CN112578341A - Signal sending method, signal processing method and device - Google Patents

Signal sending method, signal processing method and device Download PDF

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Publication number
CN112578341A
CN112578341A CN201910944466.XA CN201910944466A CN112578341A CN 112578341 A CN112578341 A CN 112578341A CN 201910944466 A CN201910944466 A CN 201910944466A CN 112578341 A CN112578341 A CN 112578341A
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China
Prior art keywords
transmit
transmitting
groups
transmitting antenna
antennas
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Pending
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CN201910944466.XA
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Chinese (zh)
Inventor
汪义凯
殷潜
李珽
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Huawei Technologies Co Ltd
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Huawei Technologies Co Ltd
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Priority to CN201910944466.XA priority Critical patent/CN112578341A/en
Publication of CN112578341A publication Critical patent/CN112578341A/en
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    • 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
    • G01S7/28—Details of pulse systems
    • G01S7/282—Transmitters
    • 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
    • G01S13/581—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of interrupted pulse modulated waves and based upon the Doppler effect resulting from movement of targets
    • 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
    • G01S7/28—Details of pulse systems
    • G01S7/285—Receivers

Abstract

The application relates to a signal sending method, a signal processing method and a signal processing device, and belongs to the technical field of sensors. The signal transmission method comprises the following steps: determining at least two transmitting antenna groups of the radar device, wherein the at least two transmitting antenna groups comprise a first transmitting antenna group and a second transmitting antenna group which are numbered continuously, and the first transmitting antenna group and the second transmitting antenna group comprise first antennas; the signals are transmitted by at least two transmitting antenna groups, the at least two transmitting antenna groups transmit the signals in a TDM mode, and a plurality of transmitting antennas included in each transmitting antenna group comprising a plurality of transmitting antennas in the at least two transmitting antenna groups transmit the signals in a CDM mode. The method and the device can be applied to the related fields of automatic driving, auxiliary driving, intelligent internet vehicles, intelligent automobiles, electric vehicles/electric automobiles and the like, and can improve the decoupling performance of speed and angle and accurately determine the angle information of the target if the method and the device are used for target detection and tracking in the auxiliary driving and the automatic driving.

Description

Signal sending method, signal processing method and device
Technical Field
The present application relates to the field of radar technologies, and in particular, to a signal sending method, a signal processing method, and a device.
Background
With the development of science and technology, smart cars gradually enter daily life. The Advanced Driving Assistance System (ADAS) plays an important role in the intelligent automobile, and the system senses the surrounding environment, collects data, identifies, detects and tracks objects and the like in the driving process of the automobile by using various sensors mounted on the automobile, so that a driver can detect the possible danger in advance, and the comfort and safety of automobile driving are effectively improved.
In the unmanned technology, the sensing layer includes a vision sensor such as an on-vehicle camera and a radar sensor such as an on-vehicle radar. The millimeter wave radar is one of vehicle-mounted radars, and is widely applied to an unmanned system due to lower cost and more mature technology. The unmanned technology puts higher resolution requirements on the millimeter wave radar, and the transverse high resolution of the radar can be realized by increasing the antenna aperture. Multiple-input-multiple-output (MIMO) is a technical means for increasing the aperture of an antenna, so that the MIMO radar becomes a direction for the development of the vehicle-mounted millimeter wave radar.
The MIMO radar mainly includes Frequency Division Multiplexing (FDM), Code Division Multiplexing (CDM), and Time Division Multiplexing (TDM). In consideration of the realization complexity and the cost limit of semiconductor devices, the vehicle-mounted millimeter wave radar mostly adopts the TDM technology. However, in practical use of TDM MIMO, because phase variations caused by moving target doppler frequencies within different transmit antenna switching times are coupled to each receive antenna, and the TDM MIMO itself reduces the sampling rate at a slow time, so that the unambiguous velocity measurement range is reduced, a condition of velocity aliasing is more likely to occur when the velocity of the target object is calculated, that is, velocity ambiguity occurs, and the obtained velocity of the target object is not a true velocity.
One current solution for resolving the ambiguity of the velocity is a solution for resolving the ambiguity of the overlapping array elements, that is, a velocity ambiguity multiple is determined according to the phase difference between two overlapping elements and the doppler frequency of a radar receiving signal. However, in this method, the radar physical design is required to overlap the array elements, so that the aperture of the antenna array of the radar becomes smaller. Or, the same transmitting antenna may be set to continuously transmit signals twice to realize overlapping array elements, but the maximum unambiguous speed is reduced when the antenna repeatedly transmits signals, so that the performance of resolving the ambiguity of the speed is low.
Disclosure of Invention
The application provides a signal sending method, a signal processing method and a signal processing device, which are used for improving the speed ambiguity resolution performance so as to accurately determine the actual speed of a target.
In a first aspect, a signal transmission method is provided, which may be applied to a radar apparatus including at least three transmitting antennas, the method including:
determining at least two transmit antenna groups of the radar apparatus, wherein each transmit antenna group comprises at least one transmit antenna, the at least two transmit antenna groups comprise a first transmit antenna group and a second transmit antenna group which are numbered consecutively, and the first transmit antenna group and the second transmit antenna group comprise a first antenna;
and sending signals through the at least two transmitting antenna groups, wherein the at least two transmitting antenna groups send signals in a Time Division Multiplexing (TDM) mode, and the plurality of transmitting antennas included in each transmitting antenna group comprising a plurality of transmitting antennas in the at least two transmitting antenna groups send signals in a CDM mode.
In the embodiment of the present application, the method may be performed by a detection device, for example, a radar device, which may be a radar or a communication device communicatively connected to the radar. In this scheme, when the radar apparatus sends a signal, the included transmitting antennas may be grouped first, for example, the included N transmitting antennas are divided into at least two transmitting antenna groups, for example, K transmitting antenna groups. The K transmit antenna groups include a first transmit antenna group and a second transmit antenna group which are numbered consecutively, and the first transmit antenna group and the second transmit antenna group include a first antenna, that is, the K transmit antenna groups have overlapping array elements, that is, the K transmit antenna groups include the first transmit antenna group and the second transmit antenna group of the first antenna. The overlapping array elements are constructed in a grouping mode, so that the overlapping array elements do not need to be physically designed, and the aperture of an antenna array of the radar is prevented from being reduced as much as possible. And simultaneously, errors among arrays caused by physically designing overlapped array elements can be avoided. And the grouping mode for constructing the overlapped array elements is more flexible than the physical design of the overlapped array elements.
Moreover, the K transmit antenna groups transmit signals in a TDM manner, and transmit antennas included in each transmit antenna group transmit signals simultaneously, for example, the transmit antennas included in each transmit antenna group transmit signals in a CDM manner. The number of groups of transmitting antenna groups transmitted by the radar device in a TDM manner is reduced, so that phase jump among each virtual antenna array element of the radar device can be increased. By the signal transmission method, the radar device can solve the speed ambiguity by adopting an overlapping array element method. Meanwhile, because the overlapped array elements are constructed in a grouping mode, compared with the prior art in which the overlapped array elements are realized by continuously sending signals twice by the same transmitting antenna, the maximum non-fuzzy speed is not reduced when the speed ambiguity is solved by adopting the overlapped array element method, and the performance of solving the speed ambiguity can be improved.
In one possible design, the at least two transmit antenna groups include a third antenna group, and the third antenna group and the second transmit antenna group include a second antenna.
In the embodiments of the present application, any two adjacent antenna groups may include the same antenna. Namely, a plurality of overlapped array elements can be constructed to improve the performance of resolving the speed ambiguity as much as possible.
In one possible design, determining at least two transmit antenna groups of the radar apparatus includes:
randomly determining the at least two transmit antenna groups from the at least three transmit antennas.
The method comprises the steps of determining a mode of at least two transmitting antenna groups, wherein before the radar device sends signals, transmitting antennas included in the radar device can be randomly divided into at least two transmitting antenna groups, so that the phase jump rule between adjacent virtual antenna array elements according to the antenna arrangement sequence is random, and the coupling between the virtual antenna array elements is reduced.
In one possible design, the radar apparatus includes transmit antennas numbered 1 to N, where N is greater than or equal to 3, and in each transmit antenna group, there are at least two transmit antenna discontinuities in the number; or, in each transmitting antenna group, the numbers of any two transmitting antennas are not consecutive.
In another possible design, in each transmit antenna group, at least two numbered adjacent transmit antennas exist with a spacing between numbers greater than 1, or any two numbered adjacent transmit antennas have a spacing between numbers greater than 1.
In practical applications, the number of the transmitting antennas included in each transmitting antenna group divided by the radar device is randomly selected, for example, the number of at least two transmitting antennas is not continuous; or, the numbers of any two transmitting antennas are not continuous, or at least, the interval between the numbers of two adjacent transmitting antennas is larger than 1, or the interval between the numbers of any two adjacent transmitting antennas is larger than 1. Therefore, before the radar device sends signals every time, the interval between the numbers of the transmitting antennas included in each transmitting antenna group can be ensured to be as large as possible, so that the phase jump rule between adjacent virtual antenna array elements is more random, the possibility of speed and angle coupling is reduced as much as possible, and the speed and angle decoupling performance is improved.
In one possible design, the determining at least two transmit antenna groups of the radar apparatus includes:
determining a first grouping mode of a plurality of grouping modes, and determining that the performance parameters of the at least two transmitting antenna groups determined based on the first grouping mode are optimal, wherein the performance parameters are used for indicating the performance of speed ambiguity resolution.
In one possible design, the plurality of groupings includes all possible groupings of the at least two transmit antenna groups.
In another way, the radar apparatus may compare the performance of resolving the speed ambiguity corresponding to a plurality of grouping modes in actual use, and one grouping mode may be regarded as at least two transmitting antenna groups randomly divided by the radar apparatus at a time, so that the radar apparatus determines the at least two transmitting antenna groups based on the grouping mode with the optimal performance of resolving the speed ambiguity, that is, the first grouping mode. Therefore, the subsequent radar device can adopt the at least two transmitting antenna groups to transmit signals without re-determining the at least two transmitting antenna groups each time, so that the subsequent ambiguity resolution performance can be ensured to be better, and the burden of the radar device can be reduced.
In one possible design, the at least two transmit antenna groups comprise different or the same number of transmit antennas.
In the embodiment of the present application, the number of the transmitting antennas included in at least two transmitting antenna groups may be the same or different, so that the method is applicable to a case where the number of the transmitting antennas is prime, and is also applicable to a case where the number of the transmitting antennas is not prime, and the application range is wider.
In a second aspect, a signal processing method is provided, which is applied to a radar apparatus including at least three transmitting antennas and at least one receiving antenna, and includes:
determining at least two groups of detection information according to signals received by the at least one receiving antenna, wherein the at least two groups of detection information correspond to at least two transmitting antenna groups consisting of the at least three transmitting antennas, each transmitting antenna group comprises at least two transmitting antennas, the at least two transmitting antenna groups comprise a first transmitting antenna group and a second transmitting antenna group which are numbered consecutively, and the first transmitting antenna group and the second transmitting antenna group comprise a first antenna; wherein, the at least two transmitting antenna groups adopt TDM mode to transmit signals, and each transmitting antenna group of the at least two transmitting antenna groups containing a plurality of transmitting antennas comprises a plurality of transmitting antennas which adopt CDM mode to transmit signals;
determining at least three detection information according to the at least two groups of detection information, wherein the at least three detection information is used for determining a speed estimation value of a target, and the at least three detection information corresponds to the at least three transmitting antennas;
and determining the real speed of the target according to a first speed fuzzy multiple and a speed estimation value of the target, wherein the first speed fuzzy multiple is one of at least two speed fuzzy multiples corresponding to the at least two groups of detection information.
In the embodiment of the application, when the radar device resolves the speed ambiguity, the signals received by the radar device may be divided into at least two groups of signals according to at least two transmitting antenna groups into which the signals sent by the radar device are divided, so as to determine a group of detection information according to each group of signals.
In one possible design, determining at least two sets of detection information from signals received by the at least two receive antennas includes:
dividing the signals into at least two groups of signals according to at least two transmitting antenna groups included in the radar device, wherein one transmitting antenna group corresponds to one group of signals;
and respectively converting the at least two groups of signals into a range-Doppler domain to obtain the at least two groups of detection information.
In one possible design, the method further includes:
determining a phase difference of at least one overlapping element pair of the radar apparatus, wherein each overlapping element pair of the at least one overlapping element pair corresponds to two transmit antenna groups, and the two transmit antenna groups comprise the same transmit antenna;
and determining the first speed fuzzy multiple according to the phase difference and the Doppler frequency corresponding to the detection information in the at least two groups of detection information.
In the embodiment of the application, because the overlapping array elements are constructed in a grouping manner, compared with the prior art in which the overlapping array elements are realized by continuously sending signals twice by using the same transmitting antenna, when the speed ambiguity is resolved by using the overlapping array element method, the maximum non-ambiguity speed is not reduced, and the performance of resolving the speed ambiguity can be improved.
In a third aspect, a method is provided, where an execution subject of the method may be a chip provided in a probe apparatus, and the method includes:
determining at least two transmit antenna groups of the radar apparatus, wherein each transmit antenna group comprises at least one transmit antenna, the at least two transmit antenna groups comprise a first transmit antenna group and a second transmit antenna group which are numbered consecutively, and the first transmit antenna group and the second transmit antenna group comprise a first antenna;
and controlling the at least two transmitting antenna groups to transmit signals in a Time Division Multiplexing (TDM) mode, wherein the plurality of transmitting antennas included in each transmitting antenna group comprising a plurality of transmitting antennas in the at least two transmitting antenna groups transmit signals in a CDM mode.
In one possible design, the at least two transmit antenna groups include a third antenna group, and the third antenna group and the second transmit antenna group include a second antenna.
