CN113341404B - 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
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Abstract
The embodiment of the application discloses a constant false alarm detection method, a device, an integrated circuit and a radio device, wherein the method and the device are used for carrying out region division on the data direction of the Doppler dimension of an echo signal matrix according to the symmetry of fast Fourier transformation so as to obtain at least two partitions. The at least two partitions may include at least one first partition and one second partition, wherein the second partition may include two sub-partitions distributed on both sides of the first partition. For the divided areas, the processor may perform constant false alarm detection for each partition. That is, when the area division is performed on the echo signal matrix, the area division is performed on the doppler dimension according to the symmetry of the fast fourier transform, so that a certain area to be divided of the echo signal matrix is divided into at least one first partition and a second partition including two sub-partitions.
Description
The application claims priority of Chinese patent application filed in China patent office, application No. 202010137008.8, and entitled "method and apparatus for detecting zonal constant false alarm" on 02/03/2020, the entire contents of which are incorporated herein by reference.
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
The Constant False alarm rate detection technique (Constant False-ALARM RATE, CFAR) is a technique in which a sensor (such as a radar) system discriminates between a signal output from a receiver and noise to determine whether a target signal exists under the condition that the False alarm probability is kept Constant.
The constant false alarm detection policies currently mainly applied may include a cell average (ca_cfar) policy, a cell average size (go_cfar) policy, a cell average size (so_cfar) policy, and an order statistics (os_cfar) policy. Each detection strategy has the use condition, in order to ensure that each detection strategy can exert good detection performance, an echo signal matrix can be partitioned first, and different detection strategies are distributed according to the characteristics of different areas so as to judge whether objects exist in a specific range gate and a Doppler gate. However, existing partitioning methods make the partitioning relatively fixed, increasing system complexity.
Disclosure of Invention
In view of this, the embodiment of the application provides a constant false alarm detection method, a device, an integrated circuit and a radio device, so as to more reasonably and effectively partition an echo signal matrix and reduce the complexity of a system maintenance area.
In order to solve the above problems, the technical solution provided by the embodiment of the present application is as follows:
in a first aspect of the embodiment of the present application, a constant false alarm detection method is provided, where the method includes:
acquiring an echo signal matrix comprising Doppler dimensions;
Dividing the Doppler dimension into regions according to the symmetry of the fast Fourier transform to obtain at least two regions; and
And respectively carrying out constant false alarm detection on each partition.
In this implementation, the Doppler dimension is 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 performing region division on the Doppler dimension according to symmetry of fast Fourier transform includes:
dividing the Doppler dimension into a second partition and at least one first partition along a data row/column direction for any non-Doppler dimension in any two-dimensional plane including the Doppler dimension in the echo signal matrix;
wherein the two sub-partitions included in the second partition are distributed on two sides of the at least one first partition.
In this implementation, the Doppler is divided into a second partition and at least one first partition according to the symmetry of the fast Fourier transform for any data direction other than the Doppler. The second partition comprises two sub-partitions, namely, the two sub-partitions belong to the same partition, so that 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 any one of the partitions to perform the constant false alarm detection. In this implementation, 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, at least two detection strategies are adopted for the at least two partitions to perform the constant false alarm detection; wherein, the detection parameters included in 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 policy may be configured for each partition, or some partitions may be configured with the same detection policy, so that the echo matrix may correspond to a plurality of detection policies. The detection parameters included for different detection strategies can be stored in the same parameter space to reduce the occupation of the storage space.
In a specific embodiment, in the at least two detection strategies, there are detection parameters that are partly identical between different detection strategies.
In a second aspect of the embodiment 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;
Wherein, in the echo signal matrix divided into the at least two partitions, the first partition and the second partition are distributed along the second dimension for any data row/column of the first dimension on any two-dimensional plane including the first dimension and the second dimension; the second subarea comprises two subareas which are discontinuously distributed; and
And adopting the same detection strategy to perform constant false alarm detection on the two sub-partitions.
In this implementation, the echo signal matrix is divided into at least a first partition and a second partition comprising two sub-partitions. The first sub-partition and the second sub-partition are discontinuously distributed, for example, are 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 that each partition maintains one detection strategy, maintenance and debugging on the detection strategy are reduced.
In a specific embodiment, the first dimension is a distance dimension or a space 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, one second partition and at least one first partition are distributed along the second dimension for data rows/columns of any first dimension in any two-dimensional plane comprising the first dimension and the second dimension; and
The two sub-partitions included in the second partition are respectively distributed at two end edges of the second dimension.
