CN116990803A - Speed disambiguation method, device, equipment and medium based on non-uniform waveform - Google Patents

Speed disambiguation method, device, equipment and medium based on non-uniform waveform Download PDF

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Publication number
CN116990803A
CN116990803A CN202310975764.1A CN202310975764A CN116990803A CN 116990803 A CN116990803 A CN 116990803A CN 202310975764 A CN202310975764 A CN 202310975764A CN 116990803 A CN116990803 A CN 116990803A
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matrix
speed
determining
processed
signals
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韩伟
田烨
陈军
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Shanghai Jinmai Electronic Technology Co ltd
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Shanghai Jinmai Electronic Technology Co ltd
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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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G01S7/418—Theoretical aspects

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

The invention discloses a speed disambiguation method, a device, equipment and a medium based on non-uniform waveforms, wherein the method comprises the following steps: acquiring a mixing signal and determining a corresponding digital signal; determining a first matrix to be processed corresponding to the digital signal, dividing the first matrix to be processed into matrices to be applied, and determining a second matrix to be processed corresponding to each matrix to be applied; determining a matrix to be detected based on a second matrix to be processed corresponding to each receiving antenna, and determining a distance unit and a speed unit based on the matrix to be detected, so as to determine the phase of each ramp signal corresponding to each transmitting antenna based on the distance unit and the speed unit; for each transmitting antenna, determining a non-ambiguity speed based on the phase of each ramp signal and a corresponding time interval; the target speed and the target distance of the target object are determined based on the non-ambiguous speed. According to the technical scheme, the effect of accurately estimating the speed and the distance of the target object is achieved.

Description

Speed disambiguation method, device, equipment and medium based on non-uniform waveform
Technical Field
The invention relates to the technical field of vehicle-mounted radars, in particular to a speed disambiguation method, device, equipment and medium based on non-uniform waveforms.
Background
In recent years, millimeter wave radars are rapidly developing in the field of automotive radars due to the advantages of low cost and weather resistance. And particularly, compared with a full-array radar antenna, the MIMO radar has smaller size and higher estimation accuracy under the same size, and the practicability of the vehicle-mounted radar is greatly improved. The speed measuring range of the vehicle-mounted radar is generally not smaller than-150 km/h to 200km/h, however, the vehicle-mounted radar is limited by hardware, the sweep frequency time cannot be too short under the premise of considering the performances such as resolution, and the number of sampling points in a slow time dimension is limited, so that the speed blurring phenomenon is generated.
In order to solve the problem, a method of overlapping frequency spread is generally adopted, namely a group of adjacent frame waveforms is adopted, the frequency of the transmitting waveforms of each frame in the group is different and mutually equal in slow time dimension, the maximum non-blurring speed range is the least common multiple of the maximum speed measuring range of all frames in the group, and the speed blurring can be solved by using a remainder theorem, so that a correct speed result is obtained. The method occupies more frames, reduces the refresh rate and increases the processing time of the system signal. In addition, since the distance resolution is inversely proportional to the bandwidth, that is, the wider the bandwidth is, the higher the distance resolution is, but the bandwidth is limited by the intermediate frequency bandwidth of radar hardware, and the like, the distance resolution cannot be too high, and the test accuracy is affected.
Disclosure of Invention
The invention provides a speed de-blurring method, device, equipment and medium based on non-uniform waveforms, which can realize the effect of good distance and speed estimation performance, accurately estimate the distance and speed of a target, have higher estimation resolution, do not need simultaneous solution of data between simultaneous frames, and save the system period.
According to an aspect of the present invention, there is provided a speed disambiguation method based on non-uniform waveforms, the method comprising:
acquiring at least one group of mixed signals corresponding to a current frame transmission signal, and determining a digital signal corresponding to the at least one group of mixed signals; the current frame transmitting signals comprise a plurality of groups of sawtooth wave transmitting signals, the initial frequency of each group of sawtooth wave transmitting signals is different, each group of sawtooth wave transmitting signals consists of ramp signals transmitted by at least one transmitting antenna, and the time interval between each ramp signal is different;
determining a first matrix to be processed corresponding to the at least one group of digital signals, dividing the first matrix to be processed into at least one matrix to be applied according to a first preset rule, and determining a second matrix to be processed corresponding to each matrix to be applied; the first matrix to be processed is a one-dimensional matrix, the second matrix to be processed is a two-dimensional matrix, and at least one second matrix to be processed corresponds to each receiving antenna;
Determining a matrix to be detected based on at least one second matrix to be processed corresponding to each receiving antenna, and determining a distance unit and a speed unit based on the matrix to be detected and a preset detection criterion, so as to determine the phase of each ramp signal corresponding to each transmitting antenna based on the distance unit and the speed unit;
for each transmitting antenna, determining an unambiguous speed corresponding to the current transmitting antenna based on the phase of each ramp signal corresponding to the current transmitting antenna and a corresponding time interval;
and determining a target speed of the target object based on at least one non-fuzzy speed, and determining a target distance of the target object based on the target speed, a predetermined beat frequency and a preset bandwidth.
According to another aspect of the present invention, there is provided a speed deblurring apparatus based on a non-uniform waveform, the apparatus comprising:
a mixed signal acquisition module for acquiring at least one group of mixed signals corresponding to the current frame transmission signal and determining digital signals corresponding to the at least one group of mixed signals; the current frame transmitting signals comprise a plurality of groups of sawtooth wave transmitting signals, the initial frequency of each group of sawtooth wave transmitting signals is different, each group of sawtooth wave transmitting signals consists of ramp signals transmitted by at least one transmitting antenna, and the time interval between each ramp signal is different;
The matrix to be processed determining module is used for determining a first matrix to be processed corresponding to the at least one group of digital signals, dividing the first matrix to be processed into at least one matrix to be applied according to a first preset rule, and determining a second matrix to be processed corresponding to each matrix to be applied; the first matrix to be processed is a one-dimensional matrix, the second matrix to be processed is a two-dimensional matrix, and at least one second matrix to be processed corresponds to each receiving antenna;
the matrix to be detected determining module is used for determining a matrix to be detected based on at least one matrix to be processed corresponding to each receiving antenna, determining a distance unit and a speed unit based on the matrix to be detected and a preset detection criterion, and determining the phase of each slope signal corresponding to each transmitting antenna based on the distance unit and the speed unit;
a non-ambiguity speed determining module, configured to determine, for each of the transmitting antennas, a non-ambiguity speed corresponding to a current transmitting antenna based on a phase of each ramp signal corresponding to the current transmitting antenna and a corresponding time interval;
the target distance determining module is used for determining the target speed of the target object based on at least one non-fuzzy speed and determining the target distance of the target object based on the target speed, a predetermined beat frequency and a preset bandwidth.
