CN112204422B - Speed measuring method, multiple input multiple output radar and movable platform - Google Patents
Speed measuring method, multiple input multiple output radar and movable platform Download PDFInfo
- Publication number
- CN112204422B CN112204422B CN201980034078.6A CN201980034078A CN112204422B CN 112204422 B CN112204422 B CN 112204422B CN 201980034078 A CN201980034078 A CN 201980034078A CN 112204422 B CN112204422 B CN 112204422B
- Authority
- CN
- China
- Prior art keywords
- angle
- speed
- target
- signal
- received signal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 33
- 238000005259 measurement Methods 0.000 claims abstract description 6
- 238000004590 computer program Methods 0.000 claims description 8
- 238000000691 measurement method Methods 0.000 abstract description 16
- 238000012545 processing Methods 0.000 description 14
- 238000010586 diagram Methods 0.000 description 7
- 238000001514 detection method Methods 0.000 description 5
- 238000013461 design Methods 0.000 description 3
- 230000005856 abnormality Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/933—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
-
- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
-
- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/411—Identification of targets based on measurements of radar reflectivity
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
A speed measurement method, a multiple-input multiple-output radar, and a movable platform, wherein the speed measurement method is applied to the multiple-input multiple-output radar, comprising: acquiring a first angle of a target determined according to a first received signal corresponding to a signal transmitted at a first time, a second angle of the target determined according to a second received signal corresponding to a signal transmitted at a second time, and a first speed of the target (S301); performing phase compensation on the second received signal according to the first speed to obtain a third received signal (S302); determining a third angle of the target based on the first received signal and the third received signal (S303); a target speed of the target is determined based on the first angle, the second angle, the third angle, and the first speed (S304). When the method is used for realizing speed measurement, the complexity of the system is reduced, and the frame rate of the radar is improved.
Description
Technical Field
The invention relates to the technical field of radars, in particular to a speed measurement method, a multi-input multi-output radar and a movable platform.
Background
The millimeter wave radar is a detection radar working in the millimeter wave band, and can acquire the information of the distance, the speed, the angle and the like of a target all the time and all the weather conditions. Millimeter wave radars are increasingly widely applied to active and passive safe driving of vehicles at present, and millimeter wave radars with a Multiple-Input Multiple-Output (MIMO) system also appear. The multiple-input multiple-output radar obtains channel data more than the number of the receiving and transmitting antennas through a small number of receiving and transmitting antennas, expands the equivalent aperture of the antennas, and brings about improvement of the angle measurement precision of the radar.
Wherein the time division multiple input multiple output radar controls the working state of the transmitting antenna in time. Because the time division multiple input multiple output radar occupies time resources, the speed measuring range of the radar is limited. In order to expand the speed measuring range of the radar, different signal waveforms are usually sent at different times, and the accurate speed of a target is obtained through a speed disambiguation method. However, different signal waveforms add to the complexity of the system and also take more time, resulting in a reduced radar frame rate.
Disclosure of Invention
The invention provides a speed measurement method, a multi-input multi-output radar and a movable platform, which reduce the complexity of a system and improve the frame rate of the radar when the speed measurement is realized.
In a first aspect, the present invention provides a speed measurement method applied to a multiple input multiple output radar, the method comprising:
acquiring a first angle, a second angle and a first speed of a target; wherein the first angle is determined according to a first received signal corresponding to a signal transmitted by the mimo radar at a first time, and the second angle is determined according to a second received signal corresponding to a signal transmitted by the mimo radar at a second time, the signal transmitted at the first time being identical to the signal transmitted at the second time;
performing phase compensation on the second received signal according to the first speed to obtain a third received signal;
determining a third angle of the target from the first received signal and the third received signal;
a target speed of the target is determined based on the first angle, the second angle, the third angle, and the first speed.
In a second aspect, the present invention provides a multiple-input multiple-output radar comprising: an antenna, a memory, and a processor;
the antenna is used for sending and receiving signals;
the memory is used for storing a computer program;
the processor is configured to execute the computer program, specifically configured to:
acquiring a first angle, a second angle and a first speed of a target; the first angle is determined according to a first receiving signal received by the antenna and corresponding to a signal sent by the multiple-input multiple-output radar at a first moment, and the second angle is determined according to a second receiving signal received by the antenna and corresponding to a signal sent by the multiple-input multiple-output radar at a second moment, wherein the signal sent at the first moment and the signal sent at the second moment are the same;
performing phase compensation on the second received signal according to the first speed to obtain a third received signal;
determining a third angle of the target from the first received signal and the third received signal;
a target speed of the target is determined based on the first angle, the second angle, the third angle, and the first speed.
In a third aspect, the present invention provides a moveable platform comprising: the second aspect of the present invention provides a multiple-input multiple-output radar.
In a fourth aspect, the present invention provides a computer storage medium having stored therein a computer program which, when executed, implements the method as provided in the first aspect.