In a specific embodiment, the same detection strategy is adopted for any one of the partitions to perform the constant false alarm detection.
In a specific embodiment, at least two detection strategies are adopted for the constant false alarm detection aiming at the at least two partitions, and the different detection strategies can comprise partially identical detection parameters;
wherein, the detection parameters included in each detection strategy are stored in the same parameter space.
In a third aspect of the embodiment of the present application, there is provided a constant false alarm detection device, including:
An acquisition unit configured to acquire an echo signal matrix including a doppler dimension;
The dividing unit is used for dividing the Doppler dimension into areas according to the symmetry of the fast Fourier transform to obtain at least two areas; dividing the echo signal matrix into at least two partitions; the Doppler dimension is divided into areas according to the symmetry of the fast Fourier transform; and
And the detection unit is used for respectively carrying out constant false alarm detection on each partition.
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 performing region division on the Doppler dimension according to symmetry of fast Fourier transform includes:
dividing the Doppler dimension into a second partition and at least one first partition along a data row/column direction for any non-Doppler dimension in any two-dimensional plane including the Doppler dimension in the echo signal matrix;
wherein the 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 any one of the partitions to perform the constant false alarm detection.
In a specific embodiment, at least two detection strategies are adopted for the at least two partitions to perform the constant false alarm detection; wherein, the detection parameters included in each detection strategy are stored in the same parameter space.
In a specific embodiment, in the at least two detection strategies, there are detection parameters that are partly identical between different detection strategies.
In a fourth aspect of the embodiment of the present application, there is provided a constant false alarm detection device, including:
an acquisition unit configured to acquire an echo signal matrix including at least two dimensions;
The dividing unit is used for 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
The detection unit is used for carrying out constant false alarm detection on the at least two partitions;
Wherein, in the echo signal matrix divided into the at least two partitions, the first partition and the second partition are distributed along the second dimension for any data row/column of the first dimension on any two-dimensional plane including the first dimension and the second dimension; the second subarea comprises two subareas which are discontinuously distributed; and
The detection unit is further used for performing 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 space 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, one second partition and at least one first partition are distributed along the second dimension for data rows/columns of any first dimension in any two-dimensional plane comprising the first dimension and the second dimension; and the two sub-partitions included in the second partition are respectively distributed at two end edges of the second dimension.
In a specific embodiment, the same detection strategy is adopted for any one of the partitions to perform the constant false alarm detection.
In a specific embodiment, at least two detection strategies are adopted for the constant false alarm detection aiming at the at least two partitions, and the different detection strategies can comprise partially identical detection parameters; wherein, the detection parameters included in each detection strategy are stored in the same parameter space.
In a fifth aspect of an embodiment 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, when the processor executes the computer program, the constant false alarm detection method of the first aspect or the second aspect is realized.
In a specific embodiment, the integrated circuit is a millimeter wave radar chip.
In a sixth aspect of the embodiment of the present application, there is provided a radio device including:
A carrier;
the integrated circuit of the fifth aspect, disposed on a carrier;
The antenna is arranged on the supporting body or integrated with the integrated circuit into a whole;
the integrated circuit is connected with the antenna and is used for transmitting and receiving radio signals.
In a seventh aspect of the embodiment of the present application, there is provided an apparatus, including:
An equipment body; and
A radio device according to the sixth aspect provided on the apparatus body;
wherein the radio device is used for target detection and/or communication.
In an eighth aspect of the embodiment of the present application, there is provided a computer readable storage medium, where a computer program is stored, where the computer program is executed by a processor to implement the constant false alarm detection method in the first aspect or the second aspect.
In a ninth aspect of the embodiment of the present application, there is provided a computer apparatus, including: the system comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor realizes the constant false alarm detection method according to the first aspect or the second aspect when executing the computer program.
From this, the embodiment of the application has the following beneficial effects:
The processor acquires an echo signal matrix comprising a Doppler dimension, and performs region division on the data direction of the Doppler dimension of the echo signal matrix according to the symmetry of fast Fourier transformation so as to obtain at least two partitions. The at least two partitions may include at least one first partition and one second partition, wherein the second partition may include two sub-partitions distributed on both sides of the first partition. For the divided areas, the processor may perform constant false alarm detection for each partition. That is, when the area division is performed on the echo signal matrix, the area division is performed on the doppler dimension according to the symmetry of the fast fourier transform, so that a certain area to be divided of the echo signal matrix is divided into at least one first partition and a second partition including two sub-partitions.
