Detection method, data processing method and related apparatus

Abstract

A detection method, a data processing method and a related apparatus, which are applied to the technical field of radars. The method comprises: a detection apparatus obtaining, on the basis of detected first sensing data, first channel data satisfying a first condition, and sending the first channel data to a data processing apparatus, wherein the data amount of the first channel data is less than a channel data amount corresponding to the first sensing data. The data processing apparatus obtains target point cloud data on the basis of the first channel data. In the method, joint angle measurement is performed on the basis of the first channel data that is sent by each detection apparatus and satisfies the first condition, so as to obtain high-resolution target point cloud data, such that a radar detection capability in an angular dimension can be improved, the risk of missed detection of a target can be reduced, and the detection precision can be improved.

Description

Detection methods, data processing methods and related devices Technical Field

[0001] This application relates to the field of radar technology, and in particular to a detection method, a data processing method, and related devices. Background Technology

[0002] With the development of information technology and computer vision, detection technology has advanced rapidly, and various detection devices have brought great convenience to people's lives and travel. Detection devices can be seen as the "eyes" of the environment, including visual sensors such as cameras and radar sensors such as millimeter-wave radar, lidar, and ultrasonic radar. Among them, millimeter-wave radar (radio detection and ranging, or simply radar) operates in the millimeter-wave band. Millimeter-wave radar measures the distance, speed, and azimuth (angle) of a target by emitting electromagnetic wave signals and listening to the reflected signals from the target in the environment. Compared with optical frequency bands such as infrared and laser, millimeter waves have a strong ability to penetrate rain, snow, fog, smoke, and dust, and are suitable for all weather and all-weather conditions. In short, millimeter-wave radar has the advantages of high resolution, good detection performance, and strong concealment, playing an important role in the process of equipment sensing the environment, especially in the field of intelligent driving, where it has been widely applied, contributing to the further development of intelligent driving technology.

[0003] Current radars typically use 3 (or 4) transmitting antennas and 4 receiving antennas (3T4R or 4TR) to form a small array of 12 (or 16) elements, which can be used for target detection.

[0004] However, current radar systems have limited detection capabilities, posing a risk of missed target detection and resulting in low detection accuracy. Summary of the Invention

[0005] This application provides a detection method, a data processing method, and related apparatus, which can improve the radar detection capability in the angular dimension, reduce the risk of missed target detection, and improve detection accuracy.

[0006] In a first aspect, embodiments of this application provide a detection method, which includes:

[0007] Based on the first sensing data obtained from the detection, first channel data that meets the first condition is obtained and reported. The amount of data in this first channel data is less than the amount of channel data corresponding to the first sensing data.

[0008] This application provides a detection method applied to a detection device, such as a radar or radar system. The radar or radar system sends first channel data that meets a first condition to a data processing device. This allows the data processing device to perform joint angle measurement based on the first channel data from each radar that meets the first condition, obtaining high-resolution target point cloud data. Compared to the current method of obtaining low-resolution point cloud data through individual angle measurement by a single radar, this application embodiment can improve the radar detection capability in the angular dimension, reduce the risk of missed target detection, and improve detection accuracy. Furthermore, it can transfer some of the data processing computing power from the radar to the data processing device, reducing the data processing performance requirements of the radar.

[0009] Optionally, compared with the current method of a single radar sending the detected sensing data to a data processing device, the data volume of the first channel data reported in this embodiment is less than the channel data volume corresponding to the first sensing data, which can also reduce the amount of data transmitted by the radar to the data processing device and save transmission resource overhead.

[0010] In one possible implementation, the first condition includes: the echo energy corresponding to the first detection point in the first channel data is greater than a first threshold, and the first detection point is located within the region of interest (ROI) of the radar. The first channel data includes the channel data of the transmitting antenna and the receiving antenna of the radar corresponding to the first detection point.

[0011] In this embodiment, the first threshold can be understood as the radar's detection threshold, which can be adjusted according to different scenarios. The ROI can be the region of interest in the radar's range and velocity (RV) dimensions, or it can be understood as the region of interest in the radar's range-Doppler map, which can be adjusted according to different scenarios. Assuming the radar has M transmitting antennas and N receiving antennas (M and N are both integers greater than 0), the channel data of the transmitting and receiving antennas of the radar corresponding to the first detection point can be understood as the data of M×N virtual channels of the radar corresponding to the first detection point. Obtaining the first channel data that satisfies the above first condition through this embodiment can result in higher resolution target point cloud data, thereby improving detection accuracy.

[0012] In one possible implementation, the first channel data further includes first indication information, which is used to indicate the distance and speed information corresponding to the first detection point.

[0013] In this embodiment, the first indication information can be understood as the distance and velocity index information corresponding to the first detection point, or it can be understood as other forms of information used to indicate the distance and velocity information corresponding to the first detection point. Through this first indication information, the distance and velocity information corresponding to the first detection point can be determined, thereby determining the position of the first detection point in the range-Doppler map (RD MAP), thus improving the resolution of the obtained target point cloud data and increasing detection accuracy.

[0014] In one possible implementation, the first channel data may also include channel data of the transmitting and receiving antennas of the radar corresponding to the second detection point, which includes detection points located around the first detection point.

[0015] In this embodiment, angle measurement is aided by channel data from the transmitting and receiving antennas of radars corresponding to the detection points around the first detection point, which can improve the resolution of the obtained target point cloud data and increase detection accuracy. Optionally, the detection points around the first detection point can be understood as the detection points surrounding the first detection point on the RD-MAP.

[0016] In one possible implementation, the first channel data may further include any one or more of the following: noise information corresponding to the first detection point, distance information and velocity information corresponding to the ROI.

[0017] In this embodiment, the distance and velocity information corresponding to the ROI can be understood as the coverage area of ​​the RD MAP corresponding to the ROI, such as 10 meters to 80 meters. By using the noise information corresponding to the first detection point and / or the distance and velocity information corresponding to the ROI to assist in angle measurement, the resolution of the obtained target point cloud data can be improved, thereby increasing the detection accuracy.

[0018] In one possible implementation, the aforementioned first channel data is obtained by processing the first sensing data, at least by distance processing and speed processing.

[0019] In this embodiment, since stationary targets on the same distance circle are often not unique, and there may be other strong reflective targets such as guardrails, vegetation, and buildings around them, the probability of missed detection is relatively high. Therefore, each radar only performs at least distance processing and velocity processing on the first sensing data it detects to obtain the first channel data, which is then reported to the data processing device. The data processing device performs joint angle measurement based on the first channel data sent by each radar that meets the first condition, which can obtain high-resolution target point cloud data and improve detection accuracy.

[0020] In one possible implementation, the above detection method may also include, but is not limited to, the following steps: receiving a first control signal, which is used to indicate first channel data.

[0021] The aforementioned reporting of the first channel data can be achieved in ways including but not limited to the following: responding to the first control signal and reporting the first channel data.

[0022] In this embodiment, the data processing device can also send a first control signal to the radar to control the radar to report first channel data. Correspondingly, the radar can respond to the first control signal, process the first sensing data, obtain and report the first channel data, enabling the data processing device to perform joint angle measurement based on the first channel data sent by each radar that meets the first condition, thereby obtaining high-resolution target point cloud data to improve detection accuracy. Optionally, the first control signal can be understood as a trigger switch. After receiving the first control signal, the radar triggers the reporting of the first channel data. The specific content of the reported first channel data is determined by the radar itself or based on pre-configuration. Optionally, the first control signal can also be understood as an instruction for the first channel data, used to inform the radar of the information to be reported and / or how to report the corresponding information. This embodiment does not limit this.

[0023] In one possible implementation, the above detection method may further include, but is not limited to, the following steps: obtaining first point cloud data based on first sensing data, and sending the first point cloud data. The first point cloud data is obtained by processing the first sensing data for at least distance, velocity, and angle.

[0024] In this embodiment, since moving targets on the same distance circle are often unique and the probability of missed detection is low, each radar can perform at least distance processing, velocity processing and angle processing on the first sensing data obtained by detection to obtain the first point cloud data, thereby realizing the detection of moving targets.

[0025] In one possible implementation, the above-mentioned reporting of the first channel data can be achieved in ways including but not limited to the following: reporting the first channel data via an Ethernet cable.

[0026] In this embodiment, the radar and the data processing device can be connected via an Ethernet cable to achieve high-speed data transmission between them. Furthermore, reporting the first channel data via an Ethernet cable can reduce the amount of data transmitted from the radar to the data processing device, saving transmission resource overhead. Optionally, the radar and the data processing device can also be connected via other high-speed transmission cables besides Ethernet cables, and the first channel data can be reported via other high-speed transmission cables. This application embodiment does not impose any limitations on this.

[0027] Secondly, embodiments of this application provide a data processing method, which includes:

[0028] The system receives first-channel data from a first radar that meets a first condition, and obtains target point cloud data based on the first-channel data. The amount of data in the first-channel data is less than the amount of data detected by the first radar.

[0029] This application provides a data processing method applied to a data processing device, such as a device equipped with a processor / chip capable of executing computer instructions. The data processing device receives first-channel data from a first radar that meets a first condition, and performs joint angle measurement based on the first-channel data to obtain high-resolution target point cloud data. Compared to the current method of obtaining low-resolution point cloud data through individual angle measurement by a single radar, this application embodiment can improve the radar's angular dimension detection capability, reduce the risk of missed target detection, and improve detection accuracy. Furthermore, it can transfer some of the data processing computational power from the radar to the data processing device, reducing the performance requirements for radar data processing.

[0030] Optionally, compared with the current method of a single radar sending the detected sensing data to a data processing device, the amount of data received by the first channel in this embodiment is less than the amount of data detected by the first radar, which can also reduce the amount of data transmitted by the radar to the data processing device and save transmission resource overhead.

[0031] In one possible implementation, the first condition includes: the echo energy corresponding to the first detection point in the first channel data is greater than a first threshold, and the first detection point is located within the region of interest (ROI) of the first radar. The first channel data includes channel data of the transmitting antenna and receiving antenna of the first radar corresponding to the first detection point.

[0032] In this embodiment, the first threshold can be understood as the radar's detection threshold, which can be adjusted according to different scenarios. The ROI can be understood as the region of interest in the range and velocity dimensions (RV) of the radar, or as the region of interest in the radar's range-Doppler map, which can be adjusted according to different scenarios. Assuming the first radar has M transmitting antennas and N receiving antennas (M and N are both integers greater than 0), the channel data of the transmitting and receiving antennas of the first radar corresponding to the first detection point can be understood as the data of M×N virtual channels of the first radar corresponding to the first detection point. By obtaining the first channel data that satisfies the above first condition through this embodiment, and performing joint angle measurement based on the first channel data, the resolution of the obtained target point cloud data can be higher, thereby improving detection accuracy.

[0033] In one possible implementation, the first channel data further includes first indication information, which is used to indicate the distance and speed information corresponding to the first detection point.