The invention provides a speed measuring method, a multi-input multi-output radar and a movable platform, wherein the multi-input multi-output radar can determine a first angle of a target according to a first receiving signal corresponding to a signal transmitted at a first moment, determine a second angle of the target according to the first receiving signal corresponding to the signal transmitted at a second moment, and detect and acquire the first speed of the target. And performing phase compensation on the second received signal according to the first speed to obtain a third received signal, determining a third angle of the target according to the first received signal and the third received signal, and determining the target speed of the target according to the first angle, the second angle, the third angle and the first speed. Because the multiple-input multiple-output radar transmits the same signal, and the speed of the target is obtained based on the result of phase compensation, the complexity of the system is reduced and the frame rate of the radar is improved on the basis of obtaining the accurate speed of the target.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it will be obvious that the drawings in the following description are some embodiments of the present invention, and that other drawings can be obtained according to these drawings without inventive effort to a person skilled in the art.
FIG. 1 is a schematic diagram of an application scenario to which the present invention is applicable;
FIG. 2 is a schematic diagram of a MIMO radar to which the present invention is applied;
FIG. 3 is a flow chart of a method for measuring speed according to an embodiment of the present invention;
fig. 4 is a waveform diagram of a signal sent by a mimo radar according to an embodiment of the present invention;
FIG. 5 is a flow chart of another method for measuring speed according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a mimo radar according to an embodiment of the present invention.
Detailed Description
The invention can be applied to any field in which it is necessary to detect the speed of an object. For example, the method is applied to intelligent driving fields such as automatic driving, auxiliary driving, safe driving and the like, and can detect obstacles such as vehicles, pedestrians and the like in road scenes. For another example, the method can be applied to the field of unmanned aerial vehicles, and can detect obstacles in the flight scene of the unmanned aerial vehicle. For another example, the method can be applied to the field of security protection, and objects entering a designated area are detected.
Fig. 1 is a schematic diagram of an application scenario to which the present invention is applicable. As shown in fig. 1, the intelligent driving vehicle includes a radar (not shown). In the running process of the intelligent driving vehicle, the radar can identify and detect objects (such as falling rocks, spills, dead branches, pedestrians, vehicles and the like) in front of the lane, obtain at least one piece of information of the distance, the speed and the angle of the objects, and plan the intelligent driving state according to the detection information, such as lane changing, speed reduction or parking and the like.
Wherein the radar may be a multiple-input multiple-output radar. The invention does not limit the specific structure of the MIMO radar and does not limit the number of the transmitting antennas and the receiving antennas. For example, as shown in fig. 2, a mimo radar may include 2 transmit antennas and 4 receive antennas. Wherein, TX represents the transmitting antenna, and 2 transmitting antennas are marked as TX 1-TX 2.RX stands for receiving antenna, 4 receiving antennas are labeled RX 1-RX 4. Illustratively, one implementation of radar transmitting and receiving signals is: at time 1, the transmit antenna TX1 is operating, transmitting signal 1. Correspondingly, the receiving antennas RX1 to RX4 can respectively receive the reflected signals of the signal 1. At time 2, the transmit antenna TX2 is active, transmitting signal 2. Correspondingly, the receiving antennas RX1 to RX4 can respectively receive the reflected signals of the signal 2. In this way, the multi-input multi-output radar can be equivalent to 8 virtual channels formed by 1 transmitting antenna and 8 receiving antennas by combining 2 transmitting antennas TX 1-TX 2 and 4 receiving antennas RX 1-RX 4, the aperture of the receiving antennas is obviously increased, and the angle resolution performance of the radar is improved.
The speed measurement method provided by the invention is based on the radar with a multiple-input multiple-output system, and the accurate speed of the target can be obtained by detecting through sending the same signal, so that the complexity of the system is reduced, and the frame rate of the radar is improved.
The technical scheme of the invention is described in detail below by specific examples. The following specific embodiments may be combined with each other and some embodiments may not be repeated for the same or similar concepts or processes.
It should be noted that, in order to clearly describe the technical solution of the present invention, in the embodiments of the present invention, the words "first", "second", and the like are used to distinguish the same item or similar items having substantially the same function and effect. It will be appreciated by those of skill in the art that the words "first," "second," and the like do not limit the amount and order of execution, and that the words "first," "second," and the like do not necessarily differ.
It should be noted that, in the embodiments of the present invention, the mimo radar is sometimes simply referred to as a radar, and has the same meaning.
Fig. 3 is a flowchart of a speed measurement method according to an embodiment of the present invention. The speed measurement method provided by the embodiment can be applied to a multi-input multi-output radar. As shown in fig. 3, the speed measurement method provided in this embodiment may include:
s301, acquiring a first angle, a second angle and a first speed of a target.
Wherein the first angle is determined from a first received signal corresponding to a signal transmitted by the mimo radar at a first time and the second angle is determined from a second received signal corresponding to a signal transmitted by the mimo radar at a second time, the signal transmitted at the first time being the same as the signal transmitted at the second time.
