CN115372953A - Moving object detection method and device based on millimeter wave radar and storage medium - Google Patents
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Abstract
The invention discloses a moving object detection method, a device and a storage medium based on a millimeter wave radar, wherein the method comprises the following steps: receiving an echo signal of a millimeter wave radar, and mixing the echo signal with a preset carrier signal to obtain a mixed signal; filtering the mixing signal, and performing Fast Fourier Transform (FFT) operation on a baseband signal obtained after filtering; searching the maximum energy value of each frequency spectrum component in the FFT operation result, determining a target frequency spectrum component range, and summing the energy values of the frequency spectrum components in the target frequency spectrum component range; and judging whether the millimeter wave radar detects a moving object according to the summation result. The method ensures that the summation statistics is basically the energy of the moving object reflected signals, greatly reduces the influence of noise and improves the detection accuracy; meanwhile, the method has low operation complexity, reduces the operation capability requirement of equipment, and is beneficial to reducing the cost of millimeter wave radar detection equipment.
Description
Technical Field
The invention relates to the technical field of detection, in particular to a moving object detection method and device based on a millimeter wave radar and a storage medium.
Background
The millimeter wave radar is a radar working in a millimeter wave band (millimeter wave), the typical wavelength is 1-10 mm, more generalized millimeter wave radars include frequency points of 5.8GHz,10.5GHz,24GHz and the like, and the millimeter wave radar has the advantages of both a microwave radar and a photoelectric radar. With the development of semiconductor technology, millimeter wave radars at the consumer electronics level are widely applied in recent years, and non-visual and non-contact vital sign detection is performed on signals of human body movement, heart rate, respiration, distance and the like by combining application scenes such as smart home, smart lighting, smart door lock, health safety, old people monitoring and the like.
The millimeter wave radar detection in the related technology generally has the problems of poor detection accuracy of moving objects, high operation requirement caused by large data volume of high-frequency signals, high cost and incapability of large-scale application.
Disclosure of Invention
The present invention is directed to solving, at least in part, one of the technical problems in the related art. Therefore, one object of the present invention is to provide a moving object detection method based on a millimeter wave radar, which improves the detection accuracy of a moving object in a target area, reduces the computation complexity and the computation capability requirement on equipment, and is beneficial to reducing the cost of the millimeter wave radar detection equipment.
The second purpose of the invention is to provide a moving object detection device based on the millimeter wave radar.
A third object of the invention is to propose a computer-readable storage medium.
A fourth object of the invention is to propose an electronic device.
In order to achieve the above object, an embodiment of the first aspect of the present invention provides a method for detecting a moving object based on a millimeter wave radar, where the method includes: receiving an echo signal of a millimeter wave radar, and mixing the echo signal with a preset carrier signal to obtain a mixed signal; filtering the mixed signal, and performing Fast Fourier Transform (FFT) operation on a baseband signal obtained after filtering; searching the maximum energy value of each frequency spectrum component in the FFT operation result, determining a target frequency spectrum component range, and summing the energy values of the frequency spectrum components in the target frequency spectrum component range; and judging whether the millimeter wave radar detects a moving object according to the summation result.
According to the moving object detection method based on the millimeter wave radar, the energy values of L frequency spectrum components output after FFT operation are calculated, when whether a moving object exists in a target region is judged, the L frequency spectrum components output after FFT operation are limited, the range of the target frequency spectrum components is determined, whether the moving object exists in the target region is judged according to the sum of the energy values of the frequency spectrum components in the range of the target frequency spectrum components, the sum statistics is basically the energy of the reflected signals of the moving object, the influence of noise is greatly reduced, and the detection accuracy is improved; meanwhile, when the energy of the frequency spectrum components is counted, the energy of all frequency points is not needed to be counted, only the energy of part of frequency points is counted, and the calculation resources are saved.
In addition, the moving object detection method based on the millimeter wave radar according to the above embodiment of the present invention may further have the following additional technical features:
according to an embodiment of the present invention, finding the maximum energy value of each spectral component in the FFT operation result, and determining the target spectral component range includes: calculating the energy value of each frequency spectrum component in the FFT operation result; inquiring the maximum value in the energy values, and taking the frequency spectrum component corresponding to the maximum value as a target frequency spectrum component; and determining the target spectrum component range according to the target spectrum component.