[0034] In this embodiment, the first indication information can be understood as the distance and velocity index information corresponding to the first detection point, or it can be understood as other forms of information used to indicate the distance and velocity information corresponding to the first detection point. Through this first indication information, the distance and velocity information corresponding to the first detection point can be determined, thereby determining the position of the first detection point in the RD MAP, thus improving the resolution of the obtained target point cloud data and increasing detection accuracy.

[0035] In one possible implementation, the first channel data may also include channel data of the transmitting and receiving antennas of the first radar corresponding to the second detection point, wherein the second detection point includes detection points located around the first detection point.

[0036] In this embodiment, angle measurement is aided by channel data from the transmitting and receiving antennas of the first radar corresponding to the detection points around the first detection point, which can improve the resolution of the obtained target point cloud data and increase detection accuracy. Optionally, the detection points around the first detection point can be understood as the detection points surrounding the first detection point on the RD-MAP.

[0037] In one possible implementation, the first channel data may further include any one or more of the following: noise information corresponding to the first detection point, distance information and velocity information corresponding to the ROI.

[0038] In this embodiment, the distance and velocity information corresponding to the ROI can be understood as the coverage area of ​​the RD MAP corresponding to the ROI, such as 10 meters to 80 meters. By using the noise information corresponding to the first detection point and / or the distance and velocity information corresponding to the ROI to assist in angle measurement, the resolution of the obtained target point cloud data can be improved, thereby increasing the detection accuracy.

[0039] In one possible implementation, the aforementioned first channel data is obtained by processing the first sensing data detected by the first radar, at least after distance processing and velocity processing.

[0040] In this embodiment, since stationary targets on the same distance circle are often not unique, and there may be other strong reflective targets such as guardrails, vegetation, and buildings around them, the probability of missed detection is relatively high. Therefore, each radar only performs at least distance processing and velocity processing on the first sensing data it detects to obtain the first channel data, which is then reported to the data processing device. The data processing device performs joint angle measurement based on the first channel data sent by each radar that meets the first condition, which can obtain high-resolution target point cloud data and improve detection accuracy.

[0041] In one possible implementation, the target point cloud data is obtained by processing the first channel data at least by angle.

[0042] In this embodiment, the data processing device performs joint angle measurement based on the first channel data sent by each radar that meets the first condition, which can obtain high-resolution target point cloud data and improve detection accuracy.

[0043] In one possible implementation, the above data processing method may also include, but is not limited to, the following steps:

[0044] A first control signal is sent to the first radar, which is used to indicate the data of the first channel.

[0045] In this embodiment, the data processing device can also send a first control signal to the first radar to control the radar to report first channel data. Correspondingly, the first radar can respond to the first control signal by processing the first sensing data to obtain and report the first channel data. This allows the data processing device to perform joint angle measurement based on the first channel data sent by each radar that meets the first condition, obtaining high-resolution target point cloud data to improve detection accuracy. Optionally, the first control signal can be understood as a trigger switch. After receiving the first control signal, the first radar triggers the reporting of first channel data. The specific content of the reported first channel data is determined by the first radar itself or based on pre-configuration. Optionally, the first control signal can also be understood as an instruction for first channel data, used to inform the first radar of the information to be reported and / or how to report the corresponding information. This embodiment does not limit this.

[0046] In one possible implementation, the above data processing method may also include, but is not limited to, the following steps:

[0047] The system receives first point cloud data from a first radar and performs fusion processing on the target point cloud data and the first point cloud data. The first point cloud data is obtained by processing the first sensing data detected by the first radar after at least range processing, velocity processing, and angle processing.

[0048] In this embodiment, since moving targets on the same distance ring are often unique, the probability of missed detection is low. Therefore, each radar can process the first sensing data it detects by at least distance, velocity, and angle to obtain first point cloud data, thereby achieving the detection of moving targets. Furthermore, the data processing device receives the first point cloud data from the first radar and performs fusion processing on the target point cloud data and the first point cloud data, which can further improve the confidence level of the point cloud and enhance detection accuracy.

[0049] In one possible implementation, the above-mentioned receiving of first channel data satisfying the first condition from the first radar can be specifically achieved by means including but not limited to the following: receiving first channel data satisfying the first condition from the first radar via an Ethernet cable.

[0050] In this embodiment, the first radar and the data processing device can be connected via an Ethernet cable to achieve high-speed data transmission between them. Furthermore, receiving the first channel data via an Ethernet cable reduces the amount of data transmitted from the first radar to the data processing device, saving transmission resource overhead. Optionally, the first radar and the data processing device can also be connected via other high-speed transmission cables besides Ethernet cables, and the first channel data can be transmitted via these other high-speed transmission cables. This application embodiment does not impose any limitations on this.

[0051] In one possible implementation, the above data processing method further includes, but is not limited to, the following step: receiving second channel data from a second radar that satisfies a second condition. The amount of data in the second channel data is less than the amount of data detected by the second radar.

[0052] In this embodiment, the second condition is similar to the first condition described above, and the second channel data is similar to the first channel data described above, so it will not be repeated here. Through the embodiments of this application, joint angle measurement can be performed based on multiple channel data reported by multiple radars, improving the radar detection capability in the angular dimension, reducing the risk of missed target detection, and improving detection accuracy.

[0053] Thirdly, embodiments of this application provide a detection device that includes units for performing the method as described in any of the first aspects.

[0054] In one possible design, the device includes:

[0055] The processing unit is used to obtain first channel data that meets the first condition based on the first sensing data obtained by detection.

[0056] The communication unit is used to report the first channel data, the amount of which is less than the amount of channel data corresponding to the first sensing data.

[0057] Regarding the processing unit and communication unit described in the third aspect and any possible implementation, the steps performed thereon can be referred to the corresponding implementations in the first aspect.

[0058] For the technical effects of the third aspect and any possible implementation, please refer to the description of the technical effects corresponding to the first aspect and the corresponding implementation.

[0059] Optionally, in the detection device described in the third aspect above and any possible implementation:

[0060] In one implementation, the detection device is a detection apparatus. When the detection device is a detection apparatus, the communication unit can be a transceiver or an input / output interface; the processing unit can be at least one processor. Optionally, the transceiver can be a transceiver circuit. Optionally, the input / output interface can be an input / output circuit.

[0061] In another implementation, the detection device is used to detect a chip (system) or circuit in a device. When the detection device is used to detect a chip (system) or circuit in a device, the communication unit can be a communication interface (input / output interface), interface circuit, output circuit, input circuit, pin, or related circuit on the chip (system) or circuit; the processing unit can be at least one processor, processing circuit, or logic circuit.

[0062] Fourthly, embodiments of this application provide a data processing apparatus, which includes units for performing the method as described in any of the second aspects.

[0063] In one possible design, the device includes:

[0064] The communication unit is used to receive first channel data from the first radar that meets a first condition, wherein the amount of the first channel data is less than the amount of the detection data from the first radar.

[0065] The processing unit is used to obtain target point cloud data based on the data from the first channel.

[0066] Regarding the processing unit and communication unit described in the fourth aspect and any possible implementation, the steps performed thereon can be referred to the corresponding implementation in the second aspect.

[0067] Regarding the technical effects of the fourth aspect and any possible implementation, refer to the description of the technical effects corresponding to the second aspect and the corresponding implementation.

[0068] Optionally, in the data processing apparatus described in the fourth aspect above and any possible implementation:

[0069] In one implementation, the data processing apparatus is a data processing device. When the data processing apparatus is a data processing device, the communication unit can be a transceiver or an input / output interface; the processing unit can be at least one processor. Optionally, the transceiver can be a transceiver circuit. Optionally, the input / output interface can be an input / output circuit.

[0070] In another implementation, the data processing device is a chip (system) or circuit used in a data processing device. When the data processing device is a chip (system) or circuit used in a data processing device, the communication unit can be a communication interface (input / output interface), interface circuit, output circuit, input circuit, pin, or related circuit on the chip (system) or circuit; the processing unit can be at least one processor, processing circuit, or logic circuit.

[0071] Fifthly, embodiments of this application provide a detection device including a processor. The processor is coupled to a memory and can be used to execute instructions in the memory to implement the methods described in the first aspect and any of the possible implementations. Optionally, the detection device further includes a memory. Optionally, the detection device further includes a communication interface, and the processor is coupled to the communication interface.

[0072] Sixthly, embodiments of this application provide a data processing apparatus including a processor. The processor is coupled to a memory and can be used to execute instructions in the memory to implement the methods described in the second aspect and any of the possible implementations. Optionally, the data processing apparatus further includes a memory. Optionally, the data processing apparatus further includes a communication interface, and the processor is coupled to the communication interface.

[0073] In a seventh aspect, embodiments of this application provide a chip, including: logic circuitry and a communication interface. The communication interface is used to receive or transmit information; the logic circuitry is used to receive or transmit information through the communication interface, causing the chip to execute the methods of any one of the first to second aspects and any possible implementations described above.

[0074] Eighthly, embodiments of this application provide a computer-readable storage medium for storing a computer program (also referred to as code or instructions); when the computer program is run on a computer, the methods of any of the first to second aspects and any of the possible implementations described above are implemented.

[0075] Ninthly, embodiments of this application provide a computer program product, the computer program product comprising: a computer program (also referred to as code or instructions); and, when the computer program is run, causing a computer to perform the method of any one of the first to second aspects and any possible implementation thereof.

[0076] In a tenth aspect, embodiments of this application provide a data processing system, the data processing system comprising: a data processing device and at least one radar; wherein the at least one radar is configured to perform the methods described in the first aspect and any possible implementation thereof, and the data processing device is configured to perform the methods described in the second aspect and any possible implementation thereof.

[0077] In one possible implementation, the data processing device and the at least one radar are connected via a cable. Optionally, the connection can be via an Ethernet cable or other high-speed transmission cable; this application embodiment does not limit this.

[0078] In one possible implementation, the data processing system is applied to the first vehicle, and at least one radar includes a first radar and a second radar.

[0079] The horizontal mounting angle corresponding to the front of the first vehicle is 0°, the horizontal mounting angle range of the first radar on the first vehicle is (0°, 40°), and the horizontal mounting angle range of the second radar on the first vehicle is (-40°, 0°).

[0080] In one possible implementation, the data processing system is applied to a first vehicle, and at least one radar includes a first radar, a second radar, and a third radar.

[0081] The horizontal mounting angle corresponding to the front of the first vehicle is 0°, the horizontal mounting angle range of the third radar on the first vehicle is (-5°, 5°), the horizontal mounting angle range of the first radar on the first vehicle is (20°, 40°), and the horizontal mounting angle range of the second radar on the first vehicle is (-40°, -20°).

[0082] In one possible implementation, the data processing system has two radars mounted at different vertical heights on the first vehicle.

[0083] In the eleventh aspect, embodiments of this application provide a terminal, which includes at least one detection device as described in the third aspect, or a data processing device as described in the fourth aspect, or a detection device as described in the fifth aspect, or a data processing device as described in the sixth aspect, or a data processing system as described in the tenth aspect.

