CN113296091B - System isomerism millimeter wave radar fusion method - Google Patents
System isomerism millimeter wave radar fusion method Download PDFInfo
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- CN113296091B CN113296091B CN202110455767.3A CN202110455767A CN113296091B CN 113296091 B CN113296091 B CN 113296091B CN 202110455767 A CN202110455767 A CN 202110455767A CN 113296091 B CN113296091 B CN 113296091B
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
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Abstract
The invention discloses a system isomerism millimeter wave radar fusion method which comprises a frame integration method of a system isomerism millimeter wave radar and a frame using method of the system isomerism millimeter wave radar. The invention provides a millimeter wave radar integrated frame based on a plurality of different systems, which fuses millimeter wave radars on the radio frequency, upper computer and data level, realizes the functions of data sharing, algorithm sharing and hardware interface sharing of a plurality of different millimeter wave radars, and can be used in a plurality of industries such as intelligent old age maintenance, intelligent furniture, automatic driving and the like.
Description
Technical Field
The invention relates to the technical field of millimeter wave radars, in particular to a system isomerism millimeter wave radar fusion method.
Background
Along with the development of millimeter wave radar technique, obtain using in a plurality of trades such as autopilot, wisdom house, wisdom endowment, in order to accelerate falling to the ground of millimeter wave radar, reduce the cost of radar, many radar companies have proposed AiP's millimeter wave radar chip, and this chip is integrated to a calculation mainboard to modules such as antenna, radio frequency, calculation through certain packaging technology, very big reduction the cost, has promoted millimeter wave radar's easy-to-use degree.
However, these millimeter wave radar chips are limited in computing power, and generally can only execute a single task, so that the device integrating the millimeter wave radar chip has a single function, and multiple devices need to be bought if multiple tasks need to be completed. The current millimeter wave radar chips have different working systems, and the millimeter wave radars of different working systems have the advantages of being good in function and characteristics, such as simple realization of pulse Doppler radars, being suitable for finding distant motion, but being difficult to detect short-distance targets, and FMCW (continuous wave radar) has high detection range adaptability, but large in calculated amount, complex in design and generally high in cost. Therefore, when a plurality of integration manufacturers use the millimeter wave radar chips together, the aggregation of the functional layers is realized, but the following problems exist in the process:
1. the data layer is redundant, although a plurality of millimeter wave radar chips are integrated, respective data channels are not opened, and a mechanism that respective data are not interacted and shared is used.
2. The computing layer is redundant, the work is repeated, when a plurality of millimeter wave radar chips are used for realizing the service, the algorithm of each chip is developed respectively, the same algorithm processing library is not realized, and the waste is caused.
3. The adaptation module is repeated, and when the millimeter wave radar chip is used, a set of adaptation module and a program are designed independently, so that waste is caused.
In order to solve the existing problems, the invention provides a system heterogeneous millimeter wave radar fusion method.
Disclosure of Invention
In order to achieve the purpose, the invention adopts the following technical scheme: the system isomerism millimeter wave radar fusion method comprises a frame integration method of a system isomerism millimeter wave radar and a frame use method of the system isomerism millimeter wave radar, and is characterized in that the frame integration method of the system isomerism millimeter wave radar comprises the following steps:
the method comprises the following steps: when a new millimeter wave radar chip is integrated, firstly, judging whether the millimeter wave chip is accessed once; if the adapter is accessed, the adapter developed in the past is pulled in, wherein the adapter is a hardware circuit comprising a program module and generally comprises a mcu, a level conversion module and an auxiliary circuit; if the access is not available, the adapter module is required to be designed according to the millimeter wave radar chip manual;
step two: configuring input and output information of a millimeter wave radar chip; the input information refers to parameter configuration which is required to be provided for the millimeter wave chip from the outside when the millimeter wave chip works, such as parameters of gain (gain) information, data frame rate, scanning range and the like, the output information is data information which is output by the radar in order to meet tasks, a common millimeter wave radar chip can output chip operation information, radar data, input data feedback and the like, all output information on the millimeter wave radar chip can be configured in a development and test stage, only radar data is needed in a product stage, corresponding configuration input and output metadata can be formed after configuration, the metadata can describe how radar data is processed and converted, how an algorithm is executed, how the radar is controlled and synchronized, how data is output and the like, and modification of corresponding functions can be completed by modifying the metadata when an integrated task of the millimeter wave radar is subsequently performed;
step three: configuring a conversion rule between the output information and a standard radar data model; each millimeter wave radar information has a data output mode (data packet format and coding mode), corresponding conversion rules need to be configured for unified processing, different radar output data are converted into data with unified models, and corresponding conversion rule metadata can be formed after configuration;
