CN113341404A - Constant false alarm detection method and device, integrated circuit and radio device - Google Patents
Constant false alarm detection method and device, integrated circuit and radio device Download PDFInfo
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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
- 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
- G01S13/04—Systems determining presence of a target
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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
- G01S7/40—Means for monitoring or calibrating
- G01S7/4052—Means for monitoring or calibrating by simulation of echoes
- G01S7/4056—Means for monitoring or calibrating by simulation of echoes specially adapted to FMCW
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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
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/418—Theoretical aspects
Abstract
The embodiment of the application discloses a constant false alarm detection method, a constant false alarm detection device, an integrated circuit and a radio device, wherein region division is carried out in the data direction of the Doppler dimension of an echo signal matrix according to the symmetry of fast Fourier transform so as to obtain at least two partitions. The at least two partitions may include at least one first partition and one second partition, and the second partition may include two sub-partitions distributed on both sides of the first partition. For the partitioned regions, the processor may perform constant false alarm detection for each partition. That is, when the echo signal matrix is divided into regions, the regions are divided in the doppler dimension according to the symmetry of the fast fourier transform, so that a certain region to be divided of the echo signal matrix is at least divided into a first partition and a second partition including two sub-partitions.
Description
The present application claims priority of chinese patent application entitled "a regional constant false alarm detection method and apparatus" filed by the chinese patent office at 03/02/2020, application No. 202010137008.8, which is incorporated herein by reference in its entirety.
Technical Field
The application relates to the technical field of target detection, in particular to a constant false alarm detection method, a constant false alarm detection device, an integrated circuit and a radio device.
Background
Constant False-Alarm Rate (CFAR) is a technique in which a sensor (e.g., a radar) system discriminates between a signal output from a receiver and noise to determine whether a target signal exists, while keeping a False-Alarm probability Constant.
The constant false alarm detection strategies that are mainly applied at present may include a cell averaging (CA _ CFAR) strategy, a cell averaging and selecting large (GO _ CFAR) strategy, a cell averaging and selecting small (SO _ CFAR) strategy, and an order statistics (OS _ CFAR) strategy. Each detection strategy has the using condition, and in order to ensure that each detection strategy can exert good detection performance, the echo signal matrix can be partitioned firstly, and different detection strategies are allocated according to the characteristics of different areas so as to judge whether objects exist in a specific range gate and a specific Doppler gate. However, the existing partitioning method makes the partitioning more fixed, increasing the system complexity.
Disclosure of Invention
In view of this, embodiments of the present application provide a constant false alarm detection method, apparatus, integrated circuit, and radio device, so as to partition an echo signal matrix more reasonably and effectively and reduce the complexity of a system maintenance area.
In order to solve the above problem, the technical solution provided by the embodiment of the present application is as follows:
in a first aspect of an embodiment of the present application, a constant false alarm detection method is provided, where the method includes:
acquiring an echo signal matrix comprising a Doppler dimension;
according to the symmetry of the fast Fourier transform, carrying out region division on the Doppler dimension to obtain at least two regions; and
and respectively carrying out constant false alarm detection on each subarea.
In this implementation, the doppler dimension is region partitioned according to the symmetry of the fast fourier transform to obtain at least two partitions. Wherein, a certain partition may include two sub-partitions, that is, the two sub-partitions belong to the same partition, so as to reduce the number of partitions.
In a specific embodiment, the at least two partitions include a first partition and a second partition, the second partition including two sub-partitions; the region division of the doppler dimension according to the symmetry of the fast fourier transform comprises:
dividing the Doppler dimension into a second subarea and at least one first subarea along the data row/column direction aiming at any non-Doppler dimension on any two-dimensional plane comprising the Doppler dimension in the echo signal matrix;
wherein, two sub-partitions included in the second partition are distributed on two sides of the at least one first partition.
In this implementation, for any data direction in a non-doppler dimension, the doppler dimension is divided into a second partition and at least one first partition according to the symmetry of the fast fourier transform. The second partition comprises two sub-partitions, namely the two sub-partitions belong to the same partition, and the number of the partitions is reduced.
In a specific embodiment, the non-doppler dimension is a distance dimension or a spatial dimension.
In a specific embodiment, the same detection strategy is adopted for the constant false alarm rate detection for any one of the partitions. In this implementation manner, for each partition, a detection policy may be configured for the partition, and when performing constant false alarm detection, detection is performed by using the detection policy corresponding to the partition.
In a specific embodiment, for the at least two partitions, at least two detection strategies are adopted to perform the constant false alarm detection; and the detection parameters included by each detection strategy are stored in the same parameter space. In this implementation, when the echo matrix is divided into a plurality of partitions, one detection strategy may be configured for each partition, or the same detection strategy may be configured for some partitions, so that the echo matrix may correspond to a plurality of detection strategies. The detection parameters included for different detection strategies can be stored in the same parameter space, so that the occupation of the storage space is reduced.
In a specific embodiment, in the at least two detection strategies, there is a detection parameter that includes partial identity between different detection strategies.