[0084] Optionally, the terminal can be a means of transportation, such as a car, truck, aircraft, drone, slow transport vehicle, spacecraft, or ship, or any other possible means of transportation used in any possible scenario. This application embodiment does not limit this.

[0085] Optionally, the terminal is used to implement the method described in any of the first to second aspects and any possible implementation.

[0086] Furthermore, in the process of performing the methods described in any of the first to second aspects and any possible embodiments described above, the processes related to sending and / or receiving information in the above methods can be understood as the process of the processor outputting information, and / or the process of the processor receiving input information. When outputting information, the processor can output the information to a transceiver (or communication interface, or transmitting module) so that the transceiver can transmit it. After the information is output by the processor, it may need to undergo other processing before reaching the transceiver. Similarly, when the processor receives input information, the transceiver (or communication interface, or transmitting module) receives the information and inputs it to the processor. Furthermore, after the transceiver receives the information, the information may need to undergo other processing before being input to the processor.

[0087] Based on the above principles, for example, the information sent mentioned in the aforementioned method can be understood as information output by the processor. Similarly, the information received can be understood as information received by the processor from input.

[0088] Optionally, unless otherwise specified, or unless they contradict their actual function or internal logic in the relevant description, the operations of the processor, such as transmitting, sending, and receiving, can be more generally understood as processor output and receiving, input, and other operations.

[0089] Optionally, in performing the methods described in the first aspect and any possible implementation above, the processor may be a processor specifically designed to perform these methods, or it may be a processor that performs these methods by executing computer instructions stored in memory, such as a general-purpose processor. The memory may be a non-transitory memory, such as read-only memory (ROM), which may be integrated with the processor on the same chip or disposed on different chips. This application does not limit the type of memory or the arrangement of the memory and processor.

[0090] In one possible implementation, at least one of the aforementioned memories is located outside the device.

[0091] In yet another possible implementation, at least one of the aforementioned memories is located within the device.

[0092] In another possible implementation, a portion of the memory of the at least one memory is located inside the device, while another portion is located outside the device.

[0093] In this application, the processor and memory may also be integrated into a single device, that is, the processor and memory can be integrated together. Attached Figure Description

[0094] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0095] Figure 1A is a schematic diagram of a radar distribution provided in an embodiment of this application;

[0096] Figure 1B is a schematic diagram of range dimension data, velocity dimension data, and RV data of a radar provided in an embodiment of this application;

[0097] Figure 2 is a schematic diagram of a detection scenario provided in an embodiment of this application;

[0098] Figure 3 is a schematic diagram of the architecture of a data processing system provided in an embodiment of this application;

[0099] Figure 4 is a flowchart illustrating a detection method provided in an embodiment of this application;

[0100] Figure 5 is a schematic diagram of an RD MAP provided in an embodiment of this application;

[0101] Figure 6 is a flowchart illustrating a data processing method provided in an embodiment of this application;

[0102] Figure 7 is a schematic diagram illustrating the effect of data processing according to an embodiment of this application;

[0103] Figure 8 is a schematic diagram of a detection device provided in an embodiment of this application;

[0104] Figure 9 is a schematic diagram of the structure of a data processing device provided in an embodiment of this application;

[0105] Figure 10 is a schematic diagram of the structure of an electronic device provided in an embodiment of this application;

[0106] Figure 11 is a schematic diagram of the structure of a chip provided in an embodiment of this application;

[0107] Figure 12 is a schematic diagram of a radar installation provided in an embodiment of this application;

[0108] Figures 13A and 13B are schematic diagrams of a radar installation provided in an embodiment of this application;

[0109] Figure 14 is a schematic diagram of a radar installation provided in an embodiment of this application;

[0110] Figures 15A to 15C are schematic diagrams of a radar installation provided in an embodiment of this application;

[0111] Figure 16 is a schematic diagram showing the effect of a radar installation according to an embodiment of this application. Detailed Implementation

[0112] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described below with reference to the accompanying drawings.

[0113] The terms "first" and "second," etc., used in the specification, claims, and drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0114] The term "embodiment" as used herein means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that, unless otherwise specified or logically conflicting, the terminology and / or descriptions between the various embodiments of this application are consistent and can be mutually referenced, and technical features in different embodiments can be combined to form new embodiments based on their inherent logical relationships.

[0115] It should be understood that in this application, "at least one (item)" means one or more, "more than one" means two or more, "at least two (items)" means two or three or more, and "and / or" is used to describe the relationship between related objects, indicating that there can be three relationships. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the related objects before and after are in an "or" relationship. "At least one (item) 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 (item) of a, b, or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0116] It should be noted that, in this application, "instruction" can include direct instruction, indirect instruction, explicit instruction, and implicit instruction. When describing a certain instruction information for the purpose of instructing A, it can be understood that the instruction information carries A, directly instructs A, or indirectly instructs A.

[0117] In this application, the information indicated by the instruction information is called the information to be instructed. In specific implementations, there are many ways to indicate the information to be instructed, such as, but not limited to, directly indicating the information to be instructed, such as the information to be instructed itself or its index. It can also indirectly indicate the information to be instructed by indicating other information, where there is a correlation between the other information and the information to be instructed. It can also indicate only a part of the information to be instructed, while the other parts are known or pre-agreed upon. For example, the instruction of specific information can be achieved by using a pre-agreed (e.g., protocol-defined) arrangement of various information, thereby reducing instruction overhead to some extent. The information to be instructed can be sent as a whole or divided into multiple sub-information units, and the sending period and / or timing of these sub-information units can be the same or different. This application does not limit the specific sending method. The sending period and / or timing of these sub-information units can be predefined, for example, according to a protocol, or configured by the transmitting device by sending configuration information to the receiving device.

[0118] It should be noted that in this application, "send" can be understood as "output" and "receive" can be understood as "input". "Send information to A", where "to A" simply indicates the direction of information transmission, and A is the destination, does not limit "send information to A" to a direct transmission over the air interface. "Send information to A" includes sending information directly to A, as well as sending information indirectly to A through a transmitter. Therefore, "send information to A" can also be understood as "outputting information destined for A". Similarly, "receive information from A" indicates that the source of the information is A, including receiving information directly from A, as well as receiving information indirectly from A through a receiver. Therefore, "receive information from A" can also be understood as "inputting information from A".

[0119] This application provides a detection method, a data processing method, and related apparatus, applicable to the field of radar technology, such as millimeter-wave radar, frequency-modulated continuous wave (FMCW) radar, and other phased array radars for detection and data processing. To better understand the technical solution of this application, the relevant terms and concepts that may be involved in the embodiments of this application are introduced below.

[0120] Radar is a transliteration of the English word Radar, which is an abbreviation of "radio detection and ranging". It uses radio methods to detect targets and determine their spatial position.

[0121] Radar uses electromagnetic waves as its detection medium. It detects targets by transmitting and receiving electromagnetic waves, for example, by measuring distance, velocity, or azimuth. Radar can measure the distance to a target based on the time-of-flight of electromagnetic waves, which is the time difference between transmitting and receiving the electromagnetic wave. Radar transmits electromagnetic wave signals and receives the echo signals. The distance to the target can be measured based on the time difference between the received echo signal and the transmitted electromagnetic wave signal, and the propagation speed of the electromagnetic wave. The distance between the radar and the target can be determined using the following formula: s = c * t / 2, where s is the distance to the target, t is the time of flight (the time from when the electromagnetic wave signal is transmitted to when the echo signal is received), and c is the speed of light. Radar measures the velocity of a target based on the Doppler effect. The Doppler effect works as follows: when a vibration source such as sound, light, or radio waves moves relative to an observer at a relative velocity, the frequency of the vibration received by the observer differs from the frequency emitted by the vibration source. When there is relative movement between the electromagnetic waves emitted by the radar and the target being detected, the frequency of the echo signal will differ from the frequency of the emitted electromagnetic wave signal. When the target moves closer to the radar antenna, the frequency of the echo signal will be higher than the frequency of the emitted electromagnetic wave signal; conversely, when the target moves away from the radar antenna, the frequency of the echo signal will be lower than the frequency of the emitted electromagnetic wave signal. This frequency change caused by the Doppler effect is called the Doppler shift, which is directly proportional to the relative velocity and inversely proportional to the vibration frequency. Therefore, by detecting the frequency difference between the emitted electromagnetic wave signal and the echo signal, the target's speed relative to the radar, i.e., the relative speed between the target and the radar, can be measured. Radar can measure azimuth using methods such as amplitude method and phase method. Amplitude method uses the amplitude value of the echo signal received by the antenna to measure the angle. The variation of this amplitude value depends on the antenna pattern and the antenna scanning method. Phase method uses the phase difference between the echo signals received by multiple antenna elements to measure the angle. For example, if the radar receives the echo signal reflected from the same target through the antenna array, the azimuth of the target can be calculated based on the phase difference of the echo signals.

[0122] Millimeter-wave radar uses electromagnetic waves within a specific wavelength range, such as microwaves. Currently, millimeter waves and centimeter waves (e.g., 24 GHz band centimeter waves) are commonly used. Millimeter waves have wavelengths of 1–10 millimeters (mm), while the wavelength of 24 GHz band electromagnetic waves is slightly longer than 10 mm. Because the wavelength of the detection medium in millimeter-wave radar lies in the overlapping range of microwaves and far-infrared waves, it possesses characteristics of both spectra. According to wave propagation theory, higher frequency results in shorter wavelengths, higher resolution, and stronger penetration, but also greater propagation losses and shorter transmission distances. Conversely, lower frequency results in longer wavelengths, stronger diffraction capabilities, and longer transmission distances. Therefore, compared to microwaves, millimeter-wave radar offers higher resolution, better directivity, stronger anti-interference capabilities, and better detection performance. Compared to infrared, millimeter-wave radar has less atmospheric attenuation, better penetration through smoke and dust, and is less affected by weather conditions. Therefore, millimeter-wave radar has been increasingly widely used in various fields such as intelligent vehicles, drones, intelligent transportation, and industrial automation.

[0123] Radars can be categorized into long-range radar (LRR), mid-range radar (MRR), and short-range radar (SRR) based on their detection range. LRRs have high requirements for detection range but relatively lower requirements for angular width. SRRs have relatively lower requirements for detection range but higher requirements for angular width. MRRs can be understood as having requirements between LRR and SRR in terms of both detection range and angular width. For example, LRRs can have a detection range of over 200 meters and an angular width of ±15°; MRRs can have a detection range of up to 100 meters and an angular width of ±45°; and SRRs can have a detection range of up to 60 meters and an angular width of ±80°. In practice, different types of radars can be installed at different locations on the vehicle body, depending on the functional requirements of autonomous driving and the usage of other sensors. The number and type of radars can be selected as needed.

[0124] Please refer to Figure 1A. Figure 1A shows the possible installation locations for several types of radars. These are only examples; in actual use, more or fewer radars can be selected, and the types can also be adjusted. As shown in Figure 1A, the LRR can be installed at the front of the vehicle as a forward-facing radar; the MRR can be installed at the front or rear of the vehicle as a forward-facing radar or a rear-facing radar; the SRR can be installed on the side of the vehicle or at the four corners of the vehicle as a side radar or a corner radar. Furthermore, the MRR can also be installed on the side of the vehicle or at the four corners of the vehicle, and the SRR can also be installed at the front or rear of the vehicle.