According to an embodiment of the present invention, the number L of spectral components in the FFT operation result satisfies the following formula:
wherein f is s Representing the sampling frequency, f, of the echo signal d The maximum doppler shift caused by a moving object is represented, and N represents the number of points of FFT operation.
According to an embodiment of the present invention, the target spectral component range includes a first preset number of spectral components on the left side of the target spectral component, and a second preset number of spectral components on the right side of the target spectral component.
According to an embodiment of the present invention, calculating the energy values of the spectral components in the FFT operation result includes: obtaining the homodromous component and the orthogonal component of the frequency spectrum component according to the FFT operation result; and calculating the square sum of the homodromous component and the orthogonal component to obtain the energy value of the frequency spectrum component.
According to an embodiment of the present invention, calculating the energy values of the spectral components in the FFT operation result includes: obtaining the homodromous component and the orthogonal component of the frequency spectrum component according to the FFT operation result; taking absolute values of the homodromous component and the orthogonal component; and calculating the sum of the absolute value of the homodromous component and the absolute value of the orthogonal component to obtain the energy value of the frequency spectrum component.
According to an embodiment of the present invention, determining whether the millimeter wave radar detects a moving object according to a result of the summation includes: when the summation result is larger than or equal to a preset threshold value, determining that the millimeter wave radar detects a moving object; and when the summation result is smaller than the preset threshold value, determining that the millimeter wave radar does not detect the moving object.
In order to achieve the above object, an embodiment of a second aspect of the present invention provides a moving object detection device based on millimeter wave radar, the device including: the receiving module is used for receiving an echo signal of the millimeter wave radar and mixing the echo signal with a preset carrier signal to obtain a mixing signal; the filtering module is used for filtering the mixing signal; the operation module is used for performing Fast Fourier Transform (FFT) operation on the baseband signal obtained after filtering, searching the maximum energy value of each frequency spectrum component in an FFT operation result, determining a target frequency spectrum component range, and summing the energy values of the frequency spectrum components in the target frequency spectrum component range; and the judging module is used for judging whether the millimeter wave radar detects a moving object according to the summation result.
To achieve the above object, a third aspect of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements a moving object detection method based on millimeter wave radar as set forth in the first aspect of the present invention.
To achieve the above object, a fourth aspect of the present invention provides an electronic device, including a memory and a processor, where the memory stores a computer program, and the computer program, when executed by the processor, implements the moving object detection method based on millimeter wave radar as set forth in the first aspect of the present invention.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
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FIG. 1 is a flow chart of a moving object detection method based on millimeter wave radar according to an embodiment of the present invention;
FIG. 2 is a flow chart for determining a range of target spectral components according to one embodiment of the present invention;
FIG. 3 is a flow chart of energy values of spectral components according to one embodiment of the present invention;
FIG. 4 is a flow chart of energy values of spectral components according to another embodiment of the present invention;
FIG. 5 is a schematic diagram of a moving object detection apparatus based on millimeter wave radar according to an embodiment of the present invention;
fig. 6 is a schematic diagram of an electronic device of an embodiment of the invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative and intended to explain the present invention and should not be construed as limiting the present invention.
The moving object detection method, apparatus and storage medium based on millimeter wave radar according to the embodiments of the present invention will be described in detail with reference to fig. 1-6 and the detailed description.
Fig. 1 is a flowchart of a moving object detection method based on millimeter wave radar according to an embodiment of the present invention. As shown in fig. 1, the moving object detection method based on millimeter wave radar may include:
s1, receiving an echo signal of a millimeter wave radar, and mixing the echo signal with a preset carrier signal to obtain a mixing signal.
It should be noted that the millimeter wave is an electromagnetic wave having a wavelength of 1 to 10mm (millimeter), which is in a wavelength range where an infrared light wave and a microwave frequency band overlap. The millimeter wave radar measures distance and speed by utilizing the characteristics of short millimeter wave wavelength and high spatial resolution. The millimeter wave radar uses electromagnetic waves in the frequency range of 30 to 300GHz, and the more general millimeter wave radar also uses electromagnetic waves at frequency points of 5.8GHz,10.5GHz,24GHz, and the like.