In a second aspect of the embodiments of the present application, a constant false alarm detection method is provided, where the method includes:
acquiring an echo signal matrix comprising at least two dimensions;
dividing the echo signal matrix into at least two partitions, wherein the at least two partitions comprise a first partition and a second partition; and
performing constant false alarm detection on the at least two partitions;
in the echo signal matrix divided into the at least two subareas, on any two-dimensional plane including a first dimension and a second dimension, aiming at data rows/columns of any one first dimension, the first subareas and the second subareas are distributed along the second dimension; the second partition comprises two sub-partitions which are distributed discontinuously; and
and carrying out constant false alarm detection on the two sub-partitions by adopting the same detection strategy.
In this embodiment, the echo signal matrix is subdivided into at least one first partial region and a second partial region comprising two partial regions. The first sub-partition and the second sub-partition are discontinuously distributed, for example, respectively distributed on two sides of the first partition, and the first sub-partition and the second sub-partition correspond to the same detection strategy, so that compared with the prior art in which each partition maintains one detection strategy, the maintenance and debugging of the detection strategy are reduced.
In a specific embodiment, the first dimension is a distance dimension or a spatial dimension and the second dimension is a doppler dimension.
In a specific embodiment, in the echo signal matrix divided into the at least two partitions, on any two-dimensional plane including a first dimension and a second dimension, for a data row/column of any one of the first dimensions, one of the second partitions and at least one of the first partitions are distributed along the second dimension; and
the two sub-partitions included in the second partition are respectively distributed at the edges of the two ends of the second dimension.
In a specific embodiment, the same detection strategy is adopted for the constant false alarm rate detection for any one of the partitions.
In a specific embodiment, for the at least two partitions, at least two detection strategies are adopted for the constant false alarm detection, and partially identical detection parameters may be included between different detection strategies;
and the detection parameters included by each detection strategy are stored in the same parameter space.
In a third aspect of embodiments of the present application, there is provided a constant false alarm detection apparatus, including:
an acquisition unit for acquiring an echo signal matrix including a doppler dimension;
the dividing unit is used for carrying out region division on the Doppler dimension according to the symmetry of fast Fourier transform to obtain at least two regions; dividing the echo signal matrix into at least two partitions; wherein the Doppler dimension is divided into regions according to the symmetry of fast Fourier transform; and
and the detection unit is used for respectively carrying out constant false alarm detection on each subarea.
In a specific embodiment, the at least two partitions include a first partition and a second partition, the second partition including two sub-partitions; the region division of the doppler dimension according to the symmetry of the fast fourier transform comprises:
dividing the Doppler dimension into a second subarea and at least one first subarea along the data row/column direction aiming at any non-Doppler dimension on any two-dimensional plane comprising the Doppler dimension in the echo signal matrix;
wherein, two sub-partitions included in the second partition are distributed on two sides of the at least one first partition.
In a specific embodiment, the non-doppler dimension is a distance dimension or a spatial dimension.
In a specific embodiment, the same detection strategy is adopted for the constant false alarm rate detection for any one of the partitions.
In a specific embodiment, for the at least two partitions, at least two detection strategies are adopted to perform the constant false alarm detection; and the detection parameters included by each detection strategy are stored in the same parameter space.
In a specific embodiment, in the at least two detection strategies, there is a detection parameter that includes partial identity between different detection strategies.
In a fourth aspect of embodiments of the present application, there is provided a constant false alarm detection apparatus, including:
an acquisition unit for acquiring an echo signal matrix comprising at least two dimensions;
the dividing unit is used for dividing the echo signal matrix into at least two subareas, and the at least two subareas comprise a first subarea and a second subarea; and
the detection unit is used for carrying out constant false alarm detection on the at least two subareas;
in the echo signal matrix divided into the at least two subareas, on any two-dimensional plane including a first dimension and a second dimension, aiming at data rows/columns of any one first dimension, the first subareas and the second subareas are distributed along the second dimension; the second partition comprises two sub-partitions which are distributed discontinuously; and
and the detection unit is also used for carrying out constant false alarm detection on the two sub-partitions by adopting the same detection strategy.
In a specific embodiment, the first dimension is a distance dimension or a spatial dimension and the second dimension is a doppler dimension.
In a specific embodiment, in the echo signal matrix divided into the at least two partitions, on any two-dimensional plane including a first dimension and a second dimension, for a data row/column of any one of the first dimensions, one of the second partitions and at least one of the first partitions are distributed along the second dimension; and the two sub-partitions included in the second partition are respectively distributed at the edges of two ends of the second dimension.
In a specific embodiment, the same detection strategy is adopted for the constant false alarm rate detection for any one of the partitions.
In a specific embodiment, for the at least two partitions, at least two detection strategies are adopted for the constant false alarm detection, and partially identical detection parameters may be included between different detection strategies; and the detection parameters included by each detection strategy are stored in the same parameter space.
In a fifth aspect of embodiments of the present application, there is provided an integrated circuit, including: a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor implements the constant false alarm detection method of the first aspect or the second aspect when executing the computer program.
In a specific embodiment, the integrated circuit is a millimeter wave radar chip.
In a sixth aspect of embodiments herein, there is provided a radio device including:
a carrier;
an integrated circuit as claimed in the fifth aspect, disposed on a carrier;
an antenna disposed on the carrier or disposed on the carrier as an integrated device with the integrated circuit;
the integrated circuit is connected with the antenna and used for transmitting and receiving radio signals.