[0125] Radars can be classified according to their electromagnetic wave modulation (or radiation) methods. Radar modulation methods include pulse modulation and continuous wave modulation, thus radars can be divided into pulse radars and continuous wave radars. Continuous wave modulation can be further divided into frequency shift keying (FSK), phase shift keying (PSK), continuous wave (CW), frequency modulated continuous wave (FMCW), multiple frequency shift keying (MFSK), and phase modulated continuous wave (PMCW). FMCW has become the mainstream radar modulation method due to its ability to detect multiple targets, high resolution, and low cost.

[0126] A channel refers to an independent path for signal transmission and processing, such as the path for a detection device to transmit (T) a signal, receive (R) a signal, or a path that includes both transmission and reception. The number of channels is related to the number of transmitting and receiving units in the detection device. Taking radar as an example, if one transmitting antenna and one receiving antenna are set, the number of channels is 1. In some schemes, virtual channels can be formed by using multiple-input multiple-output (MIMO) technology, thereby increasing the number of channels of the detection device. For example, a 3T4R radar can form 12 channels.

[0127] Sensing data refers to information about surrounding targets that radar obtains by emitting electromagnetic waves and receiving reflected waves.

[0128] The region of interest (ROI) refers to the specific area that a radar focuses on and processes. The ROI can vary depending on the scenario. In this application, the ROI can be understood as the region of interest in the radar's range and velocity (RV) dimensions, or as the region of interest in the radar's range-Doppler image; the specific meaning can be adjusted according to different scenarios.

[0129] A range-Doppler map (RD MAP) is generated by a radar transmitting a linear frequency modulated (LFM) signal and receiving the echo signal reflected back from the target. The range information of the target is obtained by processing the echo signal using pulse compression technology. Simultaneously, Doppler information is extracted based on the relationship between the frequency change of the echo signal and the radial velocity of the target, utilizing the Doppler effect. Finally, a two-dimensional spectral transformation is performed on the range information and the Doppler information to form a range-Doppler map, which visually displays the target's distribution along both the range and velocity dimensions.

[0130] The Fast Fourier Transform (FFT) is the process of converting a time-domain signal into a frequency-domain signal. FFT decomposes a time-varying signal (time-domain signal) into combinations of different frequency components (frequency-domain signal). The receiving end of the detection device receives signals from the object space to form a sampled signal. The signal processing module performs a single FFT (one-dimensional FFT, or 1DFFT) on the sampled signal (optionally with additional filtering and noise reduction preprocessing) to obtain range data. Performing a second FFT (two-dimensional FFT, or 2DFFT) on this sampled signal yields velocity data, or Doppler data.

[0131] In some schemes, RV data is generated by fusing distance and velocity data and combining them with channel data from multiple channels. RV data comprises three dimensions: distance, velocity, and the channel data corresponding to the detection point. In some schemes, these three dimensions can also be separated, for example, into RV spectrum data and channel data. The RV spectrum data includes the distance and velocity dimensions of the detection point, while the channel data refers to the channel data corresponding to the detection point. For ease of understanding, the three dimensions of RV data are explained below with reference to Figure 1B:

[0132] In the distance dimension, after the detection device emits a detection signal, targets at different distances will reflect and return echoes at different times. Based on the arrival time of the echoes, the entire detection range is divided into multiple distance chambers (or distance cells or distance gates). Each distance chamber records relevant information about the echoes, such as the amplitude and phase of the echoes from multiple channels, forming channel data. As shown in part (a) of Figure 1B, this is a type of distance dimension data, where the shaded area represents the distance range where echoes are suspected to exist. This distance data also records the channel data corresponding to the distance chambers where echoes exist. In RV data, the distance dimension is usually a coordinate axis, and its data points correspond to different distance chambers. The data in these detection points may contain information such as the amplitude and phase of the echoes received by multiple channels within that distance chamber.

[0133] In the velocity dimension, when a target in object space moves radially relative to the detection device, the frequency of the received echo changes due to the Doppler effect. By analyzing the frequency changes of the echo signal, the radial velocity information of the target can be obtained. The detection device performs spectral analysis on the echo signal, separating the components of different frequencies, which correspond to targets at different velocities. As shown in part (b) of Figure 1B, separating different frequency components yields multiple velocity chambers. The shaded area represents the velocity range where a target is suspected to exist. This velocity data also records the channel data corresponding to the velocity chambers where echoes are present. In RV data, the velocity (or Doppler) dimension is also a coordinate axis, and its data points correspond to different velocity chambers (or velocity units or velocity gates). The data in each velocity chamber may contain information such as the amplitude and phase of the echoes received by multiple channels within that velocity chamber.

[0134] In RV data, if a distinctive signal clearly different from the background noise appears at a certain location (i.e., the intersection of a range bin and a velocity bin), it can optionally be detected after processing with a constant false alarm rate (CFAR). This indicates that a target is likely to exist, and the location of this distinctive signal can be used to determine the target's range and velocity, thus achieving target localization. As shown in part (C) of Figure 1B, the RV data includes multiple detection points that meet the detection conditions. These detection points have corresponding range bin indices and velocity bin indices, as well as corresponding channel data. Alternatively, the channel dimension in Figure 1B can also be replaced with the antenna dimension, in which case the channel dimension data can be separated from the data received by the antenna.

[0135] Current radars typically use 3 (or 4) transmitting antennas and 4 receiving antennas (3T4R or 4TR) to form a small array of 12 (or 16) elements, which can be used for target detection.

[0136] However, current radar systems have limited detection capabilities, posing a risk of missed target detection and resulting in low detection accuracy.

[0137] For details, please refer to Figure 2, which is a schematic diagram of a detection scenario provided by an embodiment of this application.

[0138] As shown in Figure 2, vehicles B and C are traveling side by side on the road at similar speeds, with vehicle A following behind vehicles B and C and maintaining a certain following distance.

[0139] When vehicle A detects the road conditions ahead, the distance and speed of vehicles B and C are similar. It is difficult to distinguish vehicles B and C by distance estimation and angle estimation alone. At this time, it is necessary to rely on angle estimation for target identification.

[0140] However, due to the strong reflection of electromagnetic waves by vehicle C (the truck) and the low resolution of vehicle A's 4TR radar, there is a problem of inaccurate measurement of the target's lateral position, which can easily lead to misjudging vehicle B and vehicle C as the same target, resulting in the failure to detect vehicle B.

[0141] In view of this, this application provides an architecture for a data processing system and proposes a new detection method and data processing method based on this architecture. This method can be applied to the field of radar technology, such as the detection and data processing of millimeter-wave radar, FMCW radar and other phased array radars. It can improve the radar detection capability in the angular dimension, reduce the risk of missed target detection, and improve detection accuracy.

[0142] Please refer to Figure 3, which is a schematic diagram of the architecture of a data processing system provided in an embodiment of this application.

[0143] As shown in Figure 3, the architecture of this data processing system mainly includes, but is not limited to:

[0144] The data processing unit consists of K radars (radar1, radar2, ..., radarK), where K is an integer greater than 1. In specific examples, K can be equal to 3 or 6. When K equals 3, three forward-facing radars are installed on the vehicle body, primarily for forward detection, such as in scenarios involving automatic emergency braking (AEB). When K equals 6, three radars can be installed on the vehicle body, one forward and one rearward, primarily for forward and rearward detection.

[0145] In one design, K radars share a common field of view (e.g., all K radars are forward-facing radars). The data processing device may include a control module, a channel data fusion processing module, and a point cloud fusion processing module. Each module in the data processing device is connected to the K radars via high-speed transmission cables, such as via Ethernet (ETH).

[0146] Each of the K radars performs channel data processing, including but not limited to range and velocity processing, on the sensed data it detects, and then reports its filtered channel data to the data processing device. The amount of channel data reported to the data processing device is less than the amount of channel data corresponding to the sensed data detected by the radars, which reduces the amount of data transmitted from the radars to the data processing device and saves transmission resources. Correspondingly, the channel data fusion processing module in the data processing device performs joint angle processing based on the channel data reported by the K radars, which can obtain high-resolution point cloud data. Compared with the current method of obtaining low-resolution point cloud data by measuring the angles of individual radars, the embodiments of this application can improve the radar detection capability in the angular dimension, reduce the risk of missed target detection, and improve detection accuracy.

[0147] Optionally, each of the K radars performs point cloud data processing, including but not limited to distance processing, velocity processing, and angle processing, based on the detected sensing data, and reports its point cloud data to the data processing device. Correspondingly, the point cloud fusion processing module in the data processing device performs fusion processing on the point cloud data reported by the K radars and the high-resolution point cloud data obtained by joint angle processing based on the channel data reported by the K radars, resulting in high-confidence point cloud data and improved target identification capabilities.

[0148] Optionally, the aforementioned distance processing refers to the radar calculating the distance information between the target and the radar using specific techniques and algorithms (including but not limited to pulse ranging, frequency-modulated continuous wave ranging, etc.). For example, using pulse ranging, the radar emits periodic high-frequency pulse signals, which are reflected back and received by the radar when they encounter the target. The distance information between the target and the radar is calculated by measuring the time interval between the transmitted pulse and the received echo pulse. As another example, using frequency-modulated continuous wave ranging, the radar transmits a continuous wave signal whose frequency changes linearly with time. The received signal is mixed with the transmitted signal to generate a difference frequency signal, and the distance information between the target and the radar is determined by measuring the frequency of the difference frequency signal.

[0149] Optionally, the aforementioned velocity processing refers to the measurement and calculation of the target object's velocity by the radar, used to obtain the target's motion state. For example, using the Doppler effect method, when there is relative motion between the target and the radar, the frequency of the echo signal changes; this phenomenon is called the Doppler effect. By detecting the frequency difference between the echo signal and the transmitted signal and using the Doppler frequency shift formula, the target's velocity information can be calculated. As another example, using the multi-pulse accumulation method, multiple continuous pulse echoes are processed, and by analyzing the target's position changes within adjacent pulse periods and combining this with the time interval, the target's velocity information can be calculated.

[0150] Optionally, the aforementioned angle processing refers to the radar determining the azimuth and elevation angles of the target relative to itself, thereby determining the target's angular position in space. For example, a single-pulse angle measurement method can be used, utilizing the amplitude or phase information in a single pulse echo to determine the target's angle information. Another example is the phased-array radar angle measurement method, which controls the phase of the signals transmitted or received by each antenna element, enabling the radar beam to scan different directions quickly and flexibly. The target's angle information is determined based on the beam direction and the beam angle at which the target echo signal is strongest.