Specifically, when detecting whether a moving object exists in a target area, the millimeter wave radar device transmits a millimeter wave signal to the target area, and the transmitted millimeter wave signal is reflected by the moving object to generate an echo signal. When whether a moving object exists in the target area is detected, the information of the moving object in the target area can be obtained according to the received echo signal.
In the embodiment of the present invention, a millimeter wave signal (transmission signal) transmitted by a millimeter wave radar is represented by the following expression (1):
s 0 (t)＝A 0 cos(ωt+φ 0 ) (1)
after a millimeter wave signal transmitted by the millimeter wave radar meets a moving object, an echo signal reflected back to the receiver is as follows:
r(t)＝A 1 cos(ωt+φ 1 (t))+n(t) (2)
wherein n (t) is white Gaussian noise phi 1 And (t) is the phase angle of the echo signal. Phi is a 1 (t) is composed of three parts represented by the following formula (3).
φ 1 ＝φ 0 +2πfΔt+2πf d t′ (3)
Wherein phi is 0 Is the phase of the transmitted signal, 2 pi f delta t is the fixed phase caused by the time difference of the millimeter wave radar device for receiving and transmitting the signal (the transmitted signal and the echo signal), 2 pi f d t' is the phase caused by the doppler shift of a moving object in motion. If the target area has no moving object, the third term 2 π in equation (3)f d t' is 0.
After receiving the echo signal, the millimeter wave radar equipment mixes the echo signal with a preset carrier signal, that is, the echo signal r (t) shown in the formula (2) and a local co-frequency carrier signal s shown in the following formula (4) 1 And (t) multiplying to obtain a mixing signal d (t). Wherein, the local co-frequency carrier signal s 1 The equations for (t) and mixing signal d (t) are:
s 1 (t)＝A 0 cos(ωt+φ 2 ) (4)
d(t)＝r(t)*s 1 (t)＝(A 1 cos(ωt+φ 1 (t))+n(t))*A 0 cos(ωt+φ 2 ) (5)
and (3) developing the formula (5) to obtain a formula (6):
from the expansion of the mixing signal d (t), it can be seen that the first term and the second term of the mixing signal d (t) both contain phi 1 (t), the second and third terms of the mixing signal d (t) are high frequency components.
And S2, filtering the mixing signal, and performing Fast Fourier Transform (FFT) operation on the baseband signal obtained after filtering.
Specifically, the second term and the third term of the mixing signal d (t) may be filtered out using a low-pass filter of the millimeter wave radar apparatus reception channel. After the mixed signal d (t) passes through the low-pass filter of the receiving channel, the second term and the third term are effectively filtered out to obtain a baseband signal, i.e. the first term of the mixed signal d (t), which can use phi in the first term of the mixed signal d (t) 1 And detecting a moving object.
More specifically, after the mixing signal d (t) is low-pass filtered, a baseband signal d' (t) is obtained as shown in equation (7):
wherein, the first and the second end of the pipe are connected with each other,
φ 1 (t)-φ 2 ＝φ 0 -φ 2 +2πfΔt+2πf d t′
by performing FFT operation on equation (7), it is possible to detect whether or not frequency components other than direct current are included therein. If yes, the fact that a moving object exists in the target area (near the millimeter wave radar) is indicated, otherwise, no moving object exists.
And S3, searching the maximum energy value of each frequency spectrum component in the FFT operation result, determining a target frequency spectrum component range, and summing the energy values of the frequency spectrum components in the target frequency spectrum component range.
For an N-point FFT operation, there are L spectral components in the FFT operation result, where L < N. The calculation amount of the energy values of the L frequency spectrum components is too large, and the accuracy of determining whether a moving object exists in the target region according to the energy values of the L frequency spectrum components is low. The embodiment of the invention samples the frequency f according to the echo signal s And the maximum Doppler shift f that a moving object may cause d And further limiting L frequency spectrum components in the FFT operation result, namely determining the corresponding frequency spectrum components in a certain range of the moving object, and only calculating the energy values of the corresponding frequency spectrum components in the certain range of the moving object so as to save operation resources.