In one possible design, determining at least two transmit antenna groups of the radar apparatus includes:
randomly determining the at least two transmit antenna groups from the at least three transmit antennas.
In one possible design, the radar apparatus includes transmit antennas numbered 1 to N, where N is greater than or equal to 3, and in each transmit antenna group, there are at least two transmit antenna discontinuities in the number; or, in each transmitting antenna group, the numbers of any two transmitting antennas are not consecutive.
In another possible design, in each transmit antenna group, at least two numbered adjacent transmit antennas exist with a spacing between numbers greater than 1, or any two numbered adjacent transmit antennas have a spacing between numbers greater than 1.
In one possible design, the determining at least two transmit antenna groups of the radar apparatus includes:
determining a first grouping mode of a plurality of grouping modes, and determining that the performance parameters of the at least two transmitting antenna groups determined based on the first grouping mode are optimal, wherein the performance parameters are used for indicating the performance of speed ambiguity resolution.
In one possible design, the plurality of groupings includes all possible groupings of the at least two transmit antenna groups.
In one possible design, the at least two transmit antenna groups comprise different or the same number of transmit antennas.
In a fourth aspect, an embodiment of the present application provides an apparatus, including:
at least one processor configured to determine at least two transmit antenna groups of the apparatus, wherein each of the transmit antenna groups comprises at least one transmit antenna, the at least two transmit antenna groups comprise a first transmit antenna group and a second transmit antenna group that are consecutively numbered, and the first transmit antenna group and the second transmit antenna group comprise a first antenna; and the number of the first and second groups,
the at least two transmitting antenna groups are configured to transmit signals, where the at least two transmitting antenna groups transmit signals in a time division multiplexing TDM manner, and each transmitting antenna group in the at least two transmitting antenna groups includes multiple transmitting antennas, and the multiple transmitting antennas transmit signals in a CDM manner.
In one possible design, the at least two transmit antenna groups include a third antenna group, and the third antenna group and the second transmit antenna group include a second antenna.
In one possible design, the at least one processor is specifically configured to:
randomly determining the at least two transmit antenna groups from the at least three transmit antennas.
In one possible design, the radar apparatus includes transmit antennas numbered 1 to N, where N is greater than or equal to 3, and in each transmit antenna group, there are at least two transmit antenna discontinuities in the number; or, in each transmitting antenna group, the numbers of any two transmitting antennas are not consecutive.
In one possible design, in each transmit antenna group, at least two numbered adjacent transmit antennas exist with a spacing between numbers greater than 1, or any two numbered adjacent transmit antennas have a spacing between numbers greater than 1.
In one possible design, the at least one processor is specifically configured to:
determining a first grouping mode of a plurality of grouping modes, and determining that the performance parameters of the at least two transmitting antenna groups determined based on the first grouping mode are optimal, wherein the performance parameters are used for indicating the performance of speed ambiguity resolution.
In one possible design, the plurality of groupings includes all possible groupings of the at least two transmit antenna groups.
In one possible design, the at least two transmit antenna groups comprise different or the same number of transmit antennas.
In a fifth aspect, there is provided an apparatus comprising at least one processing unit and a communication interface, the at least one processing unit and the communication interface being coupled to each other for implementing the method as described in the first aspect or in various possible designs of the first aspect. Illustratively, the device is a radar. The communication interface may be implemented by, for example, an antenna, a feeder, a codec, and the like in the apparatus, or, if the apparatus is a chip disposed in the detection device, the communication interface is, for example, a communication interface in the chip, and the communication interface is connected to a radio frequency transceiver component in the detection device to implement transceiving of information through the radio frequency transceiver component. Wherein the content of the first and second substances,
the at least one processing unit is configured to determine at least two transmit antenna groups of the apparatus, wherein each transmit antenna group includes at least one transmit antenna, the at least two transmit antenna groups include a first transmit antenna group and a second transmit antenna group which are numbered consecutively, and the first transmit antenna group and the second transmit antenna group include a first antenna; and the number of the first and second groups,
the communication interface is configured to control the at least two transmit antenna groups to transmit signals in a time division multiplexing TDM manner, and control the plurality of transmit antennas included in each transmit antenna group including a plurality of transmit antennas to transmit signals in a CDM manner.
In one possible design, the at least two transmit antenna groups include a third antenna group, and the third antenna group and the second transmit antenna group include a second antenna.
In one possible design, the at least one processing unit is specifically configured to:
randomly determining the at least two transmit antenna groups from the at least three transmit antennas.
In one possible design, the radar apparatus includes transmit antennas numbered 1 to N, where N is greater than or equal to 3, and in each transmit antenna group, there are at least two transmit antenna discontinuities in the number; or, in each transmitting antenna group, the numbers of any two transmitting antennas are not consecutive.
In one possible design, in each transmit antenna group, at least two numbered adjacent transmit antennas exist with a spacing between numbers greater than 1, or any two numbered adjacent transmit antennas have a spacing between numbers greater than 1.
In one possible design, the at least one processing unit is specifically configured to:
determining a first grouping mode of a plurality of grouping modes, and determining that the performance parameters of the at least two transmitting antenna groups determined based on the first grouping mode are optimal, wherein the performance parameters are used for indicating the performance of speed ambiguity resolution.
In one possible design, the plurality of groupings includes all possible groupings of the at least two transmit antenna groups.
In one possible design, the at least two transmit antenna groups comprise different or the same number of transmit antennas.
In a sixth aspect, an apparatus is provided, the apparatus being a chip disposed in a probing device. Wherein the apparatus comprises at least one processor and a communication interface for providing the at least one processor with program instructions that, when executed by the at least one processor, perform the steps of:
determining at least two transmit antenna groups of the radar apparatus, wherein each transmit antenna group comprises at least one transmit antenna, the at least two transmit antenna groups comprise a first transmit antenna group and a second transmit antenna group which are numbered consecutively, and the first transmit antenna group and the second transmit antenna group comprise a first antenna;
and controlling the at least two transmitting antenna groups to transmit signals in a Time Division Multiplexing (TDM) mode, wherein the plurality of transmitting antennas included in each transmitting antenna group comprising a plurality of transmitting antennas in the at least two transmitting antenna groups transmit signals in a CDM mode.
In one possible design, the at least two transmit antenna groups include a third antenna group, and the third antenna group and the second transmit antenna group include a second antenna.
In one possible design, the at least one processor is specifically configured to:
randomly determining the at least two transmit antenna groups from the at least three transmit antennas.
In one possible design, the radar apparatus includes transmit antennas numbered 1 to N, where N is greater than or equal to 3, and in each transmit antenna group, there are at least two transmit antenna discontinuities in the number; or, in each transmitting antenna group, the numbers of any two transmitting antennas are not consecutive.
In one possible design, in each transmit antenna group, at least two numbered adjacent transmit antennas exist with a spacing between numbers greater than 1, or any two numbered adjacent transmit antennas have a spacing between numbers greater than 1.
In one possible design, the at least one processor is specifically configured to:
determining a first grouping mode of a plurality of grouping modes, and determining that the performance parameters of the at least two transmitting antenna groups determined based on the first grouping mode are optimal, wherein the performance parameters are used for indicating the performance of speed ambiguity resolution.
In one possible design, the plurality of groupings includes all possible groupings of the at least two transmit antenna groups.
In one possible design, the at least two transmit antenna groups comprise different or the same number of transmit antennas.
In a seventh aspect, an apparatus is provided, which includes:
a communication interface for receiving a signal;
a processing unit, configured to determine at least two sets of detection information according to a received signal, where the at least two sets of detection information correspond to at least two transmit antenna groups formed by the at least three transmit antennas, each transmit antenna group includes at least two transmit antennas, the at least two transmit antenna groups include a first transmit antenna group and a second transmit antenna group with consecutive numbers, and the first transmit antenna group and the second transmit antenna group include a first antenna; wherein, the at least two transmitting antenna groups adopt TDM mode to transmit signals, and each transmitting antenna group of the at least two transmitting antenna groups containing a plurality of transmitting antennas comprises a plurality of transmitting antennas which adopt CDM mode to transmit signals;
determining at least three detection information according to the at least two groups of detection information, wherein the at least three detection information is used for determining a speed estimation value of a target, and the at least three detection information corresponds to the at least three transmitting antennas;
and determining the real speed of the target according to a first speed fuzzy multiple and a speed estimation value of the target, wherein the first speed fuzzy multiple is one of at least two speed fuzzy multiples corresponding to the at least two groups of detection information.
In one possible design, the processing unit is specifically configured to:
dividing the signals into at least two groups of signals according to at least two transmitting antenna groups included in the radar device, wherein one transmitting antenna group corresponds to one group of signals;
and respectively converting the at least two groups of signals into a range-Doppler domain to obtain the at least two groups of detection information.
In one possible design, the processing unit is specifically configured to:
determining a phase difference of at least one overlapping element pair of the radar apparatus, wherein each overlapping element pair of the at least one overlapping element pair corresponds to two transmit antenna groups, and the two transmit antenna groups comprise the same transmit antenna;
and determining the first speed fuzzy multiple according to the phase difference and the Doppler frequency corresponding to the detection information in the at least two groups of detection information.
In an eighth aspect, a radar apparatus is provided, for example an aforementioned radar apparatus, comprising at least one receiving antenna and at least one processor, which are coupled to each other for implementing the method described in the second aspect or in various possible designs of the second aspect. Illustratively, the radar device is a radar. Wherein, the transceiver is implemented by an antenna, a feeder, a codec, etc. in the communication device, for example, or, if the radar apparatus is a chip disposed in the detection device, the transceiver is, for example, a communication interface in the chip, and the communication interface is connected with a radio frequency transceiving component in the detection device to implement transceiving of information by the radio frequency transceiving component. Wherein the content of the first and second substances,
the at least one receiving antenna is used for receiving at least one signal;
the at least one processor is configured to determine at least two sets of detection information from a received signal, where the at least two sets of detection information correspond to at least two transmit antenna groups formed by the at least three transmit antennas, each transmit antenna group includes at least two transmit antennas, the at least two transmit antenna groups include a first transmit antenna group and a second transmit antenna group which are numbered consecutively, and the first transmit antenna group and the second transmit antenna group include a first antenna; wherein, the at least two transmitting antenna groups adopt TDM mode to transmit signals, and each transmitting antenna group of the at least two transmitting antenna groups containing a plurality of transmitting antennas comprises a plurality of transmitting antennas which adopt CDM mode to transmit signals;
determining at least three detection information according to the at least two groups of detection information, wherein the at least three detection information is used for determining a speed estimation value of a target, and the at least three detection information corresponds to the at least three transmitting antennas;
and determining the real speed of the target according to a first speed fuzzy multiple and a speed estimation value of the target, wherein the first speed fuzzy multiple is one of at least two speed fuzzy multiples corresponding to the at least two groups of detection information.
In one possible design, the at least one processor is specifically configured to:
dividing the signals into at least two groups of signals according to at least two transmitting antenna groups included in the radar device, wherein one transmitting antenna group corresponds to one group of signals;
and respectively converting the at least two groups of signals into a range-Doppler domain to obtain the at least two groups of detection information.
In one possible design, the at least one processor is specifically configured to:
determining a phase difference of at least one overlapping element pair of the radar apparatus, wherein each overlapping element pair of the at least one overlapping element pair corresponds to two transmit antenna groups, and the two transmit antenna groups comprise the same transmit antenna;
and determining the first speed fuzzy multiple according to the phase difference and the Doppler frequency corresponding to the detection information in the at least two groups of detection information.
In a ninth aspect, yet another apparatus is provided. The device may be a radar device designed for the method described above. Illustratively, the apparatus is a chip provided in the probing device. Illustratively, the detection device is a radar. The device includes: a memory for storing computer executable program code; and a processor coupled with the memory. Wherein the program code stored in the memory comprises instructions which, when executed by the processor, cause the apparatus or a device in which the apparatus is installed to perform the method of the first aspect or any one of the possible embodiments of the first aspect, or cause the apparatus or the device in which the apparatus is installed to perform the method of the second aspect or any one of the possible embodiments of the second aspect.
Wherein the apparatus may further comprise a communication interface, which may be a transceiver in the detection device, for example implemented by an antenna, a feeder, a codec, etc. in said radar apparatus, or, if the apparatus is a chip provided in the detection device, the communication interface may be an input/output interface of the chip, for example an input/output pin, etc.
A tenth aspect provides a communication system which may for example comprise one or more of the apparatus of the fourth or fifth aspect or the sixth aspect or the seventh or eighth aspect, or which may further comprise other communication means, such as a central node, or may further comprise a target object.
In an eleventh aspect, there is provided a computer storage medium having instructions stored thereon, which when executed on a computer, cause the computer to perform the method of the first aspect or any one of the possible designs of the first aspect; or cause a computer to perform a method as described in the second aspect or any one of the possible designs of the second aspect.
In a twelfth aspect, there is provided a computer program product comprising instructions stored thereon, which when run on a computer, cause the computer to perform the method of the first aspect or any one of the possible designs of the first aspect; or cause a computer to perform a method as described in the second aspect or any one of the possible designs of the second aspect.
Advantageous effects of the third to twelfth aspects and their implementations described above reference may be made to the description of the method of the first aspect and its implementations or the method of the second aspect and its implementations.