[0151] The control module in the data processing device can also send control signals to the K radars. These control signals are used to control the K radars to perform detection and report the aforementioned channel data. Optionally, the control signals may include, but are not limited to, transmission parameters and signal processing algorithms. The K radars can focus on detecting ROIs based on the transmission parameters. ROI can be understood as the region of interest in the range and velocity dimensions corresponding to the radar, or as the region of interest in the radar's range-Doppler map; the specific approach can be adjusted depending on the scenario. The K radars can also perform corresponding signal processing on the detected sensing data based on the signal processing algorithm to obtain and report channel data.

[0152] The data processing system architecture in this embodiment improves radar detection capabilities in the angular dimension, reduces the risk of missed target detection, and enhances detection accuracy. Furthermore, it reduces the performance requirements for data processing from the K radars. Compared to a single radar transmitting its detected sensing data to a data processing device, the architecture of the data processing system in this embodiment further reduces the amount of data transmitted from the K radars to the data processing device, saving transmission resource overhead.

[0153] Based on the architecture of the data processing system shown in Figure 3 above, this application also provides a new detection method and a data processing method, which will be described below with reference to the accompanying drawings.

[0154] Please refer to Figure 4, which is a flowchart illustrating a detection method provided in an embodiment of this application. This detection method is applied in the field of radar technology, such as the detection of millimeter-wave radar, FMCW radar, and other phased array radars. Specifically, the detection method includes, but is not limited to, the following steps:

[0155] S401: The detection device obtains first channel data that meets the first condition based on the first sensing data obtained from the detection.

[0156] S402: The detection device reports the data from the first channel.

[0157] It is understood that the detection device in the embodiments of this application can be a radar or a radar system. Exemplarily, the detection device can also be any of the radars shown in Figure 3 above, used to execute the detection method in the embodiments of this application, in order to improve the radar detection capability in the angular dimension, reduce the risk of missed target detection, and improve detection accuracy. For ease of explanation, the following description uses a radar as an example of the detection device.

[0158] Optionally, the detection device and detection method in the embodiments of this application can be applied to, but are not limited to, vehicle systems. The vehicle equipped with the vehicle system is an intelligent driving vehicle and can be replaced by a terminal device. The terminal device can be, but is not limited to, vehicles such as commercial vehicles, passenger cars, trains, industrial vehicles (such as forklifts, trailers, tractors, etc.), engineering vehicles (such as excavators, bulldozers, cranes, etc.), robots, etc. The embodiments of this application do not specifically limit this.

[0159] The amount of data in the first channel is less than the amount of data in the channel corresponding to the first sensing data.

[0160] It is understood that when a detection device sends first-channel data that meets the first condition to a data processing device, the data processing device can perform joint angle measurement based on the first-channel data that meets the first condition sent by each detection device, thereby obtaining high-resolution target point cloud data. This application does not specifically limit the method of joint angle measurement.

[0161] Compared with the current method of obtaining low-resolution point cloud data by measuring the angle of a single detection device, the embodiments of this application can improve the radar detection capability in the angular dimension, solve the missed detection problem in Figure 2 above, reduce the risk of missing target detection, and improve detection accuracy.

[0162] Furthermore, the embodiments of this application can also reduce the data processing performance requirements of the detection device.

[0163] Optionally, compared with the current method of a single detection device sending the detected sensing data to a data processing device, the amount of data of the first channel data reported in this embodiment is less than the amount of channel data corresponding to the first sensing data, which can also reduce the amount of data transmitted by the detection device to the data processing device and save transmission resource overhead.

[0164] Optionally, the reporting of the first channel data in step S401 above can be achieved in ways including but not limited to the following: reporting the first channel data via an Ethernet cable.

[0165] It is understood that the radar and the data processing device can be connected via Ethernet cable to achieve high-speed data transmission between them. Furthermore, reporting the first channel data via Ethernet cable can reduce the amount of data transmitted from the radar to the data processing device, saving transmission resource overhead. Optionally, the radar and the data processing device can also be connected via other high-speed transmission cables besides Ethernet cable, and the first channel data can be reported via other high-speed transmission cables. This application embodiment does not impose any limitations on this.

[0166] In one possible embodiment, the first condition includes: the echo energy corresponding to the first detection point in the first channel data is greater than a first threshold, and the first detection point is located within the region of interest (ROI) of the radar. The first channel data includes channel data of the transmitting antenna and receiving antenna of the radar corresponding to the first detection point.

[0167] Optionally, in the first design, the first detection point can be any detection point corresponding to the first channel data. That is, in this design, all detection points corresponding to the first channel data satisfy the first condition.

[0168] Optionally, in the second design, the first channel data corresponds not only to the detection points that meet the first condition, but also to other detection points that do not meet the first condition. This can be understood as reporting channel data for detection points whose echo energy is greater than the first threshold and are located within the radar's region of interest, as well as channel data for detection points surrounding these points, which may not meet the first condition.

[0169] It is understandable that this first threshold can be interpreted as the radar's detection threshold, which can be adjusted depending on the specific scenario.

[0170] It is understandable that ROI can be understood as the region of interest in the range and velocity dimensions (RV) of the radar, or as the region of interest in the range-Doppler map of the radar. The specific interpretation can be adjusted depending on the scenario.

[0171] For example, assuming the radar has M transmitting antennas and N receiving antennas (M and N are both integers greater than 0), the channel data of the transmitting and receiving antennas of the radar corresponding to the first detection point can be understood as the data of the M×N virtual channels of the radar corresponding to the first detection point.

[0172] The first channel data that meets the first condition described above is reported to the data processing device through the embodiments of this application. The data processing device can perform joint angle measurement based on the first channel data reported by multiple radars, so that the resolution of the target point cloud data is higher, thereby improving the detection accuracy.

[0173] Optionally, the aforementioned first channel data may also include first indication information.

[0174] The first indication information is used to indicate the distance and speed information corresponding to the first detection point.

[0175] It is understandable that the first indication information can be interpreted as the distance and speed index information corresponding to the first detection point, or as other forms of information used to indicate the distance and speed information corresponding to the first detection point.

[0176] The first indication information can be used to determine the distance and velocity information corresponding to the first detection point, and then determine the position of the first detection point in the range-Doppler map (RD MAP), thereby improving the resolution of the obtained target point cloud data and improving the detection accuracy.

[0177] Optionally, the aforementioned first channel data may also include channel data of the transmitting and receiving antennas of the radar corresponding to the second detection point.

[0178] The second detection point includes detection points located around the first detection point.

[0179] Optionally, the second detection point can satisfy the first condition mentioned above. Alternatively, the second detection point may not satisfy the first condition mentioned above; in this scenario, the data from the first channel satisfies the second design mentioned above.

[0180] It is understandable that using channel data from the transmitting and receiving antennas of radars corresponding to the detection points around the first detection point to assist in angle measurement can improve the resolution of the obtained target point cloud data and increase detection accuracy. This application does not specify a particular number of second detection points; the number will depend on specific needs or design. Optionally, the detection points around the first detection point can be understood as the detection points surrounding the first detection point on the RD-MAP.

[0181] Optionally, the aforementioned first channel data may also include any one or more of the following:

[0182] Noise information corresponding to the first detection point, distance information and velocity information corresponding to the ROI.

[0183] It is understandable that the distance and speed information corresponding to the ROI can be interpreted as the coverage range of the RD MAP corresponding to the ROI, such as 10 meters to 80 meters.

[0184] By using the noise information corresponding to the first detection point and / or the distance and velocity information corresponding to the ROI to assist in angle measurement, the resolution of the obtained target point cloud data can be improved, thus increasing the detection accuracy.

[0185] Optionally, the aforementioned first channel data is obtained by processing the first sensing data at least through distance and velocity processing.

[0186] Understandably, since stationary targets on the same distance circle are often not unique, and there may be other strong reflective targets such as guardrails, vegetation, and buildings around them, the probability of missed detection is relatively high. Therefore, each radar only performs at least distance and velocity processing on the first sensing data it detects before reporting the first channel data to the data processing device. The data processing device then performs joint angle measurement based on the first channel data sent by each radar that meets the first condition, which can obtain high-resolution target point cloud data and improve detection accuracy.

[0187] For details, please refer to Figure 5, which is a schematic diagram of an RD MAP provided in an embodiment of this application.

[0188] As shown in Figure 5, (a) in Figure 5 is the raw data obtained by radar detection (i.e. the first sensing data mentioned above). The coordinate axes represent distance, speed and the corresponding antenna (channel), respectively. The data volume is about 2MB. Assuming that all of it is transmitted to the data processing unit, a transmission bandwidth of about 800Mbps is required.

[0189] Figure 5(b) shows the first channel data obtained after the radar performs range-dimensional fast fourier transform (FFT) and velocity-dimensional FFT processing on the first sensing data detected by the radar, and then filters it according to the first condition mentioned above. The data size is about 42KB, and it requires a transmission bandwidth of about 67Mbps to transmit it to the data processing unit.

[0190] As can be seen, compared with transmitting the first sensing data to the data processing device, transmitting the first channel data to the data processing device in this embodiment of the application can reduce the amount of data transmitted to the data processing device and save transmission resource overhead.

[0191] As shown in Figure 5, the first detection point includes detection point 1 and detection point 2, and the second detection point includes detection points 1-1, 1-2, 1-3, 1-4, 1-5, 2-1, 2-2, 2-3, 2-4, and 2-5. Detection points 1-1, 1-2, 1-3, 1-4, and 1-5 are located around detection point 1, while detection points 2-1, 2-2, 2-3, 2-4, and 2-5 are located around detection point 2.

[0192] By performing joint angle measurement on the first channel data obtained from various radars according to the first condition mentioned above, the resolution of the target point cloud data can be increased, thereby improving the detection accuracy.

[0193] In one possible embodiment, the above detection method may also include, but is not limited to, the following steps:

[0194] The data processing device sends a first control signal to the detection device, and the detection device receives the first control signal accordingly. The first control signal is used to indicate data from the first channel.

[0195] Accordingly, the transmission of the first channel data in step S402 above can be implemented in ways including but not limited to the following:

[0196] In response to the first control signal, the detection device sends first channel data to the data processing device.

[0197] Understandably, the first control signal is used to control the reporting of the first channel data. Correspondingly, the radar can respond to the first control signal, process the first sensing data, obtain and report the first channel data, so that the data processing device performs joint angle measurement based on the first channel data sent by each radar that meets the first condition, and obtains high-resolution target point cloud data to improve detection accuracy.

[0198] Optionally, the first control signal can be understood as a trigger switch. After receiving the first control signal, the radar triggers the reporting of data from the first channel. The specific content of the reported data from the first channel is determined by the radar itself or based on pre-configuration. Optionally, the first control signal can also be understood as an indication of the first channel data, used to inform the radar of the information to be reported and / or how to report the corresponding information. This application embodiment does not limit this.

[0199] In one possible embodiment, the above detection method may also include, but is not limited to, the following steps:

[0200] The detection device obtains the first point cloud data based on the first sensing data and sends the first point cloud data to the data processing device.

[0201] The first point cloud data is obtained by processing the first sensing data at least through distance processing, velocity processing, and angle processing.

[0202] Understandably, since moving targets on the same distance circle are often unique and the probability of missed detection is low, each radar can process the first sensing data it detects by at least distance, velocity and angle to obtain the first point cloud data, thereby enabling the detection of moving targets.