step four: configuring a clock mode of the millimeter wave radar; when the millimeter wave radars of different systems or the same system are integrated, whether the plurality of millimeter wave radars work synchronously or asynchronously can be set by setting a clock working mode; designing a high-frequency clock circuit in the frame, if the high-frequency clock circuit is in a synchronous mode, accessing the chip into the circuit, and if the high-frequency clock circuit is in a synchronous mode, accessing the chip into a corresponding circuit, and forming corresponding configuration metadata after configuration;
step five: configuring related filtering and processing algorithms and output data rules; the method is a key configuration of a millimeter wave radar for a specific task, different filtering and processing algorithms need to be designed according to actual task requirements of different scenes, a lua script mode is provided in practice, namely, the filtering algorithm is compiled according to a script rule provided by people, and the output of the algorithm is converted into a data format capable of outputting an upper computer through a conversion rule;
step six, compiling after configuration is completed; we provide two compilation modes, jit and aot, jit, which refer to compiling metadata information we configure into lua script and then invoking lua script execution at runtime, and this mode is suitable for the development debugging phase. Aot, lua script is compiled continuously, the data model and filtering and processing algorithm in the lua script generate corresponding c language file, and for the clock configuration information, the parameters are extracted to define c language macro, and then the parameters are compiled into firmware for use by a compiling tool.
Preferably, the method for using the framework of the system heterogeneous millimeter wave radar includes the following steps:
the method comprises the following steps: after the integrated framework is electrified and initialized, firstly, the configuration information of metadata is loaded (jit mode is in lua script, aot mode is in c language compiled file), the radar data information is transmitted to a millimeter wave radar chip through a radar adapter module according to the configuration requirement, and the chip works according to the input information after receiving an input instruction;
step two: judging whether the multiple radars need synchronous control, if so, setting the multiple radars to share the same clock circuit, otherwise, using each radar;
step three: after the radar starts to output data, the adapter converts the data output by the radar into the same standard radar data, and the conversion rule is a conversion rule configured during development;
step four: and judging whether a plurality of radar data are required to carry out data filtering and processing operation together, and if so, executing the data fusion rule (executed in a fusion execution module) according to the configured rule (the rule is described by a code). Then, calculating the data according to a configured data filtering and processing algorithm;
step five: judging whether other radar data are needed to be processed together, if so, judging whether a value exists in a fixed area in the memory, if not, waiting, and after obtaining other millimeter wave radar data, merging the radar data according to a data fusion rule;
step six: and finally, converting the data into a data format received by the upper computer according to the output data rule.
Compared with the prior art, the invention has the beneficial effects that:
1. the frame fuses the millimeter wave radar on the radio frequency, upper computer and data level, and realizes the functions of data sharing, algorithm sharing and hardware interface sharing of a plurality of different millimeter wave radars.
2. And most millimeter wave access work is completed by using a metadata configuration mode.
3. The intelligent furniture driving system can be used in multiple industries such as intelligent old age maintenance, intelligent furniture and automatic driving.
Drawings
Fig. 1 is an integrated frame diagram of a system heterogeneous millimeter wave radar according to the present invention;
FIG. 2 is a flow chart of a framework integration method for the system heterogeneous millimeter wave radar provided by the invention;
fig. 3 is a flowchart of a framework using method of the system heterogeneous millimeter wave radar provided by the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
The system isomerism millimeter wave radar fusion method comprises a frame integration method of the system isomerism millimeter wave radar and a frame use method of the system isomerism millimeter wave radar; referring to fig. 2, the frame integration method of the system heterogeneous millimeter wave radar includes the following steps:
the method comprises the following steps: when a new millimeter wave radar chip is integrated, firstly, judging whether the millimeter wave chip is accessed once; if the adapter is accessed, the adapter developed in the past is pulled in, wherein the adapter is a hardware circuit comprising a program module and generally comprises a mcu, a level conversion module and an auxiliary circuit; if the access is not available, the adapter module is required to be designed according to the millimeter wave radar chip manual;
step two: configuring input and output information of a millimeter wave radar chip; the input information refers to parameter configuration which is required to be provided for the millimeter wave chip from the outside when the millimeter wave chip works, such as parameters of gain (gain) information, data frame rate, scanning range and the like, the output information is data information which is output by the radar in order to meet tasks, a common millimeter wave radar chip can output chip operation information, radar data, input data feedback and the like, all output information on the millimeter wave radar chip can be configured in a development and test stage, only radar data is needed in a product stage, corresponding configuration input and output metadata can be formed after configuration, the metadata can describe how radar data is processed and converted, how an algorithm is executed, how the radar is controlled and synchronized, how data is output and the like, and modification of corresponding functions can be completed by modifying the metadata when an integrated task of the millimeter wave radar is subsequently performed;