Drawings
FIG. 1 is a schematic diagram of the operation of a millimeter wave radar;
FIG. 2 is a schematic diagram of a transmit signal, an echo signal, and an IF signal;
FIG. 3 is a schematic diagram of the SIMO radar angle measurement principle;
FIG. 4 is a schematic diagram of a MIMO radar virtual antenna element principle;
FIG. 5 is a schematic diagram of a MIMO radar transmitting signals in a TDM manner;
FIG. 6 is a schematic diagram of an overlapping array element of a MIMO radar;
fig. 7 is a schematic flowchart of a signal transmission method according to an embodiment of the present application;
fig. 8 is a diagram illustrating a radar apparatus transmitting a signal by CDM scheme;
fig. 9 is a schematic diagram of signals transmitted by at least two transmitting antenna groups of a radar apparatus according to an embodiment of the present application;
fig. 10 is a schematic diagram of signals transmitted by two transmitting antenna groups with overlapping array elements of a radar apparatus provided in an embodiment of the present application;
fig. 11 is a schematic diagram of signals transmitted by two transmitting antenna groups with overlapping array elements of a radar apparatus provided in an embodiment of the present application;
fig. 12 is a schematic flowchart of a signal processing method according to an embodiment of the present application;
fig. 13 is a schematic structural diagram of a radar apparatus according to an embodiment of the present application;
fig. 14 is a schematic structural diagram of a radar apparatus according to an embodiment of the present application;
fig. 15 is a schematic structural diagram of a radar apparatus according to an embodiment of the present application;
fig. 16 is a schematic structural diagram of an apparatus according to an embodiment of the present disclosure.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the embodiments of the present application will be described in further detail with reference to the accompanying drawings.
Before describing the present application, a part of terms in the embodiments of the present application will be briefly explained so as to be easily understood by those skilled in the art.
1) The radar detection device is, for example, a radar (radar), or may be another device for detecting (e.g., ranging).
2) The radar may also be referred to as a detector, a radar detection device, or a radar signal transmission device. The working principle is to detect a corresponding target object by transmitting a signal (alternatively referred to as a detection signal) and receiving a reflected signal reflected by the target object. The signal transmitted by the radar may be a radar signal, and correspondingly, the received reflected signal reflected by the target object may also be a radar signal.
3) The emission period of the radar detection device (or referred to as a frequency sweep period, frequency sweep time, or frequency sweep duration, etc. of the radar detection device) refers to a period in which the radar detection device transmits a radar signal of a complete waveform. Radar detection devices typically transmit radar signals for a plurality of frequency sweep periods over a continuous period of time.
4) Frequency Modulated Continuous Wave (FMCW), an electromagnetic wave whose frequency varies with time. In the following description, FMCW radar is taken as an example, it should be noted that the present application can also be applied to radars with other mechanisms, and the present application does not limit the type of radar.
5) Chirped continuous waves, electromagnetic waves whose frequency varies linearly with time. The linear variation here generally means a linear variation within one transmission period. In particular, the waveform of the chirped continuous wave is generally a sawtooth wave or a triangular wave, or other possible waveforms, such as a stepped frequency waveform, etc., may exist.
6) The maximum speed measurement range of the radar detection device, or the maximum detection speed of the radar detection device, is a parameter related to the configuration of the radar detection device (e.g., related to factory setting parameters of the radar detection device). For example, the radar detection device is a radar, the time interval of signals transmitted by two adjacent transmitting antennas on the time domain is T, and the maximum detection speed of the radar is +/-lambda/4T.
7) An Intermediate Frequency (IF) signal, taking a radar detection device as an example, is a signal obtained by processing a local oscillator signal of a radar and a reflection signal (a signal obtained by reflecting a transmission signal of the radar by a target object) received by the radar by a mixer, that is, an intermediate frequency signal. Specifically, a part of the frequency modulated continuous wave signal generated by the oscillator is used as a local oscillator signal, a part of the frequency modulated continuous wave signal is used as a transmission signal and is transmitted out through the transmitting antenna, and a reflection signal of the transmission signal received by the receiving antenna is mixed with the local oscillator signal to obtain the intermediate frequency signal. Through the intermediate frequency signal, one or more of distance information, velocity information, or angle information of the target object may be obtained. The distance information may be distance information of the target object relative to the current radar, the speed information may be a projection of a speed of the target object relative to the current radar in a direction connecting the target object and the radar, and the angle information may be angle information of the target object relative to the current radar. Further, the frequency of the intermediate frequency signal is referred to as an intermediate frequency.
8) The velocity ambiguity refers to the phenomenon that when the pulse Doppler radar works and at a medium-low repetition frequency, the velocity of a measured target object is confused due to a frequency spectrum overlapping phenomenon, and the real velocity of the target is difficult to distinguish. The radar sends a signal via the transmitting antenna, which, if it hits a target object, forms an echo signal via reflection by the target object, which the radar receives via the receiving antenna. The radar can determine the radial velocity of the target object relative to the radar from the frequency shift of the echo signal relative to the signal transmitted by the radar transmitting antenna, i.e., vt λ fd/2, where λ is the transmit wavelength, vt is the velocity of the target object, and fd is the frequency shift of the echo signal relative to the signal transmitted by the radar transmitting antenna. When fd > fr/2, where fr is the repetition frequency of the radar transmission signal, vt will be confused with the target speed of (fd-nfr)/2(n is a positive integer). Velocity ambiguity arises if the user cannot resolve the overlap of the true doppler shift of the target object with the frequency separation caused by the repetition frequency of the signal transmitted by the radar transmitting antenna.
9) The unambiguous velocity refers to the radial velocity value of the target object corresponding to the phase shift from one pulse to the next that can be measured by the doppler radar.
10) The maximum unambiguous velocity can be the radar maximum detection velocity, which means that the doppler radar can measure the maximum pulse phase shift from one pulse to the next, which is 360 °, and the radial velocity value of the target object corresponding to the 360 ° pulse phase shift. From this point of view, the above-mentioned velocity blur can also be considered as: if a target object moves too far in the time interval of two pulses, its true phase shift exceeds 360 °, but in practice a phase shift value of less than 360 ° is provided, and the velocity value corresponding to this phase shift will also be less than the maximum unambiguous velocity, the measured velocity value will not be the true velocity value, i.e. velocity ambiguity will occur.
11) "at least one" means one or more, "a plurality" means two or more. "and/or" describes an association relationship of associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone, wherein A and B can be singular or plural. The character "/" generally indicates that the front and back associated objects are in an "or" relationship. "at least one of the following" or similar expressions refer to any combination of these items, including any combination of the singular or plural items. For example, at least one (one) of a, b, or c, may represent: a, b, c, a-b, a-c, b-c or a-b-c, wherein a, b and c can be single or multiple.
And, unless stated to the contrary, the embodiments of the present application refer to the ordinal numbers "first", "second", etc., for distinguishing a plurality of objects, and do not limit the order, sequence, priority, or importance of the plurality of objects.
Having described some of the concepts related to the embodiments of the present application, the following describes features of the embodiments of the present application.
The millimeter wave is an electromagnetic wave with a wavelength of 1-10 mm, and the corresponding frequency range is 30-300 GHz. In this frequency band, the millimeter wave-related characteristics make it well suited for use in the automotive field. The bandwidth is large: the frequency domain resources are rich, the antenna side lobe is low, and the imaging or quasi-imaging is favorably realized; the wavelength is short: the volume and the antenna aperture of the radar equipment are reduced, and the weight is reduced; narrow beam: the wave beam of the millimeter wave is much narrower than that of the microwave under the same antenna size, and the radar resolution is high; the penetration is strong: compared with a laser radar and an optical system, the laser radar has the capability of penetrating smoke, dust and fog, and can work all the day.
The vehicle-mounted millimeter wave radar system generally comprises an oscillator, a transmitting antenna, a receiving antenna, a mixer, a coupler, a processor, a controller and the like. As shown in fig. 1, it is a working schematic diagram of the millimeter wave radar. The oscillator generates a radar signal, typically a frequency modulated continuous wave, that increases linearly with time. This radar signal's partly exports as the local oscillator signal to the mixer through directional coupler, and partly launches through transmitting antenna, and receiving antenna receives the radar signal that launches and reflects back behind the object that meets the vehicle the place ahead, and the mixer carries out the mixing with the local oscillator signal of radar signal of receiving, obtains intermediate frequency signal. The intermediate frequency signal contains information such as the relative distance, velocity, and angle of the target object to the radar system. The intermediate frequency signal is amplified by the low pass filter and then transmitted to the processor, and the processor processes the received signal, generally, performs fast fourier transform, spectrum analysis and the like on the received signal to obtain signals such as the distance and the speed of the target object relative to the radar system, and also can obtain information such as the angle of the target object relative to the radar system. Finally, the processor may output the resulting information to the controller to control the behavior of the vehicle.
Illustratively, as shown in fig. 2, a diagram of FMCW radar transmitting signals is shown. The radar signal generated by the oscillator is a frequency modulated continuous wave, that is, the radar system transmits 1 group of chirp signals with the same waveform and different time starting points through the transmitting antenna, and the chirp signals can also be called chirp (chirp) signals. The interval during which the chirp signal is transmitted (denoted by T in fig. 2) is called a Pulse Repetition interval (PRT). The radar transmits 1 chirp signal at 1 PRT, the time length of the chirp signal is less than or equal to 1 PRT, and generally, the time length of the chirp signal is less than 1 PRT. As shown in fig. 2, a transmitting antenna of the radar transmits a signal, and an echo signal received by a receiving antenna of the radar refers to a signal transmitted back after the radar signal transmitted by the transmitting antenna meets an object. The mixer mixes the received echo signal with a local oscillation signal to obtain an intermediate frequency signal. And determining the relative distance, speed and other information of the target object and the radar system according to the intermediate frequency signal.
For example, when determining the relative distance and speed of the target object from the radar system according to the intermediate frequency signal, the following may be used: the intermediate frequency signal is used for radar signal processing in each PRT, namely a data sequence after sampling and quantization forms a two-dimensional array, one dimension in the two-dimensional array corresponds to the sampling point serial number in the PRT, and the other dimension corresponds to the PRT serial number; and then Fourier transform is carried out on the two-dimensional array to obtain a radar receiving signal represented by a range-Doppler domain. When the echo component of each target object is represented by a range-doppler domain, a two-dimensional sinc function is corresponding to the echo component, that is, each target object corresponds to a local peak in the range multi-doppler domain representation. The radar receiving signal represented by the range-Doppler domain is actually a complex two-dimensional array, the complex two-dimensional array is subjected to point-by-point modulus, and the obtained modulus value corresponds to a local peak value. The local peak value corresponds to the serial numbers of two dimensions, so that the frequency of a single-frequency sine wave corresponding to the target object and the phase difference of the intermediate-frequency signal in different PRTs can be obtained, and further the distance and speed information of the target object can be obtained.
The principle of radar angle measurement is described below by taking as an example a radar comprising one transmitting antenna and two receiving antennas. As shown in fig. 3, which is a schematic diagram illustrating a principle of radar angle measurement, in fig. 3, a signal transmitted by a transmitting antenna is reflected by a target object and then received by two receiving antennas. The two are connectedThe phase difference of the receiving antenna is
Figure BDA0002223774380000111
Calculating the distance difference between the two receiving antennas and the target object according to the phase difference and the wavelength, i.e. d in fig. 3Rxsin θ, wherein dRxAnd theta is the included angle between the target object and the normal line of the receiving antenna, so that the value of theta, namely the angle of the target object relative to the radar, can be calculated. Specifically, the angle of the target object with respect to the radar can be calculated by formula (1).
Figure BDA0002223774380000112
Fig. 3 only illustrates the radar angle measurement principle by taking the radar including one transmitting antenna and two receiving antennas as an example, and if the radar is a MIMO radar, that is, includes M transmitting antennas and N receiving antennas, reference may be made to fig. 3 to detect the angle of the target object relative to the radar under M × N virtual antenna elements, which is not described herein again.
For MIMO radar, that is, radar including multiple transmitting antennas and multiple receiving antennas, as shown in fig. 4, a schematic diagram of a virtual antenna element principle of MIMO radar is shown. Fig. 4 exemplifies that the MIMO radar includes 3 transmission antennas (Tx1, Tx2, and Tx3) and 4 reception antennas (Rx1, Rx2, Rx3, and Rx 4). An array element composed of one transmitting antenna and a plurality of receiving antennas can be referred to as a virtual antenna array element, as shown in fig. 4, 3 transmitting antennas and 4 receiving antennas can be understood as 12 virtual antenna array elements, for example, including virtual antenna array elements (M, N), where M is the number of the receiving antennas and N is the number of the transmitting antennas. The signal received by each receiving antenna is the superposed signal of the signals transmitted by all the transmitting antennas after being transmitted by the target object. Each receiving antenna can extract signals which come from different transmitting antennas and are reflected by a target object from received signals according to transmitting parameters of signals transmitted by the plurality of transmitting antennas, such as transmitting time of the transmitted signals, and the signals are used as received signals of the virtual antenna array elements.
Suppose that the radar comprises signals transmitted by two adjacent transmitting antennas with a time interval TrHere, the two adjacent transmitting antennas mean that the start times of signal transmission of the two transmitting antennas are adjacent in the time domain. Defining the maximum detection speed v of the radarmaxThen the maximum speed measurement range of the radar is [ -v ]max，+vmax]. The maximum detection speed of the radar can be calculated by the following formula (2).
vmax＝λ/4Tr (2)
In some embodiments, the MIMO radar may transmit signals in a TDM manner, that is, the starting time of transmitting signals by different transmitting antennas is different, and the time ranges of transmitting signals by each transmitting antenna are not overlapped, that is, there is no other transmitting antenna to transmit signals in the time range of transmitting signals by each transmitting antenna. Fig. 5 is a schematic diagram of a MIMO radar transmitting signals in a TDM manner. Fig. 5 shows the time domain on the abscissa t and the frequency domain on the ordinate f, and fig. 5 exemplifies that the MIMO radar includes N transmit antennas, i.e., a transmit antenna Tx1, a transmit antenna Tx2, and up to a transmit antenna TxN. As can be seen from fig. 5, the starting time of the signal transmitted by the transmitting antenna Tx1 is t1, the starting time of the signal transmitted by the transmitting antenna Tx2 is t2, and the starting time of the signal transmitted by the transmitting antenna Tx3 is tn, that is, different transmitting antennas transmit signals with different starting times.