[0203] It is understandable that, since the amount of data in the first point cloud data is smaller than that in the first sensing data and the first channel data mentioned above, it will not occupy too much transmission resources. Therefore, the transmission bandwidth of the first point cloud data is not specially considered in this embodiment of the application.

[0204] Optionally, after receiving the first point cloud data, the data processing device performs fusion processing on the first point cloud data and the aforementioned target point cloud data, which can further improve the confidence level of the point cloud and improve the detection accuracy.

[0205] Please refer to Figure 6, which is a flowchart illustrating a data processing method provided in an embodiment of this application. This data processing method is applied in the field of radar technology, such as data processing for millimeter-wave radar, FMCW radar, and other phased array radars. Specifically, the data processing method includes, but is not limited to, the following steps:

[0206] S601: The data processing device receives first channel data from the first radar that meets the first condition.

[0207] S602: The data processing device obtains target point cloud data based on the data from the first channel.

[0208] It is understood that the data processing device in the embodiments of this application may be a device equipped with a processor / chip that can execute computer execution instructions, or it may be a processor / chip that can execute computer execution instructions. Optionally, the data processing device may be an electronic device, or a processor / chip within an electronic device, or it may be the data processing device shown in FIG3 above, used to execute the data processing method in the embodiments of this application to improve the radar detection capability in the angular dimension, reduce the risk of target missed detection, and improve detection accuracy.

[0209] Optionally, the data processing device and data processing method in the embodiments of this application can be applied to, but are not limited to, vehicle systems. The vehicle equipped with the vehicle system is an intelligent driving vehicle and can be replaced by a terminal device. The terminal device can be, but is not limited to, vehicles such as commercial vehicles, passenger cars, trains, industrial vehicles (such as forklifts, trailers, tractors, etc.), engineering vehicles (such as excavators, bulldozers, cranes, etc.), robots, etc. The embodiments of this application do not specifically limit this.

[0210] The amount of data in the first channel is less than the amount of data detected by the first radar.

[0211] Understandably, the data processing device receives first channel data from the first radar that meets the first condition, and performs joint angle measurement based on the first channel data to obtain high-resolution target point cloud data.

[0212] Compared with the current method of obtaining low-resolution point cloud data by measuring the angle of a single radar, the embodiments of this application can improve the radar detection capability in the angular dimension, solve the missed detection problem in Figure 2 above, reduce the risk of missing target detection, and improve detection accuracy.

[0213] Furthermore, embodiments of this application can also transfer some of the computing power for data processing from the radar to the data processing device, thereby reducing the data processing performance requirements of the radar.

[0214] Optionally, compared with the current method of a single radar sending the detected sensing data to a data processing device, the amount of data received by the first channel in this embodiment is less than the amount of data detected by the first radar, which can also reduce the amount of data transmitted by the radar to the data processing device and save transmission resource overhead.

[0215] Optionally, receiving the first channel data that meets the first condition from the first radar in step S601 above can be achieved in ways including but not limited to: receiving the first channel data that meets the first condition from the first radar via an Ethernet cable.

[0216] It is understood that the first radar and the data processing device can be connected via an Ethernet cable to achieve high-speed data transmission between them. Furthermore, receiving the first channel data via an Ethernet cable can reduce the amount of data transmitted from the first radar to the data processing device, saving transmission resource overhead. Optionally, the first radar and the data processing device can also be connected via other high-speed transmission cables besides Ethernet cables, and the first channel data can be transmitted via other high-speed transmission cables. This application embodiment does not impose any limitations on this.

[0217] In one possible embodiment, the first condition includes: the echo energy corresponding to the first detection point in the first channel data is greater than a first threshold, and the first detection point is located within the region of interest (ROI) of the first radar. The first channel data includes the channel data of the transmitting antenna and receiving antenna of the first radar corresponding to the first detection point.

[0218] Optionally, in the first design, the first detection point can be any detection point corresponding to the first channel data. That is, in this design, all detection points corresponding to the first channel data satisfy the first condition.

[0219] Optionally, in the second design, the first channel data corresponds not only to the detection points that meet the first condition, but also to other detection points that do not meet the first condition. This can be understood as reporting channel data for detection points whose echo energy is greater than the first threshold and are located within the radar's region of interest, as well as data for detection points surrounding these points, which may not meet the first condition.

[0220] It is understandable that this first threshold can be interpreted as the radar's detection threshold, which can be adjusted depending on the specific scenario.

[0221] It is understandable that ROI can be understood as the region of interest in the range and velocity dimensions (RV) of the radar, or as the region of interest in the range-Doppler map of the radar. The specific interpretation can be adjusted depending on the scenario.

[0222] For example, assuming the first radar has M transmitting antennas and N receiving antennas (M and N are both integers greater than 0), the channel data of the transmitting and receiving antennas of the first radar corresponding to the first detection point can be understood as the data of the M×N virtual channels of the first radar corresponding to the first detection point.

[0223] The first channel data that meets the first condition described above is reported to the data processing device through the embodiments of this application. The data processing device can perform joint angle measurement based on the first channel data reported by multiple radars, so that the resolution of the target point cloud data is higher, thereby improving the detection accuracy.

[0224] Optionally, the aforementioned first channel data may also include first indication information.

[0225] The first indication information is used to indicate the distance and speed information corresponding to the first detection point.

[0226] It is understandable that the first indication information can be interpreted as the distance and speed index information corresponding to the first detection point, or as other forms of information used to indicate the distance and speed information corresponding to the first detection point.

[0227] The first indication information can be used to determine the distance and velocity information corresponding to the first detection point, and then determine the position of the first detection point in the range-Doppler map (RD MAP), thereby improving the resolution of the obtained target point cloud data and improving the detection accuracy.

[0228] Optionally, the aforementioned first channel data may also include channel data of the transmitting antenna and receiving antenna of the first radar corresponding to the second detection point.

[0229] The second detection point includes detection points located around the first detection point.

[0230] Optionally, the second detection point can satisfy the first condition mentioned above. Alternatively, the second detection point may not satisfy the first condition mentioned above; in this scenario, the data from the first channel satisfies the second design mentioned above.

[0231] It is understandable that using channel data from the transmitting and receiving antennas of the first radar corresponding to the detection points around the first detection point to assist in angle measurement can improve the resolution of the obtained target point cloud data and increase detection accuracy. This application does not specify a particular number of second detection points; the number should be determined based on specific needs or design. Optionally, the detection points around the first detection point can be understood as the detection points surrounding the first detection point on the RD-MAP.

[0232] Optionally, the aforementioned first channel data may also include any one or more of the following:

[0233] Noise information corresponding to the first detection point, distance information and velocity information corresponding to the ROI.

[0234] It is understandable that the distance and speed information corresponding to the ROI can be interpreted as the coverage range of the RD MAP corresponding to the ROI, such as 10 meters to 80 meters.

[0235] By using the noise information corresponding to the first detection point and / or the distance and velocity information corresponding to the ROI to assist in angle measurement, the resolution of the obtained target point cloud data can be improved, thus increasing the detection accuracy.

[0236] Optionally, the aforementioned first channel data is obtained by processing the first sensing data detected by the first radar, at least after distance processing and velocity processing.

[0237] Understandably, since stationary targets on the same distance circle are often not unique, and there may be other strong reflective targets such as guardrails, vegetation, and buildings around them, the probability of missed detection is relatively high. Therefore, each radar only performs at least distance and velocity processing on the first sensing data it detects before reporting the first channel data to the data processing device. The data processing device then performs joint angle measurement based on the first channel data sent by each radar that meets the first condition, which can obtain high-resolution target point cloud data and improve detection accuracy.

[0238] Optionally, the target point cloud data mentioned above is obtained by processing the first channel data at least by angle.

[0239] Understandably, the data processing device can obtain high-resolution target point cloud data and improve detection accuracy by performing joint angle measurement based on the first channel data sent by each radar that meets the first condition.

[0240] Optionally, the specific data of the first channel that meets the first condition can be found in the relevant description in Figure 5 above, and will not be repeated here.

[0241] In one possible embodiment, the above data processing method may further include, but is not limited to, the following steps:

[0242] The data processing device sends a first control signal to the first radar, and the first radar receives the first control signal accordingly. The first control signal is used to indicate data from the first channel.

[0243] Accordingly, the first radar responds to the first control signal and sends first channel data to the data processing device.

[0244] Understandably, the first control signal is used to control the reporting of the first channel data. Correspondingly, the first radar can respond to the first control signal, process the first sensing data, obtain and report the first channel data, so that the data processing device performs joint angle measurement based on the first channel data sent by each radar that meets the first condition, and obtains high-resolution target point cloud data to improve detection accuracy.

[0245] Optionally, the first control signal can be understood as a trigger switch. After receiving the first control signal, the first radar triggers the reporting of data from the first channel. The specific content of the reported data from the first channel is determined by the first radar itself or based on pre-configuration. Optionally, the first control signal can also be understood as an instruction for the first channel data, used to inform the first radar of the information to be reported and / or how to report the corresponding information. This application embodiment does not limit this.

[0246] In one possible embodiment, the above data processing method may further include, but is not limited to, the following steps:

[0247] The first radar obtains the first point cloud data based on the first sensing data and sends the first point cloud data to the data processing device.

[0248] Accordingly, the data processing device receives the first point cloud data from the first radar and performs fusion processing on the target point cloud data and the first point cloud data.

[0249] The first point cloud data is obtained by processing the first sensing data at least through distance processing, velocity processing, and angle processing.

[0250] Understandably, since moving targets on the same distance circle are often unique and the probability of missed detection is low, each radar can process the first sensing data it detects by at least distance, velocity and angle to obtain the first point cloud data, thereby enabling the detection of moving targets.

[0251] It is understandable that, compared with the first channel data and the first sensing data obtained by the first radar detection, the first point cloud data has a smaller data volume and will not occupy too much transmission resources. Therefore, the transmission bandwidth of the first point cloud data is not specially considered in this embodiment of the application.

[0252] Understandably, after receiving the first point cloud data, the data processing device can fuse the first point cloud data with the aforementioned target point cloud data to further improve the confidence level of the point cloud and enhance the detection accuracy.

[0253] In one possible embodiment, the above data processing method may further include, but is not limited to, the following steps:

[0254] Receive second channel data from the second radar that meets the second condition.

[0255] The amount of data in the second channel is less than the amount of data detected by the second radar.

[0256] It is understandable that the second condition is similar to the first condition mentioned above, and the data of the second channel is similar to the data of the first channel mentioned above, so it will not be repeated here.

[0257] Through the embodiments of this application, joint angle measurement can be performed based on multiple channel data reported by multiple radars, thereby improving the radar detection capability in the angular dimension, reducing the risk of missed target detection, and improving detection accuracy.

[0258] Please refer to Figure 7, which is a schematic diagram of the effect of data processing provided in an embodiment of this application.

