

[0113] The signal obtained after down-converting the received equivalent baseband signal is:

[0114] Among them, A ′ It is the amplitude of the equivalent baseband signal emitted by the oscillator after passing through the transmitting antenna gain, target reflection, propagation loss, and receiving antenna gain. τ is the time delay between the transmission of the radar signal from the transmitter of the millimeter-wave radar and the reception of the echo signal (i.e., the reflected signal) by the receiver of the same millimeter-wave radar. As shown in Figure 4, this time delay is twice the distance / speed of light, expressed as 2d / c.

[0115] Additionally, in Figure 4, τ max This represents the echo delay corresponding to the maximum detection range of the millimeter-wave radar, that is, τ. max This refers to the time delay of the reflected signal received by the millimeter-wave radar relative to the transmitted signal when the distance between the millimeter-wave radar and the target object is the maximum detection range of the millimeter-wave radar. The relationship between τ and the target distance d can be expressed as:

[0116] Where c is the speed of light.

[0117] The mixer of this millimeter-wave radar mixes the received signal with the local oscillator signal, and after passing through a low-pass filter, outputs an intermediate frequency (IF) signal, which is represented as:

[0118] The intermediate frequency signal is fed into the processor of the millimeter-wave radar for processing such as Fast Fourier Transform, and the frequency f of the intermediate frequency signal can be obtained. IF Furthermore, as shown in Figure 4, the frequency of the intermediate frequency signal is the product of the slope of the transmitted signal waveform and the time delay τ, that is:

[0119] Therefore, the distance d between the millimeter-wave radar and the target object is:

[0120] The above derivation shows that the frequency difference between the transmitted and received signals (i.e., the frequency of the intermediate frequency signal) and the time delay are linearly related: the farther the target object, the later the received reflected signal, and therefore the greater the frequency difference between the reflected and transmitted signals. Thus, the distance between the radar and the target object can be determined by judging the frequency of the intermediate frequency signal. Furthermore, the above radar signal processing procedure is merely an example and does not limit the specific radar processing procedures.

[0121] The theoretical derivation relationship between the relevant parameters and waveform parameters of millimeter-wave radar can be obtained through the above derivation process, as shown below: R max =ΔR*T v *f s / 2 (Formula 2.3);

[0122] Where ΔR represents distance resolution, measured in meters (m). A larger B value results in a smaller ΔR value and better (higher) distance resolution. Δv represents velocity resolution, measured in meters per second (m / s). A smaller Δv value results in better (higher) velocity resolution. R max This indicates the furthest detection distance, expressed in meters (m). max The maximum unambiguous velocity range is represented in m / s. c represents the speed of light, and λ represents the wavelength. B represents the sweep bandwidth, measured in megahertz (MHz). T f T represents the transmission time (or transmission duration), which is the product of the frame time and the duty cycle. A complete frame time can typically contain multiple chirp signals. v This indicates the effective time of the Chirp, in microseconds (μs). s Indicates the sampling rate. T c This indicates the Chirp interval time, in microseconds (μs).

[0123] Based on the sampling using the following formula, the relationship between some parameters and the required storage capacity of the sampled data is obtained, as shown below: N~T v *f s (Formula 3.1);

[0124] Where N represents the number of sampling points per chirp; M represents the total number of chirps.

[0125] Based on the above theoretical derivation formulas, it can be seen that the information such as distance, velocity, and angle measured by radar is directly related to the waveform specifications of the signal emitted by the radar (such as waveform type, parameters, and characteristics). The waveform parameters directly affect the radar parameters (or radar detection indicators), such as range resolution, velocity resolution, range detection range, unambiguous velocity range, and frame period.

[0126] Furthermore, the range resolution, velocity resolution, maximum detection range, and maximum unambiguous velocity measurement range of millimeter-wave radar are directly proportional to the storage capacity requirements. To optimize these key parameters, high storage capacity and computing power are required, which in turn increases the cost of the radar system.

[0127] For example, if the FMCW waveform transmitted by the radar simultaneously meets the following requirements: maximum unambiguous velocity measurement range > ±10m / s, range resolution of 0.2m, 100% duty cycle transmission, and maximum detection distance of 300m, then the radar sampling data requires approximately 15MB of memory storage capacity, which is extremely unfriendly to the cost of the radar system.

[0128] In practical applications, the waveform specifications required for radar signals often vary significantly when detecting different scenarios or different targets within the same scenario. For example, detecting some targets requires high range resolution, velocity resolution, and short-range detection, while detecting others only requires lower range resolution, velocity resolution, long-range detection, and a large unambiguous velocity measurement range. If a radar detection device relies on a single waveform signal to simultaneously meet the detection requirements of different targets, all radar parameters need to be optimized as much as possible. This places higher demands on the radar system's storage and computing capabilities, thereby increasing the overall cost. Therefore, a single waveform is unlikely to simultaneously meet the detection requirements of different targets while balancing radar performance and cost.

[0129] To address the aforementioned issues, embodiments of this application provide a control method, apparatus, and system. Under different target detection requirements in the current scenario, the system controls a radar detection device to send radar signals of at least two waveforms. Based on these at least two waveform radar signals and their corresponding echo signals, the system obtains detection results for at least one target in the current scenario. This approach balances radar performance and cost while meeting different detection requirements in different scenarios, thereby enhancing radar detection capabilities.

[0130] Figure 5 illustrates a possible application scenario of this application embodiment. This application scenario can include autonomous driving, autonomous driving, intelligent driving, and connected driving. The radar detection device can be installed on motor vehicles (e.g., unmanned vehicles, intelligent vehicles, electric vehicles, digital vehicles, etc.), drones, rail vehicles, bicycles, traffic lights, speed measuring devices, or network equipment (e.g., base stations and terminal devices in various systems). In addition to the radar detection device, these devices can also be equipped with control and processing devices. The control device can, for example, control the radar detection device to emit radar signals, and the processing device can, for example, obtain the detection results of the radar detection device based on the emitted radar signals and corresponding echo signals. In specific implementations, at least one of the control and processing devices can be integrated with the radar detection device in the same device, or they can be deployed independently. Optionally, the radar detection device, control device, and processing device can be installed on mobile devices, such as a vehicle-mounted radar detection device installed on a vehicle; or, the radar detection device, control device, and processing device can be installed on fixed equipment, such as a roadside unit (RSU). The embodiments of this application do not limit the installation location and function of the radar detection device, processing device and control device.

[0131] Figure 6A is a schematic diagram of a system architecture applicable to an embodiment of this application. As shown in Figure 6A, the system architecture may include a radar detection device and a control device. Optionally, the system architecture may also include a processing device. The radar detection device can communicate with the control device. For example, the radar detection device has an interface for communicating with the control device, and the control device also has an interface for communicating with the radar detection device. The radar detection device and the control device can communicate through corresponding interfaces. Alternatively, the radar detection device and the control device can also communicate wirelessly. The radar detection device can also communicate with the processing device. For example, the radar detection device has an interface for communicating with the processing device, and the processing device also has an interface for communicating with the radar detection device. The radar detection device and the processing device can communicate through corresponding interfaces. Alternatively, the radar detection device and the processing device can also communicate wirelessly. Furthermore, the control device and the processing device can also communicate through corresponding interfaces. For example, the control device has an interface for communicating with the processing device, and the processing device also has an interface for communicating with the control device. The control device and the processing device can communicate through corresponding interfaces. Alternatively, the control device and the processing device can also communicate wirelessly.

[0132] Figure 6B is a schematic diagram of another system architecture applicable to the embodiments of this application. This system architecture may include a radar detection device and a control device. Optionally, the system architecture may also include a processing device. The difference between Figure 6B and Figure 6A is that the radar detection device in Figure 6B is more intelligent than the radar detection device in Figure 6A; as can be seen, a processor is also provided in the radar detection device in Figure 6B. It can be considered that the radar detection device in Figure 6A has basic processing capabilities, such as the ability to detect different targets. The radar detection device in Figure 6B, in addition to these basic processing capabilities, may also have extended processing capabilities, such as the ability to determine the priority of time-frequency resources, or the ability to select appropriate time-frequency resources from multiple time-frequency resources, etc. This application embodiment does not specifically limit these capabilities.