Drawings
FIG. 1a is a schematic diagram of a conventional region division;
FIG. 1b is a schematic view of area division according to an embodiment of the present application;
FIG. 2a is a schematic diagram of another area division according to an embodiment of the present application;
FIG. 2b is a schematic view of another area division according to an embodiment of the present application;
FIG. 2c is a schematic view of another area division according to an embodiment of the present application;
FIG. 2d is a schematic diagram of another area division according to an embodiment of the present application;
fig. 3 is a flowchart of a constant false alarm detection method according to an embodiment of the present application;
FIG. 4 is a diagram illustrating another exemplary division of regions according to an embodiment of the present application;
FIG. 5 is a schematic diagram of a constant false alarm detection device according to an embodiment of the present application;
Fig. 6 is a block diagram of another constant false alarm detection device according to an embodiment of the present application.
Detailed Description
In order to make the above objects, features and advantages of the present application more comprehensible, embodiments accompanied with figures and detailed description of embodiments of the present application are described in detail below with reference to the accompanying drawings.
After receiving echo signals through a receiving antenna, a radar (such as an FMCW millimeter wave radar) can process the echo signals to obtain an echo signal matrix, wherein the echo signal matrix can comprise a distance gate (distance dimension) and a doppler gate (doppler frequency dimension), and the echo signal matrix is divided into areas in a 'well' -shaped division mode, as shown in fig. 1 a. The Doppler dimension division in different distance dimension areas is identical, and if the Doppler dimension area division is increased, the number of vertical lines can be increased. Because each area corresponds to one detection strategy, when the divided areas are increased, the number of the system maintenance detection strategies is increased sharply, so that the performance of the system maintenance detection strategies is reduced.
Based on this, the embodiment of the application provides a constant false alarm detection method, firstly, an echo signal matrix is obtained, and the echo signal matrix comprises Doppler dimensions. Then, the Doppler dimension is regionally 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 addition, the same detection strategy can be configured for the two sub-partitions so as to reduce the workload of the system on the maintenance of the detection strategy.
That is, when the echo signal matrix is divided into the regions, the region to be divided can be obtained by dividing the echo signal matrix in the non-doppler dimension, and then the region to be divided is divided again in the doppler frequency dimension according to the symmetry of the fast fourier transform, so that the region to be divided is divided into at least 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, so that compared with the prior art that each partition maintains one detection strategy, maintenance on the detection strategy is reduced.
For easy understanding, referring to fig. 1a and fig. 1b, it can be known that 9 different partitions are required in the conventional scheme shown in fig. 1a, if the partitions are divided in the doppler frequency dimension based on the symmetry of the fast fourier transform according to the present application, that is, the regions 1 and 3,4 and 6, 7 and 9 in fig. 1 may be all divided in the same partition, that is, only 6 partitions may be used at this time, compared with fig. 1a, on the premise that the partition manner of the regions in the distance dimension is unchanged, the periodic symmetry of the fast fourier transform is utilized, so that the types of the partitions of the whole two-dimensional matrix can be reduced from 9 to 6, that is, compared with the conventional partition manner, the detection strategy can be obviously reduced, and the operand of the constant false alarm detection can be reduced.
In addition, referring to the example diagram shown in fig. 2a, by further subdividing in the distance dimension, i.e., increasing from 3 regions to 4 regions in the distance dimension, it can be seen from comparing fig. 2a and fig. 1a that, in comparison to the conventional division into 3 regions in the distance dimension, the scheme of the present application is adopted such that even if the number of regions is increased to 4, fig. 2a includes only 8 types of partitions, while fig. 1a includes 9 types of partitions, i.e., the partition density in the distance dimension is increased by one third compared to fig. 1a, but the entire two-dimensional matrix partition type is reduced to one ninth.