In a seventh aspect of embodiments of the present application, there is provided an apparatus, including:
an apparatus body; and
the radio device according to the sixth aspect provided on the apparatus body;
wherein the radio device is used for object detection and/or communication.
In an eighth aspect of embodiments of the present application, there is provided a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the constant false alarm detection method according to the first aspect or the second aspect.
In a ninth aspect of embodiments of the present application, there is provided a computer device, including: a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the constant false alarm detection method according to the first aspect or the second aspect when executing the computer program.
Therefore, the embodiment of the application has the following beneficial effects:
the echo signal matrix including the Doppler dimension is obtained by the processor, and the area is divided in the data direction of the Doppler dimension of the echo signal matrix according to the symmetry of fast Fourier transform, so that at least two partitions are obtained. The at least two partitions may include at least one first partition and one second partition, and the second partition may include two sub-partitions distributed on both sides of the first partition. For the partitioned regions, the processor may perform constant false alarm detection for each partition. That is, when the echo signal matrix is divided into regions, the regions are divided in the doppler dimension according to the symmetry of the fast fourier transform, so that a certain region to be divided of the echo signal matrix is at least divided into a first partition and a second partition including two sub-partitions.
Drawings
FIG. 1a is a diagram illustrating a conventional area division;
fig. 1b is a schematic diagram of region division according to an embodiment of the present application;
fig. 2a is a schematic diagram of another area division provided in the embodiment of the present application;
fig. 2b is a schematic diagram of another area division provided in the embodiment of the present application;
fig. 2c is a schematic diagram of another area division provided in the embodiment of the present application;
fig. 2d is a schematic diagram of another area division provided in the embodiment of the present application;
fig. 3 is a flowchart of a constant false alarm detection method according to an embodiment of the present disclosure;
fig. 4 is a diagram illustrating another exemplary division of regions according to an embodiment of the present application;
fig. 5 is a structural diagram of a constant false alarm rate detection apparatus according to an embodiment of the present disclosure;
fig. 6 is a structural diagram of another constant false alarm detection apparatus according to an embodiment of the present disclosure.
Detailed Description
In order to make the above objects, features and advantages of the present application more comprehensible, embodiments of the present application are described in further detail below with reference to the accompanying drawings and detailed description, taking radar as an example.
After a radar (such as an FMCW millimeter wave radar) receives an echo signal through a receiving antenna, the echo signal may be processed to obtain an echo signal matrix, where the echo signal matrix may include a range gate (range dimension) and a doppler gate (doppler frequency dimension), and the echo signal matrix is divided into regions by a "well" type division manner, as shown in fig. 1 a. The division mode ensures that the Doppler dimension division on different distance dimension areas is completely the same, and if the division of the Doppler dimension area is increased, the number of vertical lines can be increased. Since each region corresponds to one detection strategy, the number of system maintenance detection strategies will increase sharply when the divided regions are increased, resulting in a reduction in performance of the system maintenance detection strategies.
Based on this, the embodiment of the present application provides a constant false alarm detection method, which first obtains an echo signal matrix, where the echo signal matrix includes a doppler dimension. Then, the doppler dimension is regionally divided according to the symmetry of the fast fourier transform to obtain at least two partitions. Wherein, a certain partition may include two sub-partitions, that is, the two sub-partitions belong to the same partition, so as to reduce the number of partitions. In addition, the same detection strategy can be configured for the two sub-partitions, so that the workload of the system for maintaining the detection strategy is reduced.
That is, when the echo signal matrix is divided into regions, the region to be divided may be obtained by dividing in a non-doppler dimension, and then divided again in a doppler frequency dimension according to the symmetry of the fast fourier transform, so that the region to be divided is at least divided into a first partition and a second partition including two sub-partitions. The first sub-partition and the second sub-partition can be distributed on two sides of the first partition, and the first sub-partition and the second sub-partition correspond to the same detection strategy.
For convenience of understanding, referring to fig. 1a and fig. 1b, it can be seen that, in the conventional scheme shown in fig. 1a, 9 different partitions need to be set, if the partition is performed in the doppler frequency dimension based on the symmetry of the fast fourier transform in this application, that is, regions 1 and 3, 4 and 6, and 7 and 9 in fig. 1 may be partitioned in the same partition, that is, there may be only 6 partitions at this time, and compared to fig. 1a, on the premise that the region partition mode in the distance dimension is not changed, the types of the whole two-dimensional matrix partitions can be reduced from 9 to 6 by using the periodic symmetry of the fast fourier transform, that is, compared to the conventional region partition, the detection strategy can be significantly reduced, and the computation amount of the constant false alarm detection can be reduced.
In addition, referring to the exemplary diagram shown in fig. 2a, by further subdividing in the distance dimension, i.e. increasing from 3 areas to 4 areas in the distance dimension, comparing fig. 2a and fig. 1a, it can be seen that, compared to the conventional division into 3 areas in the distance dimension, with the scheme of the present application, even if the division is increased to 4 areas, fig. 2a only includes 8 kinds of partitions, whereas fig. 1a includes 9 kinds of partitions, i.e. the density of the partitions in the distance dimension is increased by one third compared to fig. 1a, but the kind of the partitions in the whole two-dimensional matrix is decreased by one ninth.