[0259] As shown in Figure 7, curve 1 represents the waveform of the point cloud data obtained by radar 1 after performing at least distance processing, velocity processing, and angle processing on the detected sensing data. Curve 2 represents the waveform of the point cloud data obtained by radar 2 after performing at least distance processing, velocity processing, and angle processing on the detected sensing data. Curve 3 represents the waveform of the point cloud data obtained by the data processing device after performing at least joint angle processing on the channel data reported by radar 1 and radar 2. Radar 1 and radar 2 each perform at least distance processing and velocity processing on the detected sensing data to obtain and report channel data.

[0260] Curves 1 and 2 show that only one target can be identified, while curve 3 shows that two targets can be identified.

[0261] Therefore, the detection method and data processing method in this application can improve the radar detection capability in the angular dimension, solve the missed detection problem in Figure 2 above, reduce the risk of missed target detection, and improve detection accuracy.

[0262] The methods of the embodiments of this application have been described in detail above. The following provides an apparatus for implementing any one of the methods in the embodiments of this application. For example, an apparatus is provided that includes a unit (or means) for implementing the steps performed by the device in any of the above methods.

[0263] Please refer to Figure 8, which is a schematic diagram of the structure of a detection device provided in an embodiment of this application.

[0264] As shown in Figure 8, the detection device 80 may include a communication unit 801 and a processing unit 802. The communication unit 801 and the processing unit 802 may be software, hardware, or a combination of both.

[0265] The communication unit 801 can implement sending and / or receiving functions, and can also be described as a transceiver unit. The communication unit 801 can also be a unit integrating an acquisition unit and a sending unit, wherein the acquisition unit is used to implement the receiving function, and the sending unit is used to implement the sending function. Optionally, the communication unit 801 can be used to receive information sent by other devices, and can also be used to send information to other devices.

[0266] In one possible design, the detection device 80 may correspond to the detection device in the method embodiment shown in FIG4 above. For example, the detection device 80 may be an electronic device or a chip within an electronic device. The detection device 80 may include units for performing the operations performed by the detection device in the method embodiment shown in FIG4 above, and each unit in the detection device 80 is for implementing the operations performed by the detection device in the method embodiment shown in FIG4 above. The descriptions of each unit are as follows:

[0267] The processing unit 802 is used to obtain first channel data that meets the first condition based on the first sensing data obtained by detection.

[0268] The communication unit 801 is used to report the first channel data, the amount of which is less than the amount of channel data corresponding to the first sensing data.

[0269] Regarding the communication unit 801 and processing unit 802 described in this design, the steps they perform can be referred to the implementation method corresponding to the detection device in the method embodiment shown in Figure 4 above.

[0270] Regarding the technical effects of the implementation methods performed by the communication unit 801 and the processing unit 802 described in this design, please refer to the description of the technical effects corresponding to the method embodiment shown in FIG4 above.

[0271] According to embodiments of this application, the various units in the device shown in FIG8 can be individually or entirely merged into one or more other units, or some of the units can be further divided into multiple functionally smaller units. This achieves the same operation without affecting the technical effect of the embodiments of this application. The above units are based on logical function division. In practical applications, the function of one unit can also be implemented by multiple units, or the function of multiple units can be implemented by one unit. In other embodiments of this application, the electronic device may also include other units. In practical applications, these functions can also be implemented with the assistance of other units, and can be implemented collaboratively by multiple units.

[0272] It should be noted that the implementation of each unit can also refer to the corresponding description of the method embodiment shown in Figure 4 above.

[0273] The detection device 80 described in Figure 8 can improve the radar detection capability in the angular dimension, reduce the risk of missed target detection, and improve detection accuracy.

[0274] Please refer to Figure 9, which is a schematic diagram of the structure of a data processing device provided in an embodiment of this application.

[0275] As shown in Figure 9, the data processing device 90 may include a communication unit 901 and a processing unit 902. The communication unit 901 and the processing unit 902 may be software, hardware, or a combination of software and hardware.

[0276] The communication unit 901 can implement sending and / or receiving functions, and can also be described as a transceiver unit. The communication unit 901 can also be a unit integrating an acquisition unit and a sending unit, wherein the acquisition unit is used to implement the receiving function, and the sending unit is used to implement the sending function. Optionally, the communication unit 901 can be used to receive information sent by other devices, and can also be used to send information to other devices.

[0277] In one possible design, the data processing device 90 may correspond to the data processing device in the method embodiment shown in FIG. 6 above. For example, the data processing device 90 may be an electronic device or a chip within an electronic device. The data processing device 90 may include units for performing the operations performed by the data processing device in the method embodiment shown in FIG. 6 above, and each unit in the data processing device 90 is for implementing the operations performed by the data processing device in the method embodiment shown in FIG. 6 above. The descriptions of each unit are as follows:

[0278] The communication unit 901 is used to receive first channel data from the first radar that meets a first condition, wherein the amount of the first channel data is less than the amount of the detection data of the first radar.

[0279] Processing unit 902 is used to obtain target point cloud data based on the first channel data.

[0280] Regarding the communication unit 901 and processing unit 902 described in this design, the steps they perform can be referred to the implementation method corresponding to the data processing device in the method embodiment shown in FIG6 above.

[0281] Regarding the technical effects of the implementation methods performed by the communication unit 901 and the processing unit 902 described in this design, please refer to the description of the technical effects corresponding to the method embodiment shown in FIG6 above.

[0282] According to embodiments of this application, the various units in the device shown in FIG9 can be individually or entirely merged into one or more other units, or some of the units can be further divided into multiple functionally smaller units. This achieves the same operation without affecting the technical effect of the embodiments of this application. The above units are based on logical function division. In practical applications, the function of one unit can also be implemented by multiple units, or the function of multiple units can be implemented by one unit. In other embodiments of this application, the electronic device may also include other units. In practical applications, these functions can also be implemented with the assistance of other units, and can be implemented collaboratively by multiple units.

[0283] It should be noted that the implementation of each unit can also refer to the corresponding description of the method embodiment shown in Figure 6 above.

[0284] In the data processing device 90 described in Figure 9, the radar detection capability in the angular dimension can be improved, the risk of target omission can be reduced, and the accuracy of data processing can be improved.

[0285] If the aforementioned detection device 80 and data processing device 90 can be electronic devices, please refer to the structural schematic diagram of the electronic device shown in Figure 10.

[0286] It should be understood that the electronic device 100 shown in FIG10 is only an example. The electronic device in the embodiments of this application may also include other components, or include components that have similar functions to the various components in FIG10, or may not be intended to include all the components in FIG10.

[0287] The electronic device 100 includes a transceiver interface 1001 and at least one processor 1002.

[0288] The electronic device 100 can correspond to a detection device and a data processing device. The transceiver interface 1001 is used to transmit and receive signals, and at least one processor 1002 executes program instructions, causing the electronic device 100 to implement the corresponding process of the method executed by the corresponding device in the above method embodiments.

[0289] In one possible design, the electronic device 100 may correspond to the detection device in the method embodiment shown in FIG4 above. For example, the electronic device 100 may be a detection device or a chip within the detection device. The electronic device 100 may include components for performing the operations performed by the detection device in the above method embodiment, and each component in the electronic device 100 is specifically designed to implement the operations performed by the detection device in the above method embodiment. Specifically, it may be as follows:

[0290] The processor 1002 is used to obtain first channel data that satisfies a first condition based on the first sensing data obtained by detection.

[0291] The transceiver interface 1001 is used to report the first channel data, the amount of which is less than the amount of channel data corresponding to the first sensing data.

[0292] Regarding the transceiver interface 1001 and at least one processor 1002 described in this design, the steps performed can be referred to the implementation corresponding to the detection device in the method embodiment shown in Figure 4 above.

[0293] For the technical effects of the implementation methods performed by the transceiver interface 1001 and at least one processor 1002 described in this design, please refer to the description of the technical effects corresponding to the method embodiment shown in FIG4 above.

[0294] In another possible design, the electronic device 100 may correspond to the data processing device in the method embodiment shown in FIG. 6 above. For example, the electronic device 100 may be a data processing device or a chip within a data processing device. The electronic device 100 may include components for performing the operations performed by the data processing device in the above method embodiment, and each component in the electronic device 100 is respectively for implementing the operations performed by the data processing device in the above method embodiment. Specifically, it may be as follows:

[0295] The transceiver interface 1001 is used to receive first channel data from the first radar that meets the first condition, wherein the amount of the first channel data is less than the amount of the detection data of the first radar.

[0296] Processor 1002 is used to obtain target point cloud data based on the first channel data.

[0297] Regarding the transceiver interface 1001 and at least one processor 1002 described in this design, the steps performed can be referred to the implementation corresponding to the data processing device in the method embodiment shown in FIG6 above.

[0298] For the technical effects of the implementation methods performed by the transceiver interface 1001 and at least one processor 1002 described in this design, please refer to the description of the technical effects corresponding to the method embodiment shown in FIG6 above.

[0299] In the electronic device 100 described in Figure 10, the radar detection capability in the angular dimension can be improved, the risk of target miss detection can be reduced, and the accuracy of data processing can be improved.

[0300] If the aforementioned detection device 80 and data processing device 90 can be chips or chip systems, please refer to the schematic diagram of the chip structure shown in Figure 11.

[0301] As shown in Figure 11, chip 110 includes processor 1101 and interface 1102. The number of processors 1101 can be one or more, and the number of interfaces 1102 can be multiple. It should be noted that the functions of processor 1101 and interface 1102 can be implemented through hardware design, software design, or a combination of both; no restrictions are placed here.

[0302] Optionally, the chip 110 may also include a memory 1103 for storing necessary program instructions and data.

[0303] In this application, processor 1101 can be used to call implementation programs of the detection method in a detection device and the data processing method in a data processing device provided by one or more embodiments of this application from memory 1103, and execute the instructions included in the program. Interface 1102 can be used to output the execution results of processor 1101. In this application, interface 1102 can be specifically used to output various messages or information of processor 1101.

[0304] The detection methods provided by one or more embodiments of this application can be referred to the various embodiments shown in Figure 4 above, and will not be repeated here.

[0305] For the data processing methods provided by one or more embodiments of this application, please refer to the various embodiments shown in FIG6 above, which will not be repeated here.

[0306] The processor in this application embodiment can be a central processing unit (CPU), but it can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0307] The memory in this application embodiment is used to provide storage space, in which data such as operating system and computer programs can be stored. The memory includes, but is not limited to, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), or compact disc read-only memory (CD-ROM).

[0308] According to the method provided in the embodiments of this application, the embodiments of this application also provide a computer-readable storage medium storing a computer program. When the computer program is run on one or more processors, it can implement the methods shown in Figures 4 and 6.

[0309] According to the method provided in the embodiments of this application, the embodiments of this application also provide a computer program product, which includes a computer program. When the computer program runs on a processor, it can implement the methods shown in Figures 4 and 6.

[0310] This application provides a data processing system, which includes:

[0311] Data processing device and at least one radar.

[0312] The at least one radar is used to perform the method shown in FIG4 above, and the data processing device is used to perform the method shown in FIG6 above.

