CN113376623A - Radar device, operation device for object detection and object detection method - Google Patents
Radar device, operation device for object detection and object detection method 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
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/583—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets
- G01S13/584—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets adapted for simultaneous range and velocity measurements
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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
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
- G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S13/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
- G01S13/341—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal wherein the rate of change of the transmitted frequency is adjusted to give a beat of predetermined constant frequency, e.g. by adjusting the amplitude or frequency of the frequency-modulating signal
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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
- G01S7/415—Identification of targets based on measurements of movement associated with the target
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Abstract
The invention provides a radar device, an arithmetic device for object detection and an object detection method. The object detection method comprises the following steps: obtaining at least two detection results; combining the test results according to the corresponding scale to generate a combined test result; detecting at least one object according to the combined detection result. Each detection result is generated based on a radar echo of the chirp signal, the transmission periods of the chirp signals corresponding to different detection results are different, and each detection result is related to the relative speed of the object. Therefore, the detection accuracy can be improved.
Description
Technical Field
The present invention relates to the field of radar technologies, and in particular, to a radar apparatus, an arithmetic device for object detection, and an object detection method.
Background
In recent years, Frequency Modulated Continuous Wave (FMCW) is widely used in the field of radar applications. For example, in autonomous vehicle applications and vehicle safety applications, chirped continuous wave radar can provide accurate measurements of the distance and relative velocity of obstacles and vehicles. The FMCW radar uses a periodic chirp signal (chirp), and the frequency of the chirp signal increases linearly with time. And the relative speed of the object can be further estimated by the phase difference between two adjacent linear frequency modulation signals in the radar echo.
Disclosure of Invention
The invention aims at a radar device, an arithmetic device for object detection and an object detection method, which can send a plurality of chirp signals with different periods, thereby improving the detection accuracy.
According to an embodiment of the present invention, an object detecting method includes the steps of: obtaining at least two detection results; combining the test results according to the corresponding scale to generate a combined test result; detecting at least one object according to the combined detection result. Each detection result is generated based on a radar echo of the chirp signal, the transmission periods of the chirp signals corresponding to different detection results are different, and each detection result is related to the relative speed of the object.
According to an embodiment of the present invention, a radar apparatus includes, but is not limited to, a transmitting circuit, a receiving circuit, a memory, and a processor. The transmitting circuit transmits a plurality of transmission signals based on the chirp signal, wherein a transmission cycle of the chirp signal in each of the transmission signals is different. A radar echo of the transmitted signal is received. The memory stores program codes corresponding to object detection methods for radar devices. The processor is coupled to the memory and configured to execute the program code. The object detection method comprises the following steps: obtaining at least two detection results; combining the test results according to the corresponding scale to generate a combined test result; detecting at least one object according to the combined detection result. Each detection result is generated based on the radar echo of each transmission signal, and each detection result is related to the relative speed of the object.
According to an embodiment of the present invention, the computing device for object detection includes, but is not limited to, a memory and a processor. The memory stores program codes corresponding to object detection methods for radar devices. The processor is coupled to the memory and configured to execute the program code. The object detection method comprises the following steps: obtaining at least two detection results; combining the test results according to the corresponding scale to generate a combined test result; detecting at least one object according to the combined detection result. Each detection result is generated based on a radar echo of the chirp signal, the transmission periods of the chirp signals corresponding to different detection results are different, and each detection result is related to the relative speed of the object.
Based on the above, in the radar apparatus, the operation apparatus for detecting an object, and the object detection method according to the embodiments of the present invention, the chirp signals of different transmission periods are respectively sent out, and the detection results based on the chirp signals of different transmission periods are combined according to the corresponding scale, so that the accuracy of object detection can be improved by integrating a plurality of detection results.
Drawings
The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification. The drawings illustrate embodiments of the invention and together with the description serve to explain the principles of the invention.
FIG. 1 is a block diagram of a radar apparatus according to an embodiment of the present invention;
fig. 2A is a diagram illustrating an example of a chirp signal (chirp) waveform;
fig. 2B is an example of a time-frequency diagram illustrating a chirp signal;
FIG. 3 is an example of a time-frequency plot illustrating a chirp signal;
FIG. 4 is a flowchart illustrating an object detection method according to an embodiment of the invention;
FIG. 5 is a time-frequency diagram of a chirp signal in accordance with an embodiment of the present invention;
FIG. 6 is a diagram illustrating a combination of velocity and distance relationships according to an embodiment of the present invention;
FIGS. 7A-7C are diagrams illustrating examples of power spectra corresponding to velocity;
8A-8C are diagrams illustrating examples of power spectra corresponding to velocity;
FIG. 8D is an example illustrating a combined extended power spectrum;
FIGS. 9A and 9B are examples illustrating combined extended power spectra;
fig. 10 is a diagram illustrating the combination of speed and distance correspondence according to an embodiment of the present invention.
The reference numbers illustrate:
100: a radar device;
110: a transmitting circuit;
120: a receiving circuit;
130: a front-end circuit;
140: a processor;
150: memory:
160: an arithmetic device;
TA: a target object;
and (2) DS: detecting a signal;
TS: transmitting a signal;
MS: a digital signal;
and RS: receiving a signal;
s: a slope;
b: a bandwidth;
TC: a transfer period;
fC: a center frequency;
τ: round trip time;
301: a chirp signal of the transmission signal;
302: receiving a chirp signal of a signal;
305: an intermediate frequency signal;
s410 to S450: a step of;
c1, C2: a linear frequency modulated signal;
t1, T2: a transfer period;
r11～r1M、r21～r2P: a distance index;
v11～v1N、v21～v2Q、v11-2V1-max～v1N-2V1-max、v11+2V1-max～v1N+2V1-max、v21-2V2-max～v2Q-2V2-max、v21+2V2-max～v2Q+2V2-max: a speed index;
TH: and (4) a threshold value.