In this example, as shown in fig. 2a, each region to be divided may comprise a first partition (e.g. partition 8) and a second partition (e.g. partition 7 comprising two sub-partitions), the two sub-partitions of partition 7 being distributed on both sides of partition 8. Alternatively, the 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, 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) along the extending direction of the rows (or columns) of the non-doppler dimension. In fig. 2b, the boundary between the regions is similar to the conventional boundary, but based on the periodic symmetry of the fft, the regions on both sides of the two-dimensional (Range-Doppler Matrix, RDM) Matrix are defined as the same partition, so 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, namely, 4 partitions are required to be reduced, so that the policy and the operand of the constant false alarm detection can be effectively reduced, and as can be seen from comparing fig. 1, 2a and 2b, the degree of reduction of the policy and the operand becomes more and more obvious with the increase of the density of the non-Doppler-dimensional partition.
Based on the foregoing description, a specific description will be given below of a constant false alarm detection method provided by an embodiment of the present application with reference to the accompanying drawings.
Referring to fig. 3, the flow chart of a constant false alarm detection method provided by the embodiment of the present application, as shown in fig. 3, the method may include:
s301: an echo signal matrix including the Doppler dimension is acquired.
In this embodiment, the echo signal matrix is obtained first, for example, after digital signal processing such as analog-to-digital conversion and 2D-FFT processing is performed on the echo signal, that is, the echo signal matrix may include data in the doppler dimension (doppler), that is, the echo signal matrix output after FFT processing in the doppler dimension is performed 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 the echo signal matrix including the doppler dimension is acquired, the region may be divided in 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 one 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 may be distributed on both sides of the at least one first partition. The non-Doppler dimensions may include, among other things, a range dimension (range) and a space dimension. That is, the non-doppler dimension of the echo signal matrix is first divided into regions, thereby dividing at least one region to be divided. In particular, a non-Doppler dimension is taken as an example of a distance dimension, see FIG. 2 a. The plurality of areas to be divided, such as the area to be divided 1, the area to be divided 2, the area to be divided 3, and the area to be divided 4, may be divided in the distance dimension according to the actual application. When the non-Doppler dimension is used for area division, a traditional division method can be adopted. For obtaining a plurality of regions to be divided, for a certain region to be divided, the doppler dimension may be divided according to the symmetry of the fast fourier transform, so as to divide the region to be divided into at least two partitions. For example, in fig. 2a, the area to be divided 1 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 area to be divided 2 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 area to be divided 3 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 to be divided 4 includes a first partition 8 and a second partition 7, and the second partition 7 includes a first sub-partition and a second sub-partition located at both sides of the first partition 8. 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, namely, the first sub-partition and the second sub-partition are commonly corresponding to the same detection strategy.
It should be noted that, for each to-be-divided area, the first partitions corresponding to different to-be-divided areas may not be aligned, as in fig. 2a, the partition 2 in the to-be-divided area 1, the partition 4 in the to-be-divided area 2, the partition 6 in the to-be-divided area 3, and the partition 8 in the to-be-divided area 4 are not aligned. Or the first partitions corresponding to different regions to be divided may be aligned, as shown in fig. 2b, where the partitions 2, 4,6 and 8 are aligned up and down (i.e. in the distance dimension direction).
In a specific embodiment, for any region to be divided, a plurality of first partitions may be divided according to actual needs, where two sub-partitions included in the second partition are distributed on two sides of all the first partitions, that is, the plurality of first partitions are continuously distributed in the doppler dimension, and two sub-partitions included in the second partition are located on two sides of the plurality of continuously distributed first partitions. For example, as shown in fig. 2c, the area to be divided 1 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 to be divided 2 comprises 3 first partitions, which are distributed into partitions 5, 7 and 1 second partition, wherein the second partition comprises two sub-partitions, which are distributed on two sides of all the first partitions respectively, and the partition 8.
It should be noted that, for the divided plurality of regions to be divided, one or more regions to be divided may be selected therefrom, and the doppler dimension of the selected region to be divided is divided into regions 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 doppler dimensions of the to-be-divided area 1 and the to-be-divided area 2 are divided according to the symmetry of the fast fourier transform, and the to-be-divided area 3 and the to-be-divided area 4 are still divided by adopting a conventional division manner. As can be seen from fig. 2d, if the area to be divided is divided by using the conventional division manner, 12 partitions are obtained, and when the technical scheme provided by the embodiment of the application is used for dividing, 10 partitions are obtained, so that the number of partitions is reduced, and the partition maintenance is convenient.
S303: and respectively carrying out constant false alarm detection on each partition.
After each partition is obtained, constant false alarm detection can be carried out 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 a partition to which the to-be-detected point belongs according to non-Doppler and Doppler dimensions of the to-be-detected point; and determining whether the object exists at the detection point or not by utilizing the detection strategy corresponding to the subarea. Wherein the point to be detected is each point in the echo signal matrix.