In fig. 5, it is assumed that adjacent two transmitting antennas transmit signals in the time domain at a time interval TrFor example, the time interval between the transmission of signals by the transmitting antenna Tx1 and the transmitting antenna Tx2 is TrIf the time interval between the two adjacent transmitting antennas is the same, the time interval between the transmitting antennas Tx1 and TxN is N × Tr. The maximum detection speed of the radar at this time can be calculated by the following formula (3).
vmax＝λ/4×N×Tr (3)
As can be seen from equations (1) and (2), if the MIMO radar transmits signals in the TDM manner, the maximum detection speed of the radar is reduced by N times.
In addition, the movement of the target object causes the kth transmitting antenna to generate a Doppler phase difference phi with respect to the 1 st transmitting antenna1：
φ1＝2πfdTr(k-1) (4)
In the formula (4), fdFor the doppler shift of the echo signal received by the radar relative to the signal transmitted by the radar transmitting antenna, k is 1, …, M, where k is the order in which the signals are transmitted by the radar. That is, the k-th transmitting antenna means that the order in which the transmitting antennas transmit signals is k.
Thus, the phase difference Φ between two adjacent transmitting antennas can be calculated and determined by the formula (2) and the formula (4) as:
φ＝2π(dTxsinθ/λ+fdTr) (5)
as can be seen from equation (5), the phase difference between two adjacent transmitting antennas contains both angle information and velocity information, i.e., a phenomenon of angular velocity coupling occurs.
If the above phi caused by the doppler shift cannot be compensated correctly, the determined actual angle of the target object with respect to the radar is deviated, and if the deviation is large, the position of the vehicle cannot be accurately located for the vehicle-mounted radar, which may cause a safety problem.
In order to obtain more accurate velocity and angle, the influence of doppler shift on the calculated angle needs to be eliminated, which requires estimating the true doppler shift, i.e. fd2v/λ. In some embodiments, the radar may receive multiple virtual antenna elements included, for example, 12 virtual antenna elements in fig. 4, and may perform 2-dimensional fast-fourier transform (2D-FFT) processing on the received echo signals, so as to obtain radar received signals represented in the range-doppler domain. The radar receiving signal represented by the range-Doppler domain is actually a complex two-dimensional array, the complex two-dimensional array is subjected to point-by-point modulus, the obtained modulus value corresponds to a local peak value, and the frequency of a single-frequency sine wave corresponding to the target object and the frequency of the single-frequency sine wave can be obtained according to the local peak valueReferred to as doppler shift. Herein, the Doppler shift is denoted as fdamb。
F calculated in practicedambMay not be true of fdI.e. fdambIs ambiguous if f isdambWhen is fdThen the calculated velocity is also ambiguous. Velocity blur in this sense it can also be referred to if the absolute value of the true velocity of the target object | v | > vmaxWhile, make the Doppler phase |2 π fdTrXm > pi, which produces phase ambiguity and thus velocity ambiguity, i.e., the calculated velocity is not the true velocity of the target object.
In this regard, the velocity may be deblurred, i.e., the blur velocity is restored to the maximum unambiguous velocity corresponding to the single chrip, i.e., vmax＝λ/4Tr. Specifically, the phase blur number may be defined as a speed blur multiple ξ, which may also be referred to as a speed blur coefficient ξ.
When the number of transmitting antennas included in the radar is odd, the radar has the following formula (6):
Figure BDA0002223774380000121
when the radar includes an even number of transmitting antennas, and fdambWhen > 0, the following formula (7) is given:
Figure BDA0002223774380000122
when the radar includes an even number of transmitting antennas, and fdambIf < 0, the following formula (8) is given:
Figure BDA0002223774380000131
for true fdFor example, formula (9):
Figure BDA0002223774380000132
as can be seen from equation (9), there are M possibilities for the value of the speed blur coefficient ξ. Assuming that M is 3, then xi may take on the value [ -1,0,1 [ ]]The deblurred velocity v ∈ [ -3v [ ]max,3vmax]. In designing radars, it is generally required that the maximum unambiguous speed corresponding to a single chirp is required to meet the requirements of the system. Deblurring the speed is the process of determining the correct one from many possible values of ξ.
One of the current velocity ambiguity resolution methods, for example, the overlapped array element method, is to obtain the Doppler f by the phase difference of the overlapped array elements of the MIMO radar device and 2D-FFTdambAnd solving the speed fuzzy coefficient. The specific process is to construct an overlapping array element of the MIMO radar apparatus, as shown in fig. 6, which is a schematic diagram of the overlapping array element of the MIMO radar apparatus. Fig. 6 illustrates an example in which the MIMO radar apparatus includes 4 transmission antennas and 4 reception antennas, and 16 virtual antenna elements are configured. The shaded portion indicates that the antenna is two overlapping elements.
Assuming that the virtual antenna elements of the radar are numbered in the order of position, as shown in fig. 4, the numbers of the 12 virtual antenna elements are sequentially from 1 to 12 from left to right. The phase of the nth virtual antenna element is as follows:
Figure BDA0002223774380000133
in the formula (10), fdambAnd the Doppler frequency shift is adopted, N is the number of the transmitting antennas, and k is the number of the transmitting sequence corresponding to the virtual antenna array element. ξ is 0 and … N-1 is a blur coefficient representing N possible doppler blur phases, Φn,kAnd (ξ) is the phase value. The echo signal received by the nth virtual antenna array element is subjected to 2D-FFT to obtain a radar receiving signal represented by a range-Doppler domain, a target to be detected can be determined from the range-Doppler domain, and a phase value corresponding to a peak value of the range-Doppler domain representation target is phin,k(ξ)，φn,k(xi) can be measured directly.
Due to directly measuring the obtained phin,k(xi) is affected by the speed ambiguity, and may also be ambiguous, so that a possible doppler phase compensation at each target point is required. The overlapping array element method is to solve for the correct xi.
Specifically, the spatial phase differences corresponding to the overlapping array elements are equal, that is, n in the formula (10) is the same. Further, the equation (10) can obtain that the phase difference of the two overlapping array elements only includes the phase difference caused by the doppler shift, which is shown in equation (11):
Figure BDA0002223774380000134
in the formula (11), phioverlap(xi) denotes the phase difference of two overlapping array elements, fdambFor Doppler frequency shift, N is the number of transmitting antennas, k and l are the numbers of the transmitting order of the transmitting antennas corresponding to the overlapped array elements, ξ is 0, … N-1 is a fuzzy coefficient representing N possible Doppler fuzzy phases, φn,k(xi) is the phase difference of the kth overlapping array element, phin,lAnd (xi) is the phase difference of the ith overlapping array element. The correct ξ satisfies the following formula (12):
Figure BDA0002223774380000135
by solving the equation (12), the estimated value of the speed fuzzy coefficient xi can be obtained
Figure BDA0002223774380000136
Comprises the following steps:
Figure BDA0002223774380000141
the minimum phase jump is defined to be 2 pi/N, and hereinafter the phase jump refers to the minimum phase jump. If the value of N is large, the phase jump caused by the ambiguity, namely 2 pi/N is small, the phase difference corresponding to different xi is small, the detection difficulty is increased, and the performance of resolving the speed ambiguity is poor. And the existing overlapping array element method is to physically design the overlapping array elements or to continuously transmit two times of signals by using the same transmitting antenna to realize the overlapping array elements, but the radar physically designs the overlapping array elements, so that the aperture of the antenna array of the radar is reduced. Or, the same transmitting antenna may be set to continuously transmit signals twice to realize overlapping array elements, but the maximum unambiguous speed is reduced when the antenna repeatedly transmits signals, so that the performance of resolving the ambiguity of the speed is low.
In order to solve the above problem, an embodiment of the present application provides a signal transmission method and a corresponding signal processing method, in which a radar apparatus divides N transmit antennas into K transmit antenna groups. The K transmit antenna groups include a first transmit antenna group and a second transmit antenna group which are numbered consecutively, and the first transmit antenna group and the second transmit antenna group include a first antenna, that is, the K transmit antenna groups have overlapping array elements, that is, the K transmit antenna groups include the first transmit antenna group and the second transmit antenna group of the first antenna. The overlapping array elements are constructed in a grouping mode, so that the overlapping array elements do not need to be physically designed, and the aperture of an antenna array of the radar is prevented from being reduced as much as possible. And simultaneously, errors among arrays caused by physically designing overlapped array elements can be avoided. And the grouping mode for constructing the overlapped array elements is more flexible than the physical design of the overlapped array elements.
Moreover, the K transmit antenna groups transmit signals in a TDM manner, and transmit antennas included in each transmit antenna group transmit signals simultaneously, for example, the transmit antennas included in each transmit antenna group transmit signals in a CDM manner. The number of groups of transmitting antenna groups transmitted by the radar device in a TDM manner is reduced, so that phase jump among each virtual antenna array element of the radar device can be increased. By the signal transmission method, the radar device adopts the overlapping array element method to solve the speed ambiguity. Meanwhile, because the overlapped array elements are constructed in a grouping mode, compared with the prior art in which the overlapped array elements are realized by continuously sending signals twice by the same transmitting antenna, the maximum non-fuzzy speed is not reduced when the speed ambiguity is solved by adopting the overlapped array element method, and the performance of solving the speed ambiguity can be improved.
In a possible solution, an embodiment of the present application provides a signal sending method, please refer to fig. 7, which is a flowchart of the method. The method provided by the embodiment shown in fig. 7 may be performed by a radar, and the radar apparatus may be a radar chip, for example, and the radar apparatus is referred to as a radar, or the radar apparatus may be a communication apparatus communicatively connected to the radar. In addition, in the following description, signals transmitted by the radar apparatus may be radar signals, and naturally, received signals may also be radar signals. The signal received by the radar may include an echo signal, and may also include a reflected wave, such as from the ground. In this context, the signal received by the radar is an echo signal, for example.
S701, the radar device determines at least two transmitting antenna groups, wherein one transmitting antenna group comprises at least one transmitting antenna, the at least two transmitting antenna groups comprise a first transmitting antenna group and a second transmitting antenna group which are numbered continuously, and the first transmitting antenna group and the second transmitting antenna group comprise a first antenna. Further, the antenna system may further include a third antenna group, where the second transmitting antenna group and the third antenna group are numbered consecutively, and the second transmitting antenna group and the third antenna group include the same antenna, for example, a second antenna. Still alternatively, the first and third antenna groups are numbered consecutively, and the first and third antenna groups include the same antenna, for example, the second antenna. The number of transmit antenna groups is not particularly limited herein.
S702, the radar apparatus sends signals through at least two transmitting antenna groups, where the at least two transmitting antenna groups send signals in a TDM manner, and multiple transmitting antennas included in each transmitting antenna group including multiple transmitting antennas in the at least two transmitting antenna groups send signals in a CDM manner.
The above S702 may also be replaced with:
the radar apparatus transmits a signal in a first time range through the first transmitting antenna group and transmits a signal in a second time range through the second transmitting antenna group. Further, the codes adopted by the signals sent by the multiple transmitting antennas in any transmitting antenna group comprising multiple transmitting antennas are different.
Wherein the first time range and the second time range are not overlapped in time domain. The non-overlap here is the time when the first time range and the second time range do not coincide.
Further optionally, if the at least one transmitting antenna group further includes a third antenna group, the radar apparatus transmits a signal in a third time range through the third antenna group. The first time range, the second time range, and the third time range are non-overlapping in a time domain. The non-overlap here is a time when no two time ranges of the first time range, the second time range and the third time range overlap.
It should be noted that, the radar apparatus of the present application may further include more transmitting antenna groups, in order to implement the scheme of the present application, there is no overlapping in time ranges of signals transmitted by any two transmitting antenna groups in signals transmitted by the multiple transmitting antenna groups included in the radar apparatus, and for a transmitting antenna group in which any one of the multiple transmitting antenna groups includes multiple transmitting antennas, the multiple transmitting antennas in the group transmit signals by using different code words, which is not described herein again.
In the embodiment of the present application, the radar apparatus may include at least 3 transmitting antennas and at least 1 receiving antenna. The radar apparatus may divide the included transmission antennas into at least two transmission antenna groups, and any one of the two transmission antenna groups includes at least one transmission antenna. And at least two transmitting antenna groups exist in at least two transmitting antenna groups divided in the radar device, wherein the at least two transmitting antenna groups comprise a first transmitting antenna group and a second transmitting antenna group with continuous numbers, and the first transmitting antenna group and the second transmitting antenna group comprise the same antenna, such as a first antenna, so that overlapping array elements of the radar device are constructed. In some embodiments, any two numbered adjacent sets of transmit antennas may comprise the same antenna, i.e. the radar apparatus may construct multiple overlapping elements.
The embodiment of the application realizes the construction of the overlapping array elements in a grouping mode, so that the overlapping array elements do not need to be physically designed, and the aperture of the antenna array of the radar is prevented from being reduced as much as possible. Meanwhile, the overlapping array elements are constructed in a grouping mode, even if the number of the transmitting antennas included in the radar device is prime, the number of the transmitting antennas included in each transmitting antenna can be the same, and the application range is wider.
Illustratively, the radar apparatus includes 7 transmit antennas, and then the radar apparatus may divide the 7 transmit antenna groups into 3 transmit antenna groups. The 3 transmitting antenna groups include a transmitting antenna group 1, a transmitting antenna group 2 and a transmitting antenna group 3, wherein the transmitting antenna group 1 may include a transmitting antenna 1, a transmitting antenna 2 and a transmitting antenna 3, the transmitting antenna group 2 may include a transmitting antenna 3, a transmitting antenna 4 and a transmitting antenna 5, and the transmitting antenna group 3 may include a transmitting antenna 5, a transmitting antenna 6 and a transmitting antenna 7. That is, the transmitting antenna data included in the transmitting antenna group 1, the transmitting antenna group 2 and the transmitting antenna group 3 are the same.