step three: configuring a conversion rule between the output information and a standard radar data model; each millimeter wave radar information has a data output mode (data packet format and coding mode), corresponding conversion rules need to be configured for unified processing, different radar output data are converted into data with unified models, and corresponding conversion rule metadata can be formed after configuration;
step four: configuring a clock mode of the millimeter wave radar; when the millimeter wave radars of different systems or the same system are integrated, whether the plurality of millimeter wave radars work synchronously or asynchronously can be set by setting a clock working mode; designing a high-frequency clock circuit in the frame, if the high-frequency clock circuit is in a synchronous mode, accessing the chip into the circuit, and if the high-frequency clock circuit is in a synchronous mode, accessing the chip into a corresponding circuit, and forming corresponding configuration metadata after configuration;
step five: configuring related filtering and processing algorithms and output data rules; the method is a key configuration of a millimeter wave radar for a specific task, different filtering and processing algorithms need to be designed according to actual task requirements of different scenes, a lua script mode is provided in practice, namely, the filtering algorithm is compiled according to a script rule provided by people, and the output of the algorithm is converted into a data format capable of outputting an upper computer through a conversion rule;
step six, compiling after configuration is completed; we provide two compilation modes, jit and aot, jit, which refer to compiling metadata information we configure into lua script and then invoking lua script execution at runtime, and this mode is suitable for the development debugging phase. Aot, lua script will be compiled continuously, corresponding c language file is generated for data model and filtering and processing algorithm, for clock configuration information, c language macro definition parameter is extracted, and then compiled into firmware for use through compiling tool;
referring to fig. 3, the method for using the framework of the system heterogeneous millimeter wave radar includes the following steps:
the method comprises the following steps: after the integrated framework is electrified and initialized, firstly, the configuration information of metadata is loaded (jit mode is in lua script, aot mode is in c language compiled file), the radar data information is transmitted to a millimeter wave radar chip through a radar adapter module according to the configuration requirement, and the chip works according to the input information after receiving an input instruction;
step two: judging whether the multiple radars need synchronous control, if so, setting the multiple radars to share the same clock circuit, otherwise, using each radar;
step three: after the radar starts to output data, the adapter converts the data output by the radar into the same standard radar data, and the conversion rule is a conversion rule configured during development;
step four: and judging whether a plurality of radar data are required to carry out data filtering and processing operation together, and if so, executing the data fusion rule (executed in a fusion execution module) according to the configured rule (the rule is described by a code). Then, calculating the data according to a configured data filtering and processing algorithm;
step five: judging whether other radar data are needed to be processed together, if so, judging whether a value exists in a fixed area in the memory, if not, waiting, and after obtaining other millimeter wave radar data, merging the radar data according to a data fusion rule;
step six: finally, according to the rule of output data, converting the data into a data format received by an upper computer;
specifically, referring to fig. 1, the system-heterogeneous millimeter wave radar integrated framework provided in the present invention mainly includes a millimeter wave radar chip adaptation module (hardware module), a signal analysis algorithm module (using a dsp core to perform an operation), a control and synchronization module, a radar data model, a data processing and fusion model, a fusion execution module, an input/output module, and a calculation module. Millimeter wave chips of different manufacturers needing to be accessed are accessed through accessing corresponding adapter modules, millimeter wave radars of different manufacturers and different systems correspond to different adapter modules, and the adapter modules can be reused only by compiling once, so that the subsequent development cost is greatly reduced. And carrying out unified model conversion on the data output by each adapter according to a model given in the radar data model, and converting the data into millimeter wave radar data types supported by a subsequent processing algorithm. The control and synchronization module is responsible for carrying out synchronization control and work control (mainly realized by using clock control) on a plurality of accessed millimeter wave radar chips. The data of the millimeter wave radars converted into the unified model can realize related data analysis functions through the signal analysis algorithm module, the multiple radars are integrated and processed again after being analyzed through the fusion execution module, and downstream equipment is output through the input and output module.