Detailed Description
Reference will now be made in detail to exemplary embodiments of the invention, examples of which are illustrated in the accompanying drawings. Wherever possible, the same reference numbers will be used throughout the drawings and the description to refer to the same or like parts.
Fig. 1 is a block diagram of a radar apparatus 100 according to an embodiment of the present invention. Referring to fig. 1, the radar apparatus 100 includes, but is not limited to: a transmit circuit 110, a receive circuit 120, a front-end circuit 130, a processor 140, and a memory 150. The radar apparatus 100 may be applied to fields such as object recognition, car assistance systems, positioning, speed measurement, terrain observation, military or error correction. The radar apparatus 100 may be a stand-alone apparatus or may be modularized and mounted on other apparatuses, which is not intended to limit the scope of the present invention.
The transmitting circuit 110 and the receiving circuit 120 are respectively configured to wirelessly transmit a transmitting signal TS and receive a receiving signal RS (i.e., radar echo) reflected by a target object TA through an antenna (not shown). The transmit circuit 110 and the receive circuit 120 may also perform analog signal processing operations such as low noise amplification, impedance matching, mixing, frequency up or down conversion (i.e., mixing), filtering, amplification, analog-to-digital/digital-to-analog conversion, and the like. The receiving circuit 120 generates the detection signal DS by performing the aforementioned operation (for example, but not limited to, amplification, down conversion based on the transmission signal TS, filtering, analog-to-digital conversion, etc.) on the received signal RS.
The front-end circuit 130 is coupled to the transmitting circuit 110 and the receiving circuit 120, and provides a digital signal MS (e.g., a chirp signal (chirp) generated based on a Local Oscillator (LO) or a synthesizer) to the transmitting circuit 110 to generate a transmission signal TS.
Fig. 2A is an example illustrating a chirp signal waveform. Referring to fig. 2A, taking a frequency-modulated continuous wave (FMCW) as an example, a chirp signal is a sinusoidal curve whose frequency increases linearly with time. Fig. 2B is an example of a time-frequency diagram illustrating a chirp signal. Referring to FIG. 2B, the characteristics of the chirp signal include a starting center frequency fCBandwidth B, and transmission period TC(representing the time separation of two adjacent chirp signals). The slope S represents the rate at which the frequency of the chirp signal increases.
Fig. 3 is an example of a time-frequency diagram illustrating a chirp signal. Referring to fig. 3, the receiving circuit 120 mixes (down-converts) the received signal RS according to the transmitting signal TS to generate an intermediate frequency signal (which can be used as the detecting signal DS after being converted into a digital form). As shown in the time-frequency diagram of fig. 3, chirp 302 of received signal RS is a delayed version of chirp 301 of transmitted signal TS (the time interval between the two represents the round trip time τ, and round trip time τ represents the time the signal has traversed between radar device 100 and the object). It is noted that the frequency of the intermediate frequency signal 305 represents the difference between the instantaneous frequencies of the chirp signals 301 and 302. Objects in front of radar device 100 may cause the frequency of intermediate frequency signal 305 to have a constant frequency of S2d/c (d is distance and c is speed of light).
The processor 140 is coupled to the receiving circuit 120, and the processor 140 is configured to process the digital signals and execute the programs according to the exemplary embodiment of the present invention, and can access or load the data and software modules recorded in the memory 150. In some embodiments, the functionality of front-end circuit 130 and/or processor 140 may be implemented using Programmable units such as Central Processing Units (CPUs), microprocessors, microcontrollers, Digital Signal Processing (DSP) chips, Field Programmable Gate Arrays (FPGAs), and the like. The functions of the front-end Circuit 130 and/or the processor 140 may also be implemented in a stand-alone electronic device or Integrated Circuit (IC), and the operations of the front-end Circuit 130 and/or the processor 140 may also be implemented in software.
The Memory 150 is coupled to the processor 140, and the Memory 150 may be any type of fixed or removable Random Access Memory (RAM), Flash Memory (Flash Memory), Hard Disk Drive (HDD), Solid-State Disk (SSD), non-volatile Memory (non-volatile) or the like or a combination thereof. In the present embodiment, the memory 150 is used for storing buffered or permanent data (e.g., detection result corresponding to the detection signal DS, power spectrum, combined detection result, speed and distance correspondence, threshold, etc.), program code, software module, operating system, application program, driver, etc., and the details thereof will be described in the following embodiments. It should be noted that the program codes recorded in the memory 150 are used for the object detection method of the radar apparatus 100, and the following embodiments will explain the object detection method in detail.
It is noted that, in some embodiments, the processor 140 and the memory 150 may be separated to be the computing device 160. The computing device 160 may be a desktop computer, a laptop computer, a server, a smart phone, or a tablet computer. The computing device 160 and the radar apparatus 100 further have communication transceivers (e.g., transceivers supporting Wi-Fi, bluetooth, Ethernet, etc.) capable of communicating with each other or are coupled to each other by a physical transmission line, so that the computing device 160 can obtain the detection signal DS from the radar apparatus 100 (which can be recorded in the memory 150 for the processor 140 to access).
