WO2018121470A1 - 一种fmcw雷达频率时间波形调制方法、装置及电子设备 - Google Patents

一种fmcw雷达频率时间波形调制方法、装置及电子设备 Download PDF

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WO2018121470A1
WO2018121470A1 PCT/CN2017/118242 CN2017118242W WO2018121470A1 WO 2018121470 A1 WO2018121470 A1 WO 2018121470A1 CN 2017118242 W CN2017118242 W CN 2017118242W WO 2018121470 A1 WO2018121470 A1 WO 2018121470A1
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Prior art keywords
time waveform
frequency time
fmcw radar
point
frequency
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PCT/CN2017/118242
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English (en)
French (fr)
Inventor
陈承文
安清儒
刘龙龙
谭树杰
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深圳承泰科技有限公司
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Publication of WO2018121470A1 publication Critical patent/WO2018121470A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
    • G01S7/4008—Means for monitoring or calibrating of parts of a radar system of transmitters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating

Definitions

  • the embodiments of the present application relate to the field of radar monitoring, and in particular, to a FMCW radar frequency time waveform modulation method, device, and electronic device.
  • the radar system obtains the relative distance of the target by directly or indirectly measuring the echo delay time of the transmitted signal (Note: In this case, the FMCW radar indirectly realizes the delay time measurement by measuring the beat frequency of the transmitting and receiving frequency), by measuring the echo of the Doppler
  • the frequency is used to obtain the radial relative velocity of the target relative to the radar.
  • Ranging and speed measurement are the most basic functions of radar. Among them, FMCW radar (frequency-modulated continuous wave) is widely used due to its high measurement accuracy, low radiation power and relatively simple equipment.
  • the modulation voltage time waveform of the FMCW radar is linear, and the frequency time waveform determined by the corresponding VCO characteristic is nonlinear; the FMCW radar has low transmission and reception isolation.
  • the modulation voltage, frequency, and received signal are analog quantities.
  • the inventors of the present application found in the research that the phenomenon of saturation of the amplitude of the radar echo in the prior art mainly occurs at the starting point on the frequency time waveform and before the peak point is sampled by the analog quantity. If the FMCW radar modulation voltage time waveform is linear, after receiving the analog conditioning circuit, the signal approaches the maximum value of the analog system at the starting point to the peak point and the peak point and the violent oscillation occurs.
  • the technical problem to be solved by the embodiment of the present application is to provide a FMCW radar frequency time waveform modulation method, device and electronic device, which converts the frequency time waveform in the peak point band of the FMCW radar frequency time waveform into a smooth curve. Because the inherent transmission and reception isolation of the FMCW radar is insufficient and varies with frequency, the amplitude of the violent oscillation through the receiving system is greatly reduced, ensuring that the peak amplitude of the oscillation does not saturate after passing through the receiving system.
  • a technical solution adopted by the embodiment of the present application is to provide a FMCW radar frequency time waveform modulation method, which includes the following steps:
  • the frequency band of the FMCW radar frequency time waveform from the starting point to the peak point is smoothed, so that the frequency time waveform in the band where the starting point to the peak point is in a smooth curve.
  • the acquiring the starting band of the FMCW radar frequency time waveform includes:
  • the smoothing process is performed on the frequency band of the FMCW radar frequency time waveform from the starting point to the peak point, so that the frequency time waveform in the band where the starting point to the peak point is in a smooth curve, including :
  • the smoothing process is performed on the frequency band of the FMCW radar frequency time waveform from the starting point to the peak point, so that the frequency time waveform in the band where the starting point to the peak point is in a smooth curve, including :
  • Reading the FMCW radar frequency time waveform starting point to the peak point corresponding to the frequency modulation voltage waveform starting point is P0 (x p0 , y p0 ), and smoothing the frequency time waveform between P0 and P1 to make P0 and
  • the line segment between P1 conforms to the following formula:
  • the rate of change of the frequency time waveform between the points P0 and P1 is kept constant.