Of course, in the embodiment of the present application, the number of the transmitting antennas included in at least two transmitting antenna groups may also be different, as long as there are overlapping array elements in at least two transmitting antenna groups. The different numbers of the transmitting antennas included in the at least two transmitting antenna groups may mean that the transmitting antenna data of the at least two transmitting antenna groups are different, or that the numbers of each transmitting antenna group are different. Therefore, the method and the device are suitable for the condition that the number of the transmitting antennas is prime number and the condition that the number of the transmitting antennas is not prime number, and have wider application range.
For example, in some embodiments, at least two transmit antenna groups may include the same number of transmit antennas. For example, the radar apparatus includes 10 transmit antennas, and then the radar apparatus may divide the 10 transmit antenna groups into 3 transmit antenna groups, each transmit antenna group includes 4 transmit antennas, and then the 3 transmit antenna groups include 2 overlapping array elements.
For another example, in other embodiments, at least two transmit antenna groups may include different numbers of transmit antennas. Illustratively, the radar apparatus includes 7 transmit antennas, and then the radar apparatus may divide the 7 transmit antenna groups into 3 transmit antenna groups. The 3 transmitting antenna groups are a transmitting antenna group 1, a transmitting antenna group 2 and a transmitting antenna group 3, wherein the transmitting antenna group 1 and the transmitting antenna group 2 both comprise 3 transmitting antennas, and the transmitting antenna group 3 comprises 1 transmitting antenna. Alternatively, the radar apparatus includes 6 transmission antennas, and the radar apparatus may divide the 6 transmission antenna groups into 3 transmission antenna groups. The 3 transmitting antenna groups include a transmitting antenna group 1, a transmitting antenna group 2 and a transmitting antenna group 3, wherein the transmitting antenna group 1 includes 1 transmitting antenna, the transmitting antenna group 2 includes 2 transmitting antennas, and the transmitting antenna group 3 includes 3 transmitting antennas.
In this embodiment, when the radar apparatus transmits signals by using at least two transmitting antenna groups obtained by dividing the transmitting antennas, the at least two transmitting antenna groups may transmit signals in a TDM manner, and the transmitting antennas included in each transmitting antenna group may transmit signals simultaneously. Namely, the transmitting antenna groups transmit signals in a time-sharing manner, and aiming at one transmitting antenna group, the transmitting antennas in the group transmit signals simultaneously.
For example, each transmit antenna group may include transmit antennas that transmit signals using CDM, i.e., different transmit antennas transmit signals using different CDM codes. Alternatively, it can be understood that when different transmission antennas transmit signals, the linear FMCWs are numbered and encoded to transmit the signals. Exemplarily, as shown in fig. 8, a schematic diagram of a MIMO radar transmitting signals by using a CDM scheme is shown. Fig. 8 shows the time when the transmitting antenna transmits a signal, and the ordinate shows the CDM code, and fig. 8 exemplifies that the MIMO radar includes 3 transmitting antennas, i.e., a transmitting antenna Tx1, a transmitting antenna Tx2, and a transmitting antenna Tx 3. As can be seen from fig. 8, the CDM code used for transmitting signals by the transmitting antenna Tx1 is code 1, the CDM code used for transmitting signals by the transmitting antenna Tx2 is code 2, and the CDM code used for transmitting signals by the transmitting antenna Tx3 is code 3, i.e., different transmitting antennas transmit signals with different CDM codes.
Of course, the embodiment of the present application does not limit how the transmitting antennas included in one transmitting antenna group transmit signals simultaneously, and it is sufficient for the subsequent radar apparatus to process the received echo signals as long as the signal corresponding to each transmitting antenna can be determined from the received signals. For example, a signal corresponding to each transmit antenna may be determined from signals corresponding to each transmit antenna group according to a CDM code.
If one transmit antenna group includes more transmit antennas, the CDM code is more complex, increasing the complexity of decoding. In the present embodiment, it is preferable to use simple coding for CDM in consideration of the accuracy of the phase shifter and the like. Illustratively, the CDM code may employ Binary Phase Shift Keying (BPSK). As another example, the CDM code may also use Quadrature Phase Shift Keying (QPSK). When the radar device comprises a large number of transmitting antennas, the embodiment of the present application may determine that each transmitting antenna group comprises 2 transmitting antennas, 3 transmitting antennas, or 4 transmitting antennas, so that the requirement on the accuracy of the phase shifter may be reduced, and the complexity of decoding may also be reduced.
It can be seen that, in the embodiment of the present application, the radar apparatus divides the included transmitting antenna into at least two transmitting antenna groups, for example, the radar apparatus divides the included N transmitting antennas into K transmitting antenna groups, that is, K transmitting antenna groups transmit signals in a time-sharing manner, for example, fig. 9 is a waveform diagram of the corresponding signal transmitted by the radar apparatus. Fig. 9 shows the time when the transmitting antenna group transmits a signal on the abscissa and the CDM code on the ordinate. Fig. 9 illustrates an example of 2 transmit antenna groups, where the 2 transmit antenna groups are group 1 and group 2, respectively, and the CDM code includes M codes. In fig. 9, the transmit antennas included in each transmit antenna group are only schematic. Because the transmitting antennas included in each transmitting antenna group transmit signals in a CDM mode, that is, the transmitting antennas included in each transmitting antenna group transmit signals simultaneously after being coded. Because the signals are transmitted simultaneously, the phenomena of speed and angle coupling are not generated. In the present embodiment, therefore, the velocity and angle coupling phenomena are generated between the sets of transmit antennas.
In addition, in the embodiment of the present application, two adjacent numbered transmit antenna groups include the same transmit antenna, and form an overlapping array element. Then as shown in fig. 10, the two adjacent numbered transmit antenna groups are group 1 and group 2, and the transmit antennas coded M are in group 1 and group 2. The transmit antenna with code M transmits a signal that can be separated by code in both transmit antenna groups, so that the antenna creates a virtual overlap element in both transmit antenna groups.
In the embodiment of the present application, the radar apparatus may randomly divide the included transmission antenna into at least two transmission antenna groups. It can be considered that the radar apparatus randomly divides the included transmission antennas into at least two transmission antenna groups each time before transmitting a signal. If the radar apparatus transmits signals multiple times, each time the transmitting antenna is randomly divided can be understood as one grouping mode, the multiple times of random division correspond to multiple grouping modes. In this embodiment of the present application, at least two transmitting antenna groups corresponding to a part of the grouping manners in the plurality of grouping manners may be the same or different. Alternatively, the radar apparatus randomly divides the included transmitting antennas into at least two transmitting antenna groups, and the at least two transmitting antenna groups corresponding to the plurality of grouping modes may be considered to be random, that is, irregular.
For ease of understanding, several cases are described below in which the radar apparatus randomly divides the transmit antennas into at least two transmit antenna groups. Hereinafter, the number of the transmitting antenna included in the radar apparatus refers to the number of the positional order of the transmitting antenna. For example, the radar apparatus includes transmitting antennas numbered 1-N; or in some embodiments, the radar apparatus includes transmit antennas numbered 0-N-1, where N is greater than or equal to 3.
In the first case, the number of the transmitting antennas included in each transmitting antenna group obtained by randomly dividing the transmitting antennas by the radar apparatus may be continuous. Illustratively, the radar apparatus includes 12 transmission antennas, and the 12 transmission antennas are numbered as Tx1, Tx2, Tx3, Tx4, Tx5, Tx6, Tx7, Tx8, Tx9, Tx10, Tx11, and Tx12 in order of positional order. The radar apparatus randomly divides the 12 transmit antennas into 3 transmit antenna groups, which may be { Tx1, Tx2, Tx3, Tx4, Tx5}, { Tx5, Tx6, Tx7, Tx8, Tx9} and { Tx9, Tx10, Tx11, Tx12 }.
In the second case, the number of the transmitting antennas included in each transmitting antenna group obtained by randomly dividing the transmitting antennas by the radar apparatus may be discontinuous.
For example, in each transmit antenna group, there is a numbering discontinuity of at least two transmit antennas. Illustratively, following the above example, the radar apparatus randomly divides the 11 transmit antennas into 3 transmit antenna groups, and then the 3 transmit antenna groups may be { Tx1, Tx2, Tx3, Tx5}, { Tx5, Tx6, Tx7, Tx9} and { Tx4, Tx8, Tx10, and Tx11 }.
For another example, in each transmit antenna group, the numbering of any two transmit antennas is not consecutive. Illustratively, following the above example, the radar apparatus randomly divides the 11 transmit antennas into 3 transmit antenna groups, and then the 3 transmit antenna groups may be { Tx1, Tx4, Tx7, Tx9}, { Tx2, Tx4, Tx8, Tx10} and { Tx3, Tx5, Tx6, and Tx11 }.
In a third case, further, at least one of a plurality of intervals between numbers of transmitting antennas included in each transmitting antenna group obtained by randomly dividing the transmitting antennas by the radar apparatus is greater than 1, which can reduce mutual coupling between the transmitting antennas when signals are transmitted simultaneously.
For example, in each transmit antenna group, there are at least two numbered adjacent transmit antennas with a spacing greater than 1. Illustratively, following the above example, the radar apparatus randomly divides the 11 transmit antennas into 3 transmit antenna groups, and then the 3 transmit antenna groups may be { Tx1, Tx4, Tx7, Tx9}, { Tx2, Tx4, Tx8, Tx10} and { Tx3, Tx5, Tx6, and Tx11 }.
It should be noted that two adjacent transmitting antennas are defined as two adjacent transmitting antennas if the two transmitting antennas are consecutively numbered in each transmitting antenna group. For example, Tx1 and Tx2 of { Tx1, Tx2, Tx3, Tx7} are two numbered adjacent transmit antennas, and Tx2 and Tx3 are also two numbered adjacent transmit antennas. Alternatively, two adjacent transmitting antennas with different numbers can also be understood as if two transmitting antennas with different numbers are not consecutive in a transmitting antenna group, but the transmitting antenna with the corresponding number between the two transmitting antennas does not belong to the transmitting antenna group. For example, Tx3 and Tx7 in { Tx1, Tx2, Tx3, Tx7} are two numbered discontinuous transmit antennas, but Tx4, Tx5, Tx6 do not belong to { Tx1, Tx2, Tx3, Tx7}, and Tx3 and Tx7 are two numbered adjacent transmit antennas.
For another example, in each transmit antenna group, the spacing between the numbers of any two numbered adjacent transmit antennas is greater than 1. Illustratively, following the above example, the radar apparatus randomly divides the 11 transmit antennas into 3 transmit antenna groups, and then the 3 transmit antenna groups may be { Tx1, Tx4, Tx6, Tx9}, { Tx2, Tx4, Tx8, Tx10} and { Tx3, Tx5, Tx7, and Tx11 }.
In the embodiment of the application, the radar device can randomly divide at least two transmitting antenna groups each time before sending a signal. The at least two corresponding transmission groups may be the same or different for different times of signal transmission. For example, following the above example, taking the example that the number of times the radar apparatus transmits a signal is two, when the radar apparatus transmits a signal for the first time and transmits a signal for the second time, the determined at least two transmit antenna groups are { Tx1, Tx4, Tx7, Tx9}, { Tx2, Tx4, Tx8, Tx10} and { Tx3, Tx5, Tx6, and Tx11 }. For another example, when the radar apparatus transmits a signal for the first time, the determined at least two transmit antenna groups are { Tx1, Tx4, Tx7, Tx9}, { Tx2, Tx4, Tx8, Tx10} and { Tx3, Tx5, Tx6, and Tx11 }; when the radar apparatus transmits a signal for the second time, the determined at least two transmit antenna groups are { Tx1, Tx4, Tx6, Tx9}, { Tx2, Tx4, Tx8, Tx10} and { Tx3, Tx5, Tx7, and Tx11 }.
The radar device randomly divides the transmitting antenna into at least two transmitting antenna groups, and can increase phase jump among each virtual antenna array element, thereby being beneficial to improving the performance of resolving the speed ambiguity.
For example, taking the radar apparatus including 5 transmitting antennas as an example, the 5 transmitting antenna groups are divided into a transmitting antenna group 1 and a transmitting antenna group 2, for example, the transmitting antenna group 1 is { TX1TX2TX3}, and the transmitting antenna group 2 is { TX3TX4TX5 }. The two transmit antenna groups use QPSK transmission. The virtual antenna array element corresponding to TX3 forms N pairs of overlapping array elements, where N is the number of receiving antennas. Due to the existence of the transmitting antenna group 1 and the transmitting antenna group 2, the minimum phase jump between the overlapping array elements becomes 360 °/2 — 180 °. If these 5 transmit antennas are grouped, TX3 needs to repeat the transmission once in order to form an overlapping element. Namely, the transmitting antenna group is { TX1TX2TX3TX 4TX5}, the corresponding minimum phase jump is 360 °/6 ═ 60 °, and as can be seen, the phase jump is increased from 60 ° to 180 °, so that the performance of resolving the speed ambiguity can be improved. Since the transmitting antenna is divided into at least two transmitting antenna groups, the phase jump is changed from 60 degrees to 180 degrees, the influence of phase noise is not easy to be caused, and the performance of resolving the speed ambiguity is improved.