In particular, the mimo radar may acquire the angle and speed of the target from the received signals. The radar has different structures and different models, adopts different communication frequency bands, and can obtain different angles and speeds of targets, which is not limited in this embodiment. The angle and the speed of the target may be the angle and the speed of the target relative to the reference object, and the reference object is not limited in this embodiment. For example, the reference object may be the radar itself or an intelligent vehicle provided with the radar, an unmanned plane, or the like. In different application scenarios, the targets may be different. For example, in a smart driving scenario, targets may include, but are not limited to, vehicles and pedestrians.
In this embodiment, the mimo radar transmits the same signal at the first time and the second time. Since the transmitted signals are identical, the complexity of the system waveform design is reduced. After the signal sent at the first moment is reflected by the target, the signal received by the radar may be referred to as a first received signal. The angle of the target determined by the radar from the first received signal may be referred to as a first angle. Similarly, after the signal sent at the second moment is reflected by the target, the signal received by the radar may be referred to as a second received signal. The angle of the target determined by the radar from the second received signal may be referred to as a second angle. Meanwhile, the radar may acquire the speed of the target, which is referred to as a first speed.
Alternatively, the first speed may be determined from the first received signal or from the second received signal. In general, the time interval between the first time and the second time is very short, and the speed change of the target at the first time and the second time is small. Therefore, the first speed may be the speed of the target determined according to the first received signal, or may be the speed of the target determined according to the second received signal, which improves the flexibility of the algorithm.
In the present embodiment, the order of the first time and the second time is not limited. For convenience of explanation, in the embodiments of the present invention, the first time is described by taking as an example before the second time.
Note that, in this embodiment, the type of signals transmitted by the mimo radar at the first time and the second time is not limited.
Alternatively, the signal transmitted at the first time and the signal transmitted at the second time are both frequency modulated continuous wave signals. Where a continuous wave signal means that the signal is output in a continuous manner rather than in a pulsed manner. A frequency modulated continuous wave signal refers to a continuously output signal that is frequency modulated. After the frequency is modulated, the frequency can be changed according to a certain rule along with time. The specific form of the waveform and the frequency modulation method are not limited in this embodiment.
By way of example, fig. 4 shows a time-frequency diagram of a signal emitted by a mimo radar. In fig. 4, a solid line may represent a signal transmitted by the radar at a first time, and a broken line may represent a signal transmitted by the radar at a second time. The repetition period of the signal is T.
Optionally, the mimo radar includes a first transmitting antenna and a second transmitting antenna, and the signal transmitted at the first time is a signal transmitted through the first transmitting antenna, and the signal transmitted at the second time is a signal transmitted through the second transmitting antenna.
An exemplary illustration is provided in connection with fig. 2 and 4. In fig. 2, a solid line may represent a signal transmitted by the radar at a first time through the transmitting antenna TX1, and a dotted line may represent a signal transmitted by the radar at a second time through the transmitting antenna TX2. For the transmit antennas TX1 and TX2, the repetition period of the signal is changed to 2T.
S302, performing phase compensation on the second received signal according to the first speed to obtain a third received signal.
Specifically, the signal transmitted at the second time is one period later than the signal transmitted at the first time. For a moving target, in one period T, the distance of movement is vT, and v is the movement speed of the target. In one period T, the path difference of electromagnetic wave transmission is 2vt, and c is the transmission speed of electromagnetic wave. Thus, the phase difference due to the movement of the object is:
where λ is the wavelength of the emitted signal and pi is the circumference ratio.
In order to improve the joint multi-channel angular performance of the mimo radar, phase compensation is required for the second received signal corresponding to the signal transmitted at the second moment to obtain the third received signal. Note that, the radar may have different structures and different models, and the principle of performing phase compensation may be different if the communication frequency bands are different, which is not limited in this embodiment.
S303, determining a third angle of the target according to the first received signal and the third received signal.
S304, determining the target speed of the target according to the first angle, the second angle, the third angle and the first speed.
Specifically, the first received signal and the third received signal after phase compensation are subjected to joint processing, and a third angle of the target is obtained. Then, based on the first angle, the second angle, the third angle, and the first speed, a speed of the target, which may also be referred to as a target speed, is finally determined.
It can be seen that, according to the speed measurement method provided by the embodiment, the mimo radar transmits the same signal at different moments, and according to the received signal and the phase compensated received signal, three angles of the target can be obtained respectively, and based on the three angles and the speed obtained by radar measurement, the speed of the target is finally determined. Because the speed of the target is obtained based on the result of the phase compensation, the accuracy of obtaining the speed of the target is improved. In addition, as the MIMO radar only needs to send the same signals, the complexity of the system waveform design is reduced, and the frame rate of the radar is improved.
Optionally, in the speed measurement method provided in this embodiment, before performing phase compensation on the second received signal according to the first speed in S302, the method may further include:
and judging whether the difference value between the first angle and the second angle is smaller than a second preset threshold value.