  • the smoothing process is performed on the frequency band of the FMCW radar frequency time waveform from the starting point to the peak point, so that the frequency time waveform in the band where the starting point to the peak point is in a smooth curve, including :
  • Reading a point on the frequency modulation voltage waveform corresponding to the peak point of the FMCW radar frequency time waveform is P3 (x p3 , y p3 ), and smoothing the frequency time waveform between P2 and P3 to make a relationship between P2 and P3
  • the line segment conforms to the following formula:
  • the rate of change of the frequency time waveform between the points P2 and P3 is kept constant.
  • the embodiment of the present application further provides a FMCW radar frequency time waveform modulation apparatus, including:
  • Obtaining a module configured to acquire a wavelength band from a starting point to a peak point in a FMCW radar frequency time waveform
  • the smoothing calculation module is configured to smooth the frequency band of the FMCW radar frequency time waveform from the starting point to the peak point, so that the frequency time waveform in the band where the starting point to the peak point is in a smooth curve.
  • the obtaining module includes:
  • the first obtaining sub-module is configured to acquire a starting point to a peak point of the FMCW radar frequency time waveform, and obtain a starting time of the application of the modulation voltage.
  • the smoothing calculation module includes:
  • a first smoothing calculation submodule configured to take a first feature point P1(x p1 , y p1 ) and a second feature point P2 (x p2 , y p2 ) on the frequency modulation voltage waveform corresponding to the FMCW radar frequency time waveform , where P1 and P2 do not coincide and are not extreme points;
  • the smoothing calculation module further includes:
  • a second smoothing calculation sub-module configured to read a starting point of the FMCW radar frequency time waveform from a starting point to a peak point of a frequency modulation voltage waveform, starting at P0(x p0 , y p0 ), and frequency between P0 and P1
  • the time waveform is smoothed so that the waveform between P0 and P1 conforms to the following formula:
  • the rate of change of the frequency time waveform between the points P0 and P1 is kept constant.
  • the smoothing calculation module further includes:
  • a third smoothing calculation sub-module configured to read a point on the frequency modulation voltage waveform corresponding to the peak point of the FMCW radar frequency time waveform as P3 (x p3 , y p3 ), and smooth the frequency time waveform between P2 and P3 Processing so that the line segment between P2 and P3 conforms to the following formula:
  • the rate of change of the frequency time waveform between the points P2 and P3 is kept constant.
  • an electronic device including:
  • At least one processor and,
  • the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the FMCW radar frequency time waveform modulation method as described above .
  • the embodiment of the present application further provides a non-transitory computer readable storage medium, where the non-transitory computer readable storage medium stores computer executable instructions for making an electronic
  • the device performs the FMCW radar frequency time waveform modulation method as described above.
  • the embodiment of the present application further provides a computer program product, where the computer program product includes a computer program stored on a non-transitory computer readable storage medium, the computer program includes program instructions, When the program instructions are executed by the electronic device, the electronic device is caused to perform the FMCW radar frequency time waveform modulation method as described above.
  • the beneficial effects of the embodiment of the present application are: by converting the frequency band at which the starting point of the FMCW radar frequency time waveform is converted into a smooth curve, since the frequency time waveform of the frequency band in which the starting point and the peak point are located is smoothed, the FMCW radar is inherently transmitted and received.
  • the isolation is insufficient and varies with frequency, and the amplitude of the violent oscillation through the receiving system is greatly reduced, and the saturation phenomenon does not occur through the receiving circuit.
  • the frequency band of the starting point of the frequency time waveform is reversed according to the frequency modulation characteristic of the VCO, so that the FMCW radar frequency time waveform satisfies a constant slope, that is, the FMCW radar frequency time waveform is linear.
  • the smoothed modulation voltage time waveform controls the VCO to produce a smooth frequency time waveform
  • the receiving circuit is less likely to saturate and block the receiving channel phenomenon, and the radar receiving sensitivity S min is improved, thereby improving the radar detection probability P d for the long distance target.
  • a linearized frequency-time waveform is generated, making the radar measurements more accurate.
  • FIG. 1 is a basic flowchart of a FMCW radar frequency time waveform modulation method according to an embodiment of the present application
  • FIG. 2 is a diagram showing changes in frequency time waveforms from a starting point to a peak point in the embodiment of the present application
  • FIG. 3 is a basic structural diagram of a FMCW radar frequency time waveform modulation apparatus according to an embodiment of the present application
  • FIG. 4 is a specific structural module of an acquiring module according to an embodiment of the present application.