Further, in practical use, the radar apparatus may compare the speed ambiguity resolution performance corresponding to a plurality of grouping modes, and one grouping mode may be regarded as at least two transmitting antenna groups randomly divided by the radar apparatus at a time, so that the radar apparatus determines the at least two transmitting antenna groups based on the speed ambiguity resolution performance optimal grouping mode, i.e., the first grouping mode. The radar device randomly divides the transmitting antennas for multiple times within a preset time range, and at least two transmitting antenna groups determined by each division correspond to a grouping mode. At least two transmitting antenna groups respectively corresponding to a plurality of grouping modes may be the same or different. For example, within a preset time range, the radar apparatus randomly divides the transmitting antennas 5 times, and then there are a first grouping manner, a second grouping manner, a third grouping manner, a fourth grouping manner and a fifth grouping manner, where at least two transmitting antenna groups corresponding to the 5 grouping manners may be the same or different. Assuming that the grouping mode with the optimal speed ambiguity resolution performance is the first grouping mode, the radar device selects the first grouping mode to consider that the radar device compares the speed ambiguity resolution performance corresponding to the at least two transmitting antenna groups respectively corresponding to the 5 grouping modes, so that the at least two transmitting antenna groups with the optimal speed ambiguity resolution performance are selected, and therefore the subsequent radar device can transmit signals by adopting the at least two transmitting antenna groups without re-determining the at least two transmitting antenna groups each time, so that the subsequent speed ambiguity resolution performance can be guaranteed to be better as much as possible, and the burden of the radar device can be reduced.
The performance of the speed ambiguity resolution can be represented by performance parameters corresponding to a grouping mode, for example, the performance parameters can be angle estimation accuracy or the success rate of the speed ambiguity resolution. The radar device can determine the speed ambiguity resolution performance according to the value of the performance parameter. For example, the performance parameter is the angle estimation accuracy or the success rate of speed ambiguity resolution, and the larger the value of the performance parameter is, the better the performance of speed ambiguity resolution is. In the performance parameters corresponding to the plurality of grouping modes, the value of the performance parameter is the largest, which means that the performance parameter is optimal and the performance of the speed ambiguity resolution is optimal.
In some embodiments, the radar apparatus may determine a first grouping manner of the plurality of grouping manners within a preset time range. The preset time range may be obtained according to experience of the radar apparatus during actual use, and the embodiment of the present application is not limited.
In the embodiment of the present application, the radar apparatus divides N transmission antennas into K transmission antenna groups. The K transmit antenna groups include a first transmit antenna group and a second transmit antenna group which are numbered consecutively, and the first transmit antenna group and the second transmit antenna group include a first antenna, that is, the K transmit antenna groups have overlapping array elements, that is, the K transmit antenna groups include the first transmit antenna group and the second transmit antenna group of the first antenna. The overlapping array elements are constructed in a grouping mode, so that the overlapping array elements do not need to be physically designed, and the aperture of an antenna array of the radar is prevented from being reduced as much as possible. And simultaneously, errors among arrays caused by physically designing overlapped array elements can be avoided. And the grouping mode for constructing the overlapped array elements is more flexible than the physical design of the overlapped array elements.
Moreover, the K transmit antenna groups transmit signals in a TDM manner, and transmit antennas included in each transmit antenna group transmit signals simultaneously, for example, the transmit antennas included in each transmit antenna group transmit signals in a CDM manner. The number of groups of transmitting antenna groups transmitted by the radar device in a TDM manner is reduced, so that phase jump among each virtual antenna array element of the radar device can be increased. By the signal transmission method, the radar device adopts the overlapping array element method to solve the speed ambiguity. Meanwhile, because the overlapped array elements are constructed in a grouping mode, compared with the prior art in which the overlapped array elements are realized by continuously sending signals twice by the same transmitting antenna, the maximum non-fuzzy speed is not reduced when the speed ambiguity is solved by adopting the overlapped array element method, and the performance of solving the speed ambiguity can be improved.
The above embodiments describe how signals are sent to reduce the amount of computation involved in resolving velocity ambiguities in subsequent processes for determining the velocity of a target object. In addition, the embodiment of the application can expand the maximum non-fuzzy speed. For example, when the radar apparatus transmits a signal, the time interval at which each of the at least two transmit antenna groups transmits a signal may be increased, thereby expanding the maximum unambiguous speed. For example, referring to FIG. 11, the time interval Tc between the group 1 and group 2 transmission signals can be adjusted, and the phase difference generated by the Tc can be used to determine the blurring velocity v1From TrThe resulting phase difference is used to determine a further blurring velocity v by means of a 2D-FFT2Two blur speeds may be used to resolve the speed blur, thereby enlarging the maximum blur speed.
Correspondingly, the embodiment of the present application further provides a signal processing method, which may be regarded as a method for resolving speed ambiguity, and the method may be executed by a radar device, where the radar device may be a radar chip, or a communication device that communicates with a radar, such as an in-vehicle communication device. For convenience of explanation, in the following description of the embodiments of the present application, a radar apparatus, such as a millimeter wave radar, is taken as an example to explain and explain the embodiments. However, the embodiment of the present application does not limit the radar device to be only a radar device, and does not limit the radar device to be only a millimeter wave radar or a radar. In addition, the signal transmitted by the radar apparatus may be a radio signal, and if the radar apparatus is a radar apparatus, for example, the signal transmitted by the radar apparatus may be considered to be a radar signal. In the embodiment of the present application, the radar device is a radar device, and the signal transmitted by the radar device is a radar signal.
Please refer to fig. 12, which is a flowchart illustrating a signal processing method according to an embodiment of the present disclosure. In the following description, the method is applied to a radar apparatus, wherein the radar apparatus comprises at least three transmitting antennas and at least one receiving antenna. The method comprises the following specific processes:
s1201, the radar device determines at least two groups of detection information according to signals received by at least one receiving antenna.
When it is desired to detect a surrounding target object, for example to determine the relative distance, angle, or velocity of the surrounding target object from the radar apparatus, the radar apparatus may transmit a radar signal via the included transmitting antenna. If multiple target objects are present around the radar device and the multiple target objects are within the maximum range of the radar device, the radar signal transmitted by the radar device may be reflected by the multiple target objects and reflected to the radar device, such that the radar device receives at least one signal from the target objects.
The radar device receives at least one signal, and the at least one signal can be processed, so that the target object around the radar device can be detected.
Since the two transmitting antenna groups into which the transmitting antenna of the radar apparatus is divided transmit signals in a TDM manner, each transmitting antenna group includes transmitting antennas that transmit signals in a CDM manner, for example. That is, the starting time for transmitting signals by different transmitting antenna groups is different, and therefore, the characteristics of the signals transmitted by different transmitting antenna groups are also different. The radar device can extract signals corresponding to different transmitting antenna groups from at least one received signal according to different radar signals transmitted by different transmitting antenna groups. The radar device may also be understood as dividing at least one received signal into at least two groups of signals according to at least two transmitting antenna groups, and one transmitting antenna group corresponds to one group of signals.
For convenience of illustration, in the following description, it is exemplified that the radar apparatus includes two transmitting antenna groups, which are a first transmitting antenna group and a second transmitting antenna group, respectively, wherein a signal corresponding to the first transmitting antenna group extracted from at least one signal by the radar apparatus is a first group signal, and a signal corresponding to the second transmitting antenna group extracted from at least one signal by the radar apparatus is a second group signal.
After the radar device extracts the first group of signals and the second group of signals, the first group of signals and the second group of signals are respectively processed to obtain two groups of detection information for detecting the target object. For example, the radar apparatus converts the first set of signals and the second set of signals into the range-doppler domain, respectively, and obtains two sets of detection information, such as the first set of detection information and the second set of detection information. The first signal corresponds to a first set of detection information, and the second signal corresponds to a second set of detection information. It should be noted that, if the radar apparatus includes at least three transmitting antenna groups, the radar apparatus may determine at least three groups of detection information according to at least one signal, where the transmitting antenna groups correspond to the detection information groups one to one. For example, the radar apparatus includes a transmitting antenna group 1, a transmitting antenna group 2, and a transmitting antenna group 3, and the determined detection information includes a detection information group 1 corresponding to the transmitting antenna group 1, a detection information group 2 corresponding to the transmitting antenna group 2, and a detection information group 3 corresponding to the transmitting antenna group 3.
Here, the detection information may also be referred to as a detection signal. The detection information included in the at least two sets of detection information may be understood as information for determining characteristics of the target object, for example, the detection information may be information representing a distance, a speed, or a Radar Cross Section (RCS) of the target object relative to the Radar apparatus, for example, the detection information may be a distance, a speed, or an RCS of the target object relative to the Radar apparatus; alternatively, the detection information may be a lattice point or a sampling point sequence number in two-dimensional data formed by sampling and quantizing the signal, and the lattice point or the sampling point sequence number may represent a distance between the target object and the radar device. The form of the detected information is various, and this is not necessarily exemplified here. Of course, if the radar apparatus includes at least two receiving antennas, the detection information may also include information characterizing the angle of the target object with respect to the radar apparatus.
Specifically, in a possible scheme, the method for processing the first group of signals or the second group of signals by the radar device to obtain the corresponding two groups of detection information may refer to the method for determining the relative distance and speed between the target object and the radar device according to the intermediate frequency signal by the radar device, that is, mixing the first group of signals with the local oscillator signal to obtain the intermediate frequency signal, and converting the intermediate frequency signal into the range-doppler domain to further obtain the two groups of detection information.
And S1202, the radar device determines at least three pieces of detection information according to the at least two sets of detection information.
After the radar device obtains at least two groups of detection information, at least two groups of detection information can be continuously separated according to different CDM codes corresponding to the transmitting antennas included in each transmitting antenna group, so that at least three detection information can be obtained, and one detection information corresponds to one transmitting antenna. Wherein at least three detection information are used to determine an estimate of the velocity of the target object, i.e. to detect the velocity of the target object. Since the detected velocity of the target object may be ambiguous, it is referred to herein as the velocity estimate of the target object. Of course, before obtaining at least three pieces of detection information, the radar apparatus may perform incoherent accumulation and Constant False Alarm Rate (CFAR) detection on at least two separated sets of detection information according to each transmitting antenna.
At least three detection information may be used to determine the position and velocity of the target object, but the determined velocity may be ambiguous due to phase jump between the respective transmit antennas due to doppler shift. Therefore, in order to obtain the true velocity of the target object, the radar apparatus may perform velocity ambiguity resolution. For the sake of convenience of distinction, hereinafter, the velocity of the target object determined by at least four pieces of detection information is referred to as a velocity estimation value of the target object, and the velocity of the target object determined after the velocity blur is resolved is referred to as a true velocity of the target object. It should be noted that the real speed here refers to a speed that does not affect the angle measurement of the target object.
And S1203, determining the real speed of the target by the radar device according to the first speed fuzzy multiple and the speed estimation value of the target.
It should be noted that the real speed herein does not necessarily refer to the actual speed of the target object, and may refer to a speed that does not affect the angle of the measurement target object relative to the radar.
The speed ambiguity multiple can be multiple, and the number of the speed ambiguity multiple is the same as the number of at least two transmitting antenna groups. Some of the plurality of speed ambiguity multiples are incorrect and some are correct. The correct speed blur multiple is hereinafter referred to as the first speed blur multiple. The process of resolving the speed ambiguity of the radar device can be understood as a process of determining a first speed ambiguity multiple by the radar device, namely a process of determining a correct value of xi.
For example, the radar apparatus may determine a phase difference of at least one overlapping element pair, where each overlapping element pair of the at least one overlapping element pair corresponds to two transmit antenna groups, and the two transmit antenna groups include the same transmit antenna. Then, the radar apparatus may determine the first velocity ambiguity multiple according to the phase difference and the doppler frequency corresponding to the detection information. Specifically, the estimated value of the speed blur coefficient ξ can be calculated by referring to the foregoing formula (11) and formula (12)
Figure BDA0002223774380000211
I.e. the first velocity blur multiple.
The radar device determines a first speed ambiguity multiple, and the Doppler shift f of the echo signal received by the radar relative to the signal transmitted by the radar transmitting antenna can be determined by formula (13)d：
Figure BDA0002223774380000212
In the formula (13), the first and second groups,
Figure BDA0002223774380000213
is an estimate of the blur multiple of the first velocity, fdambFor Doppler shift, TrThe time interval for which two adjacent transmit antenna groups transmit signals in the time domain. Since the first velocity blur multiple is correct, fdAlso close to the true value, so that the radar apparatus is according to fdThe determined velocity of the target object also approaches the true velocity of the target object. Specifically, the radar apparatus determines the real velocity v of the target object as:
Figure BDA0002223774380000214
in the embodiment of the present application, the N transmitting antennas included in the radar apparatus are divided into at least two transmitting antenna groups, for example, K transmitting antenna groups. The K transmit antenna groups include a first transmit antenna group and a second transmit antenna group which are numbered consecutively, and the first transmit antenna group and the second transmit antenna group include a first antenna, that is, the K transmit antenna groups have overlapping array elements, that is, the K transmit antenna groups include the first transmit antenna group and the second transmit antenna group of the first antenna. The overlapping array elements are constructed in a grouping mode, so that the overlapping array elements do not need to be physically designed, and the aperture of an antenna array of the radar is prevented from being reduced as much as possible.
The scheme provided by the embodiment of the present application is mainly introduced from the perspective of sending and processing signals by a radar device. The following describes an apparatus for implementing the above method in the embodiment of the present application with reference to the drawings. Therefore, the above contents can be used in the subsequent embodiments, and the repeated contents are not repeated.
It is to be understood that each device, for example a radar device, comprises corresponding hardware structures and/or software modules for performing each function in order to realize the above-mentioned functions. Those of skill in the art will readily appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as hardware or combinations of hardware and computer software. Whether a function is performed as hardware or computer software drives hardware depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the embodiments of the present application.
The radar device according to the embodiment of the present application may be divided into functional modules, for example, each functional module may be divided corresponding to each function, or two or more functions may be integrated into one processing module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. It should be noted that, in the embodiment of the present application, the division of the module is schematic, and is only one logic function division, and there may be another division manner in actual implementation.
For example, in the case of dividing the functional modules of the radar apparatus in an integrated manner, fig. 13 shows a schematic diagram of a possible structure of the radar apparatus according to the above-described embodiment of the present application. The radar device 13 may include a processing unit 1301, a communication interface 1302, and a storage unit 1303. The communication interface 1302 may also be referred to as an interface unit.