[0133] Figure 6C is a schematic diagram of another system architecture applicable to the embodiments of this application. This system architecture may include a radar detection device and a control device, with the control device integrated into the radar detection device. Optionally, the system architecture may also include a processing device. The difference between Figure 6C and Figures 6A or 6B is that the control device in Figure 6C is a functional module of the radar detection device itself, used to control the radar detection device to perform detection. The processor shown by the dashed line only indicates that the processing capability of the radar detection device is optional and may be the same as in Figure 6A or Figure 6B. This application embodiment does not limit the processing capability of the radar detection device. In some embodiments, the control device and the processor in the radar detection device may be the same functional module.

[0134] Furthermore, regardless of the system architecture shown in Figures 6A, 6B, or 6C, the radar detection device, control device, and processing device can be three independent devices, for example, all three devices may be installed on the vehicle or RSU; alternatively, the radar detection device, processing device, and control device can be integrated into one device, which may be collectively referred to as the radar detection device. Alternatively, for distinction, this device may be called the third radar detection device, which may be installed on the vehicle or RSU. Alternatively, the radar detection device and processing device can be integrated into one device, which may be collectively referred to as the radar detection device, or for distinction, this device may be called the third radar detection device, while the control device can be a separate device. Alternatively, the radar detection device and control device can be integrated into one device, which may be collectively referred to as the radar detection device, or for distinction, this device may be called the third radar detection device, while the processing device can be a separate device. Alternatively, the processing device and control device can be integrated into one device, while the radar detection device can be a separate device. Whether the radar detection device, processing device, and control device are integrated into one device or are separate devices, they will be described as radar detection device (not referring to a third radar detection device), processing device, and control device in the following description.

[0135] In addition, in this embodiment of the application, the carrier carrying the radar detection device, such as a vehicle or RSU, can also be referred to as an object. An object can carry at least one radar detection device, at least one control device, and at least one processing device. The radar detection device, control device, and processing device carried by an object can have a one-to-one correspondence, or multiple radar detection devices may correspond to one control device, multiple radar detection devices may correspond to one processing device, multiple processing devices may correspond to one control device, and so on. For example, an object can contain 2 radar detection devices, 2 control devices, and 2 processing devices, with a one-to-one correspondence between the radar detection devices, control devices, and processing devices; an object can contain 2 radar detection devices, 1 control device, and 1 processing device, with each of the 2 radar detection devices corresponding to the 1 control device and the 1 processing device; or, an object can contain 4 radar detection devices, 2 control devices, and 2 processing devices, with each of the 2 radar detection devices corresponding to the 1 control device and the 1 processing device; or, an object can contain 4 radar detection devices, 2 control devices, and 1 processing device, with each of the 2 radar detection devices corresponding to the 1 control device, and each of the 4 radar detection devices and the 2 control devices corresponding to the 1 processing device.

[0136] Furthermore, the signal transmitted by the radar detection device can be a radio signal, which can be considered a radar signal. This application embodiment uses a radar detection device and the signal transmitted by the radar detection device as an example.

[0137] The technical solutions provided by the embodiments of this application are described below with reference to the accompanying drawings.

[0138] Figure 7 shows a flowchart illustrating the control method according to an embodiment of this application. In one embodiment, the method can be implemented by a radar detection device in any of the architectures shown in Figure 5, or Figures 6A, 6B, or 6C. In another embodiment, the method can also be implemented collaboratively by a control device and a radar detection device. For ease of description, the implementation details of the method are described below using a control device as an example. It should be understood that the control device can be a control device within the radar detection device, or it can be independent of the radar detection device.

[0139] As shown in Figure 7, the method may include the following steps:

[0140] S710: The control device determines at least two sets of waveform parameters based on the first information.

[0141] In order to better meet the differentiated detection needs of different targets and reduce the cost of radar systems, in this embodiment of the application, the radar detection device can be designed to detect targets in the surrounding environment by transmitting radar signals of two or more waveforms.

[0142] For example, the first information can directly or indirectly indicate the radar detection device's target detection needs at the current moment for two or more targets. When implementing S710, the control device can determine at least two sets of waveform parameters according to different target detection needs, so as to control the radar signal emitted by the radar detection device to be a mixed signal including at least two waveforms. Each set of waveform parameters can be associated with a radar waveform, and at least one parameter in different sets of waveform parameters can have different values.

[0143] It should be understood that the target detection requirements of radar detection devices are backend requirements, such as the target detection requirements of vehicles or RSUs where the radar detection device is installed, or the target detection requirements of the processing unit of the vehicle controller or RSU. Mixed-waveform radar signals correspond to different detection indicators of the radar detection device. These detection indicators may include, for example, at least one of the following: detection range, measurement accuracy, and resolution. Resolution may include, for example, the range resolution and velocity resolution described above, and may also include angular resolution. Measurement accuracy may include, for example, range accuracy, azimuth accuracy, velocity accuracy, etc., and this application embodiment does not specifically limit the detection indicators.

[0144] Taking detection range as a detection metric and a radar detection device deployed on a vehicle as an example, the environment in which the vehicle is currently located can include targets that are relatively close to the vehicle and / or targets that are relatively far away from the vehicle, referred to as near-range targets and far-range targets, respectively. The vehicle, through its radar detection device, can simultaneously detect near-range targets and / or far-range targets, enabling timely monitoring of targets and potential hazards around the vehicle or in the distance, thereby ensuring vehicle safety. Taking resolution as a detection metric, near-range targets can include dynamic targets such as pedestrians, non-motorized vehicles, and other motorized vehicles (referred to as other vehicles) around the vehicle, as well as static targets such as buildings and traffic facilities. The vehicle, through its radar detection device, can simultaneously detect static targets and / or dynamic targets, enabling timely monitoring of different targets and potential hazards around the vehicle, thereby ensuring vehicle safety.

[0145] As shown in Figure 8, the vehicle's environment may include vulnerable road users (VRUs) nearby, such as pedestrians and non-motorized vehicles (e.g., bicycles). The vehicle needs to detect nearby VRUs at any given moment, including identifying the type of VRU and determining its motion or stationary state, in order to avoid them in time and ensure driving safety. Alternatively, the environment may also include the closest in-path vehicle (CIPV). The vehicle needs to detect the CIPV at any given moment, such as measuring its acceleration and estimating its motion state, in order to adjust its speed accordingly and maintain a safe distance to ensure safe driving. Alternatively, for example, vehicles can also perform synthetic aperture radar (SAR) imaging of targets in their environment (including nearby vehicles, roadside structures, traffic lights, buildings, etc.), or obtain high-density point cloud data of nearby targets, to monitor the vehicle's surroundings, helping the vehicle safely pass through the current road and improving driving safety. Or, for example, vehicles can also detect distant targets such as vehicles to enhance driving safety.

[0146] For long-range targets, due to the longer time-to-collision (TTC), the requirements for the resolution and density of the point cloud data obtained by the radar detection device are generally lower. Therefore, the requirements for radar parameters are lower; for example, lower range resolution and velocity resolution can be used to obtain a larger detection range. However, when detecting short-range targets, such as VRUs and CIPVs, the TTC is shorter, and the requirements for the resolution and density of the point cloud data obtained by the radar detection device are relatively higher. Therefore, the requirements for radar parameters are higher; for example, using higher range resolution and velocity resolution can improve the ability to separate static and dynamic targets and the target point cloud density, which is beneficial for VRU target detection and target motion state estimation. Alternatively, using a larger duty cycle for transmission allows the radar detection device to obtain better SAR imaging results and more accurate acceleration estimation results at a larger duty cycle, thereby enabling more accurate static environment perception and road structure characterization.

[0147] It is evident that different target detection requirements of vehicles necessitate different requirements for one or more radar parameters (or detection indicators).

[0148] Since radar parameters are closely related to the waveform specifications of the radar signals emitted by the radar detection device, in one embodiment of this application, the control device can design the waveform of the emitted signal of the radar detection device according to the different target detection needs of the vehicle at the current moment. For example, it can include a mixed signal of at least two waveforms to better meet the different target detection needs of the vehicle while keeping the storage or computing power cost of the radar detection device under control.