To facilitate understanding of the operation flow of the embodiment of the present invention, the operation flow of the radar apparatus 100 and/or the computing device 160 in the embodiment of the present invention will be described in detail below with reference to various embodiments. Hereinafter, the method according to the embodiment of the present invention will be described with reference to the components and modules of the radar apparatus 100 and the computing apparatus 160. The various processes of the method may be adapted according to the implementation, and are not limited thereto.
FIG. 4 is a flowchart illustrating an object detection method according to an embodiment of the invention. Referring to fig. 4, the processor 140 obtains at least two detection results (step S410). Specifically, each detection result is generated based on the radar echo (i.e., the reception signal RS) of each transmission signal TS. In one embodiment, each detection result is related to the relative speed and/or distance of the object. In addition to the frequency characteristics of the IF signal 305 shown in FIG. 3, the phase of the IF signal can also reflect the distance and relative velocity of the object. During object detection, the transmitting circuit 110 may transmit a chirp signal every certain transmission period. On the other hand, the intermediate frequency signal generated by the receiving circuit 120 (e.g., the receiving signal RS and the transmitting signal TS are mixed) can be converted from analog to digital to form the detection signal DS. Next, the processor 140 performs Fast Fourier Transform (FFT) or other time-to-frequency domain conversion on the detection signal DS to obtain a plurality of digitized samples. For the power spectrum, assuming that the received signal RS is reflected by an object, each chirp signal has a peak at a corresponding position (or distance), but the peaks may correspond to different phases. The phase difference between two consecutive adjacent chirp signals can be used to estimate the motion velocity of the object (phase difference is related to angular velocity, angular velocity is related to transmission period and relative velocity). In one embodiment, the detection result may be a power spectrum (possibly in the form of a map or data and including the relative speed or distance of the object) corresponding to the distance or speed.
In another embodiment, the detection result may be a speed and distance correspondence (possibly in the form of a graph or data, and including the relative speed and distance of the object). For example, the processor 140 performs a fast fourier transform on the output of the one-dimensional fast fourier transform again to form a two-dimensional distance and velocity matrix, and accordingly forms a two-dimensional power spectrum (exhibiting signal power intensities corresponding to different distances and velocities).
It is noted that the angular velocity formed by the phase difference between two adjacent chirps is only well defined for velocities estimated at values less than pi, so that the chirp for a particular transmission period has the limit of clearly detecting the highest velocity (or maximum well-defined velocity) (with a value of λ/4Tc, λ being the wavelength, Tc being the transmission period). If an object moves at a relative speed that exceeds the highest speed that can be unambiguously detected, the speed of the object in the detection result may not be its actual relative speed. It is noted that the limitation that the highest speed can be detected unambiguously is such that the detection result for higher speeds falls on the modulus of its speed value. For example, an object moving at a maximum speed of 30 km/h and a speed of 40 km/h may be detected with certainty in response to a power level in the detection result of a speed of-20 km/h. Therefore, if it is desired to clearly detect a higher speed, the transmission cycle needs to be shortened.
It can be seen that the detection method using a chirp signal is limited by its single transmission cycle, and that objects moving at a speed higher than the highest speed that can be clearly detected may cause doubtful object detection results.
The embodiment of the invention provides a solution. In one embodiment, the transmitting circuit 110 may transmit at least two chirps of different transmission periods. That is, the chirp signal carried by the transport signal TS may have more than two transport periods.
Fig. 5 is a time-frequency diagram of a chirp signal in accordance with an embodiment of the present invention. Referring to fig. 5, a transmission period T1 of the chirp signal C1 is different from a transmission period T2 of the chirp signal C2, wherein the transmission period T2 is greater than the transmission period T1. The transmit circuit 110 may transmit a particular number of chirp signals C1 before transmitting another chirp signal C2 of the same (or different) number. The unambiguously detectable maximum speed of chirp C2 is less than the unambiguously detectable maximum speed of chirp C1. Further, the rate at which the frequencies of the two chirp signals C1 and C2 increase (e.g., slope S of fig. 2B) may be the same.
That is, the at least two detection results obtained by the processor 140 are respectively the detection results corresponding to the transmission signal TS based on the chirp signals with different transmission periods. Taking fig. 5 as an example, the processor 140 may generate two-dimensional power spectra corresponding to the chirp signals C1 and C2, respectively. For example, the processor 140 performs one-dimensional and/or two-dimensional FFT conversion on the detection signals DS corresponding to the chirp signals C1 and C2, respectively.
Then, the processor 140 combines the detection results according to the corresponding scale to generate a combined detection result (step S430). In particular, different chirp signals of different transmission periods cause different detection results with different limits for the clearly detectable maximum speed. Taking fig. 5 as an example, the detection result corresponding to the chirp signal C1 is the detection result of the movement of the object (if the movement of the object is detected, there may be a peak at the corresponding speed of the movement of the object) from the first lowest speed (the negative value of the explicitly detectable highest speed of the chirp signal C1) to the first highest speed (the explicitly detectable highest speed of the chirp signal C1), and the detection result corresponding to the chirp signal C2 is the detection result of the movement of the object from the second lowest speed (the negative value of the explicitly detectable highest speed of the chirp signal C2) to the second highest speed (the explicitly detectable highest speed of the chirp signal C2). As can be seen, if it is desired to combine two or more types of detection results, it is necessary to obtain a correspondence relationship between the detection results on the speed scale.