In a first design, among other things, processing unit 1301 may be used to perform or control all operations performed by a radar apparatus in the embodiment shown in fig. 7, except for transceiving operations, e.g., S701, and/or other processes for supporting the techniques described herein. The communication interface 1302 may be used to perform all of the transceiving operations performed by the radar apparatus in the embodiment shown in fig. 7, e.g., S702, and/or other processes for supporting the techniques described herein. The radar apparatus comprises at least three transmitting antennas, wherein,
a processing unit 1301, configured to determine at least two transmitting antenna groups of the radar apparatus, where one transmitting antenna group includes at least one transmitting antenna, the at least two transmitting antenna groups include a first transmitting antenna group and a second transmitting antenna group with consecutive numbers, and the first transmitting antenna group and the second transmitting antenna group include a first antenna;
a communication interface 1302, configured to control at least two transmitting antenna groups to transmit signals, where the at least two transmitting antenna groups transmit signals in a time division multiplexing TDM manner, and multiple transmitting antennas included in each transmitting antenna group including multiple transmitting antennas in the at least two transmitting antenna groups transmit signals in a CDM manner.
As an alternative design, at least two transmit antenna groups include a third antenna group, and the third antenna group and the second transmit antenna group include a second antenna.
As an optional design, the processing unit 1301 is specifically configured to:
at least two transmit antenna groups are randomly determined from the at least three transmit antennas.
As an alternative design, the radar apparatus includes transmitting antennas numbered from 1 to N, where N is greater than or equal to 3, and in each transmitting antenna group, there are at least two transmitting antennas numbered discontinuously; alternatively, the numbering of any two transmit antennas is not continuous in each transmit antenna group.
As an optional design, in each transmitting antenna group, at least two numbered adjacent transmitting antennas exist, and the interval of the numbers of the two numbered adjacent transmitting antennas is greater than 1, or the interval of the numbers of any two numbered adjacent transmitting antennas is greater than 1.
As an optional design, the processing unit 1301 is specifically configured to:
and determining a first grouping mode in the plurality of grouping modes, wherein the performance parameters of the at least two transmitting antenna groups determined based on the first grouping mode are optimal, and the performance parameters are used for indicating the performance of speed ambiguity resolution.
As an optional design, the plurality of grouping manners includes all possible grouping manners of at least two transmitting antenna groups.
As an alternative design, at least two transmit antenna groups include different or the same number of transmit antennas.
Or as another design, processing unit 1301 may be used to perform all operations performed by the radar apparatus in the embodiment shown in fig. 12, except for transceiving operations, e.g., S1202, S1203, and/or other processes to support the techniques described herein. The communication interface 1302 may be used to perform all of the transceiving operations performed by the radar apparatus in the embodiment shown in fig. 12, e.g., S1201 and/or other processes for supporting the techniques described herein. Wherein the content of the first and second substances,
a communication interface 1302 for receiving signals;
a processing unit 1301, configured to determine at least two sets of detection information according to a signal received by the communication interface 1302, where the at least two sets of detection information correspond to at least two transmitting antenna groups formed by at least three transmitting antennas, each transmitting antenna group includes at least two transmitting antennas, the at least two transmitting antenna groups include a first transmitting antenna group and a second transmitting antenna group with consecutive numbers, and the first transmitting antenna group and the second transmitting antenna group include a first antenna; the system comprises at least two transmitting antenna groups, a receiving antenna group and a transmitting antenna group, wherein the at least two transmitting antenna groups transmit signals in a TDM mode, and a plurality of transmitting antennas included in each transmitting antenna group comprising a plurality of transmitting antennas transmit signals in a CDM mode;
determining at least three pieces of detection information according to the at least two sets of detection information, wherein the at least three pieces of detection information are used for determining a speed estimation value of the target, and the at least three pieces of detection information correspond to at least three transmitting antennas;
and determining the real speed of the target according to a first speed fuzzy multiple and a speed estimation value of the target, wherein the first speed fuzzy multiple is one of at least two speed fuzzy multiples corresponding to at least two groups of detection information.
As an optional design, the processing unit 1301 is specifically configured to:
dividing signals into at least two groups of signals according to at least two transmitting antenna groups included in the radar device, wherein one transmitting antenna group corresponds to one group of signals;
and converting the at least two groups of signals into a range-Doppler domain respectively to obtain at least two groups of detection information.
In one possible design, processing unit 1301 is specifically configured to:
determining a phase difference of at least one overlapping unit pair of the radar device, wherein each overlapping unit pair in the at least one overlapping unit pair corresponds to two transmitting antenna groups, and the two transmitting antenna groups comprise the same transmitting antenna;
and determining a first speed fuzzy multiple according to the phase difference and the Doppler frequency corresponding to the detection information.
In another design, the alternative designs may be implemented independently, or may be integrated with any of the alternative designs described above.
Fig. 14 is a schematic view of another possible structure of a radar apparatus according to an embodiment of the present disclosure. The radar device 14 may include a packet processor 1401, a transmitter 1402, and a receiver 1403. The functions of the processing unit 1301 and the communication interface 1302 shown in fig. 13 may correspond to specific functions thereof, which are not described herein again. The communication interface 1302 may be implemented by a transmitter 1402 as well as a receiver 1403. Optionally, the radar apparatus 14 may also include a memory 1404 for storing program instructions and/or data for reading by the processor 1401.
The foregoing fig. 2 provides a schematic structural diagram of a radar apparatus. With reference to the above, yet another alternative is presented. Fig. 15 provides a schematic view of yet another possible configuration of a radar apparatus. The radar devices provided in fig. 13 to 15 may be part or all of the radar devices in an actual communication scenario, or may be functional modules integrated in the radar devices or located outside the radar devices, for example, may be a chip system, and specifically take implementation of corresponding functions as a standard, and the structure and composition of the radar devices are not specifically limited.
In this alternative, the radar apparatus 15 includes a transmitting antenna 1501, a receiving antenna 1502, and a processor 1503. Further, the radar apparatus further includes a mixer 1504 and/or an oscillator 1505. Further, the radar device 15 may further include a low-pass filter and/or a coupler, and the like. The transmitting antenna 1501 and the receiving antenna 1502 are used for supporting the detection device to perform radio communication, the transmitting antenna 1501 supports the transmission of radar signals, and the receiving antenna 1502 supports the reception of radar signals and/or the reception of reflected signals, so as to finally realize a detection function. The processor 1503 performs some possible determining and/or processing functions. Further, the processor 1503 controls the operation of the transmit antenna 1501 and/or the receive antenna 1502. Specifically, the signal to be transmitted is transmitted by the processor 1503 by controlling the transmitting antenna 1501, and the signal received by the receiving antenna 1502 can be transmitted to the processor 1503 for corresponding processing. The various components included in radar apparatus 15 may be used to cooperate in performing the methods provided by the embodiments shown in fig. 7 or 12. Optionally, the radar apparatus may further comprise a memory for storing program instructions and/or data. The transmitting antenna 1501 and the receiving antenna 1502 may be independently disposed, or may be integrally disposed as a transceiving antenna to perform a corresponding transceiving function.
In a first design, among other things, processor 1503 may be configured to perform all operations performed by the radar device in the embodiment shown in fig. 7, except for transceiving operations, e.g., S701, and/or other processes to support the techniques described herein. Transmit antenna 1501 and receive antenna 1502 may be used to perform all transceiving operations performed by a radar device in the embodiment shown in fig. 7, e.g., S702, and/or other processes for supporting the techniques described herein. The transmit antenna 1501 includes at least three transmit antennas, wherein,
a processor 1503, configured to determine at least two transmit antenna groups of the radar apparatus, where one transmit antenna group includes at least one transmit antenna, the at least two transmit antenna groups include a first transmit antenna group and a second transmit antenna group with consecutive numbers, and the first transmit antenna group and the second transmit antenna group include a first antenna;
the transmitting antenna 1501 is configured to transmit signals in at least two transmitting antenna groups, where the at least two transmitting antenna groups transmit signals in a time division multiplexing TDM manner, and each of the at least two transmitting antenna groups includes multiple transmitting antennas, and the multiple transmitting antennas transmit signals in a CDM manner.
As an alternative design, at least two transmit antenna groups include a third antenna group, and the third antenna group and the second transmit antenna group include a second antenna.
As an alternative design, the processor 1503 is specifically configured to:
at least two transmit antenna groups are randomly determined from the at least three transmit antennas.
As an alternative design, the radar apparatus includes transmitting antennas numbered from 1 to N, where N is greater than or equal to 3, and in each transmitting antenna group, there are at least two transmitting antennas numbered discontinuously; alternatively, the numbering of any two transmit antennas is not continuous in each transmit antenna group.
As an optional design, in each transmitting antenna group, at least two numbered adjacent transmitting antennas exist, and the interval of the numbers of the two numbered adjacent transmitting antennas is greater than 1, or the interval of the numbers of any two numbered adjacent transmitting antennas is greater than 1.
As an alternative design, the processor 1503 is specifically configured to:
and determining a first grouping mode in the plurality of grouping modes, wherein the performance parameters of the at least two transmitting antenna groups determined based on the first grouping mode are optimal, and the performance parameters are used for indicating the performance of speed ambiguity resolution.
As an optional design, the plurality of grouping manners includes all possible grouping manners of at least two transmitting antenna groups.
As an alternative design, at least two transmit antenna groups include different or the same number of transmit antennas.
Or as another design, the processor 1503 may be used to perform all operations performed by the radar apparatus in the embodiment shown in fig. 12 except for transceiving operations, e.g., S1202, S1203, and/or other processes for supporting the techniques described herein. The transmit antenna 1501 and the receive antenna 1502 may be used to perform all transceiving operations performed by the radar apparatus in the embodiment shown in fig. 12, e.g., S1201 and/or other processes for supporting the techniques described herein. The receive antenna 1502 includes at least one receive antenna, wherein,
the receiving antenna 1502 is used for receiving signals by means of at least one receiving antenna;
a processor 1503, configured to determine at least two sets of detection information according to signals received by the receiving antennas 1502, where the at least two sets of detection information correspond to at least two transmitting antenna groups formed by at least three transmitting antennas, each transmitting antenna group includes at least two transmitting antennas, the at least two transmitting antenna groups include a first transmitting antenna group and a second transmitting antenna group with consecutive numbers, and the first transmitting antenna group and the second transmitting antenna group include a first antenna; the system comprises at least two transmitting antenna groups, a receiving antenna group and a transmitting antenna group, wherein the at least two transmitting antenna groups transmit signals in a TDM mode, and each transmitting antenna group comprising a plurality of transmitting antennas transmits signals in a CDM mode;
determining at least three pieces of detection information according to the at least two sets of detection information, wherein the at least three pieces of detection information are used for determining a speed estimation value of the target, and the at least three pieces of detection information correspond to at least three transmitting antennas;
and determining the real speed of the target according to a first speed fuzzy multiple and a speed estimation value of the target, wherein the first speed fuzzy multiple is one of at least two speed fuzzy multiples corresponding to at least two groups of detection information.
As an alternative design, the processor 1503 is specifically configured to:
dividing signals into at least two groups of signals according to at least two transmitting antenna groups included in the radar device, wherein one transmitting antenna group corresponds to one group of signals;
and converting the at least two groups of signals into a range-Doppler domain respectively to obtain at least two groups of detection information.
In one possible design, the processor 1503 is specifically configured to:
determining a phase difference of at least one overlapping unit pair of the radar device, wherein each overlapping unit pair in the at least one overlapping unit pair corresponds to two transmitting antenna groups, and the two transmitting antenna groups comprise the same transmitting antenna;
and determining a first speed fuzzy multiple according to the phase difference and the Doppler frequency corresponding to the detection information.
Fig. 16 is a schematic structural diagram of an apparatus 16 according to an embodiment of the present disclosure. The device 16 shown in fig. 16 may be the radar device itself, or may be a chip or a circuit capable of performing the function of the radar device, and for example, the chip or the circuit may be provided in the radar device. The apparatus 16 shown in fig. 16 may include a processor 1601 (e.g., the processing unit 1301 may be implemented by the processor 1401, and the processor 1401 and the processor 1601 may be, for example, the same component) and an interface circuit 1602 (e.g., the communication interface 1302 may be implemented by the interface circuit 1602, and the transmitter 1402 and the receiver 1403 and the interface circuit 1602 are, for example, the same component). The processor 1601 may cause the device 16 to perform the steps performed by the radar device in the methods provided by the embodiments shown in fig. 7 or 12. Optionally, the apparatus 16 may further include a memory 1603, which memory 1603 may be used to store instructions. The processor 1601 causes the device 16 to implement the steps performed by the radar device in the methods provided by the embodiments shown in fig. 7 or fig. 12 by executing the instructions stored by the memory 1603.
Further, the processor 1601, the interface circuit 1602 and the memory 1603 may communicate with each other via internal connection paths to transfer control and/or data signals. The memory 1603 is used for storing a computer program, and the processor 1601 may call and run the computer program from the memory 1603 to control the interface circuit 1602 to receive a signal or transmit a signal to complete the steps performed by the radar apparatus in the method according to the embodiment shown in fig. 7 or 12. The memory 1603 may be integrated in the processor 1601 or may be provided separately from the processor 1601.
Alternatively, if the apparatus 16 is a device, the interface circuit 1602 may include a receiver and a transmitter. Wherein the receiver and the transmitter may be the same component or different components. When the receiver and the transmitter are the same component, the component may be referred to as a transceiver.
Alternatively, if the apparatus 16 is a chip or a circuit, the interface circuit 1602 may include an input interface and an output interface, which may be the same interface or may be different interfaces, respectively.