And if the difference between the first angle and the second angle is smaller than a second preset threshold value, executing the step of carrying out phase compensation on the second received signal according to the first speed.
And deleting the target if the difference between the first angle and the second angle is larger than a second preset threshold value.
In particular, the time interval between the first moment and the second moment is typically very short, and the change in position of the object at the first moment and the second moment is typically small. In this way, the difference between the first angle determined by the radar from the first received signal and the second angle determined from the second received signal will typically be relatively small. If the difference between the first angle and the second angle is smaller than a threshold, which indicates that the deviation of the processing result is smaller and the data is relatively accurate, the step of S302 is continued. For ease of distinction, the threshold may be referred to as a second preset threshold. If the difference between the first angle and the second angle is greater than the second preset threshold, it indicates that the deviation of the processing result is greater and the possibility of abnormality of the data is greater, so that the problematic data can be deleted, the subsequent steps S302 to S304 are avoided, and inaccurate target speed is avoided.
It should be noted that, in this embodiment, the specific value of the second preset threshold is not limited. In practical applications, it may be relevant to the goniometric performance of a mimo radar.
The embodiment provides a speed measurement method, which includes: the method comprises the steps of obtaining a first angle, a second angle and a first speed of a target, carrying out phase compensation on a second receiving signal according to the first speed to obtain a third receiving signal, determining a third angle of the target according to the first receiving signal and the third receiving signal, and obtaining the target speed of the target according to the first angle, the second angle, the third angle and the first speed. And the speed of the target is obtained based on the phase compensation result, so that the accuracy of obtaining the speed of the target is improved. In addition, the MIMO radar only needs to send the same signals, so that the complexity of the system waveform design is reduced, and the frame rate of the radar is improved.
On the basis of the embodiment shown in fig. 3, this embodiment provides an implementation of S304. Fig. 5 is a flowchart of another speed measurement method according to an embodiment of the present invention. As shown in fig. 5, acquiring the target speed of the target according to the first angle, the second angle, the third angle, and the first speed may include:
s501, acquiring an intermediate angle according to the first angle and the second angle.
Optionally, obtaining the intermediate angle according to the first angle and the second angle may include: the average value of the sum of the first angle and the second angle is taken as the intermediate angle.
Optionally, obtaining the intermediate angle according to the first angle and the second angle may include: and acquiring the intermediate angle according to the weight corresponding to the first angle and the second angle respectively. For example, a represents a first angle, and the corresponding weight is p. b represents a second angle, and the corresponding weight is q. Intermediate angle = p x a + q x b. The specific values of p and q are not limited in this embodiment.
S502, determining the target speed of the target according to the third angle, the intermediate angle and the first speed.
Therefore, the intermediate angle is obtained by processing the first angle and the second angle, so that the processing error is effectively reduced. And according to the third angle, the middle angle and the first speed, the target speed of the target is acquired, and the accuracy of acquiring the target speed is improved.
Optionally, in one implementation, determining the target speed of the target according to the third angle, the intermediate angle, and the first speed S502 may include:
if the difference between the third angle and the intermediate angle is less than the first preset threshold, the first speed is determined as the target speed.
Specifically, the third angle is an angle of the target acquired by the mimo radar according to the third received signal after the phase compensation. The intermediate angle is the angle of the target obtained after further processing the first angle and the second angle. If the difference between the third angle and the intermediate angle is less than a threshold, it may be determined that the deviation of the data processing is small. In a scene where the time interval between the first time and the second time is generally short, the first speed of the target obtained by radar detection can be determined as the target speed of the target in accordance with the scene where the target movement position is small. For ease of distinction, the threshold may be referred to as a first preset threshold.
Note that, in this embodiment, the specific value of the first preset threshold is not limited. In practical applications, it may be relevant to the goniometric performance of a mimo radar. Alternatively, the first preset threshold value and the second preset threshold value may be the same.
Optionally, in another implementation, S502, determining the target speed of the target according to the third angle, the intermediate angle, and the first speed may include:
and if the difference between the third angle and the intermediate angle is larger than a first preset threshold value, adjusting the first speed, and returning to execute the steps of performing phase compensation and determining the target speed of the target according to the adjusted first speed.
Specifically, if the difference between the third angle and the intermediate angle is greater than the second preset threshold, it is indicated that the deviation of the data processing is large, possibly because the first speed obtained by radar detection is not very accurate. At this time, the first speed may be adjusted, and the step of S302 may be performed back according to the adjusted first speed, that is, the second received signal may be phase-compensated according to the adjusted first speed, to obtain a new third received signal. And continues to S303 to S304 to reacquire the target speed of the target.
In this embodiment, the adjustment amount of the first speed is not limited.