In one embodiment, each detection result includes a first power spectrum corresponding to the velocity. The processor 140 may form a plurality of identical second power spectrums according to the first power spectrum corresponding to each detection result. The processor 140 may copy the power values of the first power spectrum at different speeds according to a speed sequence to generate second power spectrums, such that each second power spectrum has the same value in power as the corresponding first power spectrum. The processor 140 may combine the first power spectrum corresponding to each detection result with those second power spectra corresponding to each detection result to form an extended power spectrum. In the extended power spectrum, a lowest velocity of one of the first power spectrum and the second power spectra is continuous with a highest velocity of the other of the first power spectrum and the second power spectra.
For example, the first power spectrum and the second power spectrum of a chirp signal are expressed as functions PS (v), PS (v-2 v)max) And PS (v +2 v)max) V is the velocity of the observed object (or the relative velocity with the radar apparatus 100) and vmaxThe maximum speed that can be detected by the current radar apparatus 100 (collectively referred to herein as the highest speed that can be unambiguously detected). The extended power spectrum pse (v) is expressed as a function:
PSe(v)＝PS(v)if|v|≤vmax
PS(v-2vmax)if vmax<v<3vmax
PS(v+2vmax)if-3vmax<v<-vmax……(1)
in another embodiment, each detection result includes a first velocity-to-distance correspondence (e.g., a two-dimensional distance-to-velocity matrix, or a two-dimensional power spectrum) of the object. Similarly, the processor 140 may form a plurality of identical second speed and distance correspondences according to the first speed and distance correspondences corresponding to each of the detection results. The processor 140 may copy the power values of the first speed and distance correspondence at different speeds according to a speed sequence to generate second speed and distance correspondence, such that each second speed and distance correspondence is identical to the corresponding first speed and distance correspondence in speed value. The processor 140 may combine the first speed and distance correspondence for each detection result with those second speed and distance correspondences to form an extension speed and distance correspondence. In the corresponding relationship between the extension speed and the distance, the lowest speed of one of the first corresponding relationship between the first speed and the distance and the corresponding relationships between the second speed and the distance is continuous with the highest speed of the other of the first corresponding relationship between the first speed and the distance and the corresponding relationships between the second speed and the distance.
For example, the two-dimensional power spectrum of a chirp signal is expressed as S (r, v '), S (r, v ' -2v 'max) And S (r, v '+ 2 v'max) R is distance, v 'is velocity and v'maxThe highest clearly detectable speed of the current radar apparatus 100. The extended two-dimensional power spectrum Se (r, v') is expressed as a function:
Se(r,v’)＝S(r,v’)if|v’|≤v’max
S(r,v’-2v’max)if v’max<v’<3v’max
S(r,v’+2v’max)if-3v’max<v’<-v’max……(2)
it should be noted that the detection results may have different data forms (e.g., graphs, tables, matrices, data structures, etc.), and the aforementioned functions are only used for illustration and are not used to limit the scope of the present invention.
The processor 140 may then combine the extended power spectra or extended speed and distance correspondence (i.e., one-dimensional or two-dimensional extended power spectra) corresponding to those detection results to produce a combined detection result. In one embodiment, the processor 140 may obtain a velocity correspondence between those detection results and the corresponding extended power spectrum. Specifically, the clearly detectable highest speeds of different detection results are different, so that the ranges from the lowest speed to the highest speed and the distance scales corresponding to different extended power spectrums are different. The velocity correspondence relationship is a scale relationship between each velocity index in the extended power spectrum corresponding to one of the detection results and each velocity index in the extended power spectrum corresponding to the other of the detection results. Each detection result may have its own velocity index. For example, the first power spectrum corresponding to the first detection result includes 21 speed indexes (which correspond to integers of-10 to 10, respectively, and the highest speed can be clearly detected as 10 kilometers per hour), and the distance between each two adjacent speed indexes is 1 unit; the second detection result includes 9 speed indexes (corresponding to-2, -1.5, -1, -0.5, 0, 0.5, 1, 1.5, 2, respectively, and the highest speed can be definitely detected as 2 kilometers per hour), and the distance between every two adjacent speed indexes is 0.5 unit. The processor 140 needs to further find for example which speed index-7 in the first detection result corresponds to which speed index or which combination of two adjacent speed indexes in the second detection result. The speed correspondence may be recorded in the form of a look-up table, a specific function, or the like.
In terms of two-dimensional power spectrum, FIG. 6 illustrates the corresponding relationship between speed and distance according to the embodiment of the present inventionSchematic representation of the binding. Referring to FIG. 6, the first two-dimensional power spectrum (lower power spectrum in the figure) includes v11-2V1-max～v1N-2V1-max、v11～v1N、v11+2V1-max～v1N+2V1-maxVelocity index of, and r11～r1MDistance index (V)1-maxN, M is a positive integer for unambiguous detection of the highest velocity). The second two-dimensional power spectrum (the upper power spectrum in the figure) comprises v21-2V2-max～v2Q-2V2-max、v21～v2Q、v21+2V2-max～v2Q+2V2-maxVelocity index of, and r21～r2PDistance index (V)2-maxFor unambiguous detection of the highest velocity Q, P is a positive integer, assuming r21At the maximum distance, r2PThe closest distance). The processor 140 finds the scaling relationship of the two-dimensional power spectrums of the arrow in the figure on the speed index as the speed corresponding relationship, for example.