[0149] S720: The control device controls the radar detection device to send radar signals of at least two waveforms in a first mode based on at least two sets of waveform parameters.

[0150] In this embodiment, the first mode can be a transmission mode of the radar detection device, such as an interleaved transmission mode based on signals of at least two waveforms. Different modes will be described below with examples, and will not be elaborated here.

[0151] In this embodiment of the application, the radar signals of at least two waveforms and the corresponding echo signals can be used to obtain detection results to meet the detection requirements of one or more targets at the current moment.

[0152] For example, the processing device shown in Figures 6A, 6B, or 6C can process the radar signals and corresponding echo signals of at least two waveforms to obtain corresponding detection results. For example, the detection results may include one or more of the following: target point cloud data, wherein the density of the point cloud data for target objects at different detection distances is different; detection results for the VRU; motion state estimation results for the CIPV; and SAR imaging results for static targets. The deployment location of the processing device can vary depending on the vehicle function it implements. For example, the processing device can be deployed in at least one of the following: mobile data center (MDC), cockpit domain controller (CDC), and vehicle domain controller (VDC) of the vehicle's autonomous driving system / intelligent driver assistance system.

[0153] It should be understood that the embodiments of this application use only the first information as an example of how the control device determines waveform parameters, and do not constitute any limitation. In other embodiments, the first information in S710 can be replaced with second information, which can directly or indirectly indicate the radar detection device's target detection needs at the current moment. When implementing S710, the control device can determine at least one set of waveform parameters based on the target detection needs indicated by the second information. When implementing S720, the control device can control the radar detection device to send radar signals of at least one waveform based on at least one set of waveform parameters.

[0154] In an optional implementation, if the target detection requirements of the vehicle change after S720, the control device can also control the radar detection device to change the waveform of the transmitted signal or change the transmission mode of the transmitted signal.

[0155] For example, taking the first information indicating the radar detection device's need to detect one or more targets at a first moment and the second information indicating the radar detection device's need to detect one or more targets at a second moment as an example, where the second moment is after the first moment, as shown in Figure 9, the method may include the following steps:

[0156] S910: The control device determines at least two sets of waveform parameters based on the first information. For specific implementation details, please refer to the preceding description in conjunction with S710; further details will not be repeated here.

[0157] S920: The control device controls the radar detection device to transmit radar signals of at least two waveforms in a first mode based on at least two sets of waveform parameters. These at least two waveform radar signals and their corresponding echo signals can be used to obtain detection results to meet the detection requirements of one or more targets at the current moment. Specific implementation details can be found in the preceding description in conjunction with S720, and will not be repeated here.

[0158] S930: The control device controls the radar detection device to stop transmitting radar signals of at least two waveforms in the first mode based on the second information.

[0159] The second information can directly or indirectly indicate at least one target detection requirement of the radar detection device at the current moment. The control device can confirm whether the target detection requirement has changed by comparing the first and second information. If it has changed, it means that the radar signals of at least two waveforms previously transmitted based on the first information no longer meet the new target detection requirements. In this case, the control device needs to change the waveform of the transmitted signal or change the transmission mode of the transmitted signal. At this time, the control device can implement S930-S940.

[0160] S940: The control device controls the radar detection device to transmit radar signals of at least one waveform in a second mode.

[0161] The radar detection device can preset a default radar signal waveform. Unless otherwise specified, during S940, the control device can control the radar detection device to transmit a radar signal with the default waveform based on the initial configuration. Alternatively, the control device can determine at least one set of waveform parameters based on the second information and control the radar detection device to transmit a radar signal with at least one waveform based on these parameters. Each set of waveform parameters can be associated with a radar waveform, and at least one parameter in different sets of waveform parameters may have different values. The radar signal transmitted by the radar detection device based on the second information can be a single waveform signal, for example, a signal different from the default radar signal waveform. Or, for example, the radar signal transmitted by the radar detection device based on the second information can be a radar signal mixed with two or more waveforms, where the mixed waveform corresponding to the second information is different from the mixed waveform corresponding to the first information. Specifically, at least one waveform in the mixed waveform corresponding to the second information may be different from the mixed waveform corresponding to the first information. This application embodiment does not specifically limit the implementation method of this waveform change of the transmitted signal.

[0162] In specific applications, the aforementioned first information may correspond to, for example, the vehicle's driving mode. Alternatively, the first information may correspond to the road scenario in which the vehicle is located. Alternatively, the first information may correspond to environmental factors in the area where the vehicle is located. Alternatively, the first information may correspond to the driver's driving experience, etc. When implementing S710, the control device can detect the first information via a radar detection device / processing device, or it can receive the first information from a controller, which may include, for example, the controller of the vehicle's autonomous driving system or intelligent driver assistance system, such as an MDC. Alternatively, the control device can obtain the first information from other sensors on the vehicle. Alternatively, the control device can obtain the first information from the vehicle's infotainment system. Similarly, the second information may correspond to the vehicle's driving mode, the road scenario in which the vehicle is located, environmental factors in the area where the vehicle is located, or the driver's driving experience, etc., replacing the first information with the second information. Alternatively, when implementing S930-S940, the control device can detect the second information via a radar detection device, or it can receive the second information from a controller, which may include, for example, the controller of the vehicle's autonomous driving system or intelligent driver assistance system, such as an MDC. Alternatively, the control device can obtain the second information from other sensors on the vehicle. Alternatively, the control device can obtain the second information from the vehicle's infotainment system. This application does not specifically limit the implementation method or content of this first / second information.

[0163] The vehicle's driving modes can include, but are not limited to, any of the following: manual driving mode, driverless driving mode, autonomous driving mode, and intelligent assisted driving mode. Each driving mode can be associated with one or more sets of waveform parameters. For example, automakers may pre-design one or more sets of waveform parameters associated with vehicle functions under various driving modes supported by the vehicle, based on experience or crowdsourced data. Taking intelligent assisted driving mode as an example, this mode can be associated with functions such as: automatic parking, adaptive cruise control, lane keeping assist, collision warning, reversing camera, and night vision assist. Different intelligent assisted driving functions have different target detection requirements. Automakers can pre-design waveform parameters corresponding to different vehicle functions. During vehicle operation, the control device can determine one or more sets of waveform parameters based on one or more vehicle functions in use to meet the corresponding target detection requirements.

[0164] The road scenario in which the vehicle operates can include, but is not limited to, any of the following: highway scenario, urban road scenario, congested road scenario, and uncongested road scenario. The target detection requirements differ across road scenarios. Automakers can pre-design waveform parameters corresponding to different road scenarios. During vehicle operation, the control device can determine one or more sets of waveform parameters based on the actual road scenario to meet the corresponding target detection requirements. For example, in a highway scenario, the primary need is to identify and track other vehicles and control the safe distance between the vehicle and other vehicles to ensure timely braking and driving safety. Or, for example, in an urban road scenario, the primary need is to monitor VRUs, CIPVs, traffic lights, etc., to comply with traffic safety regulations. In a congested road scenario, in addition to monitoring VRUs, CIPVs, and traffic lights to comply with traffic safety regulations, it is also necessary to monitor whether other vehicles in adjacent lanes are changing lanes to reduce traffic accidents.

[0165] Environmental factors in the vehicle's location can include weather conditions such as rain, fog, and sunshine; ambient temperature; daytime and nighttime lighting conditions; and icy road surfaces. Target detection requirements vary depending on the environmental factors. Automakers can pre-design waveform parameters corresponding to different environmental conditions. During vehicle operation, the control device can determine one or more sets of waveform parameters based on the actual environmental factors to meet the corresponding target detection needs. For example, in rainy or icy conditions, the road surface is slippery, and the vehicle needs to identify and track other vehicles, as well as maintain a safe distance to ensure timely braking and driving safety. Or, for example, on a sunny day, at midday, sunlight reflecting off the road can impair the driver's eyes, affecting driving safety. Therefore, more comprehensive monitoring of multiple dynamic targets around the vehicle is needed to reduce traffic accidents.