In the embodiment of the present invention, the number L of frequency spectrum components in the FFT operation result may satisfy the following formula:
wherein f is s Representing the sampling frequency, f, of the echo signal d Represents the maximum doppler shift caused by a moving object, and N represents the number of points of FFT operation. The number L of the frequency spectrum components set by the formula can ensure the calculation accuracy and save the calculation resources.
Specifically, the method can be obtained
Energy values of a plurality of spectral components within the range.
To further improve the accuracy of detecting moving objects in the target area, the motion information can be obtained according to the obtained motion information
And further determining the range of the target frequency spectrum component by the energy values of the plurality of frequency spectrum components in the range, summing the energy values of the frequency spectrum components in the range of the target frequency spectrum component, and judging whether the millimeter wave radar detects a moving object according to the summation result.
And S4, judging whether the millimeter wave radar detects the moving object according to the summation result.
In an embodiment of the present invention, determining whether the millimeter wave radar detects a moving object according to the summation result may include: and when the summation result is greater than or equal to a preset threshold value, determining that the millimeter wave radar detects the moving object. And when the summation result is smaller than a preset threshold value, determining that the millimeter wave radar does not detect the moving object.
Specifically, the sum of the energy values of the multiple spectral components in the target spectral component range is compared with a preset threshold, and when the sum is greater than or equal to the preset threshold, it is indicated that a moving object exists in the target region, so that it can be determined that the moving object is detected by the millimeter wave radar. And when the summation result is smaller than the preset threshold value, the target area is indicated to have a moving object, and the millimeter wave radar can be determined not to detect the moving object.
In the embodiment of the present invention, as shown in fig. 2, finding the maximum energy value of each spectral component in the FFT operation result, and determining the target spectral component range may include:
s301, calculating the energy value of each frequency spectrum component in the FFT operation result;
s302, inquiring the maximum value in the energy values, and taking the frequency spectrum component corresponding to the maximum value as a target frequency spectrum component;
s303, determining a target frequency spectrum component range according to the target frequency spectrum component.
In an embodiment of the present invention, the target spectral component range may include a first preset value LeftNum spectral components on the left of the target spectral component, target spectral components, and a second preset value RightNum spectral components on the right of the target spectral components.
Specifically, when the target frequency spectrum component range is determined, the calculated range can be determined to improve the detection precision of the moving object and reduce the interference of noise
And determining the spectral components within a certain range of the target spectral component F as the target spectral component range by taking the spectral component corresponding to the maximum value of the energy values of the plurality of spectral components within the range as the target spectral component F.
Further specifically, a first preset value LeftNum of the target spectral component F, and a second preset value RightNum of the target spectral component F may be used as the target spectral component range.
It should be noted that the first preset value and the second preset value are adjustable parameters, and can be adjusted accordingly according to actual situations.
In the embodiment of the invention, in the process of calculating the energy values of L frequency spectrum components output after FFT operation and judging whether a moving object exists in a target region, the sampling frequency f of an echo signal is firstly used s And the maximum Doppler shift f that a moving object may cause d The number of L frequency components output after FFT operation is limited, then energy values of the limited and reduced frequency spectrum components are calculated, the frequency spectrum component in a certain range corresponding to the maximum value is used as a target frequency spectrum component range, the sum of the energy values of the frequency spectrum components in the target frequency spectrum component range is obtained, and whether an object moves or not is judged according to the sum. The method can save operation resources, and can ensure that the sum statistics is basically the energy value of the moving object reflection signal, thereby greatly reducing noise interference and improving the detection accuracy of the moving object.
As a possible implementation, as shown in fig. 3, calculating the energy values of the spectral components in the FFT operation result may include:
s311, obtaining the homodromous component and the orthogonal component of the frequency spectrum component according to the FFT operation result;
and S312, calculating the square sum of the homodromous component and the orthogonal component to obtain the energy value of the frequency spectrum component.
Specifically, when calculating the energy value of each spectral component in the FFT operation result, the homodromous component and the orthogonal component of the corresponding spectral component may be obtained, and the sum of squares of the homodromous component and the orthogonal component is calculated, where the sum of squares of the homodromous component and the orthogonal component is the energy value of the corresponding spectral component.