According to another aspect of the present invention, there is provided an electronic apparatus including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the non-uniform waveform based velocity deblurring method according to any of the embodiments of the present invention.
According to another aspect of the present invention, there is provided a computer readable storage medium storing computer instructions for causing a processor to implement the non-uniform waveform based velocity deblurring method according to any of the embodiments of the present invention when executed.
According to the technical scheme, at least one group of mixed signals corresponding to a current frame of transmitted signals are obtained, digital signals corresponding to the at least one group of mixed signals are determined, then a first matrix to be processed corresponding to the at least one group of digital signals is determined, the first matrix to be processed is divided into at least one matrix to be applied according to a first preset rule, a second matrix to be processed corresponding to each matrix to be applied is determined, further, a matrix to be detected is determined based on the at least one matrix to be processed corresponding to each receiving antenna, a distance unit and a speed unit are determined based on the matrix to be detected and a preset detection criterion, and the phase of each slope signal corresponding to each transmitting antenna is determined based on the distance unit and the speed unit; for each transmitting antenna, determining an unambiguous speed corresponding to the current transmitting antenna based on the phase of each ramp signal corresponding to the current transmitting antenna and the corresponding time interval; the method comprises the steps of determining the target speed of a target object based on at least one non-fuzzy speed, determining the target distance of the target object based on the target speed, a predetermined beat frequency and a preset bandwidth, solving the problems that the refresh rate is reduced, the system signal processing time is increased, the bandwidth is limited by the medium frequency bandwidth of radar hardware and the like and cannot be too wide, so that the distance resolution cannot be too high, the testing precision and the like are influenced, realizing the effects of good distance and speed estimation performance, accurately estimating the distance and speed of the target, having higher estimation resolution, and not needing simultaneous solving of data between simultaneous frames, and saving the system period.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a velocity deblurring method based on a non-uniform waveform according to a first embodiment of the present invention;
FIG. 2 is a schematic diagram of a sawtooth transmission signal according to a first embodiment of the present invention;
FIG. 3 is a schematic waveform diagram of a frame of a transmission signal according to a first embodiment of the present invention;
FIG. 4 is a schematic diagram of a fast Fourier transform process provided in accordance with a first embodiment of the present invention;
fig. 5 is a schematic structural diagram of a speed deblurring device based on a non-uniform waveform according to a second embodiment of the present invention;
Fig. 6 is a schematic structural diagram of an electronic device implementing a non-uniform waveform based velocity deblurring method according to an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
Fig. 1 is a flowchart of a speed defuzzification method based on a non-uniform waveform, which is applicable to a speed defuzzification situation occurring when a radar device detects a speed and a distance of a target object, according to an embodiment of the present invention, the method may be performed by a speed defuzzification device based on a non-uniform waveform, the speed defuzzification device based on a non-uniform waveform may be implemented in a form of hardware and/or software, and the speed defuzzification device based on a non-uniform waveform may be configured in a terminal and/or a server. As shown in fig. 1, the method includes:
s110, at least one group of mixed signals corresponding to the current frame transmission signal is acquired, and digital signals corresponding to the groups of mixed signals are determined.
The transmission signal may be a signal transmitted based on a transmission antenna provided in the radar apparatus in advance. The current frame transmit signal may be the transmit signal in one period that is currently being processed. In this embodiment, the current frame transmission signal includes a plurality of sets of saw-tooth wave transmission signals, each set of saw-tooth wave transmission signals having a different initial frequency, each set of saw-tooth wave transmission signals including ramp signals transmitted by at least one transmission antenna, and each ramp signal having a different time interval therebetween.
The saw-tooth wave transmitting signal may be a transmitting signal with saw-tooth wave shape, and is composed of ramp signals transmitted by at least one transmitting antenna, and the time interval between each ramp signal is different. The initial frequency may be the initial frequency corresponding to the first ramp signal in each set of saw-tooth wave transmitting signals. It will be appreciated by those skilled in the art that the saw tooth waveform rises in a straight line, then drops steeply, then rises and drops steeply again, and so on. Is a non-sinusoidal wave and is named a sawtooth wave because it has a saw-like waveform, i.e. a repeating structure with a straight diagonal line and a straight line perpendicular to the transverse axis. The ramp signal may be any one of oblique lines in the saw-tooth wave transmission signal. Accordingly, the time interval between ramp signals may be the spacing between any two ramp signals. Exemplary, as shown in fig. 2, a set of saw-tooth wave transmitting signals is shown, and the oblique line part is a ramp signal.
In this embodiment, the mixing signal may be a signal obtained by mixing the transmitting signal with the corresponding echo signal. In practical application, when the radar device transmits a transmission signal with a preset waveform to a target object based on a transmission antenna, an echo signal is obtained through reflection of the target object, and the echo signal and the transmission signal are subjected to mixing processing to obtain a mixed signal. Accordingly, the discrete digital signal may be a signal whose independent variable is discrete, and whose dependent variable is also discrete.
In practical application, at least one frame of transmitting signal can be transmitted to the target object based on the transmitting antenna in the radar device, and the echo signal is obtained after the transmitting signal is reflected by the target object, and then the mixing signal is obtained through the mixing processing of the transmitting signal and the echo signal.