In a specific embodiment, a different detection policy is 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, i.e., the detection policy configured by the second partition. When a plurality of partitions are partitioned, 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 a certain partition, so that maintenance on the detection strategy is reduced.
In a specific embodiment, at least two detection strategies are adopted for constant false alarm detection aiming at least two partitions, 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, storage space needs to be allocated for the detection strategies, and as the number of detection parameters included in different detection strategies is different, the detection strategies with the most detection parameters can be completely stored for ensuring, and when the system allocates the parameter storage space for the detection strategies, the system can firstly determine the detection strategy with the most detection parameters as a target detection strategy; and multiplying the number of detection parameters of the target detection strategy and the number of regional division to determine a parameter storage space. For example, in fig. 2a, the target detection policy includes 3 detection parameters, and there are 8 partitions, and then 24 parameter storage spaces are allocated in total. 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 with a number of detection parameters smaller than 3, the corresponding 2 or 1 stored 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. For example, detection policy 1 includes detection parameters a1, b1, and c1, and detection policy 2 includes detection parameters a1 and c1. Each detection policy may include at least one detection parameter, where the detection parameter is used to indicate parameter information required during detection, for example, the detection policy may be that if power of a to-be-detected point is multiplied by a weight q, the neighbor points and the to-be-detected point are ordered in order of from large to small power, and if a ranking value of the to-be-detected point is located in a preset interval, it is determined that an object exists at the to-be-detected point, and the detection parameter may be the weight q and the preset interval.
Referring to fig. 4, the flowchart of another constant false alarm detection method provided by the embodiment of the present application, as shown in fig. 4, the method may include:
S401: an echo signal matrix comprising at least two-dimensional data is acquired.
The echo signal matrix of at least two dimensions includes a first dimension and a second dimension, wherein the first dimension may be a distance dimension, 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 partitions, including a first partition and a second partition.
After the echo signal matrix including the first dimension and the second dimension is obtained, the echo signal matrix may be area-divided to divide the echo signal matrix into at least two partitions, i.e., a first partition and a second partition. The first partition and the second partition are distributed along the direction of the second dimension for the data row/column of any first dimension, and the second partition comprises two sub-partitions which are discontinuously distributed.
In a specific embodiment, when the second dimension is the 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. And when the second dimension is other dimensions, the second dimension can be set according to specific characteristics of the second dimension, so long as the divided second partition comprises at least two sub-partitions, and different sub-partitions included in each second partition can be suitable for the same detection strategy to perform operations such as constant virtual early warning detection. Such as the partitioning results shown in fig. 1b, 2a-2 d. For a specific implementation of the region division of the second dimension according to the symmetry of the fft, reference may be made to the description of S302, and this embodiment will not be described herein.
In a specific embodiment, at least one first partition and one second partition may be obtained when dividing the echo signal matrix, wherein the two sub-partitions included in the second partition are distributed at two 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 to be divided 1 includes 3 first partitions, which are distributed as partition 1, partition 2 and partition 3, and the second partition includes two sub-partitions 4, and the two sub-partitions 4 are respectively distributed at two ends of the 3 first partitions.
S403: and performing constant false alarm detection on at least two partitions.
S404: and adopting the same detection strategy to perform constant false alarm detection on the two sub-partitions included in the second partition.
After the division of the echo signal matrix is completed, constant false alarm detection can be performed for each partition to determine whether an object exists in the partition. That is, different detection strategies can be configured for different partitions, and when constant false alarm detection is performed, detection can be performed according to the detection strategy corresponding to the partition. For the second partition, since the second partition comprises two sub-partitions, in order to reduce the maintenance amount of the detection strategy, the same detection strategy is adopted to detect the two sub-partitions.
In a specific embodiment, a detection policy is configured for each partition, and the same detection policy is adopted for the constant false alarm detection of the same partition. That is, for each partition's characteristics, different detection strategies may be configured to improve the accuracy of the partition detection.
In a specific embodiment, when at least two detection strategies exist, the different detection strategies may include partially identical detection parameters therebetween and the detection parameters included in each detection strategy may be stored in the same parameter space. For an implementation in which the detection parameters comprised by the different detection strategies are stored in the same parameter space, reference may be made to the relevant description of S303.