Optionally, adjusting the first speed may include: a preset speed value is added or subtracted from the first speed. The specific value of the preset speed value is not limited in this embodiment. In practical applications, the speed measurement performance of the mimo radar can be related. Alternatively, the preset speed value may be a non-ambiguous speed range, identified as V T . The unambiguous speed range refers to the radial speed value of the target from one pulse to the next that the radar can measure.
Optionally, after performing the phase compensation and determining the target speed of the target according to the adjusted first speed return, the method may further include:
and deleting the target if the difference between the third angle and the middle angle is larger than a first preset threshold value.
Specifically, after re-executing S302 to S303 according to the adjusted first speed, a new third angle is obtained. Execution continues with S304. If the difference between the new third angle and the intermediate angle is still larger than the first preset threshold, the deviation of the data processing result is larger, and the possibility of abnormality of the data is larger, so that the problematic data can be deleted, and inaccurate target speed is avoided.
Next, a speed measurement method provided by the present invention will be described by way of example.
Assume that a mimo radar transmits signals at a first time T1 and a second time T2, respectively. The radar acquires a first angle a of a target according to a first receiving signal S1 corresponding to a signal sent at a first moment T1, acquires a second angle b of the target according to a second receiving signal S2 corresponding to a signal sent at a second moment T2, and detects a first speed v of the acquired target currently. The first preset threshold value is equal to the second preset threshold value, and d is the same as the second preset threshold value. The preset speed value is V T 。
Alternatively, in one example, if the first angle a-second angle b > the second preset threshold d, indicating that the data processing error is large, the target is deleted without further processing.
Alternatively, in another example, if the first angle a-second angle b < second preset threshold d, it indicates that the data processing error is small, further processing can be performed. The radar may obtain the third received signal S3 after phase compensating the second received signal S2 according to the first velocity v. And, a third angle c of the target is obtained from the first received signal S1 and the third received signal S3. The radar may determine an intermediate angle e= (a+b)/2 from the first angle a and the second angle b.
Further, in one example, if |third angle c-intermediate angle (a+b)/2| < first preset threshold d, the target speed of the target is directly determined to be first speed v.
In another example, if the |third angle c-intermediate angle (a+b)/2| > first preset threshold d, the first speed is adjusted to V' =v+v T . After the second received signal S2 is phase compensated again according to the first speed v ', a new third received signal S3' is obtained. And according to the firstA received signal S1 and a third received signal S3 'obtain a new third angle c' of the object. If the |third angle c '-intermediate angle (a+b)/2| is smaller than the first preset threshold d, the adjusted first speed v' may be determined as the target speed of the target. If the third angle c' -intermediate angle (a+b)/2| > the first preset threshold d, the error of data processing is still larger. The first speed can be readjusted to v ′ ＝v-V T The above procedure is performed once more. If the condition that the third angle-middle angle is larger than the first preset threshold d still cannot be met after the first speed is adjusted for many times, deleting the target, and avoiding obtaining inaccurate target speed.
Fig. 6 is a schematic structural diagram of a mimo radar according to an embodiment of the present invention. The mimo radar provided in this embodiment is configured to perform the speed measurement method provided in any one of the implementations of fig. 3 to 5. As shown in fig. 6, the mimo radar provided in this embodiment may include: an antenna, a memory, and a processor;
the antenna 63 is used for transmitting and receiving signals;
the memory 62 is used for storing a computer program;
the processor 61 is configured to execute the computer program, specifically configured to:
acquiring a first angle, a second angle and a first speed of a target; wherein the first angle is determined according to a first received signal received by the antenna 63 and corresponding to a signal transmitted by the mimo radar at a first time, and the second angle is determined according to a second received signal received by the antenna 63 and corresponding to a signal transmitted by the mimo radar at a second time, and the signal transmitted at the first time and the signal transmitted at the second time are the same;
performing phase compensation on the second received signal according to the first speed to obtain a third received signal;
determining a third angle of the target from the first received signal and the third received signal;
a target speed of the target is determined based on the first angle, the second angle, the third angle, and the first speed.
Optionally, the processor 61 is specifically configured to:
acquiring an intermediate angle according to the first angle and the second angle;
and determining a target speed of the target according to the third angle, the intermediate angle and the first speed.
Optionally, the processor 61 is specifically configured to:
and if the difference value between the third angle and the intermediate angle is smaller than a first preset threshold value, determining the first speed as the target speed.
Optionally, the processor 61 is specifically configured to:
and if the difference between the third angle and the intermediate angle is larger than a first preset threshold value, adjusting the first speed, and returning to execute the steps of performing phase compensation and determining the target speed of the target according to the adjusted first speed.
Optionally, the processor 61 is specifically configured to:
a preset speed value is added or subtracted to the first speed.
Optionally, the processor 61 is further configured to:
after the steps of performing phase compensation and determining the target speed of the target are performed in accordance with the adjusted first speed return, if the difference between the third angle and the intermediate angle is greater than the first preset threshold, the target is deleted.