[0166] A driver's experience can include factors such as years of driving experience and the frequency of traffic accidents they have been involved in. Drivers with different experience levels react differently to danger, resulting in varying target detection requirements. Automakers can pre-design waveform parameters corresponding to different driving experiences. During vehicle operation, the control device can determine one or more sets of waveform parameters based on the driver's experience to meet the corresponding target detection needs.

[0167] It should be understood that the first / second information corresponding to the driving mode, road scenario, environmental factors, or driving experience is merely an example of how the first / second information is implemented and does not constitute any limitation. In other embodiments, the first / second information may, for example, correspond to control information from the driver, including control information input by the driver via voice or a vehicle display screen. Alternatively, the first / second information may correspond to the driver's driving habits, such as frequently traveled road sections. Or, the first / second information may correspond to the country or region where the vehicle is located; this application does not specifically limit this.

[0168] Taking the detection of first / second information by the control device through the radar detection / processing device as an example, the processor within the processing / radar detection device can determine the first / second information based on the detection results of the previous moment and send it to the control device. For example, based on the detection of a VRU around the vehicle at the previous moment, it is determined that the VRU needs to be detected at the current moment. Or, for example, based on the detection of a CIPV in front of the vehicle at the previous moment, it is determined that the motion state estimation of the CIPV needs to be performed at the current moment. Or, for example, based on the detection that the vehicle has activated the automatic parking function at the previous moment, it is determined that the road structure needs to be imaged using SAR to characterize the curb structure, etc., to assist in achieving automatic parking. Or, for example, based on the detection that the vehicle has activated the cruise control function at the previous moment, it is determined that the distance between the vehicle and a distant vehicle needs to be detected at the current moment to maintain a safe distance from distant vehicles.

[0169] Taking the control device receiving first / second information from a controller as an example, the controller may include, for example, the controller of the vehicle's autonomous driving system or intelligent driver assistance system, such as an MDC. The first / second information may indicate a driving mode or a vehicle function activated in the driving mode. The control device can determine one or more sets of waveform parameters based on the indication of the first / second information and pre-configuration information. Alternatively, for example, the first / second information may indicate the current road scene, and the control device can determine one or more sets of waveform parameters based on the indication of the first / second information and pre-configuration information. Or, for example, the first / second information may include at least one set of waveform parameters, and the control device may, upon receiving the at least one set of waveform parameters, control the radar detection device to emit radar signals of at least one waveform based on the at least one set of waveform parameters.

[0170] For example, the radar signal with at least two waveforms transmitted by the radar detection device in S720 may include at least two frequency-modulated continuous wave (FM-CW) signals. Different sets of waveform parameters corresponding to different FM-CW signals may have different values ​​for at least one of the following parameters: duty cycle, frame period, transmission duration, sweep bandwidth, transmission power, frequency modulation mode, pulse repetition interval (PRI), chirp signal period, number of chirp signals, sampling rate, number of sampling points, and linear frequency modulation slope. Similarly, the radar signal with at least one waveform transmitted by the radar detection device in S940 may include at least one FM-CW signal, and different sets of waveform parameters may also have different values ​​for at least one of the above parameters.

[0171] For ease of distinction, taking the at least two frequency-modulated continuous wave signals including a first signal and a second signal as an example, the at least two sets of waveform parameters may include first waveform parameters and second waveform parameters corresponding to the first signal. The first waveform parameters may include, for example, at least one of the following: first duty cycle, first frame period, first transmission duration, first sweep bandwidth, first transmit power, first frequency modulation mode, first PRI, first chirp signal period, first chirp signal quantity, first sampling rate, first number of sampling points, and first linear frequency modulation slope. The second waveform parameters may include, for example, at least one of the following: second duty cycle, second frame period, second transmission duration, second sweep bandwidth, second transmit power, second frequency modulation mode, second PRI, second chirp signal period, second chirp signal quantity, second sampling rate, second number of sampling points, and second linear frequency modulation slope.

[0172] For example, taking the different detection requirements for near-range and far-range targets based on a first signal and a second signal respectively as shown in Figure 10, the first signal uses a first waveform, which can be used to improve the detection capability of near-range targets and meet differentiated requirements. Therefore, the first waveform parameters corresponding to the first signal can, for example, use higher range resolution, velocity resolution, duty cycle, etc. The second signal uses a second waveform, which can be used to meet the detection range requirements of the radar detection device. Therefore, the second waveform parameters corresponding to the second signal can, for example, use lower range resolution, velocity resolution, duty cycle, etc. Thus, the radar detection device transmits a mixed waveform signal including the first signal and the second signal, which can simultaneously obtain detection results that meet the characteristics of low cost, low latency, long-range detection, and high-resolution near-range detection, thereby meeting different detection requirements.

[0173] To achieve the detection effect of the hybrid waveform shown in Figure 10, at least one parameter in different groups of waveform parameters corresponding to different frequency modulated continuous wave signals may have different values. For example, this may include, but is not limited to, one or more of the following situations:

[0174] Case 1) The first duty cycle is greater than the second duty cycle.

[0175] The first waveform employs a larger duty cycle, even approaching 100%, which further enhances the detection capability of near-range targets and supports SAR imaging to obtain better static environment perception results and target acceleration estimation results. The second waveform uses a smaller duty cycle, which can be used to detect far-range targets, ensuring long-range measurement capability, while also featuring low latency and low storage / computing requirements. In a single detection operation, the radar detection device uses a hybrid transmission of the two waveforms with different duty cycles, which can simultaneously achieve more accurate detection of near-range targets and ensure the long-range measurement capability of the radar detection device while keeping costs under control.

[0176] It should be understood that, in specific implementations, the first duty cycle can belong to the first interval, the second duty cycle can belong to the second interval, and the lower limit of the first interval can be greater than the upper limit of the second interval. For example, the first interval can be 90%-100%, and the second interval can be 40%-60%. This application does not specifically limit the value of the duty cycle for different waveforms in its embodiments.

[0177] Scenario 2) The duration of the first wave transmission is longer than the duration of the second wave transmission.

[0178] The first waveform, with its longer transmission duration, can achieve higher acceleration estimation accuracy, facilitating more precise monitoring of the motion state of nearby targets. For distant targets, where detection requirements are lower, the second waveform, with its relatively shorter transmission duration, suffices. By combining these two waveforms with different transmission durations, the radar detection device can simultaneously achieve more accurate detection of the motion state of nearby targets while maintaining the radar's range-finding capability, all while keeping costs under control.

[0179] Case 3) The bandwidth of the first sweep frequency is greater than that of the second sweep frequency.

[0180] The sweep bandwidth is positively correlated with the radar's range resolution. A larger sweep bandwidth for the first waveform achieves higher range resolution, which is beneficial for improving the radar's ability to detect close-range targets. For distant targets, the range resolution requirement is lower, and a relatively smaller sweep bandwidth for the second waveform is sufficient. By mixing the two waveforms with different sweep bandwidths, the radar detection device can simultaneously achieve more accurate detection of close-range targets while maintaining its range-finding capabilities, all while keeping costs under control.

[0181] Case 4) The first transmission power is less than the second transmission power.

[0182] The higher the transmission power, the farther the radar's detection range. Using a higher transmission power for the second waveform achieves even greater ranging capability, ensuring the radar's detection range requirements are met. For close-range targets, the detection range requirement is lower, and a relatively lower transmission power for the first waveform suffices. By using a hybrid transmission of two waveforms with different transmission powers, the radar detection device, while maintaining controllable costs, can ensure its range capability while reducing energy consumption for close-range target detection, thus extending the device's lifespan.

[0183] Furthermore, adjusting the transmit power can not only meet regulatory power spectrum constraints, but also reduce the power consumption and heat dissipation of the hardware module. In another example, the transmit power can be adjusted based on other waveform parameters to meet relevant requirements. For instance, by using a large sweep bandwidth for the first signal, the transmit power of the first signal can be reduced to meet the lower transmit power requirements stipulated by regulations for a large bandwidth.

[0184] Case 5) The first frequency modulation method and the second frequency modulation method are the same, or the first frequency modulation method and the second frequency modulation method are different.

[0185] When the first and second frequency modulation methods are the same, for example, both the first and second signals are FMCW linear frequency modulation signals, or both the first and second signals are SF-FMCW signals. When the first and second frequency modulation methods are different, for example, the first signal is an FMCW linear frequency modulation signal and the second signal is an SF-FMCW signal.