In this example, as shown in fig. 2a, each region to be partitioned may include one first partition (e.g., partition 8) and one second partition (e.g., partition 7 including two sub-partitions), with the two sub-partitions of partition 7 being distributed on both sides of partition 8. Optionally, two sub-partitions of partition 7 correspond to the same detection strategy and are different from partition 8. That is, the system only needs to maintain 8 detection strategies, and compared with fig. 1, the maintenance of 1 detection strategy can be reduced while the distance dimension partition density is increased.
Referring to fig. 2b and 2c, in the embodiment of the present application, along the extending direction of the row (or column) in the non-doppler dimension, the boundaries of different partitions may be on the same straight line (as shown in fig. 2 b) or different straight lines (as shown in fig. 2 c). Fig. 2b is a schematic diagram of a possible situation, that is, even though the boundary of the area division is similar to the conventional one, based on the periodic symmetry of the fast fourier transform, the areas located at both sides of the two-dimensional (Range-Doppler Matrix, RDM) Matrix are defined as the same partition, so that compared with the conventional 12 partitions (not shown in the figure, which can be understood with reference to fig. 1), in this embodiment, only 8 partitions need to be defined, that is, 4 partitions are reduced, so that the policy and the computation amount of the constant-alarm false-alarm detection can be effectively reduced, and as compared with fig. 1, 2a, and 2b, the reduction degree of the policy and the computation amount becomes more and more obvious as the density of the partitions in the non-Doppler dimension increases.
Based on the above description, the constant false alarm detection method provided by the embodiment of the present application will be specifically described below with reference to the accompanying drawings.
Referring to fig. 3, which is a flowchart of a constant false alarm detection method provided in an embodiment of the present application, as shown in fig. 3, the method may include:
s301: an echo signal matrix including a doppler dimension is acquired.
In this embodiment, an echo signal matrix is first obtained, for example, the echo signal matrix may be obtained by performing digital signal processing such as analog-to-digital conversion and 2D-FFT processing on an echo signal, that is, the echo signal matrix may include data in a doppler dimension (doppler), that is, an echo signal matrix output after performing FFT processing in the doppler dimension on the echo signal.
S302: and carrying out region division on the Doppler dimension according to the symmetry of the fast Fourier transform to obtain at least two regions.
After acquiring the echo signal matrix including the doppler dimension, a region division may be performed on the doppler dimension according to the symmetry of the fast fourier transform to obtain at least two partitions.
Specifically, in the echo signal matrix, the doppler dimension is divided into a second partition and at least one first partition along the data direction (row/column) of any non-doppler dimension on a two-dimensional plane including the doppler dimension. Wherein the second partition comprises two sub-partitions which are distributed on two sides of the at least one first partition. The non-Doppler dimensions may include, among others, a distance dimension (range) and a spatial dimension. That is, the non-doppler dimension of the echo signal matrix is divided into regions, so as to divide at least one region to be divided. Specifically, referring to fig. 2a, a non-doppler dimension is taken as an example for explanation. A plurality of regions to be divided, such as the region 1 to be divided, the region 2 to be divided, the region 3 to be divided, and the region 4 to be divided, may be divided according to a practical application in a distance dimension. When the region division is performed in the non-doppler dimension, a conventional division method can be adopted. For obtaining a plurality of regions to be divided, for a certain region to be divided, performing region division on the doppler dimension according to the symmetry of the fast fourier transform to divide the region to be divided into at least two partitions. For example, in fig. 2a, the area 1 to be divided includes a first partition 2 and a second partition 1, and the second partition 1 includes a first sub-partition and a second sub-partition located at two sides of the first partition 2; the region 2 to be divided comprises a first partition 4 and a second partition 3, and the second partition 3 comprises a first sub-partition and a second sub-partition which are positioned at two sides of the first partition 4; the region 3 to be divided comprises a first partition 6 and a second partition 5, and the second partition 5 comprises a first sub-partition and a second sub-partition which are positioned at two sides of the first partition 6; the area 4 to be divided comprises a first partition 8 and a second partition 7, and the second partition 7 comprises a first sub-partition and a second sub-partition located on both sides of the first partition 8. Namely, the first sub-partition and the second sub-partition included in each second partition are used as a region to perform constant virtual early warning detection, that is, the first sub-partition and the second sub-partition correspond to the same detection strategy.
It should be noted that, for each region to be divided, the first partitions corresponding to different regions to be divided may not be aligned, for example, in fig. 2a, the partition 2 in the region 1 to be divided, the partition 4 in the region 2 to be divided, the partition 6 in the region 3 to be divided, and the partition 8 in the region 4 to be divided are not aligned. Alternatively, the first partitions corresponding to different regions to be partitioned may be aligned with each other, as shown in fig. 2b, and the partition 2, the partition 4, the partition 6, and the partition 8 are aligned up and down (i.e., in the distance dimension direction).
In a specific embodiment, for any one area to be divided, a plurality of first partitions may be divided according to actual needs, and two sub-partitions included in the second partition are distributed on both sides of all the first partitions, that is, the plurality of first partitions are distributed continuously in the doppler dimension, and the two sub-partitions included in the second partition are located on both sides of the plurality of first partitions distributed continuously. For example, as shown in fig. 2c, the area 1 to be divided includes 3 first partitions, which are distributed as partition 1, partition 2, and partition 3, and includes 1 second partition, which includes two sub-partitions, which are partition 4, and the two sub-partitions are respectively distributed on two sides of all the first partitions; the region 2 to be partitioned comprises 3 first partitions, namely a partition 5, a partition and a partition 7, and comprises 1 second partition, wherein the second partition comprises two sub-partitions, namely a partition 8, and the two sub-partitions are respectively distributed on two sides of all the first partitions.