The signal analysis algorithm module provides algorithms commonly used in the current millimeter wave radar signal analysis and provides a convenient algorithm expansion method, the data fusion module is metadata for data fusion and radar data processing written according to semantic metadata, the metadata can describe how radar data is processed and converted, how algorithms are executed, how radars are controlled and synchronized, how data is output and the like, and modification of corresponding functions can be completed by modifying the metadata when integration tasks of the millimeter wave radar are performed subsequently;
the fusion execution module is a module for executing specific operation by analyzing the metadata s data, two modes, namely a JIT mode and an AOT mode, are currently designed for metadata analysis, wherein the JIT mode is the analysis aiming at the development and test stage, and the analysis is flexible and can continuously modify and execute the metadata;
the AOT is used for analyzing product level, relevant metadata are analyzed in advance through precompilation and then written into the fusion execution module, the method has high execution efficiency, and the compiled program is written into the storage module for later calling.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (2)
1. The system heterogeneous millimeter wave radar fusion method comprises an integration method of a system heterogeneous millimeter wave radar and a use method of the system heterogeneous millimeter wave radar, and is characterized in that the integration method of the system heterogeneous millimeter wave radar comprises the following steps:
the method comprises the following steps: when a new millimeter wave radar chip is integrated, firstly, judging whether the millimeter wave radar chip is accessed once; if the adapter module is accessed, the adapter module which is developed in the past and accords with the millimeter wave radar chip manual is pulled in, the adapter module is a hardware circuit comprising a program module and consists of a micro control unit, a level conversion module and an auxiliary circuit; if the millimeter wave radar chip manual is not accessed, the adapter module is arranged according to the millimeter wave radar chip manual;
step two: setting input information and output information of a millimeter wave radar chip; the input information means that the millimeter wave radar chip needs the external parameter setting that provides the millimeter wave radar chip at the during operation, include: setting gain information, data frame rate and scanning range parameters; the output information is data information output by the radar in order to meet the task, the millimeter wave radar chip is used for outputting chip operation information, radar data and input data feedback, all output information is set in a development and test stage, only the radar data is needed in a product stage, and corresponding input and output metadata are formed after the setting is finished and are used for setting the input information and the output information of the millimeter wave radar chip;
step three: setting a conversion rule between the output information and a standard radar data model;
step four: setting a clock working mode of the millimeter wave radar; when millimeter wave radars of different systems or the same system are integrated, a clock working mode is set to determine synchronous or asynchronous working of a plurality of millimeter wave radars; the millimeter wave radar chip comprises a high-frequency clock circuit, if the millimeter wave radar chip works synchronously, the chip is connected into the circuit, otherwise, the chip is connected into other corresponding circuits; forming corresponding setting metadata;
step five: setting relevant filtering and processing algorithms and output data rules; according to actual task requirements of different scenes, adopting different processing algorithms, compiling the processing algorithms according to the lua script, and converting the output of the processing algorithms into a data format which can be output to an upper computer by adopting a conversion rule;
step six, compiling after setting; adopting jit compiling mode and aot compiling mode, adopting jit compiling mode means that set metadata information is compiled into lua script, then calling the lua script to execute during running, jit compiling mode is used for developing and debugging stage, lua script is continuously compiled through aot compiling mode, corresponding c language files are generated for data model, filtering and processing algorithm, set clock working mode information is extracted as c language macro definition parameters, and then the c language macro definition parameters are compiled into firmware through a compiling tool for use.
2. The method for fusing the regionality millimeter wave radar as claimed in claim 1, wherein the method for using the regionality millimeter wave radar comprises the following steps:
the method comprises the following steps: after power-on initialization, firstly loading jit compiling modes of metadata into lua scripts, wherein aot compiling modes exist in files compiled by c languages, transmitting input and output metadata to a millimeter wave radar chip through a radar adapter module according to setting requirements, and the chip works according to input and output metadata input information after receiving input and output metadata instructions;
step two: judging whether the multiple radars need synchronous control, if so, setting the multiple radars to share the same clock circuit, otherwise, using the radars;
step three: after the radar starts to output data, the adapter module converts the data output by the radar into the radar output data of the same standard, wherein the conversion rule is a conversion rule set during development;
step four: judging whether data filtering is needed to be carried out on a plurality of radar output data together, if so, carrying out data filtering according to a set rule, wherein the rule is described by a code, otherwise, executing a data fusion rule, executing radar output data filtering operation in a fusion execution module, and then calculating the filtered radar output data according to a set data filtering processing algorithm;
step five: judging whether other radar output data are needed to be processed together, if so, judging whether a value exists in a fixed area in a memory, if not, waiting, and after obtaining other millimeter wave radar output data, merging the radar output data according to a data fusion rule;
step six: and finally, converting the output data into a data format which can be received by an upper computer according to the output data rule.
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