After obtaining the velocity mapping relationship, the processor 140 may superimpose the extended power spectrums corresponding to the detection results according to the velocity mapping relationship to form a combined detection result, and may detect one or more objects according to the combined detection result (step S450). The processor 140 may add the power strength of one of the speed indexes of the detection result to the power strength of the other detection result according to the speed corresponding relationship or the power strength of the weighted combination of two adjacent speed indexes. It should be noted that the superposition may be performed by directly calculating the total sum of the values or by obtaining an arithmetic mean or a weighted operation of the values. The result of the superposition of these detection results is the combined detection result. In addition, the speed corresponding to the peak value exceeding the threshold in the combined detection result can be taken as the relative speed of the object.
For example, in FIG. 5, assume that the highest clearly detectable speed of the chirp signal C1 is 7 meters per second, the highest clearly detectable speed of the chirp signal C2 is 5 meters per second, and an object is moving at 11 meters per second. The two-dimensional power spectrum of chirp C1 has a peak at approximately-3 meters per second and the two-dimensional power spectrum of chirp C2 has a peak at approximately 1 meter per second. The processor 140 may form a two-dimensional extended power spectrum extending to 21 meters per second for chirp signal C1 and to 15 meters per second for chirp signal C2. The processor 140 may then derive from the combined detection results of the two superimposed two-dimensional extended power spectra a peak at approximately 11 meters per second (which is higher in value than the peak at 1 meter per second and-3 meters per second). In addition, if the peak value is greater than the intensity threshold, the processor 140 may use the speed corresponding to the peak value as the final detection speed of the object.
In addition to the combination of the above numerical value superposition, the embodiment of the invention also provides other solutions. It is noted that the limitation of different clearly detectable maximum speeds will make more than two detection results have the characteristics of the Chinese remainder theorem. In one embodiment, the processor 140 may use the detection results to obtain a combined detection result according to the Chinese remainder theorem. Specifically, the Chinese remainder theorem relates to a unitary linear congruence equation set, and explains the criterion and the solving method for solving the unitary linear congruence equation set. The Chinese remainder theorem gives the following set of unary linear congruence equations:
let us assume an integer n1、n2、...、nkWhere any two numbers are prime to each other, then for any integer a1、a2、...、akThe system of equations has a solution (i.e., a value x that is less than the integer n1、n2、...、nkLeast common multiple of).
The processor 140 may use the relative speed of the object in the detection results as a remainder, use twice the highest clearly detectable speed of the detection results as a divisor, and derive a possible dividend based on a modulo relationship between the divisor and the remainder, thereby forming the equation set. The final detection speed of the object is related to the dividend. That is, the processor 140 obtains a value from the possible dividends, and the possible dividends of one of the equations in the equation set corresponding to different detection results have the same value. The processor 140 can use this value as the final detection speed for an object.
For example, fig. 7A-7C are examples illustrating power spectra corresponding to velocity. Assuming that there is only one object in front of the radar apparatus 100 and that fig. 7A-7C correspond to chirp signals of different transmission periods, three chirp signals are provided in the present embodiment, but not to limit the scope of the present invention. Referring to fig. 7A, the power spectrum has a peak (as a remainder) at approximately-20 meters per second, and it is assumed that twice the highest speed can be unambiguously detected is 110 meters per second (as a divisor). Thus, possible dividends include-20, 90, -130 (meters), etc. possible values per second. Referring to fig. 7B, the power spectrum has a peak at approximately-5 meters per second (as a remainder), and it is assumed that twice the highest speed can be unambiguously detected is 95 meters per second (as a divisor). Thus, possible dividends include-5, 90, -100 meters per second. Referring to fig. 7C, the power spectrum has a peak at approximately 4 meters per second (as the remainder), and it is assumed that twice the highest speed that can be unambiguously detected is 86 meters per second (as the divisor). Thus, possible dividends include 4, 90, -82 (meters), etc. possible values per second. It is noted that the value 90 appears in three possible dividends for the chirp signal. Thus, the processor 140 may determine the final detection speed of the object to be 90 meters per second.
Fig. 8A-8C are diagrams illustrating examples of power spectra corresponding to velocity. Assume that more than one object is in front of the radar apparatus 100, and fig. 8A-8C correspond to chirp signals of different transmission periods, respectively. Referring to FIG. 8A, the power spectrum has peaks (as a remainder) at approximately 35, -20, -29.5, -45, -48 meters per second, and it is assumed that twice the highest speed that can be unambiguously detected is 110 meters per second (as a divisor). Thus, the possible dividends can be derived from table (1):
watch (1)
Referring to FIG. 8B, the power spectrum has peaks (as a remainder) at approximately 47, 20, -5, -14, -30 meters per second, and it is assumed that twice the highest speed that can be unambiguously detected is 95 meters per second (as a divisor). Thus, the possible dividends can be derived from table (2):
watch (2)
Referring to FIG. 8C, the power spectrum has peaks (as a remainder) at approximately 38, 11, 4, -5, -21, -30 meters per second, and it is assumed that twice the highest speed that can be unambiguously detected is 86 meters per second (as a divisor). Thus, the possible dividends can be derived from table (3):
watch (3)
It is noted that the values-75, -30, 65, 90, 81, 48 appear in the three possible dividends for the chirp signal. Thus, the processor 140 may determine the final detection speeds of the six objects to be-75, -30, 65, 90, 81, -48 meters per second.
Fig. 8D is an example illustrating a combined extended power spectrum. Referring to fig. 8D, fig. 8D shows a power spectrum obtained by a combination of numerical value superposition. Assuming that an intensity threshold TH for detecting objects is set (associated with the use of several transmission cycles), it is also possible to derive from this threshold TH that objects are detected at about-75, -30, 65, 90, 81, -48 meters per second.