[0186] Among them, the linear FMCW frequency modulation method uses frequency modulation technology to transmit continuous wave signals with frequencies varying over time. It has a fast scanning speed and excellent range resolution, making it suitable for short-range detection and high-range-resolution scenarios, such as the detection and tracking of close-range targets. The SF-FMCW frequency modulation method transmits continuous wave signals through frequency stepping, enabling high-resolution range and velocity measurements, but with a longer scanning time. It is suitable for scenarios that require frequent changes in the detection range, such as terrain mapping and moving target tracking.

[0187] Taking an example where the first signal is an FMCW linear frequency modulated signal and the second signal is an SF-FMCW signal, the first signal corresponds to the first waveform and uses FMCW linear frequency modulation, which ensures high speed accuracy for close-range targets. The second signal corresponds to the second waveform and uses SF-FMCW stepped frequency modulation, with each chirp being sequentially frequency-modulated. This helps to achieve equivalent high range resolution while maintaining low storage costs for the radar detection device. The radar detection device uses a hybrid transmission of two waveforms with different frequency modulation methods. Under controllable costs, this approach ensures the radar detection device's range capability while reducing energy consumption for close-range target detection, thus extending the device's lifespan.

[0188] It should be understood that, in the embodiments of this application, when the first frequency modulation method and the second frequency modulation method are the same, a mixed waveform radar signal can be obtained by designing other waveform parameters. For example, when both the first signal and the second signal are FMCW linear frequency modulation signals, a mixed waveform radar signal can be obtained by differentiating the sweep bandwidth, such as the first sweep bandwidth being greater than the second sweep bandwidth.

[0189] Case 6) The first PRI and the second PRI are linear; or, the first PRI and the second PRI are nonlinear.

[0190] For example, when both the first and second signals are FMCW linear frequency modulation signals, the first PRI and the second PRI are linear. When at least one of the first or second signals is an SF-FMCW signal, the first PRI and the second PRI are nonlinear.

[0191] Here, PRI refers to the time interval between radar transmitted pulses. The reciprocal of PRI is the Pulse Repetition Frequency (PRF). When using a stepped-frequency modulation method, introducing a nonlinear PRI can reduce the impact of higher-order phase terms introduced by the stepped frequency on the Doppler dynamics.

[0192] It should be understood that the above scenarios are merely examples of differences in waveform parameters for different groups and do not constitute any limitation. In various scenarios, one or more waveform parameter values ​​can be designed according to actual differentiated detection requirements. In practical implementation, when mixing different waveforms, it is also necessary to consider hardware compatibility, or additional considerations such as the transmit power of different waveforms and regulatory power spectrum constraints. For example, in scenario 1, with high duty cycle and high resolution, regulatory constraints need to be considered for special design of transmit power and transmit coding, as well as power back-off or transmit time division multiplexing (TDM) waveforms to meet the speed ambiguity resolution requirements.

[0193] In addition, when designing and detecting the above-mentioned mixed waveform signals, taking the first mode as an example of an interleaved transmission mode based on signals of at least two waveforms, when implementing S720 or S920, the control device can control the radar detection device to interleave the transmission of the first signal and the second signal within a single frame period, that is, to interleave the transmission of mixed signals within the same frame.

[0194] For example, as shown in Figure 11(A), chirp signals of different waveforms are represented by diagonal lines of different thicknesses and slopes. The radar detection device can sequentially transmit multiple chirp signals within a single frame period, denoted as Chirp1, Chirp2, Chirp3, Chirp4, Chirp5, Chirp6, etc. Here, Chirp1, Chirp3, and Chirp5 are the first signals corresponding to the first waveform, and Chirp2, Chirp4, and Chirp6 are the second signals corresponding to the second waveform. Of course, the alternating transmission order of the first and second signals can be interchanged. For example, Chirp1, Chirp3, and Chirp5 can be the second signals corresponding to the second waveform, and Chirp2, Chirp4, and Chirp6 can be the first signals corresponding to the first waveform. Alternatively, as shown in Figure 11(B), chirp signals of different waveforms can be represented by diagonal lines of varying thickness and slope. The radar detection device can sequentially transmit multiple chirp signals within a single frame period, denoted as Chirp1, Chirp2, Chirp3, Chirp4, Chirp5, Chirp6, etc. Here, Chirp1, Chirp2, Chirp4, and Chirp5 are the first signals corresponding to the first waveform, and Chirp3 and Chirp6 are the second signals corresponding to the second waveform. Of course, the interleaving pattern of the first and second signals can also be interchanged; for example, Chirp1, Chirp2, Chirp4, and Chirp5 can be the second signals corresponding to the second waveform, and Chirp3 and Chirp6 can be the first signals corresponding to the first waveform.

[0195] It should be understood that Figure 11 is merely an example of an interleaved transmission method for signals with waveform 2 and does not constitute any limitation. Other interleaving methods can also be found in the examples of interleaving methods described below in conjunction with Figure 12B. Similarly, if based on the mixed transmission of three or more waveforms, the control device can also control the radar detection device to interleave the transmission of signals with three or more waveforms within a single frame period. In different waveform mixing methods, the frame periods of each signal can be the same or different, and this application embodiment does not specifically limit this.

[0196] The following example uses the control of a radar detection device based on the mixed emission of two waveforms to illustrate the possible differences in the values ​​of different sets of waveform parameters and the corresponding frequency domain signal diagrams.

[0197] Example 1: Taking the values ​​of the first waveform parameter and the second waveform parameter as shown in Table 1 below as an example, the control device can control the radar detection device to interleave the mixed waveform signal shown in Figure 12A within a single frame period.

[0198] Table 1

[0199] As shown in Figure 11, the first signal uses a first waveform, which is an FMCW signal. The second signal uses a second waveform, which is an SF-FMCW signal. Both the first and second frame periods are 50 milliseconds. The transmission duration of the first and second signals is the product of the frame period and their respective duty cycles. The first waveform parameters for the first signal employ a high transmission duty cycle (100%) and a large bandwidth (750MHz) for each chirp, ensuring high speed accuracy (approximately 0.01 m / s). The second waveform parameters for the second signal employ a low transmission duty cycle (40%), a small bandwidth (250MHz) for each chirp, and sequential frequency modulation for each chirp, achieving an equivalent high range resolution (equivalent to 0.2) while maintaining low storage costs for the radar detection device, thus balancing cost and performance. It is worth noting that when the radar detection device in this embodiment transmits a mixed waveform signal including an SF-FMCW signal, the introduction of nonlinear PRI can be further considered to reduce the impact of Doppler dynamic degradation caused by the introduction of higher-order phase terms in the frequency stepping.

[0200] The radar detection device can also receive the echo signal corresponding to the transmitted signal with mixed waveform. After signal processing, the transmitted signal and the corresponding echo signal can be used to obtain the corresponding detection results.

[0201] For example, SF-FMCW signals and their corresponding echo signals, after signal processing, can yield low-latency point cloud information, ensuring the long-range detection capability of radar detection devices. For instance, FMCW signals and their corresponding echo signals, after signal processing, can obtain detection results that meet different detection requirements. For example, using a high duty cycle (e.g., 100%), FMCW signals can achieve a longer transmission duration within the same frame period. The longer echo signal duration improves velocity resolution, resulting in more accurate detection results for VRUs based on FMCW signals and their corresponding echo signals, thereby enhancing the VRU detection capability of the radar detection device. Alternatively, for example, using the echo signal of a continuously transmitted 100% FMCW signal to perform SAR imaging on static environments such as roadside curbs can yield better SAR imaging results, improving the static environment perception capability of the radar detection device. Alternatively, for example, when estimating the acceleration of a target point at a specific distance and angle using the echo signal of a continuously emitted 100% FMCW signal, continuous sliding window time-frequency analysis can be used to obtain the target velocity variation over time, resulting in higher target acceleration estimation accuracy and better improving the response speed of the vehicle's intelligent driving system.