Based on this, in acquiring at least one set of mixing signals corresponding to the current frame transmission signal, further comprising: transmitting at least one frame of transmission signal to the target object based on the at least one transmitting antenna; for each frame of transmitting signals, receiving echo signals corresponding to the current frame of transmitting signals based on a receiving antenna, and carrying out mixing processing on the echo signals and the current frame of transmitting signals to obtain mixing signals corresponding to the current frame of transmitting signals.
In the present embodiment, the transmitting antenna may be a device provided in advance in the radar apparatus for transmitting a preset waveform signal. The target object may be an object that needs to detect speed and distance based on radar means. The target object may be any object, alternatively, any obstacle around the vehicle. The echo signal may be a transmission signal transmitted to the target object, and a signal corresponding to the transmission signal transmitted through the target object.
In practical application, the radar apparatus may set transmission parameters so as to transmit a grouped frequency hopping waveform to a target object, specifically, a frame of transmission signal may include a plurality of sets of saw-tooth transmission signals, each set of saw-tooth transmission signals may include a ramp signal transmitted by at least one transmission antenna, and the time intervals between each ramp signal are unequal, and at the same time, the starting frequencies of each set of saw-tooth transmission signals are different. As shown in fig. 3, the waveform diagram of a frame of transmission signal is illustrated, the waveform used is based on a MIMO radar array, and a time division multiplexing mode is adopted to transmit saw-tooth wave transmission signals with the same slope duration, wherein the number of transmission antennas is M, and the number of receiving antennas is N. Dividing a frame of transmission signal into N s The saw-tooth wave transmitting signals are composed of q ramp signals in each group, the ramp signals in each group correspond to M transmitting antennas, the number of the ramp signals transmitted by each transmitting antenna is q1, q2, … and qM respectively, that is, q=q1+q2+ … +qM, and q is equal to N in one frame s And ramp signals. The duration of the individual ramp signals in each group is the same, and is t s Ramp bandwidth of B fast For the fast time dimension bandwidth, the time intervals between any two ramp signals in the group are not equal and are respectively T s1 ,T s2 ,…,T s(q-1) The interval between the last ramp signal of each group and the first ramp signal of the next group is T sq . It should be noted that, each group of saw-tooth wave transmitting signals has the same form, is arranged in the same order based on M transmitting antennas, and transmits the same ramp signals, however, the difference between groups is that the initial frequency of each group of ramp signals is different, i.e. the center frequency of the ramp at the same position in the group is different by ΔB, i.e. the overall center frequency between groups is different by ΔB, thus the slow time dimension bandwidth B slow ＝ΔB*(N s -1), and B slow Greater than B fast 。
Further, after the target object is transmitted, for each frame of the transmission signal, receiving an echo signal corresponding to the current frame of the transmission signal based on the receiving antenna, and performing mixing processing on the echo signal and the current frame of the transmission signal to obtain a mixed signal corresponding to the current frame of the transmission signal, thereby determining a discrete digital signal corresponding to the mixed signal.
Optionally, determining the digital signal corresponding to the mixed signal includes: the mixed signal is subjected to analog-to-digital conversion processing to obtain a digital signal corresponding to the mixed signal.
Those skilled in the art will appreciate that Analog-to-Digital Converter (ADC) refers to a process of converting a continuously variable Analog signal into a discrete digital signal. Analog-to-digital conversion typically includes four steps of sampling, holding, quantization, and encoding.
In a specific implementation, after the mixed signal is obtained, an analog-to-digital conversion process may be performed on the mixed signal based on an analog-to-digital conversion device or other analog-to-digital conversion modes, so that the mixed signal is converted into a discrete digital signal.
It should be noted that, as will be understood by those skilled in the art, the distance accuracy can be expressed asWherein DeltaR 1 Represents distance accuracy during fast scan, c represents center frequency, B fast Representing a fast time dimension bandwidth; in slow scanning, the formula of the distance accuracy can be +.>Wherein DeltaR 2 Represents the distance accuracy during slow scanning, c represents the center frequency, B slow Representing a fast time dimension bandwidth. Exemplary, for the waveform shown in FIG. 3, the distance accuracy at the time of fast scan is +.>The distance accuracy during slow scanning is +.>Thus, a ratio between two scan accuracies of +.>That is, the bandwidth is extended by a factor of γ, and the distance resolution is enhanced by a factor of γ.
S120, determining a first matrix to be processed corresponding to at least one group of digital signals, dividing the first matrix to be processed into at least one matrix to be applied according to a first preset rule, and determining a second matrix to be processed corresponding to each matrix to be applied.
In this embodiment, the first matrix to be processed may be a matrix obtained by processing a digital signal, where the first matrix to be processed is a one-dimensional matrix. The first preset rule may be a preset division rule for dividing the one-dimensional matrix obtained after the processing.
In the practical application process, after at least one group of digital signals is obtained, the at least one group of digital signals can be processed to obtain a first matrix to be processed.
Optionally, determining a first matrix to be processed corresponding to at least one set of digital signals includes: and performing fast Fourier transform processing on at least one group of digital signals to obtain a first matrix to be processed.
It should be understood by those skilled in the art that the fast fourier transform (Fast Fourier Transform, FFT) is a fast algorithm of the discrete fourier transform, and is obtained by modifying the algorithm of the discrete fourier transform according to the characteristics of the discrete fourier transform, such as odd, even, imaginary, real, etc.
In a specific implementation, after at least one set of digital signals is obtained, a fast fourier transform process may be performed on each set of digital signals, so that a first matrix to be processed may be obtained.
Exemplary, as shown in FIG. 4, a schematic diagram of a fast Fourier transform of a digital signal in a receive channel is shown, if the duration is t s The sampling points on the ramp signals are Nramp points, and the fast Fourier transform of the Nramp points is carried out on each ramp signal1 one-dimensional fast Fourier transform matrix is obtained, namely a first matrix to be processed. If the number of the receiving antennas is N, the number of the receiving channels is also N, and the fast fourier transform shown in fig. 4 is performed on the digital signals in the N receiving channels, so that N one-dimensional-fast fourier transform matrices can be obtained, and the fast fourier transform in the distance dimension can be completed.