It can be seen that the object detection method using only the chirp signal of a single transmission cycle may have different detection results (for example, fig. 8A has five peaks, but fig. 8C has six peaks) due to different transmission cycles, and the solution according to the embodiment of the present invention can make the detection results more accurate.
Fig. 9A and 9B are examples illustrating combined extended power spectra. Referring to fig. 9A and 9B, assuming that there is only one object in front of the radar apparatus 100, fig. 9A uses two transmission cycles of chirp signals, and fig. 9B uses three transmission cycles of chirp signals. The five peaks in fig. 9A are relatively close (if the threshold TH is too low, the detection results for five objects may be obtained), and a higher peak is evident in fig. 9B. Therefore, the embodiment of the invention provides that more chirp signals (i.e. at least two chirp signals) with different transmission periods can be used, an accurate estimation result can be obtained more easily in a combined detection result, and a user or a background terminal can judge the detection result of an actual object more easily and easily, so that the occurrence of radar misjudgment is greatly reduced. Moreover, if more than three chirp signals with different transmission periods are used, the peak values of the corresponding objects after the power spectrums are superposed can be effectively accumulated, and the values are obviously different from noise signals, so that the judgment rate of whether the objects exist can be improved.
It should be noted that the foregoing embodiments are directed to corresponding combinations of speeds, and the detection results may also include distances of objects, and it is necessary to find the corresponding relationship between different detection results in distance according to the combinations. Specifically, the transmitting circuit 110 may sequentially transmit the chirp signals corresponding to the detection results. Taking fig. 5 as an example, the chirp signal C2 is continuously sent after the chirp signal C1, and the sending numbers of the chirp signals C1 and C2 are the same. For example, the transmitter circuit 110 sends out five chirp signals C1 followed by five chirp signals C2. The subsequent chirp signals with different transmission periods cause the same object in the detection result to vary in distance due to the difference of the transmission time (or chirp signal delay time/transmission time interval). For example, the detection result from the chirp signal C1 records the position of an object at a distance of 10 meters and a velocity of 5 meters per second (e.g., a peak in a two-dimensional power spectrum). If the moving speed of the object is kept consistent and the object moves close to the connecting line direction of the radar device 100, after one second, the radar device 100 sends out the chirp signal C2, and the detection result obtained by the chirp signal C2 should record that there is an object at a position 5 meters away.
In one embodiment, each detection result includes a corresponding relationship between the speed and the distance of the object. The processor 140 may obtain a distance correspondence between those detection results at corresponding speed and distance correspondences. Specifically, the distance correspondence is related to that, if the first velocity in the detection result corresponding to the subsequently emitted chirp signal is positive and the value is higher, the corresponding distance is closer (e.g., the value is reduced) to the first velocity (after the velocity correspondence is aligned) in the detection result corresponding to the previously emitted chirp signal. That is, the faster an object moving at the same speed moves and moves toward the radar device 100, the closer the subsequent detection results should correspond to.
In addition, the distance correspondence is also related to that, if the second speed in the detection result corresponding to the subsequently sent chirp signal is in a reverse direction and has a higher value, the corresponding distance is farther away (e.g., the value is increased) than the distance corresponding to the second speed (after the speed correspondence is aligned) in the detection result corresponding to the previously sent chirp signal. That is, the faster an object moving at the same speed moves and moves away from the radar device 100, the closer the subsequent detection result should correspond to. The distance correspondence may be recorded in the form of a look-up table, a specific function, or the like.
Then, the processor 140 may superimpose the speed and distance correspondences corresponding to the detection results according to the distance correspondences to form a combined detection result. Similarly, for a certain speed/speed index aligned by the speed correspondence, the processor 140 may add the power strength of the distance index of a certain detection result to the power strength of the distance index or the weighted combination of two adjacent distance indexes corresponding to another detection result according to the distance correspondence. It should be noted that the superposition may be performed by directly calculating the total sum of the values or by obtaining an arithmetic mean or a weighted operation of the values. The result of the superposition of these detection results is the combined detection result.
For example, fig. 10 is a schematic diagram illustrating a combination of speed and distance correspondence according to an embodiment of the present invention. Referring to FIG. 10, the third two-dimensional power spectrum (the upper power spectrum in the figure) includes r21～r2PDistance index (assume r)21At the maximum distance, r2PNearest distance, and so on for the rest). The fourth two-dimensional power spectrum (lower power spectrum in the figure) includes r11～r1MDistance index (assume r)11At the maximum distance, r1MNearest distance, and so on for the rest). It is assumed that the chirp signal corresponding to the fourth two-dimensional power spectrum is emitted later. The distance correspondence is, for example, a relationship of a solid line arrow and a dotted line arrow as shown in the figure. For example, the velocity index v11The highest velocity in the reverse direction, the corresponding distance on the fourth two-dimensional power spectrum should be further apart than the corresponding distance on the third two-dimensional power spectrum. Velocity index v1NThe highest speed in the forward direction, the corresponding distance on the fourth two-dimensional power spectrum should be closer than the corresponding distance on the third two-dimensional power spectrum.