Alternatively, if the apparatus 16 is a chip or a circuit, the apparatus 16 may not include the memory 1603, and the processor 1601 may read instructions (programs or codes) in the memory outside the chip or the circuit to implement the steps performed by the radar apparatus in the method provided by the embodiment shown in fig. 7 or fig. 12.
Alternatively, if the apparatus 16 is a chip or a circuit, the apparatus 16 may include a resistor, a capacitor, or other corresponding functional components, and the processor 1601 or the interface circuit 1602 may be implemented by the corresponding functional components.
As an implementation manner, the function of the interface circuit 1602 can be considered to be implemented by a transceiver circuit or a dedicated chip for transceiving. Processor 1601 may be considered to be implemented by a special purpose processing chip, processing circuit, processor, or a general purpose chip.
As another implementation manner, a manner of using a general-purpose computer may be considered to implement the radar apparatus provided in the embodiment of the present application. That is, a program code for realizing the functions of the processor 1601 and the interface circuit 1602 is stored in the memory 1603, and the processor 1601 executes the program code stored in the memory 1603 to realize the functions of the processor 1601 and the interface circuit 1602.
The functions and actions of the modules or units in the device 16 listed above are only exemplary, and the functional units in the device 16 can be used to execute the actions or processes executed by the radar device in the embodiment shown in fig. 7 or fig. 12. Here, a detailed description thereof is omitted in order to avoid redundancy.
Alternatively still, when the radar apparatus is implemented in software, it may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are implemented in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored on a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website, computer, server, or data center to another website, computer, server, or data center via wire (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that incorporates one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.
It should be noted that the processor included in the above-mentioned detection device for executing the detection method or the signal sending method provided in the embodiment of the present application may be a Central Processing Unit (CPU), a general purpose processor, a Digital Signal Processor (DSP), an application-specific integrated circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, a transistor logic device, a hardware component, or any combination thereof. Which may implement or perform the various illustrative logical blocks, modules, and circuits described in connection with the disclosure. The processor may also be a combination of computing functions, e.g., comprising one or more microprocessors, DSPs, and microprocessors, among others.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied in hardware or may be embodied in software instructions executed by a processor. The software instructions may be comprised of corresponding software modules that may be stored in Random Access Memory (RAM), flash memory, read-only memory (ROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), registers, a hard disk, a removable hard disk, a compact disc read-only memory (CD-ROM), or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. Of course, the storage medium may also be integral to the processor. The processor and the storage medium may reside in an ASIC. In addition, the ASIC may reside in a probing apparatus. Of course, the processor and the storage medium may reside as discrete components in the probe device.
It will be appreciated that fig. 13 to 16 merely show a simplified design of the radar apparatus. In practice, the radar apparatus may comprise any number of transmitters, receivers, processors, controllers, memories, and other components that may be present.
The present invention also provides a communication system, which includes at least one radar device and/or at least one central node, etc. as mentioned in the above embodiments of the present invention. The central node is used for controlling the running of the vehicle and/or the processing of other radar devices according to the transmission parameters of the at least one radar device. The central node may be located in the vehicle, or possibly elsewhere, to enable the control.
Through the above description of the embodiments, it is clear to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional modules is merely used as an example, and in practical applications, the above function distribution may be completed by different functional modules according to needs, that is, the internal structure of the device may be divided into different functional modules to complete all or part of the above described functions.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical functional division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another device, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may be one physical unit or a plurality of physical units, that is, may be located in one place, or may be distributed in a plurality of different places. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a readable storage medium. Based on such understanding, the technical solutions of the embodiments of the present application may be essentially or partially contributed to by the prior art, or all or part of the technical solutions may be embodied in the form of a software product, where the software product is stored in a storage medium and includes several instructions to enable a device (which may be a single chip, a chip, or the like) or a processor (processor) to execute all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a U disk, a removable hard disk, a ROM, a RAM, a magnetic disk, or an optical disk.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.

Claims (27)

1. A signal transmission method, applied to a radar apparatus including at least three transmitting antennas, the method comprising:
determining at least two transmit antenna groups of the radar apparatus, wherein each transmit antenna group comprises at least one transmit antenna, the at least two transmit antenna groups comprise a first transmit antenna group and a second transmit antenna group which are numbered consecutively, and the first transmit antenna group and the second transmit antenna group comprise a first antenna;
and sending signals through the at least two transmitting antenna groups, wherein the at least two transmitting antenna groups send signals in a Time Division Multiplexing (TDM) mode, and the plurality of transmitting antennas included in each transmitting antenna group comprising a plurality of transmitting antennas in the at least two transmitting antenna groups send signals in a Code Division Multiplexing (CDM) mode.
2. The method of claim 1, wherein the at least two transmit antenna groups comprise a third transmit antenna group, and wherein the third transmit antenna group and the second transmit antenna group comprise a second antenna.
3. The method of claim 1 or 2, wherein determining at least two transmit antenna groups of the radar apparatus comprises:
randomly determining the at least two transmit antenna groups from the at least three transmit antennas.
4. A method according to any one of claims 1 to 3, wherein said radar apparatus comprises transmit antennas numbered from 1 to N, said N being greater than or equal to 3, and wherein in each of said groups of transmit antennas there is a discontinuity in the numbering of at least two of the transmit antennas; or, in each transmitting antenna group, the numbers of any two transmitting antennas are not consecutive.
5. The method of any of claims 1-4, wherein in each transmit antenna group, there is at least two numbered adjacent transmit antennas spaced apart by more than 1, or any two numbered adjacent transmit antennas spaced apart by more than 1.
6. The method of claim 1, wherein said determining at least two transmit antenna groups of the radar apparatus comprises:
determining a first grouping mode of a plurality of grouping modes, and determining that the performance parameters of the at least two transmitting antenna groups determined based on the first grouping mode are optimal, wherein the performance parameters are used for indicating the performance of speed ambiguity resolution.
7. The method of claim 6,
the plurality of grouping modes comprises all possible grouping modes of the at least two transmitting antenna groups.
8. The method of any of claims 1-7, wherein the at least two groups of transmit antennas comprise different or the same number of transmit antennas.
9. A signal processing method, applied to a radar apparatus including at least three transmitting antennas and at least one receiving antenna, the method comprising:
determining at least two groups of detection information according to signals received by the at least one receiving antenna, wherein the at least two groups of detection information correspond to at least two transmitting antenna groups consisting of the at least three transmitting antennas, each transmitting antenna group comprises at least two transmitting antennas, the at least two transmitting antenna groups comprise a first transmitting antenna group and a second transmitting antenna group which are numbered consecutively, and the first transmitting antenna group and the second transmitting antenna group comprise a first antenna; wherein, the at least two transmitting antenna groups adopt TDM mode to transmit signals, and each transmitting antenna group of the at least two transmitting antenna groups containing a plurality of transmitting antennas comprises a plurality of transmitting antennas which adopt CDM mode to transmit signals;
determining at least three detection information according to the at least two groups of detection information, wherein the at least three detection information is used for determining a speed estimation value of a target, and the at least three detection information corresponds to the at least three transmitting antennas;
and determining the real speed of the target according to a first speed fuzzy multiple and a speed estimation value of the target, wherein the first speed fuzzy multiple is one of at least two speed fuzzy multiples corresponding to the at least two groups of detection information.
10. The method of claim 9, wherein determining at least two sets of detection information from signals received by the at least two receive antennas comprises:
dividing the signals into at least two groups of signals according to at least two transmitting antenna groups included in the radar device, wherein one transmitting antenna group corresponds to one group of signals;
and respectively converting the at least two groups of signals into a range-Doppler domain to obtain the at least two groups of detection information.
11. The method of claim 9 or 10, further comprising:
determining a phase difference of at least one overlapping element pair of the radar apparatus, wherein each overlapping element pair of the at least one overlapping element pair corresponds to two transmit antenna groups, and the two transmit antenna groups comprise the same transmit antenna;
and determining the first speed fuzzy multiple according to the phase difference and the Doppler frequency corresponding to part of the detection information in the at least two groups of detection information.
12. An apparatus, characterized in that the apparatus comprises:
at least one processor configured to determine at least two transmit antenna groups of the apparatus, wherein each of the transmit antenna groups comprises at least one transmit antenna, the at least two transmit antenna groups comprise a first transmit antenna group and a second transmit antenna group that are consecutively numbered, and the first transmit antenna group and the second transmit antenna group comprise a first antenna; and the number of the first and second groups,
the at least two transmitting antenna groups are configured to transmit signals, where the at least two transmitting antenna groups transmit signals in a Time Division Multiplexing (TDM) manner, and each transmitting antenna group of the at least two transmitting antenna groups includes multiple transmitting antennas, and the multiple transmitting antennas transmit signals in a Code Division Multiplexing (CDM) manner.
13. The apparatus of claim 12 wherein the at least two transmit antenna groups comprise a third antenna group, the third antenna group and the second transmit antenna group comprising a second antenna.
14. The apparatus of claim 12 or 13, wherein the at least one processor is specifically configured to:
randomly determining the at least two transmit antenna groups from the at least three transmit antennas.
15. The apparatus of any of claims 12-14 wherein said radar apparatus includes transmit antennas numbered 1 through N, said N being greater than or equal to 3, there being a discontinuity in the numbering of at least two transmit antennas in each of said sets of transmit antennas; or, in each transmitting antenna group, the numbers of any two transmitting antennas are not consecutive.
16. The apparatus of any of claims 12-15, wherein in each transmit antenna group, there is at least two numbered adjacent transmit antennas spaced apart by more than 1, or any two numbered adjacent transmit antennas spaced apart by more than 1.
17. The apparatus of claim 12, wherein the at least one processor is specifically configured to:
determining a first grouping mode of a plurality of grouping modes, and determining that the performance parameters of the at least two transmitting antenna groups determined based on the first grouping mode are optimal, wherein the performance parameters are used for indicating the performance of speed ambiguity resolution.
18. The apparatus of claim 17,
the plurality of grouping modes comprises all possible grouping modes of the at least two transmitting antenna groups.
19. The apparatus of any of claims 12-18, wherein the at least two transmit antenna groups comprise different or the same number of transmit antennas.
20. An apparatus, characterized in that the apparatus comprises:
at least one receiving antenna for receiving signals;
at least one processor, configured to determine at least two sets of detection information according to a received signal, where the at least two sets of detection information correspond to at least two transmit antenna groups formed by the at least three transmit antennas, each transmit antenna group includes at least two transmit antennas, the at least two transmit antenna groups include a first transmit antenna group and a second transmit antenna group which are numbered consecutively, and the first transmit antenna group and the second transmit antenna group include a first antenna; wherein, the at least two transmitting antenna groups adopt TDM mode to transmit signals, and each transmitting antenna group of the at least two transmitting antenna groups containing a plurality of transmitting antennas comprises a plurality of transmitting antennas which adopt CDM mode to transmit signals;
determining at least three detection information according to the at least two groups of detection information, wherein the at least three detection information is used for determining a speed estimation value of a target, and the at least three detection information corresponds to the at least three transmitting antennas;
and determining the real speed of the target according to a first speed fuzzy multiple and a speed estimation value of the target, wherein the first speed fuzzy multiple is one of at least two speed fuzzy multiples corresponding to the at least two groups of detection information.
21. The apparatus of claim 20, wherein the at least one processor is specifically configured to:
dividing the signals into at least two groups of signals according to at least two transmitting antenna groups included in the radar device, wherein one transmitting antenna group corresponds to one group of signals;
and respectively converting the at least two groups of signals into a range-Doppler domain to obtain the at least two groups of detection information.
22. The apparatus of claim 20 or 21, wherein the at least one processor is specifically configured to:
determining a phase difference of at least one overlapping element pair of the radar apparatus, wherein each overlapping element pair of the at least one overlapping element pair corresponds to two transmit antenna groups, and the two transmit antenna groups comprise the same transmit antenna;
and determining the first speed fuzzy multiple according to the phase difference and the Doppler frequency corresponding to part of the detection information in the at least two groups of detection information.
23. An apparatus, characterized in that the apparatus comprises:
a memory: for storing instructions;
a processor configured to retrieve and execute the instructions from the memory, so that the apparatus or a device in which the apparatus is installed performs the method according to any one of claims 1 to 8 or 9 to 11.
24. A method, characterized in that the method comprises:
determining at least two transmitting antenna groups of a radar device, wherein each transmitting antenna group comprises at least one transmitting antenna, the at least two transmitting antenna groups comprise a first transmitting antenna group and a second transmitting antenna group which are numbered consecutively, and the first transmitting antenna group and the second transmitting antenna group comprise first antennas;
and controlling the at least two transmitting antenna groups to transmit signals in a Time Division Multiplexing (TDM) mode, wherein the plurality of transmitting antennas included in each transmitting antenna group comprising a plurality of transmitting antennas in the at least two transmitting antenna groups transmit signals in a CDM mode.
25. An apparatus comprising at least one processor and a communication interface for providing the at least one processor with program instructions that, when executed by the at least one processor, perform the steps of:
determining at least two transmitting antenna groups of a radar device, wherein each transmitting antenna group comprises at least one transmitting antenna, the at least two transmitting antenna groups comprise a first transmitting antenna group and a second transmitting antenna group which are numbered consecutively, and the first transmitting antenna group and the second transmitting antenna group comprise first antennas;
and controlling the at least two transmitting antenna groups to transmit signals in a Time Division Multiplexing (TDM) mode, wherein the plurality of transmitting antennas included in each transmitting antenna group comprising a plurality of transmitting antennas in the at least two transmitting antenna groups transmit signals in a CDM mode.
26. A computer-readable storage medium, characterized in that it stores a computer program which, when run on a computer, causes the computer to perform the method according to any one of claims 1 to 8 or 9 to 11.
27. A computer program product, characterized in that it comprises a computer program which, when run on a computer, causes the computer to carry out the method according to any one of claims 1 to 8 or 9 to 11.
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