Optionally, the processor 61 is further configured to:
before carrying out phase compensation on the second received signal according to the first speed, judging whether the difference value between the first angle and the second angle is smaller than a second preset threshold value or not;
if the difference between the first angle and the second angle is smaller than the second preset threshold, executing the step of performing phase compensation on the second received signal according to the first speed;
and deleting the target if the difference between the first angle and the second angle is larger than the second preset threshold value.
Optionally, the first speed is determined according to the first received signal or according to the second received signal.
Optionally, the mimo radar includes a first transmitting antenna and a second transmitting antenna, where the signal sent at the first moment is a signal sent through the first transmitting antenna, and the signal sent at the second moment is a signal sent through the second transmitting antenna.
Optionally, the signal transmitted at the first time and the signal transmitted at the second time are frequency modulated continuous wave signals.
The mimo radar provided in this embodiment is configured to perform the speed measurement method provided in any one of the implementation manners of fig. 3 to 5, and the technical scheme and the technical effect are similar, and are not described in detail herein.
Embodiments of the present invention also provide a mobile platform that may include the mimo radar provided by the embodiment shown in fig. 2. It should be noted that, the type of the movable platform is not limited in this embodiment, and any device that needs to perform object speed detection may be used. For example, it may be an unmanned aerial vehicle, a vehicle, or other vehicle.
Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the method embodiments described above may be performed by hardware associated with program instructions. The foregoing program may be stored in a computer readable storage medium. The program, when executed, performs steps including the method embodiments described above; and the aforementioned storage medium includes: various media that can store program code, such as ROM, RAM, magnetic or optical disks.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the embodiments of the present invention, and are not limited thereto; although embodiments of the present invention have been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the technical solutions according to the embodiments of the present invention.
Claims (23)
1. A method of speed measurement for a multiple-input multiple-output radar, the method comprising:
acquiring a first angle, a second angle and a first speed of a target; the first angle is determined according to a first receiving signal corresponding to a signal sent by the multiple-input multiple-output radar at a first moment, the second angle is determined according to a second receiving signal corresponding to a signal sent by the multiple-input multiple-output radar at a second moment, the signal sent at the first moment is identical to the signal sent at the second moment, the signal sent at the first moment is sent by a first transmitting antenna, and the signal sent at the second moment is sent by a second transmitting antenna;
performing phase compensation on the second received signal according to the first speed to obtain a third received signal;
determining a third angle of the target from the first received signal and the third received signal;
a target speed of the target is determined based on the first angle, the second angle, the third angle, and the first speed.
2. The method of claim 1, wherein the determining the target speed of the target based on the first angle, the second angle, the third angle, and the first speed comprises:
acquiring an intermediate angle according to the first angle and the second angle;
and determining a target speed of the target according to the third angle, the intermediate angle and the first speed.
3. The method of claim 2, wherein the determining the target speed of the target from the third angle, the intermediate angle, and the first speed comprises:
and if the difference value between the third angle and the intermediate angle is smaller than a first preset threshold value, determining the first speed as the target speed.
4. The method of claim 2, wherein the determining the target speed of the target from the third angle, the intermediate angle, and the first speed comprises:
and if the difference between the third angle and the intermediate angle is larger than a first preset threshold value, adjusting the first speed, and returning to execute the steps of performing phase compensation and determining the target speed of the target according to the adjusted first speed.
5. The method of claim 4, wherein said adjusting said first speed comprises:
a preset speed value is added or subtracted to the first speed.
6. The method of claim 4, wherein after the steps of performing phase compensation and determining the target speed of the target based on the adjusted first speed return, further comprising:
and deleting the target if the difference between the third angle and the intermediate angle is greater than the first preset threshold.
7. The method according to any one of claims 1 to 6, further comprising, before said phase compensating said second received signal according to said first speed:
judging whether the difference value between the first angle and the second angle is smaller than a second preset threshold value or not;
if the difference between the first angle and the second angle is smaller than the second preset threshold, executing the step of performing phase compensation on the second received signal according to the first speed;
and deleting the target if the difference between the first angle and the second angle is larger than the second preset threshold value.
8. The method according to any one of claims 1 to 6, wherein the first speed is determined from the first received signal or from the second received signal.
9. The method according to any one of claims 1 to 6, wherein the mimo radar comprises a first transmit antenna and a second transmit antenna, the signal transmitted at the first time being a signal transmitted through the first transmit antenna, the signal transmitted at the second time being a signal transmitted through the second transmit antenna.
10. The method of any one of claims 1 to 6, wherein the signal transmitted at the first time and the signal transmitted at the second time are frequency modulated continuous wave signals.