In addition, in one embodiment, the processor 140 may determine the magnitude of the distance variation according to the difference in transmission time between chirp signals that emit different transmission periods. The later the emitted chirp signal corresponds to a greater range of range variation. For example, the distance corresponding to the speed of 8 meters per second of the two-dimensional power spectrum of the chirp signal of the first group transmission cycle is 10 meters, the distance corresponding to the speed of 8 meters per second of the two-dimensional power spectrum of the chirp signal of the second group transmission cycle is 8 meters (the variation range is 2 meters per second), and the distance corresponding to the speed of 8 meters per second of the two-dimensional power spectrum of the chirp signal of the third group transmission cycle is 6 meters (the variation range is 4 meters per second). The three aforementioned detection results are actually for the same object. The distance correspondence for this example is that at a speed of 8 meters per second, a 10 meter distance for the first set of two-dimensional power spectra corresponds to an 8 meter distance for the second set of two-dimensional power spectra, and also corresponds to a 6 meter distance for the third set of two-dimensional power spectra. The processor 140 may superimpose the three sets of two-dimensional power spectra according to the distance correspondence to form a combined detection result.
It should be noted that the combined detection result can be further input to a subsequent Constant False Alarm Rate (CFAR) detection to detect the distance and relative speed of the object.
In summary, the radar apparatus, the computing apparatus for detecting an object, and the object detecting method according to the embodiments of the invention can combine the detection results of more than two types of chirp signals, wherein different detection results are combined according to the speed correspondence and the distance correspondence. Therefore, the stability and the accuracy of object detection can be improved.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (15)
1. An object detection method, comprising:
obtaining at least two detection results, wherein each detection result is generated based on a radar echo of a chirp signal, transmission periods of the chirp signals corresponding to different detection results are different, and each detection result is related to the relative speed of at least one object;
combining the at least two detection results according to corresponding scales to generate a combined detection result; and
and detecting the at least one object according to the combined detection result.
2. The method of claim 1, wherein each of the detection results comprises a first power spectrum corresponding to a velocity, and the step of combining the at least two detection results according to corresponding scales comprises:
forming a plurality of identical second power spectrums according to the first power spectrums corresponding to the detection results, wherein the numerical values of the second power spectrums and the corresponding first power spectrums are identical in power;
combining the first power spectrum corresponding to each of the detection results with the corresponding plurality of second power spectra to form an extended power spectrum, wherein a lowest velocity of one of the first power spectrum and the plurality of second power spectra is continuous with a highest velocity of another one of the first power spectrum and the plurality of second power spectra; and
combining the extended power spectra corresponding to the at least two detection results to generate the combined detection result.
3. The object detection method of claim 2, wherein generating the combined detection result comprises:
obtaining a velocity correspondence between the at least two detection results and the corresponding extended power spectrum, wherein the highest clearly detectable velocities of the different detection results are different, and the velocity correspondence is related to a scale relationship between each velocity index in the extended power spectrum corresponding to one of the at least two detection results and each velocity index in the extended power spectrum corresponding to another one of the at least two detection results; and
and overlapping the extended power spectrums corresponding to the at least two detection results according to the speed correspondence to form the combined detection result, wherein the speed corresponding to a peak value exceeding a threshold value in the combined detection result is the relative speed of the at least one object.
4. The object detection method of claim 1, wherein each of the detection results comprises the relative velocity of the at least one object, the combined detection result comprises a final detection velocity of the at least one object, and the step of generating the combined detection result comprises:
and obtaining the combined detection result according to the at least two detection results by a Chinese remainder theorem, wherein the relative speed of the at least one object in the at least two detection results is used as a remainder, twice of the highest clearly detectable speed of the at least two detection results is used as a divisor, and the final detection speed of the at least one object is related to a dividend.
5. The method according to claim 3, wherein each of the detection results further includes a speed and distance correspondence of the at least one object, each of the speed and distance correspondence includes a relative speed and distance of the at least one object, the chirp signals corresponding to the at least two detection results are sequentially transmitted, and the step of generating the combined detection result includes:
obtaining a distance corresponding relation between the at least two detection results and the corresponding speed and distance corresponding relation, wherein
The distance correspondence is related to the distance between the first and second objects,
if the first speed in the detection result corresponding to the subsequent sent chirp signal is positive and the numerical value is higher, the corresponding distance is closer to the first speed in the detection result corresponding to the previously sent chirp signal, and
if the second speed in the detection result corresponding to the subsequently sent chirp signal is in the reverse direction and the numerical value is higher, the distance corresponding to the second speed is farther away than the distance corresponding to the second speed in the detection result corresponding to the previously sent chirp signal; and
and superposing the corresponding relations of the speed and the distance corresponding to the at least two detection results according to the corresponding relations of the distance to form the combined detection result.
6. A radar apparatus, comprising:
a transmitting circuit that transmits a plurality of transmission signals based on a chirp signal, wherein a transmission cycle of the chirp signal in each of the plurality of transmission signals is different;
a receiving circuit that receives radar echoes of the plurality of transmission signals;
a memory for storing a program code corresponding to an object detection method for the radar apparatus; and
a processor coupled to the memory and configured to execute the program code, the object detection method comprising:
obtaining at least two detection results, wherein each detection result is generated based on a radar echo of each transmission signal, and each detection result is related to the relative speed of at least one object;
combining the at least two detection results according to corresponding scales to generate a combined detection result; and
and detecting the at least one object according to the combined detection result.
7. The radar apparatus of claim 6, wherein each of the detection results includes a first power spectrum corresponding to a velocity, and the object detection method further comprises:
forming a plurality of identical second power spectrums according to the first power spectrums corresponding to the detection results, wherein the numerical values of the second power spectrums and the corresponding first power spectrums are identical in power;
combining the first power spectrum corresponding to each of the detection results with the corresponding plurality of second power spectra to form an extended power spectrum, wherein a lowest velocity of one of the first power spectrum and the plurality of second power spectra is continuous with a highest velocity of another one of the first power spectrum and the plurality of second power spectra; and
combining the extended power spectra corresponding to the at least two detection results to generate the combined detection result.