It should be noted that, for the plurality of divided regions to be divided, one or more regions to be divided may be selected from the plurality of divided regions, and the doppler dimension of the selected region to be divided is subjected to region division according to the symmetry of the fast fourier transform, so that the selected region to be divided is divided into at least two regions. For example, as shown in fig. 2d, the regions to be divided 1 and 2 are divided according to the doppler dimension of the fft, and the regions to be divided 3 and 4 are still divided by the conventional division method. As can be seen from fig. 2d, if the conventional partitioning method is used to partition the to-be-partitioned area, 12 partitions are obtained, whereas when the technical scheme provided by the embodiment of the present application is used to partition the to-be-partitioned area, 10 partitions are obtained, so that the number of partitions is reduced, and partition maintenance is facilitated.
S303: and respectively carrying out constant false alarm detection on each partition.
After each partition is obtained, constant false alarm detection can be performed on the partition according to a detection strategy corresponding to the partition so as to determine whether an object exists in a range corresponding to the partition. Specifically, determining the partition to which the point to be detected belongs according to the non-Doppler dimension and the Doppler dimension of the point to be detected; and determining whether the point to be detected has an object or not by using a detection strategy corresponding to the partition. And the point to be detected is each point in the echo signal matrix.
In a specific embodiment, different detection strategies are configured for each partition. That is, one partition configures one detection policy. For the second partition, each sub-partition corresponds to the same detection policy, that is, the detection policy configured by the second partition. When a plurality of partitions are divided, different detection strategies are configured for each different first partition, so that each partition is ensured to correspond to the respective detection strategy. Or, for a plurality of partitioned partitions, the same detection strategy can be configured for some partitions, so that the maintenance of the detection strategy is reduced.
In a specific embodiment, for at least two partitions, at least two detection strategies are adopted for constant false alarm detection, wherein detection parameters included in each detection strategy are stored in the same parameter space. It can be understood that, when the system maintains the detection strategies, it needs to allocate a storage space for the detection strategies, and because the number of detection parameters included in different detection strategies is different, in order to ensure that the detection strategies including the most detection parameters can be completely stored, when the system allocates the parameter storage space for the detection strategies, the detection strategies including the most detection parameters may be determined as the target detection strategies; and multiplying the number of the detection parameters of the target detection strategy by the number of the area division to determine a parameter storage space. For example, in fig. 2a, the target detection strategy includes 3 detection parameters, and if there are 8 partitions, 24 parameter storage spaces are allocated. For a detection strategy comprising 2 or 1 detection parameters, since the target detection strategy corresponds to 3 parameter storage spaces, for a detection strategy in which the number of detection parameters is less than 3, 2 or 1 corresponding detection parameters can be selected from the 3 parameter storage spaces.
In a specific embodiment, for different detection strategies corresponding to different partitions, the different detection strategies may include partially identical detection parameters therebetween. For example, the detection strategy 1 includes detection parameters a1, b1, and c1, and the detection strategy 2 includes detection parameters a1 and c 1. Each detection strategy may include at least one detection parameter, where the detection parameter is used to indicate parameter information required for detection, and for example, the detection strategy is to sort the neighboring points and the points to be detected in an order of power from large to small if the power of the points to be detected is multiplied by a weight q, and if the ranking value of the points to be detected is located in a preset interval, it is determined that an object exists in the points to be detected, and the detection parameter may be the weight q and the preset interval.
Referring to fig. 4, which is a flowchart of another constant false alarm rate detection method provided in the embodiment of the present application, as shown in fig. 4, the method may include:
s401: an echo signal matrix is acquired that includes data in at least two dimensions.
The echo signal matrix in at least two dimensions includes a first dimension and a second dimension, the first dimension may be a distance dimension or a space dimension, etc., and the second dimension may be a doppler dimension, etc.
S402: the echo signal matrix is divided into at least two regions, including a first region and a second region.
After obtaining the echo signal matrix including the first dimension and the second dimension, the echo signal matrix may be subjected to region division to divide the echo signal matrix into at least two partitions, i.e., a first partition and a second partition. And aiming at any data row/column of the first dimension, a first subarea and a second subarea are distributed along the direction of the second dimension, and the second subarea comprises two sub subareas which are discontinuously distributed.
In a specific embodiment, when the second dimension is a doppler dimension, the second dimension may be divided into regions according to the symmetry of the fast fourier transform, so as to obtain the first partition and the second partition. When the second dimension is other dimensions, the second dimension may be set according to specific characteristics thereof, as long as the divided second partition includes at least two sub-partitions, and different sub-partitions included in each second partition can be applicable to the same detection strategy to perform operations such as constant false alarm detection. Such as the partitioning results shown in fig. 1b, 2a-2 d. For a specific implementation of the area division of the second dimension according to the symmetry of the fast fourier transform, reference may be made to the related description of S302, and this embodiment is not described herein again.