As another possible implementation, as shown in fig. 4, calculating the energy values of the spectral components in the FFT operation result may further include:
s321, obtaining the homodromous component and the orthogonal component of the frequency spectrum component according to the FFT operation result;
s322, taking absolute values of the homodromous component and the orthogonal component;
and S323, calculating the sum of the absolute value of the homodromous component and the absolute value of the orthogonal component to obtain the energy value of the frequency spectrum component.
Specifically, when the energy value of each spectrum component in the FFT operation result is calculated, after the homodromous component and the orthogonal component of the corresponding spectrum component are obtained, the absolute value of the homodromous component and the absolute value of the orthogonal component may also be taken, and the sum of the absolute value of the homodromous component and the absolute value of the orthogonal component is calculated, where the sum of the absolute value of the homodromous component and the absolute value of the orthogonal component is the energy value of the corresponding spectrum component. And the sum of the absolute value of the homodromous component and the absolute value of the orthogonal component is calculated, so that the calculation resource is saved compared with the calculation of the square sum of the homodromous component and the orthogonal component.
According to the moving object detection method based on the millimeter wave radar, the energy values of L frequency spectrum components output after FFT operation are calculated, when whether a moving object exists in a target region is judged, the L frequency spectrum components output after FFT operation are limited, the range of the target frequency spectrum components is determined, whether the moving object exists in the target region is judged according to the sum of the energy values of the frequency spectrum components in the range of the target frequency spectrum components, the sum statistics is basically the energy of the reflected signals of the moving object, the influence of noise is greatly reduced, and the detection accuracy is improved; meanwhile, when the energy of the frequency spectrum components is counted, the energy of all frequency points is not needed to be counted, only the energy of part of frequency points is counted, and the calculation resources are saved. The method improves the detection accuracy of the moving object in the target area, reduces the operation complexity and the operation capability requirement on equipment, and is favorable for reducing the cost of millimeter wave radar detection equipment.
The embodiment of the invention also provides a moving object detection device based on the millimeter wave radar.
Fig. 5 is a block diagram of the structure of a moving object detection device based on a millimeter wave radar according to an embodiment of the present invention.
As shown in fig. 5, the moving object detection apparatus 10 based on millimeter wave radar may include: the device comprises a receiving module 11, a filtering module 12, an operation module 13 and a judgment module 14.
The receiving module 11 is configured to receive an echo signal of the millimeter wave radar, and mix the echo signal with a preset carrier signal to obtain a mixed signal; the filtering module 12 is configured to filter the mixed signal; the operation module 13 is configured to perform fast fourier transform FFT operation on the filtered baseband signal, find an energy maximum value of each spectral component in an FFT operation result, determine a target spectral component range, and sum energy values of the spectral components within the target spectral component range; the judging module 14 is configured to judge whether the millimeter wave radar detects a moving object according to the summation result.
It should be noted that, for other specific implementations of the moving object detection apparatus based on millimeter wave radar according to the embodiment of the present invention, reference may be made to specific implementations of the moving object detection method based on millimeter wave radar according to the above-mentioned embodiment of the present invention.
The moving object detection device 10 based on the millimeter wave radar of the embodiment of the invention ensures that the summation statistics is basically the energy of the reflected signal of the moving object, greatly reduces the influence of noise and improves the detection accuracy; meanwhile, when the energy of the frequency spectrum components is counted, the energy of all frequency points is not needed to be counted, only the energy of part of frequency points is counted, and the calculation resources are saved. The device improves the detection precision of the moving object in the target area, reduces the operation complexity and the operation capability requirement on equipment, and is favorable for reducing the cost of millimeter wave radar detection equipment.
The embodiment of the invention also provides a computer readable storage medium.
In this embodiment, a computer-readable storage medium has stored thereon a computer program that, when executed by a processor, implements the millimeter-wave radar-based moving object detection method described above, in correspondence with the millimeter-wave radar-based moving object detection method described above.
The embodiment of the invention also provides the electronic equipment.
In this embodiment, as shown in fig. 6, the electronic device 100 may include a memory 101 and a processor 102, the memory 101 having stored thereon a computer program, which when executed by the processor 102, implements the moving object detection method based on millimeter wave radar as described above.