Further, after the first matrix to be processed, the first matrix to be processed may be divided according to a first preset rule, so as to obtain at least one matrix to be applied. Alternatively, the first matrix to be processed may be divided into a plurality of matrices to be applied, and the number of matrices to be applied is the same as the number of ramp signals corresponding to each group, because the time intervals between two adjacent ramp signals are different for the same data matrix. Exemplary, with continued reference to the above example, the individual matrices to be applied after separation have a size of nramp×n s The time interval of the ramp signals corresponding to each group is q, and q matrixes to be applied are provided for each receiving channel.
In a specific implementation, after at least one matrix to be applied is obtained, each matrix to be applied may be processed again, so as to obtain a second matrix to be processed corresponding to each application matrix. Wherein the second matrix to be processed is a two-dimensional matrix.
Optionally, determining a second matrix to be processed corresponding to each matrix to be applied includes: and for each matrix to be applied, performing fast Fourier transform processing on the current matrix to be applied to obtain a second matrix to be processed corresponding to the current matrix to be applied.
In practical application, after obtaining at least one matrix to be applied, a fast fourier transform process may be performed on each matrix to be applied, so as to obtain a second matrix to be processed corresponding to each matrix to be applied.
It should be noted that, because the matrix to be applied is a two-dimensional matrix, the second matrix to be processed obtained after the matrix to be applied is subjected to the fast fourier transform processing is the two-dimensional matrix.
Illustratively, with continued reference to the above example, the matrix to be applied is sampled at a point N s A plurality of points, N is respectively carried out on each matrix to be applied s And performing fast Fourier transform on the points to obtain a two-dimensional-fast Fourier transform matrix, namely a second matrix to be processed, thereby completing the fast Fourier transform in the speed dimension.
S130, determining a matrix to be detected based on at least one second matrix to be processed with each receiving antenna, and determining a distance unit and a speed unit based on the matrix to be detected and a preset detection criterion so as to determine the phase of each ramp signal corresponding to each transmitting antenna based on the distance unit and the speed unit.
It should be noted that, for each receiving antenna, at least one second matrix to be processed may be obtained, when determining the matrix to be detected, in order to improve the signal-to-noise ratio of detection, the second matrices to be processed corresponding to each receiving antenna may be summarized, and then the matrix to be detected may be determined based on the summarized multiple second matrices to be processed. For example, with continued reference to the above example, if the number of second to-be-processed matrices corresponding to one receiving antenna is q and the number of receiving antennas is N, the total number of second to-be-processed matrices is n×q.
In the present embodiment, the matrix to be detected may be a matrix used in speed measurement and distance measurement based on the radar apparatus. The preset detection criteria may be preset criteria for selecting points from the matrix to be detected. Alternatively, the preset detection criteria may be Constant False-Alarm (CFAR) detection criteria. It should be understood by those skilled in the art that CFAR is a technique by which a radar system discriminates between the signal output by a receiver and noise to determine whether a target signal is present while keeping the false alarm probability constant. The distance unit can be any value in the distance dimension of the matrix to be detected. The velocity element may be any value in the velocity dimension in the matrix to be detected. In other words, the distance unit may be an index number of any point in the matrix to be applied in the distance dimension, and the speed unit may be an index number of the point in the speed dimension.
In practical applications, after obtaining at least one second matrix to be processed, the second matrices to be processed may be processed to obtain the matrix to be detected.
Optionally, determining the matrix to be detected based on at least one second matrix to be processed corresponding to each receiving antenna includes: dividing at least one second matrix to be processed corresponding to each receiving antenna according to a second preset rule to obtain at least one matrix set to be processed; determining norms of second matrixes to be processed in the current matrix to be processed set aiming at each matrix to be processed set, and carrying out summation processing on the norms to obtain matrixes to be used; based on each matrix to be used, a matrix to be detected is determined.
In this embodiment, the second preset rule may be a preset rule for dividing a second matrix to be processed corresponding to each receiving antenna in the process of determining the matrix to be detected. Optionally, the second preset rule may be to divide the second matrix to be processed corresponding to each receiving antenna according to the type of the transmitting antenna. It will be appreciated by those skilled in the art that norms, which are functions having the concept of "length", are often used to measure the length or size of each vector in a certain vector space (or matrix). For example, let a certain matrix be a= (a) ij ) n×n ∈C n×n Order-makingWherein II A II F Representing the norm of matrix a.
In a specific implementation, at least one second matrix to be processed corresponding to each receiving antenna is summarized, then the summarized second matrices to be processed are divided according to the type of the transmitting antenna, the second matrices to be processed corresponding to the same transmitting antenna are divided into a group, and at least one set of matrices to be processed can be obtained, wherein each matrix to be processed comprises at least one second matrix to be processed. For example, if the number of the second to-be-processed matrices is n×q and the number of the transmitting antennas is M, the n×q second to-be-processed matrices may be divided into M to-be-processed matrix sets.
Further, for each set of matrices to be processed, each second matrix to be processed included in the current set of matrices to be processed may be first determined, then, norms corresponding to each second matrix to be processed are determined, further, each norm is added to obtain a numerical matrix, after each matrix to be used is obtained, one matrix to be used may be randomly selected from each matrix to be used and used as a matrix to be detected, or one matrix to be used may be determined from each matrix to be used and used as a matrix to be detected based on user requirements or after big data analysis.
In this embodiment, after the matrix to be detected is obtained, the matrix to be detected may be subjected to a point selection process based on a preset detection criterion, to determine the target point, and the vector value of the target point in the distance dimension is used as the distance unit, and the vector value of the target point in the speed dimension is used as the speed unit.
In the practical application process, after the distance unit and the speed unit are obtained, the phase of the corresponding slope signal corresponding to each transmitting antenna can be determined according to the distance unit and the speed unit.