In a specific embodiment, when the echo signal matrix is partitioned, at least one first partition and one second partition may be obtained, wherein two sub-partitions comprised by the second partition are distributed at both ends of the second dimension. That is, two sub-partitions are distributed at both end edges of all the first partitions. For example, as shown in fig. 2c, the area 1 to be divided includes 3 first partitions, which are distributed as partition 1, partition 2 and partition 3, and the second partition includes two sub-partitions 4, which are respectively distributed at two ends of the 3 first partitions 4.
S403: and performing constant false alarm detection on at least two partitions.
S404: and performing constant false alarm detection on the two sub-partitions included in the second partition by adopting the same detection strategy.
After the division of the echo signal matrix is completed, constant false alarm detection may be performed for each partition to determine whether an object is present within the partition. That is, different detection strategies may be configured for different partitions, and when performing constant false alarm detection, detection may be performed according to the detection strategy corresponding to the partition. And for the second partition, because it includes two sub-partitions, in order to reduce the number of maintenance of the detection strategy, the same detection strategy is adopted to detect the two sub-partitions.
In a specific embodiment, for any partition, a detection strategy is configured for each partition, and for constant false alarm detection of the same partition, the same detection strategy is adopted. That is, different detection strategies may be configured for each partition's characteristics to improve the accuracy of the partition detection.
In a specific embodiment, when there are at least two detection strategies, partially identical detection parameters may be included between different detection strategies and the detection parameters included by the respective detection strategies may be stored in the same parameter space. For the implementation that the detection parameters included in different detection strategies are stored in the same parameter space, see the related description of S303.
As can be seen from the above, when the echo signal matrix is divided, the echo signal matrix is divided into at least one first partition and a second partition including two sub-partitions. The first sub-partition and the second sub-partition are discontinuously distributed, for example, respectively distributed on two sides of the first partition, and the first sub-partition and the second sub-partition correspond to the same detection strategy, which reduces maintenance of the detection strategy compared with the case where each partition maintains one detection strategy in the prior art.
Based on the two method embodiments, when the echo signal matrix is divided into regions, the region to be divided can be obtained by dividing in a non-doppler dimension, and then divided again in a doppler dimension according to the symmetry of fast fourier transform, so that the region to be divided is at least divided into a first partition and a second partition including two sub-partitions. The first sub-partition and the second sub-partition may be distributed on two sides of the first partition, and the first sub-partition and the second sub-partition may correspond to the same detection policy, which reduces maintenance of the detection policy compared to the case where each partition maintains one detection policy in the prior art.
Based on the above method embodiment, the present application embodiment further provides a constant false alarm detection apparatus, which will be described below with reference to the accompanying drawings.
Referring to fig. 5, which is a structural diagram of a constant false alarm rate detection apparatus provided in an embodiment of the present application, the apparatus includes:
an obtaining unit 501, configured to obtain an echo signal matrix including a doppler dimension;
a dividing unit 502, configured to perform region division on the doppler dimension according to symmetry of fast fourier transform, so as to obtain at least two regions; dividing the echo signal matrix into at least two partitions; wherein the Doppler dimension is divided into regions according to the symmetry of fast Fourier transform; and
the detecting unit 503 is configured to perform constant false alarm detection on each of the partitions.
In a specific embodiment, the at least two partitions include a first partition and a second partition, the second partition including two sub-partitions; the region division of the doppler dimension according to the symmetry of the fast fourier transform comprises:
dividing the Doppler dimension into a second subarea and at least one first subarea along the data row/column direction aiming at any non-Doppler dimension on any two-dimensional plane comprising the Doppler dimension in the echo signal matrix;
wherein, two sub-partitions included in the second partition are distributed on two sides of the at least one first partition.
In a specific embodiment, the non-doppler dimension is a distance dimension or a spatial dimension.
In a specific embodiment, the same detection strategy is adopted for the constant false alarm rate detection for any one of the partitions.
In a specific embodiment, for the at least two partitions, at least two detection strategies are adopted to perform the constant false alarm detection; and the detection parameters included by each detection strategy are stored in the same parameter space.
In a specific embodiment, in the at least two detection strategies, there is a detection parameter that includes partial identity between different detection strategies.
It should be noted that, for specific implementation of each unit in this embodiment, reference may be made to the relevant description in the embodiment shown in fig. 3.
Referring to fig. 6, which is a block diagram of another constant false alarm rate detection apparatus provided in the embodiment of the present application, the apparatus includes:
an acquisition unit 601 configured to acquire an echo signal matrix including at least two dimensions;
a dividing unit 602, configured to divide the echo signal matrix into at least two partitions, where the at least two partitions include a first partition and a second partition; and
a detecting unit 603, configured to perform constant false alarm detection on the at least two partitions;
in the echo signal matrix divided into the at least two subareas, on any two-dimensional plane including a first dimension and a second dimension, aiming at data rows/columns of any one first dimension, the first subareas and the second subareas are distributed along the second dimension; the second partition comprises two sub-partitions which are distributed discontinuously; and
the detecting unit 603 is further configured to perform constant false alarm detection on the two sub-partitions by using the same detection strategy.
In a specific embodiment, the first dimension is a distance dimension or a spatial dimension and the second dimension is a doppler dimension.