[0202] It should be understood that Figure 12A is merely an example of interleaved transmission of a mixed waveform signal including a first signal and a second signal, and does not constitute a limitation. In specific implementations, the second signal may be transmitted first and then the first signal at the beginning of a single frame period, that is, the second signal and the first signal may be transmitted interleaved within a single frame period. The embodiments of this application do not specifically limit the interleaved transmission method of the two waveform signals within a single frame period. The ellipsis shown in the figure indicates that the number of chirs in a single frame period is not limited.

[0203] At different frame periods, the control device can also change the waveform or combination of waveforms or the transmission mode of the signal emitted by the radar detection device.

[0204] For example, as shown in Figure 12B, multiple consecutive frame periods are represented as frame period 1, frame period 2, frame period 3, frame period 4, and frame period 5, etc. Based on the method embodiment described above, the control device can control the radar detection device to intermittently transmit FMCW signals and SF-FMCW signals in frame period 1. The FMCW signals and SF-FMCW signals use the first waveform parameters and the second waveform parameters in Table 1, respectively. In frame period 2, only FMCW signals are transmitted. The waveform parameters corresponding to these FMCW signals can have the same values ​​as the parameters of the first waveform in Table 1, or some parameters can have different values. In frame period 3, only SF-FMCW signals are transmitted. The waveform parameters corresponding to these SF-FMCW signals can have the same values ​​as the parameters of the second waveform in Table 1, or some parameters can have different values. In frame period 4, SF-FMCW signals and FMCW signals are transmitted intermittently. The SF-FMCW signals and FMCW signals can use the second waveform parameters and the first waveform parameters in Table 1, respectively. FMCW and SF-FMCW signals are interleaved during frame period 5. The FMCW and SF-FMCW signals use the first waveform parameters and the second waveform parameters in Table 1, respectively.

[0205] It should be understood that Figures 12A and 12B are merely illustrative examples. The control device can change the waveform or waveform combination or transmission mode of the radar signal emitted by the radar detection device in different frame periods according to changes in actual target detection requirements, without constituting any limitation on the waveform parameters of the signal in the corresponding frame period. In practical applications, the radar detection device can also use the same waveform combination to emit signals in multiple consecutive frame periods, that is, there is no limitation on the timing of changing the waveform or waveform combination of the emitted signal.

[0206] Example 2: Taking the values ​​of the first waveform parameter and the second waveform parameter as shown in Table 2 below as an example, the radar detection device can be controlled to send the mixed waveform signal shown in Figure 13 alternately within a single frame period.

[0207] Table 2

[0208] As shown in Figure 13, the first signal uses a first waveform, which is a large-bandwidth FMCW signal (750MHz). The second signal uses a second waveform, which is a small-bandwidth FMCW signal (250MHz). Both the first and second frame periods are 50 milliseconds. The transmission duration of the first and second signals is the product of the frame period and their respective duty cycles. The first waveform parameters for the first signal use a high transmission duty cycle (100%) and a large bandwidth (750MHz) per chirp, ensuring high speed accuracy (0.01 m / s). The second waveform parameters for the second signal use a low transmission duty cycle (40%) and a small bandwidth (250MHz) per chirp, enabling long-range detection while maintaining low storage costs for the radar detection device, thus ensuring its range capability.

[0209] Similar to Example 1, in Example 2, the radar detection device can also receive the echo signal corresponding to the transmitted signal with mixed waveforms. After signal processing, the transmitted signal and the corresponding echo signal can obtain the corresponding detection results.

[0210] For example, low-bandwidth FMCW signals and their corresponding echo signals can be processed to obtain low-latency point cloud information, ensuring the long-range detection capability of radar detection devices. Similarly, high-bandwidth FMCW signals and their corresponding echo signals can be processed to obtain detection results that meet different detection requirements. For instance, high-bandwidth FMCW signals using a high duty cycle (e.g., 100%) can achieve a longer transmission duration within the same frame period. The longer echo signal duration improves velocity resolution, resulting in more accurate detection results for VRUs based on high-bandwidth FMCW signals and their corresponding echo signals, thus enhancing the VRU detection capability of the radar detection device. Alternatively, for example, using the echo signal of a continuously transmitted 100% high-bandwidth FMCW signal to perform SAR imaging on static environments such as roadside curbs can yield better SAR imaging results, improving the static environment perception capability of the radar detection device. Alternatively, for example, when using the echo signal of a large-bandwidth FMCW signal emitted continuously at 100% to estimate the acceleration of a target point at a specific distance and angle, continuous sliding window time-frequency analysis can be used to obtain the target velocity variation over time, resulting in higher target acceleration estimation accuracy and better improving the response speed of the vehicle's intelligent driving system.

[0211] It should be understood that Figure 13 is merely an example of a mixed waveform signal including a large-bandwidth FMCW signal and a small-bandwidth FMCW signal transmitted in an interleaved manner, and does not constitute a limitation. In specific implementations, at the beginning of a single frame period, the small-bandwidth FMCW signal may be transmitted first, followed by the large-bandwidth FMCW signal, that is, the second signal and the first signal may be transmitted interleaved within a single frame period. The embodiments of this application do not specifically limit the interleaved transmission method of the two waveform signals. The ellipsis shown in the figure indicates that the number of chirs in a single frame period is not limited.

[0212] Similar to Example 1, in Example 2, the control device can also change the waveform or combination of waveforms of the signal emitted by the radar detection device at different frame periods. For details, please refer to the above description in conjunction with Figures 12A and 12B, which will not be repeated here. It should be understood that Examples 1 and 2 above only illustrate the emission method of the radar detection device according to this application embodiment using a mixed emission of two waveforms as an example. In practical applications, in more complex road scenarios or driving modes, the radar detection device can also use the same method to achieve a mixed emission of signals based on three or more waveforms; this application embodiment does not specifically limit this.

[0213] Therefore, by using the above-mentioned hybrid waveform transmission method, different detection requirements can be met by changing the single waveform transmission method to a hybrid waveform transmission method. For example, using a first waveform signal with a larger duty cycle enables target acceleration estimation, SAR imaging, and other characteristics during close-range detection, improving the radar detection device's ability to detect close-range targets and enhancing its ability to perceive static environments and dynamic targets. At the same time, using a second waveform signal with a conventional duty cycle can be used to detect distant targets, ensuring long-range measurement capabilities, while also featuring low latency and low storage computing power.

[0214] It should be understood that the above examples primarily use a vehicle-mounted radar system as an example and do not limit the deployment location of the radar detection device or the type of signal it transmits. In other embodiments, for example, waveform design and control of the radar detection device mounted on the RSU can be used to meet differentiated detection requirements while balancing performance and cost. In optional embodiments, the same method can also be used to design and control the waveform of a vehicle-mounted FMCW LiDAR system or other sensing systems, which will not be elaborated further here.

[0215] This application embodiment can divide the control device into functional modules. For example, each function can be divided into its own functional module, or two or more functions can be integrated into one functional module. The integrated module can be implemented in hardware or as a software functional module. It should be noted that the module division in this application embodiment is illustrative and only represents one logical functional division; other division methods may be used in actual implementation.

[0216] Figure 14 illustrates a possible structural diagram of the control device involved in the above embodiments of this application. The control device 1400 may include a determining unit 1401 and a controlling unit 1402. The determining unit 1401 may be used in S710, S910 of the above method embodiments, and / or for other processes supporting the technology described herein. The controlling unit 1402 may be used to execute S720, S920 of the above method embodiments, and / or for other processes supporting the technology described herein. For example, the determining unit 1401 is used to determine at least two sets of waveform parameters based on first information, wherein each set of waveform parameters is associated with a radar waveform, and at least one parameter in different sets of waveform parameters has a different value. The controlling unit 1402 is used to control the radar detection device to send radar signals of at least two waveforms in a first mode based on the at least two sets of waveform parameters, wherein the at least two waveform radar signals and the corresponding echo signals are used to obtain detection results. Alternatively, for example, the controlling unit 1402 is used to control the radar detection device to stop sending the at least two waveform radar signals based on second information; and to control the radar detection device to send radar signals of at least one waveform. For specific implementation details, please refer to the relevant descriptions of the above method embodiments, which will not be repeated here.