In this embodiment, after determining the distance unit and the speed unit, for each receiving antenna, data corresponding to the target point corresponding to the distance unit and the speed unit may be determined from each second to-be-processed matrix corresponding to the current receiving antenna, and the data may be used as the to-be-processed data value. Exemplary, if the distance cell is r i The speed unit is v i At the same time, the number of the second matrices to be processed is q, and then the q second matrices to be processed (r i ，v i ) The data in the positions can obtain q data, when the processing of each receiving antenna is completed, the data can be obtained into N multiplied by q data, at this time, the data can be arranged into q vectors, the dimension of each vector is 1 multiplied by N, further, the fast Fourier transform processing can be carried out on each vector, q complex matrixes can be obtained, and then, the data can be confirmed The maximum value in each complex matrix is determined, and because the matrix after the fast Fourier transform is a complex matrix, each vector in the matrix is complex, and q phases can be obtained according to the conversion relation between complex and phases after the maximum value in each complex matrix is determinedThe q phases may be used as phases of respective ramp signals included in each set of saw-tooth wave transmission signals, i.e., phases of respective ramp signals corresponding to respective transmission antennas, e.g., respective transmission antennas TX 1 ,TX 2 ,…,TX M Q1, q2 … … qM phases, respectively, TX 1 Q1 phases of +.>TX 2 Q2 phases of +.>Sequentially classify, TX M qM phases of +.>
S140, for each transmitting antenna, determining at least one unambiguous speed corresponding to the current transmitting antenna based on the phase of each ramp signal corresponding to the current transmitting antenna and the corresponding time interval.
In this embodiment, the unambiguous speed may be a relative target radial speed value from one pulse to the next that the doppler radar can measure. It will be appreciated by those skilled in the art that in the detection of the velocity of any target object based on radar means, if the target object moves too far in the time interval of two pulses, its true phase shift exceeds 180 degrees, it will be given a phase shift value of less than 180 degrees, and the velocity value corresponding to this phase shift will also be less than the maximum unblurred velocity, and the resulting velocity will be erroneous, i.e. velocity ambiguity will occur. The maximum non-ambiguity speed is a target object radial speed value corresponding to 180-degree pulse phase shift, wherein the maximum pulse phase shift from one pulse to the next pulse can be measured by the Doppler radar is 180 degrees.
In practical applications, after determining the phase of each ramp signal corresponding to each transmitting antenna, for each transmitting antenna, the phase difference between two adjacent ramp signals of the current transmitting antenna may be determined. Exemplary, if the current transmit antenna is TX M The phase difference between its corresponding p-th ramp signal and p+1-th ramp signal can be expressed based on the following formula:
wherein,,representing the phase difference between the p-th ramp signal and the p+1th ramp signal, +.>Represents the phase of the p+1th ramp signal,/and>indicating the phase of the p-th ramp signal.
Further, after determining the phase differences between two adjacent ramp signals in the current transmitting antenna, the non-ambiguity speed corresponding to the current transmitting antenna can be determined according to the phase differences and the corresponding time intervals.
Optionally, determining the non-ambiguity speed corresponding to the current transmitting antenna based on the phase of each ramp signal corresponding to the current transmitting antenna and the corresponding time interval includes: determining at least one non-ambiguity factor corresponding to the transmit antenna based on the phase of each ramp signal corresponding to the transmit antenna and the corresponding time interval; determining at least one speed to be applied corresponding to a transmitting antenna according to at least one non-ambiguity coefficient, the phase of each ramp signal and a corresponding time interval; and carrying out average processing on at least one speed to be applied to obtain a non-fuzzy speed.
In the present embodiment, the non-blurring coefficient may be a coefficient for solving the non-blurring speed.
In the practical application process, for each transmitting antenna, after determining the phase of each ramp signal in the current transmitting antenna, the phase difference between two adjacent ramp signals in the current transmitting antenna can be determined, and then, according to the phase difference between two adjacent ramp signals and the corresponding time interval, the non-ambiguity coefficient corresponding to each phase difference can be determined.
For example, to transmit antenna TX M For example, the phase difference between the corresponding p-th ramp signal and the p+1-th ramp signal isMeanwhile, the time interval between the p-th ramp signal and the p+1th ramp signal is T sMp The velocity solution formula to be applied based on the phase difference solution blur can be expressed based on the following formula:
wherein v' Mp Representing the speed to be applied, v Mp The velocity obtained directly on the basis of the phase difference is shown,V max_Mp represents the maximum non-ambiguous speed range corresponding to the phase difference,c represents the speed of light, n Mp Represents an unblurred coefficient corresponding to the phase difference, f 0 Representing the center frequency of the saw-tooth transmitted signal.
Theoretically, any two phase differences of the current transmitting antenna And->The corresponding speeds to be applied should have the following relationship:
v Mp +n Mp *V max_Mp ＝v Mj +n Mj *V max_Mj (2)
wherein,,
correspondingly, the phases have the following relationship as well:
the non-fuzzy coefficient n can be obtained by combining the formula (2) and the formula (3) Mp And n Mj 。
Further, after obtaining the non-ambiguity coefficients corresponding to the phase differences, substituting the non-ambiguity coefficients into a solution formula (1) of the speeds to be applied to obtain the speeds to be applied corresponding to the transmitting antennas, adding the speeds to be applied and processing the sum of the speeds to be applied as a quotient of the speeds to be applied to obtain the non-ambiguity speed v corresponding to the transmitting antennas M 。
The above-mentioned defuzzification operation is performed on each transmitting antenna, so that the defuzzification speed corresponding to each transmitting antenna can be obtained. Exemplary, with transmit antenna TX 1 -TX M Corresponding non-blurring speeds v 1 -v M 。
S150, determining a target speed of the target object based on at least one non-fuzzy speed, and determining a target distance of the target object based on the target speed, a predetermined beat frequency and a preset bandwidth.
In the present embodiment, the target object may be an object that requires speed detection and distance detection based on a radar apparatus. The target speed is the accurate speed after deblurring.
After obtaining at least one unblurred speed, in order to improve the accuracy of speed deblurring, each unblurred speed may be checked, and the unblurred speeds that do not meet the checking condition may be removed, so that the target speed is determined based on the remaining at least one unblurred speed.
Optionally, determining the target speed of the target object based on the at least one non-ambiguous speed includes: verifying at least one non-fuzzy speed based on a preset speed rough estimation condition to obtain at least one to-be-processed speed, and carrying out mean value processing on the at least one to-be-processed speed to obtain a rough estimation speed; and determining the target speed according to a preset speed fine estimation condition and a rough estimation speed.