[0313] In one possible embodiment, the data processing device and the at least one radar are connected via a cable. Optionally, the connection can be via an Ethernet cable or other high-speed transmission cable; this application embodiment does not limit this.

[0314] In one possible embodiment, the data processing system is applied to the first vehicle, and at least one radar includes a first radar and a second radar.

[0315] The horizontal mounting angle corresponding to the front of the first vehicle is 0°, the horizontal mounting angle range of the first radar on the first vehicle is (0°, 40°), and the horizontal mounting angle range of the second radar on the first vehicle is (-40°, 0°), as shown in Figure 12.

[0316] Optionally, the first radar and the second radar are mounted at different vertical heights on the first vehicle, as shown in Figure 13A, where h1 ≠ h2.

[0317] Optionally, the first radar and the second radar are mounted at the same vertical height on the first vehicle, as shown in Figure 13B, where h1 = h2.

[0318] In one possible embodiment, the data processing system is applied to a first vehicle, and at least one radar includes a first radar, a second radar, and a third radar.

[0319] The horizontal mounting angle corresponding to the front of the first vehicle is 0°, the horizontal mounting angle range of the third radar on the first vehicle is (-5°, 5°), the horizontal mounting angle range of the first radar on the first vehicle is (20°, 40°), and the horizontal mounting angle range of the second radar on the first vehicle is (-40°, -20°), as shown in Figure 14.

[0320] Optionally, the data processing system has two radars mounted at different vertical heights on the first vehicle, as shown in Figures 15A and 15B, where h1 ≠ h2.

[0321] Optionally, the three radars in the data processing system are mounted at the same vertical height on the first vehicle, as shown in Figure 15C, h1 = h2 = h3.

[0322] For details, please refer to Figure 16, which is a schematic diagram of the effect of a radar installation provided in an embodiment of this application.

[0323] As shown in Figure 16, the aforementioned at least one radar includes a first radar, a second radar, and a third radar. The horizontal mounting angle corresponding to the front of the first vehicle is 0°. The horizontal mounting angle range of the third radar on the first vehicle is (-5°, 5°). The first radar and the second radar are symmetrically mounted on the first vehicle with respect to the third radar. The horizontal axis represents the horizontal mounting angle of the first radar on the first vehicle, the left vertical axis represents the joint processing horizontal angle resolution, curve a represents the change in the joint processing horizontal angle resolution of the data processing device as the horizontal mounting angle of the first radar on the first vehicle changes, the right vertical axis represents the field of view (FOV), and the straight line b represents the change in the field of view (FOV) of the multiple radars as the horizontal mounting angle of the first radar on the first vehicle changes.

[0324] In terms of radar detection performance, the smaller the joint processing horizontal angular resolution and the larger the single-sided FOV, the higher the radar detection performance.

[0325] As shown in Figure 16, when the horizontal mounting angle of the first radar on the first vehicle is within the range of (25°, 35°), the radar detection performance can be improved by comprehensively balancing the horizontal angular resolution and the single-sided FOV. Optionally, the horizontal mounting angle of the first radar on the first vehicle can also be expanded to the range of (20°, 40°), and this embodiment of the application does not impose any limitation on this.

[0326] This application embodiment also provides a terminal, which includes at least one detection device 80, or a data processing device 90, or an electronic device 100, or a chip 110, or the aforementioned data processing system.

[0327] Optionally, the terminal can be a means of transportation, such as a car, truck, aircraft, drone, slow transport vehicle, spacecraft, or ship, or any other possible means of transportation used in any possible scenario. This application embodiment does not limit this.

[0328] Optionally, the terminal is used to implement the methods shown in Figures 4 and 6 above.

[0329] This application also provides a processing apparatus, including a processor and an interface; the processor is used to execute the method in any of the above method embodiments.

[0330] It should be understood that the above-described processing device can be a chip. The units in the various device embodiments and the electronic devices in the method embodiments correspond completely, with corresponding modules or units executing corresponding steps. For example, the communication unit (transceiver) executes the receiving or sending steps in the method embodiments, while other steps besides sending and receiving can be executed by the processing unit (processor). The specific functions of each unit can be found in the corresponding method embodiments. There can be one or more processors.

[0331] It is understood that in the embodiments of this application, the electronic device may perform some or all of the steps in the embodiments of this application. These steps or operations are merely examples, and the embodiments of this application may also perform other operations or variations thereof. Furthermore, the steps may be performed in different orders as presented in the embodiments of this application, and it is not necessarily necessary to perform all the operations in the embodiments of this application.

[0332] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0333] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0334] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0335] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the contributing part, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0336] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.

Claims

1. A detection method, characterized in that, The detection method includes: Based on the first sensing data obtained from the detection, the first channel data that meets the first condition is obtained; Report the data from the first channel; The amount of data in the first channel is less than the amount of data in the channel corresponding to the first sensing data.

2. The detection method according to claim 1, characterized in that, The first condition includes: the echo energy corresponding to the first detection point in the first channel data is greater than a first threshold, and the first detection point is located within the region of interest (ROI) of the radar. The first channel data includes the channel data of the transmitting antenna and the receiving antenna of the radar corresponding to the first detection point.

3. The detection method according to claim 2, characterized in that, The first channel data also includes first indication information, which is used to indicate the distance and speed information corresponding to the first detection point.

4. The detection method according to claim 2 or 3, characterized in that, The first channel data also includes channel data of the radar's transmitting and receiving antennas corresponding to the second detection point, and the second detection point includes detection points located around the first detection point.

5. The detection method according to any one of claims 2 to 4, characterized in that, The first channel data also includes any one or more of the following: noise information corresponding to the first detection point, distance information and velocity information corresponding to the ROI.

6. The detection method according to any one of claims 1 to 5, characterized in that, The first channel data is obtained by processing the first sensing data for at least distance and speed.

7. The detection method according to any one of claims 1 to 6, characterized in that, The detection method also includes: Receive a first control signal, which is used to indicate the data of the first channel; The reported data from the first channel includes: In response to the first control signal, the data of the first channel is reported.

8. The detection method according to any one of claims 1 to 7, characterized in that, The detection method also includes: Based on the first sensing data, first point cloud data is obtained; the first point cloud data is obtained after the first sensing data has undergone at least distance processing, velocity processing and angle processing. Report the first point of cloud data.

9. The detection method according to any one of claims 1 to 8, characterized in that, The reported data from the first channel includes: The data from the first channel is reported via Ethernet cable.

10. A data processing method, characterized in that, The data processing method includes: Receive first channel data from the first radar that meets the first condition; Based on the data from the first channel, target point cloud data is obtained.

11. The data processing method according to claim 10, characterized in that, The first condition includes: the echo energy corresponding to the first detection point in the first channel data is greater than the first threshold, and the first detection point is located within the region of interest (ROI) of the first radar. The first channel data includes the channel data of the transmitting antenna and receiving antenna of the first radar corresponding to the first detection point.

12. The data processing method according to claim 11, characterized in that, The first channel data also includes first indication information, which is used to indicate the distance and speed information corresponding to the first detection point.

13. The data processing method according to claim 11 or 12, characterized in that, The first channel data also includes channel data of the transmitting and receiving antennas of the first radar corresponding to the second detection point, and the second detection point includes detection points located around the first detection point.

14. The data processing method according to any one of claims 11 to 13, characterized in that, The first channel data also includes any one or more of the following: noise information corresponding to the first detection point, distance information and velocity information corresponding to the ROI.

15. The data processing method according to any one of claims 10 to 14, characterized in that, The first channel data is obtained by processing the first sensing data detected by the first radar, after at least distance and velocity processing.

16. The data processing method according to any one of claims 10 to 15, characterized in that, The target point cloud data is obtained by processing the first channel data at least by angle.

17. The data processing method according to any one of claims 10 to 16, characterized in that, The data processing method further includes: A first control signal is sent to the first radar, the first control signal being used to indicate the data of the first channel.

18. The data processing method according to any one of claims 10 to 17, characterized in that, The data processing method further includes: Receive first point cloud data from the first radar; the first point cloud data is obtained by processing the first sensing data detected by the first radar after at least distance processing, velocity processing and angle processing. The target point cloud data and the first point cloud data are fused together.

19. The data processing method according to any one of claims 10 to 18, characterized in that, Receiving first channel data from the first radar that meets the first condition includes: The first channel data that meets the first condition is received from the first radar via an Ethernet cable.

20. The data processing method according to any one of claims 10 to 19, characterized in that, The data processing method further includes: Receive second channel data from the second radar that meets the second condition; The amount of data in the second channel is less than the amount of data detected by the second radar.

21. A detection device, characterized in that, Includes a unit for performing the method as described in any one of claims 1 to 9.

22. A detection device, characterized in that, Includes a processor for performing the method as described in any one of claims 1 to 9.

23. A data processing apparatus, characterized in that, Includes units for performing the method as described in any one of claims 10 to 20.

24. A data processing apparatus, characterized in that, Includes a processor for performing the method as described in any one of claims 10 to 20.

25. A chip, characterized in that, It includes logic circuits and interfaces, wherein the logic circuits and the interfaces are coupled; The interface is used for inputting and / or outputting information, and the logic circuit is used for performing the method as described in any one of claims 1 to 20.

26. A computer-readable storage medium, characterized in that, The computer-readable storage medium is used to store a computer program, which, when executed, performs the method as described in any one of claims 1 to 20.

27. A computer program product, characterized in that, The computer program product includes a computer program, which, when executed, performs the method as described in any one of claims 1 to 20.

28. A data processing system, characterized in that, include: Data processing device and at least one radar; Wherein, the at least one radar is used to perform the method as described in any one of claims 1 to 9, and the data processing device is used to perform the method as described in any one of claims 10 to 20.

29. The data processing system according to claim 28, characterized in that, The data processing device and the at least one radar are connected by a cable.

30. The data processing system according to claim 28 or 29, characterized in that, The data processing system is applied to the first vehicle, and the at least one radar includes a first radar and a second radar. Wherein, the horizontal mounting angle corresponding to the front of the first vehicle is 0°, the horizontal mounting angle range of the first radar on the first vehicle is (0°, 40°), and the horizontal mounting angle range of the second radar on the first vehicle is (-40°, 0°).

31. The data processing system according to claim 28 or 29, characterized in that, The data processing system is applied to the first vehicle, and the at least one radar includes a first radar, a second radar, and a third radar; Wherein, the horizontal mounting angle corresponding to the front of the first vehicle is 0°, the horizontal mounting angle range of the third radar on the first vehicle is (-5°, 5°), the horizontal mounting angle range of the first radar on the first vehicle is (20°, 40°), and the horizontal mounting angle range of the second radar on the first vehicle is (-40°, -20°).

32. The data processing system according to any one of claims 28 to 31, characterized in that, The data processing system contains two radars installed at different vertical heights on the first vehicle.

33. A terminal, characterized in that, This includes the detection device as described in claim 21, or the detection device as described in claim 22, or the data processing device as described in claim 23, or the data processing device as described in claim 24, or the data processing system as described in claim 28.

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