According to the computer-readable storage medium and the electronic device 100 provided by the embodiment of the invention, by using the moving object detection method based on the millimeter wave radar, the detection accuracy of the moving object in the target area can be improved, the operation complexity and the operation capability requirement on the device are reduced, and the cost of the millimeter wave radar detection device is favorably reduced.
It should be noted that the logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, but are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be construed as limiting the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "above," and "over" a second feature may be directly on or obliquely above the second feature, or simply mean that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. A moving object detection method based on millimeter wave radar is characterized by comprising the following steps:
receiving an echo signal of a millimeter wave radar, and mixing the echo signal with a preset carrier signal to obtain a mixed signal;
filtering the frequency mixing signal, and performing Fast Fourier Transform (FFT) operation on a baseband signal obtained after filtering;
searching the maximum energy value of each frequency spectrum component in the FFT operation result, determining a target frequency spectrum component range, and summing the energy values of the frequency spectrum components in the target frequency spectrum component range;
and judging whether the millimeter wave radar detects a moving object according to the summation result.
2. The method of claim 1, wherein the step of finding the maximum energy value of each spectral component in the FFT computation result to determine the range of the target spectral component comprises:
calculating the energy value of each frequency spectrum component in the FFT operation result;
inquiring the maximum value in the energy values, and taking the frequency spectrum component corresponding to the maximum value as a target frequency spectrum component;
and determining the target spectrum component range according to the target spectrum component.
3. The moving object detection method based on millimeter wave radar according to claim 2, wherein the number L of spectral components in the FFT operation result satisfies the following equation:
wherein f is s Representing the sampling frequency, f, of the echo signal d The maximum doppler shift caused by a moving object is represented, and N represents the number of points of FFT operation.
4. The millimeter wave radar-based moving object detection method according to claim 1, wherein the target spectral component range includes a first preset value of spectral components on the left side of the target spectral component, and a second preset value of spectral components on the right side of the target spectral component.
5. The moving object detection method based on millimeter wave radar according to claim 2, wherein calculating the energy values of the spectral components in the FFT operation result includes:
obtaining the homodromous component and the orthogonal component of the frequency spectrum component according to the FFT operation result;
and calculating the square sum of the homodromous component and the orthogonal component to obtain the energy value of the frequency spectrum component.
6. The moving object detection method based on millimeter wave radar according to claim 2, wherein calculating the energy values of the spectral components in the FFT operation result includes:
obtaining the homodromous component and the orthogonal component of the frequency spectrum component according to the FFT operation result;
taking absolute values of the homodromous component and the orthogonal component;
and calculating the sum of the absolute value of the homodromous component and the absolute value of the orthogonal component to obtain the energy value of the frequency spectrum component.
7. The moving object detection method based on millimeter wave radar according to claim 1, wherein determining whether a moving object is detected by the millimeter wave radar based on the result of the summation includes:
when the summation result is larger than or equal to a preset threshold value, determining that the millimeter wave radar detects a moving object;
and when the summation result is smaller than the preset threshold value, determining that the millimeter wave radar does not detect the moving object.
8. A moving object detection device based on a millimeter wave radar, the device comprising:
the receiving module is used for receiving an echo signal of the millimeter wave radar and mixing the echo signal with a preset carrier signal to obtain a mixing signal;
a filtering module, configured to filter the mixing signal;
the operation module is used for performing Fast Fourier Transform (FFT) operation on the baseband signal obtained after filtering, searching the maximum energy value of each frequency spectrum component in an FFT operation result, determining a target frequency spectrum component range, and summing the energy values of the frequency spectrum components in the target frequency spectrum component range;
and the judging module is used for judging whether the millimeter wave radar detects a moving object according to the summation result.
9. A computer-readable storage medium on which a computer program is stored, the computer program, when being executed by a processor, implementing the moving object detection method based on millimeter wave radar according to any one of claims 1 to 7.
10. An electronic device comprising a memory and a processor, the memory having stored thereon a computer program, wherein the computer program, when executed by the processor, implements the millimeter wave radar-based moving object detection method according to any one of claims 1 to 7.
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