  • FIG. 5 is a specific structural module of a smooth computing module according to an embodiment of the present application.
  • FIG. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
  • FIG. 1 is a basic flowchart of a FMCW radar frequency time waveform modulation method according to an embodiment of the present invention.
  • a FMCW radar frequency time waveform modulation method includes the following steps:
  • FMCW radar Frequency Modulated Continuous Wave
  • FMCW radar technology is a technology used in high-resolution, high-precision measurement and positioning.
  • the basic principle is that the transmitted wave is a high-frequency continuous wave, and its frequency changes according to the law of triangular wave and sawtooth wave with time.
  • the frequency of the echo received by the radar is the same as the frequency of the transmitted frequency, except that there is a time difference and a frequency offset. This small time difference and frequency difference can be measured indirectly by using the transmission and reception frequency difference, and the target distance and speed can be calculated.
  • the FMCW radar frequency time waveform can be modulated to linearity. Because the modulation voltage frequency time waveform can control the linear variation of the FM frequency, when the FMCW radar frequency time waveform is modulated, changing the modulation voltage can change the FMCW radar frequency time waveform. shape.
  • the FMCW radar frequency time waveform modulation is controlled by the modulation voltage
  • the starting point band of the FMCW radar frequency time waveform is acquired, only the start time of the application of the FMCW radar frequency time waveform modulation voltage is acquired, that is, the application can be acquired.
  • the starting time of the modulation voltage also obtains the starting point of the FMCW radar frequency time waveform. It should be noted that the modulation voltage does not increase from 0V, so the voltage of the starting point of the acquired FMCW radar frequency time waveform is not voltage 0V.
  • S1120 Smoothing the frequency time waveform in the FMCW radar frequency time waveform starting point to the peak point band, so that the frequency time waveform in the starting point to the peak point band is a smooth curve.
  • the variation law of the modulation voltage is changed, so that the modulation voltage time waveform of the FMCW radar frequency time waveform starting point to the peak point band is changed from linear to nonlinear, and the implementation method is as follows:
  • the modulation voltage varies with a specific smooth curve. Since the variation of the modulation voltage conforms to the smooth curve, the frequency time waveform modulated by the modulation voltage also changes synchronously with the modulation voltage, so the frequency time waveform modulated by the modulation voltage is also smooth. of.
  • the FMCW radar frequency time waveform By converting the starting point of the FMCW radar frequency time waveform to the first feature point band and the second feature point to the peak point band into a smooth curve, since the frequency and time waveforms of the starting point and the peak point are smoothed, the FMCW radar is inherently transmitted and received. The isolation is insufficient and varies with frequency, and the amplitude of the violent oscillation through the receiving system is greatly reduced, and the saturation phenomenon does not occur through the receiving circuit.
  • the first characteristic point to the second characteristic point band of the frequency time waveform is reversed according to the frequency modulation characteristic of the VCO, so that the FMCW radar frequency time waveform satisfies a constant slope, that is, the FMCW radar frequency time waveform is linear.
  • time modulated voltage waveform smoothing control the VCO frequency to create a smooth time waveform, less prone to clog the receiving circuit receiving channel saturation, enhance the radar receiver sensitivity S min, and to improve long-range radar target detection probability P d.
  • a linearized frequency-time waveform is generated, making the radar measurements more accurate.
  • the first feature point P1(x p1 , y p1 ) and the second feature point P2 (x p2 , y p2 ) are taken in the starting point to the peak point band in the FMCW radar frequency time waveform, wherein, P1 It does not coincide with P2 and is not a pole value.
  • the frequency time waveform between P1 and P2 is smoothed so that the line segment between P1 and P2 conforms to the following formula:
  • y 2 A1 * x 2 - A2 * x + A3 to keep the frequency time waveform between the points P1 and P2 linear.
  • A1, A2, and A3 are all indefinite constants, and the specific values are determined by the characteristics of the VCO (Voltage Controlled Oscillator) that modulates the FMCW radar frequency time waveform and the actual operation of the receiving circuit.
  • VCO Voltage Controlled Oscillator
  • This embodiment also provides an optimization.