Illustratively, one of the non-fuzzy speeds v is arbitrarily selected K For the remaining v 1 -v K-1 ,v K+1 -v M The speed is checked, and the specific checking process is as follows: if the current check disambiguation speed is v M And transmitting antenna TX K Any group of phase differences and corresponding time intervals are respectivelyAnd T sKj Corresponding non-ambiguity coefficient n Kj The maximum value of (2) is in the range of-N Kj -N Kj The range is determined by the maximum non-fuzzy speed range, namely the maximum speed measuring range under the current time interval. at-N Kj -N Kj Traversing n between Kj Then, obtaining:
wherein Deltav MKj Representing v M And v K A speed difference between them.
Further, the speed difference is compared with a preset speed difference threshold valueAlignment is carried out if at-N Kj -N Kj Between which n is present Kj Satisfy condition->And if the verification is successful, determining that the verification fails. TX-based K Q included in (b) K The same operation is performed on the phase differences and the corresponding time intervals to obtain +.>When->When the check is successful, the non-fuzzy speed v is determined M And (5) checking success. Based on the checking method, v is sequentially checked 1 -v K-1 ,v K+1 -v M Checking, eliminating the unfuzzy speed failing to check, and carrying out average processing on at least one unfuzzy speed successful to obtain the rough estimated speed v of the target object re 。
Further, after the rough speed estimation is obtained, the speed fine estimation can be further performed. Those skilled in the art will appreciate that the formula for the maximum speed measurement range isWhen T is sj The larger the corresponding maximum test range is, the smaller the speed accuracy is, so that the time interval maximum value can be selected from the time intervals of the ramp signals, and the speed fine estimation can be performed based on the time interval maximum value and the corresponding phase difference.
Exemplary, if the time interval maximum is T sj Its corresponding phase differenceThen it can be based on T sj 、/>Rough estimate of velocity v re Determining the non-ambiguity coefficient n j And determining when n j The speed when the speed is an integer may be set as the target speed. Wherein the speed fine estimation formula may be expressed based on the following formula:
where v represents the target speed,
in this embodiment, after the target speed of the target object is obtained, the target distance of the target object may be determined based on the target speed, the predetermined beat frequency, and the preset bandwidth. The beat refers to a signal reaction after the interference wave is received and output. When the wave signals with two different frequencies interact to form a periodic change, the amplitude is periodically increased or decreased according to the difference between the two frequencies, and the amplitude modulation and the up-and-down fluctuation of the wave occur. The beat frequency may be a frequency corresponding to the occurrence of the beat phenomenon. Exemplary, for a fast scan waveform in the fast time dimension, the bandwidth is B fast The duration of the ramp signal is t s Thus, the formula for beat frequency can be:wherein f b Represents the beat frequency, R represents the target distance, f d Doppler frequency indicative of target velocity, +.>The distance accuracy obtained based on the beat frequency formula is From this formula, it can be seen that the larger the bandwidth is, the smaller the corresponding distance accuracy value is, that is, the larger the bandwidth is, the higher the distance accuracy is. As can be seen again by reference to fig. 3, B slow Greater than B fast Thus, the target distance may be determined based on the bandwidth of the slow time dimension for whichBandwidth of B slow The ramp signal duration is t= (T s1 +t s2 +t s3 +…+t sq )*N s Thus, it is->The target distance from the target object can be solved based on the formula as follows: />
According to the technical scheme, at least one group of mixed signals corresponding to a current frame of transmitted signals are obtained, digital signals corresponding to the at least one group of mixed signals are determined, then a first matrix to be processed corresponding to the at least one group of digital signals is determined, the first matrix to be processed is divided into at least one matrix to be applied according to a first preset rule, a second matrix to be processed corresponding to each matrix to be applied is determined, further, a matrix to be detected is determined based on the at least one matrix to be processed corresponding to each receiving antenna, a distance unit and a speed unit are determined based on the matrix to be detected and a preset detection criterion, and the phase of each slope signal corresponding to each transmitting antenna is determined based on the distance unit and the speed unit; for each transmitting antenna, determining an unambiguous speed corresponding to the current transmitting antenna based on the phase of each ramp signal corresponding to the current transmitting antenna and the corresponding time interval; the method comprises the steps of determining the target speed of a target object based on at least one non-fuzzy speed, determining the target distance of the target object based on the target speed, a predetermined beat frequency and a preset bandwidth, solving the problems that the refresh rate is reduced, the system signal processing time is increased, the bandwidth is limited by the medium frequency bandwidth of radar hardware and the like and cannot be too wide, so that the distance resolution cannot be too high, the testing precision and the like are influenced, realizing the effects of good distance and speed estimation performance, accurately estimating the distance and speed of the target, having higher estimation resolution, and not needing simultaneous solving of data between simultaneous frames, and saving the system period.
Example two
Fig. 5 is a schematic structural diagram of a speed deblurring device based on a non-uniform waveform according to a second embodiment of the present invention. As shown in fig. 5, the apparatus includes: a mixed signal acquisition module 210, a to-be-processed matrix determination module 220, a to-be-detected matrix determination module 230, an unambiguous speed determination module 240, and a target distance determination module 250.
Wherein, the mixed signal acquisition module 210 is configured to acquire at least one set of mixed signals corresponding to the current frame transmission signal, and determine a digital signal corresponding to the at least one set of mixed signals; the current frame transmitting signals comprise a plurality of groups of sawtooth wave transmitting signals, the initial frequency of each group of sawtooth wave transmitting signals is different, each group of sawtooth wave transmitting signals consists of ramp signals transmitted by at least one transmitting antenna, and the time interval between each ramp signal is different;
a matrix determination module 220 for determining a first matrix to be processed corresponding to the at least one set of digital signals, dividing the first matrix to be processed into at least one matrix to be applied according to a first preset rule, and determining a second matrix to be processed corresponding to each matrix to be applied; the first matrix to be processed is a one-dimensional matrix, the second matrix to be processed is a two-dimensional matrix, and at least one second matrix to be processed corresponds to each receiving antenna;
A matrix to be detected determining module 230, configured to determine a matrix to be detected based on at least one matrix to be processed corresponding to each of the receiving antennas, and determine a distance unit and a speed unit based on the matrix to be detected and a preset detection criterion, so as to determine a phase of each ramp signal corresponding to each of the transmitting antennas based on the distance unit and the speed unit;
a non-ambiguity speed determining module 240, configured to determine, for each of the transmitting antennas, a non-ambiguity speed corresponding to a current transmitting antenna based on a phase of each ramp signal corresponding to the current transmitting antenna and a corresponding time interval;
the target distance determining module 250 is configured to determine a target speed of the target object based on at least one non-fuzzy speed, and determine a target distance of the target object based on the target speed, a predetermined beat frequency, and a preset bandwidth.