From the above, it can be seen that when dividing the echo signal matrix, it is divided into at least one first partition and a second partition comprising two sub-partitions. The first sub-partition and the second sub-partition are discontinuously distributed, for example, are 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 that each partition maintains one detection strategy, the maintenance of the detection strategy is reduced.
Based on the above two method embodiments, when the echo signal matrix is divided into the regions, the region to be divided may be obtained by dividing the echo signal matrix in the non-doppler dimension, and then dividing the region to be divided into at least a first partition and a second partition including two sub-partitions in the doppler dimension according to the symmetry of the fast fourier transform. 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 can correspond to the same detection strategy, so that compared with the prior art that each partition maintains one detection strategy, maintenance on the detection strategy is reduced.
Based on the above method embodiments, the embodiments of the present application further provide a constant false alarm detection device, which will be described below with reference to the accompanying drawings.
Referring to fig. 5, the structure diagram of a constant false alarm detection device provided by the embodiment of the present application is shown, where the device includes:
an acquisition unit 501 for acquiring an echo signal matrix including a doppler dimension;
a dividing unit 502, configured to divide the doppler dimension into at least two regions according to symmetry of the fast fourier transform; dividing the echo signal matrix into at least two partitions; the Doppler dimension is divided into areas according to the symmetry of the fast Fourier transform; and
And the detection unit 503 is configured to perform constant false alarm detection on each partition.
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 performing region division on the Doppler dimension according to symmetry of fast Fourier transform includes:
dividing the Doppler dimension into a second partition and at least one first partition along a data row/column direction for any non-Doppler dimension in any two-dimensional plane including the Doppler dimension in the echo signal matrix;
wherein the 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 any one of the partitions to perform the constant false alarm detection.
In a specific embodiment, at least two detection strategies are adopted for the at least two partitions to perform the constant false alarm detection; wherein, the detection parameters included in each detection strategy are stored in the same parameter space.
In a specific embodiment, in the at least two detection strategies, there are detection parameters that are partly identical between different detection strategies.
It should be noted that, for a specific implementation of each unit in this embodiment, reference may be made to the related description in the embodiment shown in fig. 3.
Referring to fig. 6, the structure diagram of another constant false alarm detection device provided by the embodiment of the present application includes:
an acquisition unit 601 for acquiring an echo signal matrix comprising 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
The detecting unit 603 is configured to perform constant false alarm detection on the at least two partitions;
Wherein, in the echo signal matrix divided into the at least two partitions, the first partition and the second partition are distributed along the second dimension for any data row/column of the first dimension on any two-dimensional plane including the first dimension and the second dimension; the second subarea comprises two subareas which are discontinuously distributed; and
The detecting unit 603 is further configured to perform constant false alarm detection on the two sub-partitions by using the same detection policy.
In a specific embodiment, the first dimension is a distance dimension or a space 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, one second partition and at least one first partition are distributed along the second dimension for data rows/columns of any first dimension in any two-dimensional plane comprising the first dimension and the second dimension; and the two sub-partitions included in the second partition are respectively distributed at two end edges of the second dimension.
In a specific embodiment, the same detection strategy is adopted for any one of the partitions to perform the constant false alarm detection.
In a specific embodiment, at least two detection strategies are adopted for the constant false alarm detection aiming at the at least two partitions, and the different detection strategies can comprise partially identical detection parameters; wherein, the detection parameters included in each detection strategy are stored in the same parameter space.
It should be noted that, for a specific implementation of each unit in this embodiment, reference may be made to the related description in the embodiment shown in fig. 4.
In addition, the embodiment of the application also provides an integrated circuit, which comprises: the system comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor realizes the constant false alarm detection method when executing the computer program.
In a specific embodiment, the integrated circuit is a millimeter wave radar chip.
In an embodiment of the present application, there is provided a radio device including:
A carrier;
An integrated circuit as described above disposed on the carrier;
An antenna disposed on the carrier or integrated with the integrated circuit as a unitary device disposed on the carrier (e.g., aiP structure);
the integrated circuit is connected with the antenna and is used for transmitting and receiving radio signals.
Specifically, the integrated circuit is connected to the antenna through a first transmission line, and is used for receiving and transmitting radio signals. The carrier may be a printed circuit board PCB, and the first transmission line may be a PCB trace.