11. A multiple-input multiple-output radar, comprising: an antenna, a memory, and a processor;
the antenna is used for sending and receiving signals;
the memory is used for storing a computer program;
the processor is configured to execute the computer program, specifically configured to:
acquiring a first angle, a second angle and a first speed of a target; the first angle is determined according to a first receiving signal received by the antenna and corresponding to a signal sent by the multiple-input multiple-output radar at a first moment, the second angle is determined according to a second receiving signal received by the antenna and corresponding to a signal sent by the multiple-input multiple-output radar at a second moment, the signal sent at the first moment is identical to the signal sent at the second moment, the signal sent at the first moment is sent by a first transmitting antenna, and the signal sent at the second moment is sent by a second transmitting antenna;
performing phase compensation on the second received signal according to the first speed to obtain a third received signal;
determining a third angle of the target from the first received signal and the third received signal;
a target speed of the target is determined based on the first angle, the second angle, the third angle, and the first speed.
12. The multiple-input multiple-output radar according to claim 11, wherein the processor is specifically configured to:
acquiring an intermediate angle according to the first angle and the second angle;
and determining a target speed of the target according to the third angle, the intermediate angle and the first speed.
13. The multiple-input multiple-output radar according to claim 12, wherein the processor is specifically configured to:
and if the difference value between the third angle and the intermediate angle is smaller than a first preset threshold value, determining the first speed as the target speed.
14. The multiple-input multiple-output radar according to claim 12, wherein the processor is specifically configured to:
and if the difference between the third angle and the intermediate angle is larger than a first preset threshold value, adjusting the first speed, and returning to execute the steps of performing phase compensation and determining the target speed of the target according to the adjusted first speed.
15. The multiple-input multiple-output radar according to claim 14, wherein the processor is specifically configured to:
a preset speed value is added or subtracted to the first speed.
16. The multiple-input multiple-output radar of claim 14, wherein the processor is further configured to:
after the steps of performing phase compensation and determining the target speed of the target are performed in accordance with the adjusted first speed return, if the difference between the third angle and the intermediate angle is greater than the first preset threshold, the target is deleted.
17. The multiple-input multiple-output radar according to any one of claims 11 to 16, wherein the processor is further configured to:
before carrying out phase compensation on the second received signal according to the first speed, judging whether the difference value between the first angle and the second angle is smaller than a second preset threshold value or not;
if the difference between the first angle and the second angle is smaller than the second preset threshold, executing the step of performing phase compensation on the second received signal according to the first speed;
and deleting the target if the difference between the first angle and the second angle is larger than the second preset threshold value.
18. The multiple input multiple output radar according to any one of claims 11 to 16, wherein the first speed is determined from the first received signal or from the second received signal.
19. The mimo radar according to any one of claims 11-16, wherein the mimo radar comprises a first transmit antenna and a second transmit antenna, the signal transmitted at a first time being a signal transmitted through the first transmit antenna, and the signal transmitted at a second time being a signal transmitted through the second transmit antenna.
20. A mimo radar according to any one of claims 11 to 16 wherein the signal transmitted at the first time instant and the signal transmitted at the second time instant are frequency modulated continuous wave signals.
21. A movable platform, comprising: a multiple input multiple output radar as claimed in any one of claims 11 to 20.
22. The mobile platform of claim 21, wherein the mobile platform is a vehicle or an unmanned aerial vehicle.
23. A computer storage medium, characterized in that the storage medium stores a computer program which, when executed, implements the method according to any of claims 1-10.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2019/102498 WO2021035463A1 (en) | 2019-08-26 | 2019-08-26 | Speed measurement method, multiple-input multiple-output radar and mobile platform |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112204422A CN112204422A (en) | 2021-01-08 |
| CN112204422B true CN112204422B (en) | 2024-03-15 |
Family
ID=74004615
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201980034078.6A Active CN112204422B (en) | 2019-08-26 | 2019-08-26 | Speed measuring method, multiple input multiple output radar and movable platform |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN112204422B (en) |
| WO (1) | WO2021035463A1 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114019495B (en) * | 2021-10-27 | 2024-05-31 | 海信集团控股股份有限公司 | Method and related device for determining maximum non-fuzzy speed of millimeter wave radar |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102741704A (en) * | 2009-12-05 | 2012-10-17 | 法雷奥开关和传感器有限责任公司 | Method for unambiguously determining a range and/or a relative speed of an object, driver assistance device and motor vehicle |