According to the technical scheme, at least one group of mixed signals corresponding to a current frame of transmitted signals are obtained, digital signals corresponding to the at least one group of mixed signals are determined, then a first matrix to be processed corresponding to the at least one group of digital signals is determined, the first matrix to be processed is divided into at least one matrix to be applied according to a first preset rule, a second matrix to be processed corresponding to each matrix to be applied is determined, further, a matrix to be detected is determined based on the at least one matrix to be processed corresponding to each receiving antenna, a distance unit and a speed unit are determined based on the matrix to be detected and a preset detection criterion, and the phase of each slope signal corresponding to each transmitting antenna is determined based on the distance unit and the speed unit; for each transmitting antenna, determining an unambiguous speed corresponding to the current transmitting antenna based on the phase of each ramp signal corresponding to the current transmitting antenna and the corresponding time interval; the method comprises the steps of determining the target speed of a target object based on at least one non-fuzzy speed, determining the target distance of the target object based on the target speed, a predetermined beat frequency and a preset bandwidth, solving the problems that the refresh rate is reduced, the system signal processing time is increased, the bandwidth is limited by the medium frequency bandwidth of radar hardware and the like and cannot be too wide, so that the distance resolution cannot be too high, the testing precision and the like are influenced, realizing the effects of good distance and speed estimation performance, accurately estimating the distance and speed of the target, having higher estimation resolution, and not needing simultaneous solving of data between simultaneous frames, and saving the system period.
Optionally, the apparatus further includes: a transmit signal transmitting module and a mixed signal determining module.
A transmission signal transmitting module for transmitting at least one frame of transmission signal to the target object based on at least one transmission antenna;
and the mixed signal determining module is used for receiving echo signals corresponding to the current frame transmitting signals based on the receiving antennas for each frame transmitting signal, and carrying out mixed processing on the echo signals and the current frame transmitting signals to obtain mixed signals corresponding to the current frame transmitting signals.
Optionally, the mixed signal acquisition module 210 includes: and a mixed signal conversion unit.
And the mixed signal conversion unit is used for carrying out analog-to-digital conversion processing on the mixed signal so as to obtain a digital signal corresponding to the mixed signal.
Optionally, the pending matrix determining module 220 includes: a first matrix to be processed determination unit.
And the first matrix to be processed determining unit is used for performing fast Fourier transform processing on the at least one group of discrete digital signals to obtain the first matrix to be processed.
Optionally, the pending matrix determining module 220 includes: and a second matrix determination unit to be processed.
And the second matrix to be processed determining unit is used for carrying out fast Fourier transform processing on the current matrix to be applied for each matrix to be applied to obtain a second matrix to be processed corresponding to the current matrix to be applied.
Optionally, the matrix to be detected determining module 230 includes: the device comprises a matrix set determining unit, a matrix to be used determining unit and a matrix to be detected determining unit.
The matrix set determining unit is used for dividing the matrix set to be processed according to a second preset rule to obtain at least one matrix set; wherein each matrix set to be processed comprises at least one second matrix to be processed;
the matrix to be used determining unit is used for determining norms of the second matrixes to be processed in the current matrix to be processed set aiming at the matrix sets, and summing the norms to obtain the matrix to be used;
and the matrix to be detected determining unit is used for determining the matrix to be detected based on each matrix to be used.
Optionally, the non-ambiguous speed determination module 240 includes: an unblurring coefficient determination unit, a speed determination unit to be applied, and an unblurring speed determination unit.
A non-ambiguity factor determining unit configured to determine at least one non-ambiguity factor corresponding to the transmitting antenna based on a phase of each ramp signal corresponding to the transmitting antenna and a corresponding time interval;
a to-be-applied speed determining unit, configured to determine, according to the at least one non-ambiguity coefficient, a phase of each ramp signal and a corresponding time interval, at least one to-be-applied speed corresponding to the transmitting antenna;
And the non-blurring speed determining unit is used for carrying out average value processing on the at least one speed to be applied so as to obtain the non-blurring speed.
Optionally, the target distance determining module 250 includes: a rough estimation speed determination unit and a target speed determination unit.
The rough estimation speed determining unit is used for verifying the at least one non-fuzzy speed based on a preset speed rough estimation condition to obtain at least one speed to be processed, and carrying out mean value processing on the at least one speed to be processed to obtain a rough estimation speed;
and the target speed determining unit is used for determining the target speed according to a preset speed fine estimation condition and the rough estimation speed.
The speed de-blurring device based on the non-uniform waveform provided by the embodiment of the invention can execute the speed de-blurring method based on the non-uniform waveform provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the executing method.
Example III
Fig. 6 shows a schematic diagram of the structure of an electronic device 10 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of radar sensors, such as vehicle-mounted radar sensors and other similar computing devices. The electronic device may also represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 6, the electronic device 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 may also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
Various components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, etc.; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 performs the various methods and processes described above, such as a speed disambiguation method based on non-uniform waveforms.
In some embodiments, the non-uniform waveform based velocity deblurring method may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the non-uniform waveform based velocity deblurring method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the non-uniform waveform based velocity disambiguation method in any other suitable manner (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., an LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and pointing device (e.g., a mouse) through which a user may provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or the like.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as information basis for a vehicle to act on), or that includes a middleware component (e.g., raw information that is a data fusion), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., internet protocol communication, CAN communication).