In a specific embodiment, in the echo signal matrix divided into the at least two partitions, on any two-dimensional plane including a first dimension and a second dimension, for a data row/column of any one of the first dimensions, one of the second partitions and at least one of the first partitions are distributed along the second dimension; and the two sub-partitions included in the second partition are respectively distributed at the edges of two ends of the second dimension.
In a specific embodiment, the same detection strategy is adopted for the constant false alarm rate detection for any one of the partitions.
In a specific embodiment, for the at least two partitions, at least two detection strategies are adopted for the constant false alarm detection, and partially identical detection parameters may be included between different detection strategies; and the detection parameters included by each detection strategy are stored in the same parameter space.
It should be noted that, for specific implementation of each unit in this embodiment, reference may be made to relevant description in the embodiment shown in fig. 4.
In addition, an embodiment of the present application further provides an integrated circuit, including: a memory, a processor, and a computer program stored on the memory and executable on the processor, when executing the computer program, implementing a constant false alarm detection method as described above.
In a specific embodiment, the integrated circuit is a millimeter wave radar chip.
There is provided in an embodiment of the present application a radio device including:
a carrier;
the integrated circuit is arranged on the carrier;
an antenna disposed on the carrier or a device integrated with the integrated circuit disposed on the carrier (e.g., AiP configuration);
the integrated circuit is connected with the antenna and used for transmitting and receiving radio signals.
Specifically, the integrated circuit is connected to an antenna through a first transmission line, and is configured to transceive a radio signal. The carrier can be a Printed Circuit Board (PCB), and the first transmission line can be a PCB wiring line.
An embodiment of the present application provides an apparatus, including:
an apparatus body; and
a radio device provided on the apparatus body;
wherein the radio device is used for object detection and/or communication.
Specifically, on the basis of the above-described embodiments, in one embodiment of the present application, the radio device may be provided outside the apparatus body, in another embodiment of the present application, the radio device may be provided inside the apparatus body, and in other embodiments of the present application, the radio device may be provided partly inside the apparatus body and partly outside the apparatus body. The present application is not limited thereto, as the case may be.
It should be noted that the radio device can perform functions such as object detection and communication by transmitting and receiving signals.
In an alternative embodiment, the device body may be a component and a product applied to fields such as smart home, transportation, smart home, consumer electronics, monitoring, industrial automation, in-cabin detection, health care, and the like; for example, the device body can be an intelligent transportation device (such as an automobile, a bicycle, a motorcycle, a ship, a subway, a train and the like), a security device (such as a camera), an intelligent wearable device (such as a bracelet, glasses and the like), an intelligent household device (such as a television, an air conditioner, an intelligent lamp and the like), various communication devices (such as a mobile phone, a tablet personal computer and the like), a barrier gate, an intelligent traffic indicator lamp, an intelligent sign, a traffic camera, various industrial manipulators (or robots) and the like, and can also be various instruments for detecting vital sign parameters and various devices carrying the instruments. The radio device may be a radio device as set forth in any embodiment of the present application, and the structure and the operation principle of the radio device have been described in detail in the above embodiments, which are not described in detail herein.
In addition, the embodiment of the present application provides a computer-readable storage medium, where a computer program is stored on the storage medium, and the computer program is executed by a processor to perform the method for detecting a partitioned-area constant false alarm.
An embodiment of the present application provides a computer device, including: the processor executes the computer program to realize the partitioned constant false alarm detection method.
As can be seen from the above description, in the embodiment of the present application, when performing region division on an echo signal matrix, a region to be divided may be obtained by first performing division in a distance dimension, and then performing division again in a doppler dimension according to symmetry of fast fourier transform, so that the region to be divided is at least divided into a first partition and a second partition including two sub-partitions, that is, the region to be divided is divided into at least three partitions. The first sub-partition and the second sub-partition are distributed on two sides of the first partition, and the first sub-partition and the second sub-partition can correspond to the same detection strategy.
It should be noted that, in the present specification, the embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other. For the system or the device disclosed by the embodiment, the description is simple because the system or the device corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
It should be understood that in the present application, "at least one" means one or more, "a plurality" means two or more. "and/or" for describing an association relationship of associated objects, indicating that there may be three relationships, e.g., "a and/or B" may indicate: only A, only B and both A and B are present, wherein A and B may be singular or plural. The character "/" generally indicates that the former and latter 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 single item(s) or plural items. For example, at least one (one) of a, b, or c, may represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", wherein a, b, c may be single or plural.
It is further noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (25)
1. A constant false alarm detection method, the method comprising:
acquiring an echo signal matrix comprising a Doppler dimension;
according to the symmetry of the fast Fourier transform, carrying out region division on the Doppler dimension to obtain at least two regions; and
and respectively carrying out constant false alarm detection on each subarea.
2. The method of claim 1, wherein the at least two partitions comprise a first partition and a second partition, the second partition comprising two sub-partitions; the region division of the doppler dimension according to the symmetry of the fast fourier transform comprises:
dividing the Doppler dimension into a second subarea and at least one first subarea along the data row/column direction aiming at any non-Doppler dimension on any two-dimensional plane comprising the Doppler dimension in the echo signal matrix;
wherein, two sub-partitions included in the second partition are distributed on two sides of the at least one first partition.
3. The method of claim 2, wherein the non-doppler dimension is a distance dimension or a spatial dimension.
4. The method according to any of claims 1-3, wherein the constant false alarm detection is performed using the same detection strategy for any of the partitions.