The embodiment of the application provides equipment, which comprises the following components:
An equipment body; and
A radio device disposed on the device body;
wherein the radio device is used for target 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 disposed outside the apparatus body, in another embodiment of the present application, the radio device may also be disposed inside the apparatus body, and in other embodiments of the present application, the radio device may also be disposed partially inside the apparatus body, and partially outside the apparatus body. The present application is not limited thereto, and is particularly applicable.
It should be noted that the radio device may perform functions such as object detection and communication by transmitting and receiving signals.
In an alternative embodiment, the device body may be a component or product for applications such as smart home, transportation, smart home, consumer electronics, monitoring, industrial automation, in-cabin detection, and health care; for example, the device body may be an intelligent transportation device (such as an automobile, a bicycle, a motorcycle, a ship, a subway, a train, etc.), a security device (such as a camera), an intelligent wearable device (such as a bracelet, glasses, etc.), an intelligent home device (such as a television, an air conditioner, an intelligent lamp, etc.), various communication devices (such as a mobile phone, a tablet computer, etc.), etc., and may also be various instruments for detecting vital sign parameters and various devices carrying the instruments, such as a barrier gate, an intelligent traffic indicator, an intelligent sign, a traffic camera, various industrial manipulators (or robots), etc. The radio device may be a radio device described in any embodiment of the present application, and the structure and working principle of the radio device are described in detail in the above embodiments, which are not described in detail herein.
In addition, the embodiment of the application provides a computer readable storage medium, wherein a computer program is stored on the storage medium, and the computer program is executed by a processor to perform the split-area constant false alarm detection method.
An embodiment of the present application provides a computer apparatus including: the system comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor realizes the split-area constant false alarm detection method when executing the computer program.
Based on the above description, when the echo signal matrix is divided into the regions, the region to be divided may be obtained by dividing the echo signal matrix in the distance dimension, and then divided again in the doppler dimension according to the symmetry of the fast fourier transform, so that the region to be divided is divided into at least one 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, so that compared with the prior art that each partition maintains one detection strategy, maintenance on the detection strategy is reduced.
It should be noted that, in the present description, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different manner from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the system or device disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple, and the relevant points refer to the description of the method section.
It should be understood that in the present application, "at least one (item)" means one or more, and "a plurality" means two or more. "and/or" for describing the association relationship of the association object, the representation may have three relationships, for example, "a and/or B" may represent: only a, only B and both a and B are present, wherein a, B may be singular or plural. The character "/" generally indicates that the context-dependent object is an "or" relationship. "at least one of" or the like means any combination of these items, including any combination of single item(s) or plural items(s). 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 relational terms such as first and second, and the like are 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. Moreover, 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 one … …" does not exclude the presence of other like 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. The software modules may be disposed 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 (21)
1. A constant false alarm detection method, characterized in that it is applied to millimeter wave radar, the method comprising:
acquiring an echo signal matrix comprising Doppler dimensions;
Dividing the Doppler dimension into regions according to the symmetry of the fast Fourier transform to obtain at least two regions; wherein the region comprises at least two subareas, and the boundary lines of different subareas in adjacent regions along the column extending direction of the non-Doppler dimension are on different straight lines;
And
And respectively carrying out constant false alarm detection on each partition.
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 performing region division on the Doppler dimension according to symmetry of fast Fourier transform includes:
dividing the Doppler dimension into a second partition and at least one first partition along a data row/column direction for any non-Doppler dimension in any two-dimensional plane including the Doppler dimension in the echo signal matrix;
wherein the 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. A method according to any of claims 1-3, characterized in that the constant false alarm detection is performed for any of the partitions using the same detection strategy.
5. The method of claim 4, wherein the constant false alarm detection is performed with at least two detection strategies for the at least two partitions;
wherein, the detection parameters included in each detection strategy are stored in the same parameter space.
6. The method of claim 5, wherein among the at least two detection strategies, there are detection strategies that include partially identical detection parameters between different detection strategies.
7. A constant false alarm detection method, characterized in that it is applied to millimeter wave radar, 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;
performing constant false alarm detection on the at least two partitions;
Wherein, in the echo signal matrix divided into the at least two partitions, the first partition and the second partition are distributed along the second dimension for any data row/column of the first dimension on any two-dimensional plane including the first dimension and the second dimension; the second subarea comprises two subareas which are discontinuously distributed; and
Adopting the same detection strategy to perform constant false alarm detection on the two sub-partitions which are discontinuously distributed;
The first dimension is a distance dimension or a space dimension, and the second dimension is a Doppler dimension;
Aiming at the at least two partitions, at least two detection strategies are adopted to detect the constant false alarm, and part of the same detection parameters are included among different detection strategies, and the detection parameters included by the detection strategies are stored in the same parameter space;
the parameter space is determined based on multiplication of the maximum number of detection parameters in the detection strategy and the dividing number of the areas.