The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.

Claims (10)

1. A non-uniform waveform based velocity deblurring method, comprising:
acquiring at least one group of mixed signals corresponding to a current frame transmission signal, and determining a digital signal corresponding to the at least one group of mixed signals; the current frame transmitting signals comprise a plurality of groups of sawtooth wave transmitting signals, the initial frequency of each group of sawtooth wave transmitting signals is different, each group of sawtooth wave transmitting signals consists of ramp signals transmitted by at least one transmitting antenna, and the time interval between each ramp signal is different;
determining a first matrix to be processed corresponding to the at least one group of digital signals, dividing the first matrix to be processed into at least one matrix to be applied according to a first preset rule, and determining a second matrix to be processed corresponding to each matrix to be applied; the first matrix to be processed is a one-dimensional matrix, the second matrix to be processed is a two-dimensional matrix, and at least one second matrix to be processed corresponds to each receiving antenna;
Determining a matrix to be detected based on at least one second matrix to be processed corresponding to each receiving antenna, and determining a distance unit and a speed unit based on the matrix to be detected and a preset detection criterion, so as to determine the phase of each ramp signal corresponding to each transmitting antenna based on the distance unit and the speed unit;
for each transmitting antenna, determining an unambiguous speed corresponding to the current transmitting antenna based on the phase of each ramp signal corresponding to the current transmitting antenna and a corresponding time interval;
and determining a target speed of the target object based on at least one non-fuzzy speed, and determining a target distance of the target object based on the target speed, a predetermined beat frequency and a preset bandwidth.
2. The method as recited in claim 1, further comprising:
transmitting at least one frame of transmission signal to the target object based on the at least one transmitting antenna;
for each frame of transmitting signals, receiving echo signals corresponding to the current frame of transmitting signals based on a receiving antenna, and carrying out mixing processing on the echo signals and the current frame of transmitting signals to obtain mixing signals corresponding to the current frame of transmitting signals.
3. The method of claim 1, wherein said determining a digital signal corresponding to said mixed signal comprises:
and performing analog-to-digital conversion processing on the mixed signal to obtain a digital signal corresponding to the mixed signal.
4. The method of claim 1, wherein the determining a first matrix to be processed corresponding to the at least one set of digital signals comprises:
and performing fast Fourier transform processing on the at least one group of digital signals to obtain the first matrix to be processed.
5. The method of claim 1, wherein the determining a second matrix to be processed corresponding to each of the matrices to be applied comprises:
and for each matrix to be applied, performing fast Fourier transform processing on the current matrix to be applied to obtain a second matrix to be processed corresponding to the current matrix to be applied.
6. The method of claim 1, wherein the determining a matrix to be detected based on at least one second matrix to be processed corresponding to each of the receive antennas comprises:
dividing a second matrix to be processed corresponding to each matrix to be applied according to a second preset rule to obtain at least one matrix set; wherein each matrix set to be processed comprises at least one second matrix to be processed;
Determining norms of second matrixes to be processed in the current matrix set to be processed according to the matrix sets, and summing the norms to obtain matrixes to be used;
and determining the matrix to be detected based on each matrix to be used.
7. The method of claim 1, wherein the determining the non-ambiguity speed corresponding to the current transmit antenna based on the phase of each ramp signal corresponding to the current transmit antenna and the corresponding time interval comprises:
determining at least one non-ambiguity factor corresponding to the transmit antenna based on the phase of each ramp signal corresponding to the transmit antenna and a corresponding time interval;
determining at least one speed to be applied corresponding to the transmitting antenna according to the at least one non-ambiguity coefficient, the phase of each ramp signal and the corresponding time interval;
and carrying out average value processing on the at least one speed to be applied to obtain the non-fuzzy speed.
8. The method of claim 1, wherein determining the target speed of the target object based on the at least one non-ambiguous speed comprises:
Checking the at least one non-fuzzy speed based on a preset speed rough estimation condition to obtain at least one to-be-processed speed, and carrying out mean value processing on the at least one to-be-processed speed to obtain a rough estimation speed;
and determining the target speed according to a preset speed fine estimation condition and the rough estimation speed.
9. A non-uniform waveform based velocity deblurring apparatus comprising:
a mixed signal acquisition module for acquiring at least one group of mixed signals corresponding to the current frame transmission signal and determining digital signals corresponding to the at least one group of mixed signals; the current frame transmitting signals comprise a plurality of groups of sawtooth wave transmitting signals, the initial frequency of each group of sawtooth wave transmitting signals is different, each group of sawtooth wave transmitting signals consists of ramp signals transmitted by at least one transmitting antenna, and the time interval between each ramp signal is different;
the matrix determination module is used for determining a first matrix to be processed corresponding to the at least one group of digital signals, dividing the first matrix to be processed into at least one matrix to be applied according to a first preset rule, and determining a second matrix to be processed corresponding to each matrix to be applied; the first matrix to be processed is a one-dimensional matrix, the second matrix to be processed is a two-dimensional matrix, and at least one second matrix to be processed corresponds to each receiving antenna;
The matrix to be detected determining module is used for determining a matrix to be detected based on at least one matrix to be processed corresponding to each receiving antenna, determining a distance unit and a speed unit based on the matrix to be detected and a preset detection criterion, and determining the phase of each slope signal corresponding to each transmitting antenna based on the distance unit and the speed unit;
a non-ambiguity speed determining module, configured to determine, for each of the transmitting antennas, a non-ambiguity speed corresponding to a current transmitting antenna based on a phase of each ramp signal corresponding to the current transmitting antenna and a corresponding time interval;
the target distance determining module is used for determining the target speed of the target object based on at least one non-fuzzy speed and determining the target distance of the target object based on the target speed, a predetermined beat frequency and a preset bandwidth.
10. An electronic device, the electronic device comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the non-uniform waveform based velocity deblurring method of any of claims 1-8.
CN202310975764.1A 2023-08-03 2023-08-03 Speed disambiguation method, device, equipment and medium based on non-uniform waveform Pending CN116990803A (en)

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