5. The method according to claim 4, wherein for the at least two partitions, at least two detection strategies are employed for the constant false alarm detection;
and the detection parameters included by each detection strategy are stored in the same parameter space.
6. The method according to claim 5, characterized in that in the at least two detection strategies there are detection parameters that comprise partial identity between different detection strategies.
7. A constant false alarm detection method, the method comprising:
acquiring an echo signal matrix comprising at least two dimensions;
dividing the echo signal matrix into at least two partitions, wherein the at least two partitions comprise a first partition and a second partition; and
performing constant false alarm detection on the at least two partitions;
in the echo signal matrix divided into the at least two subareas, on any two-dimensional plane including a first dimension and a second dimension, aiming at data rows/columns of any one first dimension, the first subareas and the second subareas are distributed along the second dimension; the second partition comprises two sub-partitions which are distributed discontinuously; and
and carrying out constant false alarm detection on the two sub-partitions by adopting the same detection strategy.
8. The method of claim 7, wherein the first dimension is a distance dimension or a spatial dimension and the second dimension is a doppler dimension.
9. The method according to claim 8, wherein in the echo signal matrix divided into the at least two zones, on any two-dimensional plane including a first dimension and a second dimension, for data rows/columns of any one of the first dimensions, there are one of the second zones and at least one of the first zones distributed along the second dimension; and
the two sub-partitions included in the second partition are respectively distributed at the edges of the two ends of the second dimension.
10. The method of claim 7, wherein the constant false alarm detection is performed using the same detection strategy for any of the partitions.
11. The method according to any of claims 7-10, wherein for the at least two partitions, at least two detection strategies are employed for the constant false alarm detection, and partially identical detection parameters may be included between different detection strategies;
and the detection parameters included by each detection strategy are stored in the same parameter space.
12. A constant false alarm detection device, the device comprising:
an acquisition unit for acquiring an echo signal matrix including a doppler dimension;
the dividing unit is used for carrying out region division on the Doppler dimension according to the symmetry of fast Fourier transform to obtain at least two regions; dividing the echo signal matrix into at least two partitions; wherein the Doppler dimension is divided into regions according to the symmetry of fast Fourier transform; and
and the detection unit is used for respectively carrying out constant false alarm detection on each subarea.
13. The apparatus of claim 12, wherein the at least two partitions comprise a first partition and a second partition, the second partition comprising two sub-partitions; the region division of the doppler dimension according to the symmetry of the fast fourier transform comprises:
dividing the Doppler dimension into a second subarea and at least one first subarea along the data row/column direction aiming at any non-Doppler dimension on any two-dimensional plane comprising the Doppler dimension in the echo signal matrix;
wherein, two sub-partitions included in the second partition are distributed on two sides of the at least one first partition.
14. The apparatus of claim 13, wherein the non-doppler dimension is a distance dimension or a spatial dimension.
15. The apparatus according to any of claims 12-14, wherein the constant false alarm detection is performed using the same detection strategy for any of the partitions.
16. The apparatus according to claim 15, wherein at least two detection strategies are employed for the constant false alarm detection for the at least two partitions; and the detection parameters included by each detection strategy are stored in the same parameter space.
17. The apparatus of claim 16, wherein in the at least two detection strategies, there are detection parameters that include partial identity between different detection strategies.
18. A constant false alarm detection device, the device comprising:
an acquisition unit for acquiring an echo signal matrix comprising at least two dimensions;
the dividing unit is used for dividing the echo signal matrix into at least two subareas, and the at least two subareas comprise a first subarea and a second subarea; and
the detection unit is used for carrying out constant false alarm detection on the at least two subareas;
in the echo signal matrix divided into the at least two subareas, on any two-dimensional plane including a first dimension and a second dimension, aiming at data rows/columns of any one first dimension, the first subareas and the second subareas are distributed along the second dimension; the second partition comprises two sub-partitions which are distributed discontinuously; and
and the detection unit is also used for carrying out constant false alarm detection on the two sub-partitions by adopting the same detection strategy.
19. The apparatus of claim 18, wherein the first dimension is a distance dimension or a spatial dimension and the second dimension is a doppler dimension.
20. An integrated circuit, comprising: a memory, a processor, and a computer program stored on the memory and executable on the processor, when executing the computer program, implementing the constant false alarm detection method of any one of claims 1-11.
21. The integrated circuit of claim 20, wherein the integrated circuit is a millimeter wave radar chip.
22. A radio device, comprising:
a carrier;
an integrated circuit as claimed in any one of claims 20 or 21, disposed on a carrier;
an antenna disposed on the carrier or disposed on the carrier as an integrated device with the integrated circuit;
the integrated circuit is connected with the antenna and used for transmitting and receiving radio signals.
23. An apparatus, comprising:
an apparatus body; and
the radio of claim 22 disposed on the equipment body;
wherein the radio device is used for object detection and/or communication.
24. A computer-readable storage medium, characterized in that the storage medium has stored thereon a computer program which, when being executed by a processor, carries out the constant false alarm detection method according to any one of claims 1-11.
25. A computer device, comprising: a memory, a processor, and a computer program stored on the memory and executable on the processor, when executing the computer program, implementing the constant false alarm detection method of any one of claims 1-11.
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