[0217] Taking the integration of a control device into a radar detection device as an example, Figure 15 shows a possible structural schematic diagram of the radar detection device involved in the above embodiments of this application. The radar detection device 1500 may include a processor 1501, a transmitter 1502, and a receiver 1503. The transmitter 1502 can be used to transmit radar signals of at least two waveforms in a first mode. The receiver 1503 can be used to receive echo signals corresponding to the radar signals of at least two waveforms. The function of the processor 1501 corresponds to the specific functions of the determining unit 1401 and the control unit 1402 in Figure 14, and will not be repeated here. Optionally, the radar detection device 1500 may also include a memory for storing program instructions and / or data for the processor 1501 to read and execute. For example, the processor 1501 can obtain target detection results based on the radar signals of at least two waveforms and the corresponding echo signals.

[0218] Figure 16 shows a possible structural schematic diagram of the target detection system involved in the above embodiments of this application. The target detection system may include a radar detection device 1601 and a processing device 1602. The radar detection device 1601 may adopt the structure shown in Figure 15. The processor 1501 can be used to control the transmitter 1502 to transmit signals including at least two waveforms to meet different detection requirements. The processing device 1602 can be deployed on the back-end controller of the radar detection device 1601, such as at least one of the vehicle's MDC, VDC, CDC, etc., and can obtain detection results based on the radar signals of at least two waveforms and the corresponding echo signals.

[0219] Figure 17 provides another possible structural schematic diagram of the radar detection device. As shown in Figure 17, the radar detection device 1700 may include a transmitting antenna 1701, a receiving antenna 1702, and a processor 1703. Further optionally, the radar detection device 1700 may also include a mixer 1704 and / or an oscillator 1705. Further optionally, the radar detection device 1700 may also include a low-pass filter and / or a directional coupler, etc. The transmitting antenna 1701 and the receiving antenna 1702 are used to support radio communication of the radar detection device. The transmitting antenna 1701 supports the transmission of radar signals, and the receiving antenna 1702 supports the reception of radar signals and / or the reception of reflected signals, ultimately achieving the detection function. The processor 1703 performs some possible determination and / or control functions. Furthermore, the processor 1703 also controls the operation of the transmitting antenna 1701 and / or the receiving antenna 1702. Specifically, the signal to be transmitted is transmitted via the transmitting antenna 1701 controlled by the processor 1703, and the signal received by the receiving antenna 1702 can be transmitted to the processor 1703 for corresponding processing. The various components included in the radar detection device 1700 can be used to cooperate in executing the method provided in the embodiments shown in FIG. 7 or FIG. 9. Optionally, the radar detection device 1700 may also include a memory for storing program instructions and / or data. The transmitting antenna 1701 and the receiving antenna 1702 can be independently configured or integrated as a transceiver antenna to perform corresponding transceiver functions.

[0220] Figure 18 is a schematic diagram of a communication device 1800 provided in an embodiment of this application. The device 1800 shown in Figure 18 can be a radar detection device, or a control device for controlling the transmitted signal waveform of a radar detection device. This control device can be a chip or a circuit, and can be installed within the radar detection device or deployed independently. The device 1800 may include a processor 1801 and an interface circuit 1802. The processor 1801 enables the device 1800 to perform the steps shown in Figure 7 or Figure 9. Optionally, the device 1800 may also include a memory 1803, which can be used to store instructions. The processor 1801 executes the instructions stored in the memory 1803, causing the device 1800 to perform the steps shown in Figure 7 or Figure 9.

[0221] Furthermore, the processor 1801, interface circuit 1802, and memory 1803 can communicate with each other through internal connection paths to transmit control and / or data signals. The memory 2803 stores computer programs, which the processor 1801 can retrieve and run to control the interface circuit 1802 to receive or send signals, completing the steps shown in Figure 7 or Figure 9. The memory 1803 can be integrated into the processor 1801 or disposed separately from it.

[0222] Optionally, if device 1800 is a device, interface circuit 1802 may include a receiver and a transmitter. The receiver and transmitter may be the same component or different components. When the receiver and transmitter are the same component, this component may be referred to as a transceiver.

[0223] Optionally, if the device 1800 is a chip or a circuit, the interface circuit 1802 may include an input interface and an output interface, which may be the same interface or different interfaces.

[0224] Alternatively, if device 1800 is a chip or circuit, device 1800 may not include memory 1803. Processor 1801 may read instructions (programs or code) in memory outside the chip or circuit to implement the steps shown in FIG7 or FIG9.

[0225] Optionally, if the device 1800 is a chip or a circuit, the device 1800 may include resistors, capacitors or other corresponding functional components, and the processor 1801 or the interface circuit 1802 may be implemented through corresponding functional components.

[0226] As one implementation approach, the functionality of interface circuit 1802 can be implemented using transceiver circuitry or a dedicated transceiver chip. Processor 1801 can be implemented using a dedicated processing chip, processing circuitry, processor, or general-purpose chip.

[0227] As another implementation method, the control device or radar detection device provided in the embodiments of this application can be implemented using a general-purpose computer. That is, the program code that implements the functions of the processor 1801 and the interface circuit 1802 is stored in the memory 1803, and the processor 1801 implements the functions of the processor 1801 and the interface circuit 1802 by executing the program code stored in the memory 1803.

[0228] The functions and actions of each module or unit in the device 1800 listed above are merely illustrative examples. Each functional unit in the device 1800 can be used to execute the actions or processes shown in Figure 7 or Figure 9. To avoid redundancy, detailed descriptions are omitted here.

[0229] Alternatively, when implementing the first device using software, it can be implemented entirely or partially as a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are implemented. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state disk (SSD)).

[0230] It should be noted that the processor included in the first device used to execute the communication method provided in the embodiments of this application may be a central processing unit (CPU), a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. The processor may also be a combination that implements computing functions, such as including one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc. Alternatively, if the first device is a processing device, then the processing device may directly be a CPU, a general-purpose processor, a DSP, an ASIC, an FPGA, or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. The processing device may also be a combination that implements computing functions, such as including one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc.

[0231] The steps of the methods or algorithms described in the embodiments of this application can be implemented in hardware or by a processor executing software instructions. The software instructions can consist of corresponding software modules, which can be stored in random access memory (RAM), flash memory, read-only memory (ROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), registers, hard disks, portable hard disks, compact disc read-only memory (CD-ROM), or any other form of storage medium well known in the art. An exemplary storage medium is coupled to a processor, enabling the processor to read information from and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and storage medium can reside in an ASIC. Alternatively, the ASIC can reside in a first device. Of course, the processor and storage medium can also exist as discrete components in the first device.

[0232] It is understood that Figures 14-18 only show a simplified design of the corresponding device. In practical applications, radar detection devices can contain any number of transmitters, receivers, processors, controllers, memory, and other components that may be present.

[0233] This application also provides a communication system that includes a radar detection device and a control device as described in the above embodiments of this application, or includes a radar detection device and a processing device, or includes a radar detection device, a control device, and a processing device. The communication system can be a single device, with each device located within it as a functional module; alternatively, the communication system can include multiple devices, with the radar detection device and control device located in different devices.

[0234] Through the above description of the embodiments, those skilled in the art can clearly understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0235] 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 modules or 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 device, 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; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0236] The units described as separate components may or may not be physically separate. A component shown as a unit can be one or more physical units; that is, it can be located in one place or distributed in multiple different locations. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0237] Furthermore, 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. The integrated unit can be implemented in hardware or as a software functional unit.

[0238] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solutions of the embodiments of this application, essentially, or the parts that contribute to the prior art, or all or part of the technical solutions, can be embodied in the form of a software product. This software product is stored in a storage medium and includes several instructions to cause a device (which may be a microcontroller, chip, etc.) or processor 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, ROM, RAM, magnetic disks, or optical disks.

[0239] The above description is merely a specific implementation of the embodiments of this application, but the protection scope of the embodiments of this application is not limited thereto. Any changes or substitutions within the technical scope disclosed in this application should be covered within the protection scope of the embodiments of this application. Therefore, the protection scope of the embodiments of this application should be determined by the protection scope of the claims.