| CN107688178A (en) * | 2017-08-25 | 2018-02-13 | 上海通趣科技有限公司 | A kind of sawtooth waveforms ranging and range rate method based on 77GHz millimetre-wave radars |
| CN108387883A (en) * | 2018-05-25 | 2018-08-10 | 中国人民解放军国防科技大学 | Method for calculating angle of moving target of switched antenna array frequency modulation continuous wave radar |
| CN108693526A (en) * | 2018-05-25 | 2018-10-23 | 中国人民解放军国防科技大学 | Moving object phase compensation method for MIMO radar |
| CN108693511A (en) * | 2018-05-25 | 2018-10-23 | 中国人民解放军国防科技大学 | Moving target angle calculation method of time division multiplexing MIMO radar |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9541638B2 (en) * | 2014-11-11 | 2017-01-10 | Nxp B.V. | MIMO radar system |
| US9689967B1 (en) * | 2016-04-07 | 2017-06-27 | Uhnder, Inc. | Adaptive transmission and interference cancellation for MIMO radar |
| CN109581322A (en) * | 2018-09-10 | 2019-04-05 | 李涛 | A kind of MIMO radar target identification method under cheating interference based on Hough transform |
| CN109975806B (en) * | 2019-04-15 | 2023-04-07 | 西安中电科西电科大雷达技术协同创新研究院有限公司 | Time division MIMO radar motion compensation method based on array element phase difference |
-
2019
- 2019-08-26 CN CN201980034078.6A patent/CN112204422B/en active Active
- 2019-08-26 WO PCT/CN2019/102498 patent/WO2021035463A1/en active Application Filing
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102741704A (en) * | 2009-12-05 | 2012-10-17 | 法雷奥开关和传感器有限责任公司 | Method for unambiguously determining a range and/or a relative speed of an object, driver assistance device and motor vehicle |
| CN107688178A (en) * | 2017-08-25 | 2018-02-13 | 上海通趣科技有限公司 | A kind of sawtooth waveforms ranging and range rate method based on 77GHz millimetre-wave radars |
| CN108387883A (en) * | 2018-05-25 | 2018-08-10 | 中国人民解放军国防科技大学 | Method for calculating angle of moving target of switched antenna array frequency modulation continuous wave radar |
| CN108693526A (en) * | 2018-05-25 | 2018-10-23 | 中国人民解放军国防科技大学 | Moving object phase compensation method for MIMO radar |
| CN108693511A (en) * | 2018-05-25 | 2018-10-23 | 中国人民解放军国防科技大学 | Moving target angle calculation method of time division multiplexing MIMO radar |
Non-Patent Citations (1)
| Title |
|---|
| MIMO雷达多目标多维参数估计预处理算法;秦国栋 等;《西安电子科技大学学报（自然科学版）》;第40卷(第2期);第103-109页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2021035463A1 (en) | 2021-03-04 |
| CN112204422A (en) | 2021-01-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9470782B2 (en) | Method and apparatus for increasing angular resolution in an automotive radar system | |
| Chakraborty et al. | Multipath exploitationwith adaptivewaveform design for tracking in urban terrain | |
| US11506745B2 (en) | Vehicular self-positioning | |
| US20220326376A1 (en) | Signal processing method and apparatus | |
| CN113050053B (en) | Method and system for acquiring phase parameters of distributed phase-coherent radar of mobile platform | |
| CN112098990A (en) | Method for detecting and tracking medium and high speed vehicle by vehicle-mounted high-resolution millimeter wave radar | |
| US20230139751A1 (en) | Clustering in automotive imaging | |
| CN112630771B (en) | Multi-target tracking method and system based on millimeter wave equipment | |
| KR20210106864A (en) | Method and apparatus for detecting object based on radar signal | |
| KR20200035560A (en) | Method of determining object state and an electronic device performing the method | |
| CN112098968A (en) | Target positioning method and device for radar | |
| CN112204422B (en) | Speed measuring method, multiple input multiple output radar and movable platform | |
| CN111316126B (en) | Target detection method, radar, vehicle, and computer-readable storage medium | |
| US20240230840A9 (en) | Mimo sensor, method for determining direction-of-arrival approximation degree, and target information matching method | |
| EP3767331A1 (en) | Information measurement method and information measurement device | |
| CN112689773B (en) | Radar signal processing method and radar signal processing device | |
| CN117647797A (en) | Method and device for correcting short-distance speed of radar, radar and storage medium | |
| CN110940973B (en) | Angle measurement method and device for radar target detection | |
| KR20210136629A (en) | Radar Apparatus for Vehicle and Controlling Method thereof | |
| WO2023137682A1 (en) | Data processing method and apparatus, and vehicle | |
| KR101052050B1 (en) | Method for detecting moving target and radar system thereof | |
| US10690769B2 (en) | Target angle determination using vehicle radar elements with local reference signals | |
| EP4382962A1 (en) | An ego velocity estimator for radar systems | |
| EP4394430A1 (en) | Joint communication and sensing system and signalling for user equipment sensing | |
| CN115436905B (en) | Baseline estimation method and system based on passive receiving system and electronic equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20240515 Address after: Building 3, Xunmei Science and Technology Plaza, No. 8 Keyuan Road, Science and Technology Park Community, Yuehai Street, Nanshan District, Shenzhen City, Guangdong Province, 518057, 1634 Patentee after: Shenzhen Zhuoyu Technology Co.,Ltd. Country or region after: China Address before: 518057 Shenzhen Nanshan High-tech Zone, Shenzhen, Guangdong Province, 6/F, Shenzhen Industry, Education and Research Building, Hong Kong University of Science and Technology, No. 9 Yuexingdao, South District, Nanshan District, Shenzhen City, Guangdong Province Patentee before: SZ DJI TECHNOLOGY Co.,Ltd. Country or region before: China |