8. The method of claim 7, wherein in an echo signal matrix divided into said at least two partitions, there is one said second partition and at least one said first partition distributed along a second dimension for a row/column of data of any said first dimension in any two-dimensional plane comprising said second dimension; and the two sub-partitions included in the second partition are respectively distributed at two end edges of the second dimension.
9. A constant false alarm detection device, characterized in that the device is a millimeter wave radar, the device comprising:
An acquisition unit configured to acquire an echo signal matrix including a doppler dimension;
The dividing unit is used for dividing the Doppler dimension into areas according to the symmetry of the fast Fourier transform to obtain at least two areas; dividing the echo signal matrix into at least two subareas, wherein the boundary lines of different subareas in adjacent areas along the column extending direction of the non-Doppler dimension are on different straight lines; the Doppler dimension is divided into areas according to the symmetry of the fast Fourier transform; and
And the detection unit is used for respectively carrying out constant false alarm detection on each partition.
10. The apparatus of claim 9, wherein the at least two partitions comprise a first partition and a second partition, the second partition comprising two sub-partitions; the performing region division on the Doppler dimension according to symmetry of fast Fourier transform includes:
dividing the Doppler dimension into a second partition and at least one first partition along a data row/column direction for any non-Doppler dimension in any two-dimensional plane including the Doppler dimension in the echo signal matrix;
wherein the two sub-partitions included in the second partition are distributed on two sides of the at least one first partition.
11. The apparatus of claim 10, wherein the non-doppler dimension is a distance dimension or a spatial dimension.
12. The apparatus according to any of claims 9-11, wherein the constant false alarm detection is performed with the same detection strategy for any of the partitions.
13. The apparatus of claim 12, wherein the constant false alarm detection is performed for the at least two partitions using at least two detection strategies; wherein, the detection parameters included in each detection strategy are stored in the same parameter space.
14. The apparatus of claim 13, wherein among the at least two detection strategies, there are detection strategies that include partially identical detection parameters between different detection strategies.
15. A constant false alarm detection device, characterized in that the device is a millimeter wave radar, the device comprising:
an acquisition unit configured to acquire an echo signal matrix including at least two dimensions;
The dividing unit is used for 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
The detection unit is used for carrying out constant false alarm detection on the at least two partitions;
Wherein, in the echo signal matrix divided into the at least two partitions, the first partition and the second partition are distributed along the second dimension for any data row/column of the first dimension on any two-dimensional plane including the first dimension and the second dimension; the second subarea comprises two subareas which are discontinuously distributed; and
The detection unit is also used for carrying out constant false alarm detection on the two sub-partitions which are discontinuously distributed by adopting the same detection strategy;
The first dimension is a distance dimension or a space dimension, and the second dimension is a Doppler dimension;
The detection unit is specifically configured to: aiming at the at least two partitions, at least two detection strategies are adopted to detect the constant false alarm, and part of the same detection parameters are included among different detection strategies, and the detection parameters included by the detection strategies are stored in the same parameter space; the parameter space is determined based on multiplication of the maximum number of detection parameters in the detection strategy and the dividing number of the areas.
16. An integrated circuit, comprising: 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 any of claims 1-8 when the computer program is executed.
17. The integrated circuit of claim 16, wherein the integrated circuit is a millimeter wave radar chip.
18. A radio device, comprising:
A carrier;
an integrated circuit as claimed in any one of claims 16 or 17, disposed on the carrier;
The antenna is arranged on the supporting body or integrated with the integrated circuit into a whole;
the integrated circuit is connected with the antenna and is used for transmitting and receiving radio signals.
19. An apparatus provided with a radio device, comprising:
An equipment body; and
A radio device provided on the apparatus body, the radio device being the radio device according to claim 18;
wherein the radio device is used for target detection and/or communication.
20. A computer readable storage medium, characterized in that the storage medium has stored thereon a computer program which, when executed by a processor, implements the constant false alarm detection method of any of claims 1-8.
21. A computer device, comprising: 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 any of claims 1-8 when the computer program is executed.
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