Claims

1. A control method, characterized in that, include: Based on the first information, at least two sets of waveform parameters are determined, wherein each set of waveform parameters is associated with a radar waveform, and at least one parameter in different sets of waveform parameters has a different value. Based on the at least two sets of waveform parameters, the radar detection device is controlled to send radar signals of at least two waveforms in a first mode, and the radar signals of at least two waveforms and the corresponding echo signals are used to obtain detection results.

2. The method according to claim 1, characterized in that, The radar signals of at least two waveforms include at least two frequency modulated continuous wave (FMCW) signals, wherein the at least two FMCW signals correspond to different detection indicators of the radar detection device, and the detection indicators include at least one of the following: detection range, measurement accuracy, and resolution.

3. The method according to claim 2, characterized in that, For different groups of waveform parameters corresponding to different FMCW signals, at least one of the following parameters has a different value: Duty cycle, frame period, transmission duration, sweep bandwidth, transmit power, frequency modulation mode, pulse repetition interval (PRI), chirp signal period, number of chirp signals, sampling rate, number of sampling points, and linear frequency modulation slope.

4. The method according to claim 3, characterized in that, The at least two FMCW signals include a first signal and a second signal. The at least two sets of waveform parameters include a first waveform parameter corresponding to the first signal and a second waveform parameter corresponding to the second signal. The first waveform parameter includes a first duty cycle, and the second waveform parameter includes a second duty cycle. The first duty cycle is greater than the second duty cycle.

5. The method according to claim 4, characterized in that, The first duty cycle belongs to the first interval, the second duty cycle belongs to the second interval, and the lower limit of the first interval is greater than the upper limit of the second interval.

6. The method according to claim 4 or 5, characterized in that, The first waveform parameter further includes a first transmission duration, and the second waveform parameter further includes a second transmission duration, wherein the first transmission duration is longer than the second transmission duration.

7. The method according to any one of claims 4-6, characterized in that, The first waveform parameter further includes a first sweep bandwidth, and the second waveform parameter further includes a second sweep bandwidth, wherein the first sweep bandwidth is greater than the second sweep bandwidth.

8. The method according to any one of claims 4-7, characterized in that, The first waveform parameter further includes a first transmission power, and the second waveform parameter further includes a second transmission power, wherein the first transmission power is less than the second transmission power.

9. The method according to any one of claims 4-8, characterized in that, The first waveform parameters further include a first frequency modulation method, and the second waveform parameters further include a second frequency modulation method, wherein, Both the first signal and the second signal are FMCW linear frequency modulated signals; or, The first signal is an FMCW linear frequency modulated signal, and the second signal is a stepped frequency modulated continuous wave (SF-FMCW) stepped frequency modulated signal; or, Both the first signal and the second signal are SF-FMCW signals.

10. The method according to claim 9, characterized in that, The first waveform parameter further includes a first PRI, and the second waveform parameter further includes a second PRI, wherein, When both the first signal and the second signal are FMCW linear frequency modulation signals, the first PRI and the second PRI are linear; When at least one of the first signal or the second signal is an SF-FMCW signal, the first PRI and the second PRI are nonlinear.

11. The method according to any one of claims 4-10, characterized in that, The first mode is: within a single frame period, the radar detection device is controlled to interleave the first signal and the second signal.

12. The method according to claim 11, characterized in that, The method further includes: The radar detection device is controlled to stop transmitting radar signals of at least two waveforms in the first mode according to the second information. The radar detection device is controlled to transmit radar signals of at least one waveform in a second mode.

13. The method according to any one of claims 1-12, characterized in that, The first information corresponds to the driving mode of the vehicle where the radar detection device is located, or the first information corresponds to the road scene of the vehicle where the radar detection device is located.

14. The method according to claim 13, characterized in that, The method further includes: The system receives the first information from a controller, wherein the controller includes a controller for the vehicle's autonomous driving system or intelligent driver assistance system.

15. The method according to any one of claims 1-14, characterized in that, The detection results include one or more of the following: Target point cloud data, wherein the density of the point cloud data of the target object varies for different detection distances; Detection results of Vulnerable Road User Units (VRUs); Motion state estimation results for the nearest CIPV vehicle on the path; Synthetic Aperture Radar (SAR) imaging results of static targets.

16. A target detection method, characterized in that, include: Control the radar detection device to transmit radar signals of at least two waveforms in a first mode; Receive the echo signals corresponding to the radar signals of the at least two waveforms; The target detection result is obtained based on the radar signals of at least two waveforms and the corresponding echo signals.

17. The method according to claim 16, characterized in that, The target detection results include one or more of the following: Target point cloud data, wherein the density of the point cloud data of the target object varies for different detection distances; Detection results of Vulnerable Road User Units (VRUs); Motion state estimation results for the nearest CIPV vehicle on the path; Synthetic Aperture Radar (SAR) imaging results of static targets.

18. The method according to claim 16 or 17, characterized in that, The radar signals of at least two waveforms include at least two frequency modulated continuous wave (FMCW) signals, wherein the at least two FMCW signals correspond to different detection indicators of the radar detection device, and the detection indicators include at least one of the following: detection range, measurement accuracy, and resolution.

19. The method according to claim 18, characterized in that, For different groups of waveform parameters corresponding to different FMCW signals, at least one of the following parameters has a different value: Duty cycle, frame period, transmission duration, sweep bandwidth, transmit power, frequency modulation mode, pulse repetition interval (PRI), chirp signal period, number of chirp signals, sampling rate, number of sampling points, and linear frequency modulation slope.

20. The method according to claim 19, characterized in that, The at least two FMCW signals include a first signal and a second signal. The at least two sets of waveform parameters include a first waveform parameter corresponding to the first signal and a second waveform parameter corresponding to the second signal. The first waveform parameter includes a first duty cycle, and the second waveform parameter includes a second duty cycle. The first duty cycle is greater than the second duty cycle.

21. The method according to claim 20, characterized in that, The first duty cycle belongs to the first interval, the second duty cycle belongs to the second interval, and the lower limit of the first interval is greater than the upper limit of the second interval.

22. The method according to claim 20 or 21, characterized in that, The first waveform parameter further includes a first transmission duration, and the second waveform parameter further includes a second transmission duration, wherein the first transmission duration is longer than the second transmission duration.

23. The method according to any one of claims 20-22, characterized in that, The first waveform parameter further includes a first sweep bandwidth, and the second waveform parameter further includes a second sweep bandwidth, wherein the first sweep bandwidth is greater than the second sweep bandwidth.

24. The method according to any one of claims 20-23, characterized in that, The first waveform parameter further includes a first PRI, and the second waveform parameter further includes a second PRI, wherein, When both the first signal and the second signal are FMCW linear frequency modulation signals, the first PRI and the second PRI are linear; When at least one of the first signal or the second signal is an SF-FMCW signal, the first PRI and the second PRI are nonlinear.

25. The method according to any one of claims 20-24, characterized in that, The first mode is: Within a single frame period, the radar detection device is controlled to interleave the first signal and the second signal.

26. A control device, characterized in that, include: The determining unit is used to determine at least two sets of waveform parameters based on the first information, wherein each set of waveform parameters is associated with a radar waveform, and at least one parameter in different sets of waveform parameters has a different value. The control unit is configured to control the radar detection device to send radar signals of at least two waveforms in a first mode according to the at least two sets of waveform parameters, wherein the radar signals of at least two waveforms and the corresponding echo signals are used to obtain detection results.

27. A target detection system, characterized in that, Includes radar detection and processing devices; The radar detection device is used to transmit radar signals of at least two waveforms in a first mode and to receive echo signals corresponding to the radar signals of at least two waveforms. The processing device is used to obtain target detection results based on the radar signals of the at least two waveforms and the corresponding echo signals.

28. A detection device, characterized in that, It includes at least one processor and an interface circuit, the interface circuit being used to provide data or code instructions to the at least one processor, the at least one processor being used to implement the method as described in any one of claims 1-15 through logic circuits or executing code instructions.

29. A computer-readable storage medium, characterized in that, The computer-readable medium stores program code that, when executed on a computer, causes the computer to perform the method as described in any one of claims 1-15, or the method as described in any one of claims 16-25.

30. A computer program product, characterized in that, When the computer program product is run on a computer, it causes the computer to perform the method as described in any one of claims 1-15, or to perform the method as described in any one of claims 16-25.

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