8. The radar apparatus of claim 7, wherein the object detection method further comprises:
obtaining a velocity correspondence between the at least two detection results and the corresponding extended power spectrum, wherein the highest clearly detectable velocities of the different detection results are different, and the velocity correspondence is related to a scale relationship between each velocity index in the extended power spectrum corresponding to one of the at least two detection results and each velocity index in the extended power spectrum corresponding to another one of the at least two detection results; and
and overlapping the extended power spectrums corresponding to the at least two detection results according to the speed correspondence to form the combined detection result, wherein the speed corresponding to a peak value exceeding a threshold value in the combined detection result is the relative speed of the at least one object.
9. The radar apparatus of claim 6, wherein each of the detection results comprises the relative velocity of the at least one object, the combined detection result comprises a final detection velocity of the at least one object, and the object detection method further comprises:
and obtaining the combined detection result according to the at least two detection results by a Chinese remainder theorem, wherein the relative speed of the at least one object in the at least two detection results is used as a remainder, twice of the highest clearly detectable speed of the at least two detection results is used as a divisor, and the final detection speed of the at least one object is related to a dividend.
10. The radar apparatus of claim 8, wherein each of the detection results further includes a velocity-to-distance correspondence of the at least one object, each of the velocity-to-distance correspondence includes a relative velocity and a distance of the at least one object, the chirp signals corresponding to the at least two detection results are sequentially transmitted, and the object detection method further comprises:
obtaining a distance corresponding relation between the at least two detection results and the corresponding speed and distance corresponding relation, wherein
The distance correspondence is related to the distance between the first and second objects,
if the first speed in the detection result corresponding to the subsequent sent chirp signal is positive and the numerical value is higher, the corresponding distance is closer to the first speed in the detection result corresponding to the previously sent chirp signal, and
if the second speed in the detection result corresponding to the subsequently sent chirp signal is in the reverse direction and the numerical value is higher, the distance corresponding to the second speed is farther away than the distance corresponding to the second speed in the detection result corresponding to the previously sent chirp signal; and
and superposing the corresponding relations of the speed and the distance corresponding to the at least two detection results according to the corresponding relations of the distance to form the combined detection result.
11. A computing device for object detection, comprising:
a memory for storing a program code corresponding to an object detection method for the arithmetic device;
a processor coupled to the memory and configured to execute the program code, the object detection method comprising:
obtaining at least two detection results, wherein each detection result is generated based on a radar echo of a chirp signal, transmission periods of the chirp signals corresponding to different detection results are different, and each detection result is related to the relative speed of at least one object;
combining the at least two detection results according to corresponding scales to generate a combined detection result; and
and detecting the at least one object according to the combined detection result.
12. The computing device of claim 11, wherein each detection result comprises a first power spectrum corresponding to a velocity, and the object detection method further comprises:
forming a plurality of identical second power spectrums according to the first power spectrums corresponding to the detection results, wherein the numerical values of the second power spectrums and the corresponding first power spectrums are identical in power;
combining the first power spectrum corresponding to each of the detection results with the corresponding plurality of second power spectra to form an extended power spectrum, wherein a lowest velocity of one of the first power spectrum and the plurality of second power spectra is continuous with a highest velocity of another one of the first power spectrum and the plurality of second power spectra; and
combining the extended power spectra corresponding to the at least two detection results to generate the combined detection result.
13. The computing device of claim 12, wherein the object detection method further comprises:
obtaining a velocity correspondence between the at least two detection results and the corresponding extended power spectrum, wherein the highest clearly detectable velocities of the different detection results are different, and the velocity correspondence is related to a scale relationship between each velocity index in the extended power spectrum corresponding to one of the at least two detection results and each velocity index in the extended power spectrum corresponding to another one of the at least two detection results; and
and overlapping the extended power spectrums corresponding to the at least two detection results according to the speed correspondence to form the combined detection result, wherein the speed corresponding to a peak value exceeding a threshold value in the combined detection result is the relative speed of the at least one object.
14. The computing device of claim 11, wherein each detection result comprises the relative velocity of the at least one object, the combined detection result comprises a final detection velocity of the at least one object, and the object detection method further comprises:
and obtaining the combined detection result according to the at least two detection results by a Chinese remainder theorem, wherein the speed of the at least one object in the at least two detection results is used as a remainder, twice of the highest clearly detectable speed of the at least two detection results is used as a divisor, and the final detection speed of the at least one object is related to a dividend.
15. The computing device of claim 13, wherein each of the detection results further comprises a velocity-to-distance correspondence of the at least one object, each of the velocity-to-distance correspondence comprises a velocity and a distance of the at least one object, the chirp signals corresponding to the at least two detection results are sequentially transmitted, and the object detection method further comprises:
obtaining a distance corresponding relation between the at least two detection results and the corresponding speed and distance corresponding relation, wherein
The distance correspondence is related to the distance between the first and second objects,
if the first speed in the detection result corresponding to the subsequent sent chirp signal is positive and the numerical value is higher, the corresponding distance is closer to the first speed in the detection result corresponding to the previously sent chirp signal, and
if the second speed in the detection result corresponding to the subsequently sent chirp signal is in the reverse direction and the numerical value is higher, the distance corresponding to the second speed is farther away than the distance corresponding to the second speed in the detection result corresponding to the previously sent chirp signal; and
and superposing the corresponding relations of the speed and the distance corresponding to the at least two detection results according to the corresponding relations of the distance to form the combined detection result.
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