  • the formula for the constant value is:
  • the starting point of reading the starting band is P0(x p0 , y p0 ), and the frequency time waveform between P0 and P1 is smoothed, so that the line segment between P0 and P1 conforms to the following formula:
  • B1, B2, and B3 are all indefinite constants, and the specific values are determined by the actual working characteristics of the VCO that modulates the FMCW radar frequency time waveform.
  • an optimized constant constant is also provided as:
  • Reading the peak point of the FMCW radar frequency time waveform is P3 (x p3 , y p3 ), and smoothing the frequency time waveform between P2 and P3, so that the line segment between P2 and P3 conforms to the following formula :
  • C1, C2 and C3 are indefinite constants, and the specific values are determined by the VCO of the FMCW radar frequency time waveform and the actual working characteristics of the receiving circuit.
  • an optimized constant constant is also provided. :
  • FIG. 2 is a diagram showing changes in the frequency waveform of the starting point to the peak point in the embodiment of the present application.
  • the frequency time waveform of the band in which the starting point is located in this embodiment is modulated according to the second modulation voltage variation formula, and the obtained frequency time waveform of the starting point is a smooth transition curve.
  • the FMCW radar frequency time waveform is linearly changed from the second peak.
  • the saturation of the received echo amplitude of the radar mainly occurs in the starting point and the peak point of the frequency time waveform. Therefore, in the present embodiment, only the starting point band and the peak point band in the FMCW radar frequency time waveform are smoothed.
  • the subsequent frequency time waveform is modulated into a linearly varying waveform according to the FMCW radar modulation method in the prior art.
  • the FMCW radar frequency time waveform is processed from the starting point to the peak point of the waveform according to the smoothing method described above.
  • the frequency time waveform in the starting point of the FMCW radar frequency time waveform is converted into a smooth curve, and the SNR (signal to noise ratio) of the long-distance target detection is improved, thereby greatly improving the recognition of the target. Resolution and accuracy.
  • the control waveform passes through the transceiver system, and then receives the high-pass filter to obtain the differential response, which obtains high fluctuations, causes the channel to be blocked, and the effective observation time is reduced, which affects the radar resolution R resolution and accuracy. , speed v resolution and accuracy indicators.
  • FIG. 3 is a basic structural diagram of a FMCW radar frequency time waveform modulation apparatus according to an embodiment.
  • an FMCW radar frequency time waveform modulation apparatus includes: an acquisition module 2110 and a smoothing calculation module 2120.
  • the obtaining module 2110 is configured to acquire a starting point and a peak point of a FMCW radar frequency time waveform
  • the smoothing calculating module 2120 is configured to use a frequency time waveform in a starting point of the FMCW radar frequency time waveform to a peak point band. Smoothing is performed to make a smooth curve of the frequency time waveform from the starting point to the peak point band.
  • FIG. 4 is a specific structural module of the acquiring module 2110 in the embodiment.
  • the obtaining module 2110 includes a first acquiring sub-module 2111 for acquiring an application start time of the FMCW radar frequency time waveform modulation voltage. Since the modulation of the FMCW radar frequency time waveform is controlled by the modulation voltage, the acquisition module 2110 only needs to acquire the FMCW radar frequency time waveform modulation voltage through the first acquisition submodule 2111 when acquiring the initial band of the FMCW radar frequency time waveform.
  • the start time of the application that is, the start time of the applied modulation voltage can be obtained, and the starting point of the FMCW radar frequency time waveform is obtained. It should be noted that the modulation voltage does not linearly increase from the 0V voltage, so the acquired FMCW The voltage of the radar frequency time waveform is not the origin.
  • the smoothing calculation module 2120 changes the variation law of the modulation voltage, so that the frequency time waveform in the FMCW radar frequency time waveform starting point to the peak point band changes from linear to smooth-linear. Smoothing, which is implemented by: the smoothing calculation module 2120 changes the modulation voltage with a specific smooth curve. Since the variation of the modulation voltage conforms to the smooth curve, the frequency time waveform modulated by the modulation voltage is also maintained with the modulation voltage. The frequency changes in synchronization, so the frequency time waveform modulated by the modulation voltage is also smooth.
  • FIG. 5 is a specific structural module of the smoothing calculation module 2120 of the present embodiment.
  • the smoothing calculation module 2120 includes a first smoothing calculation sub-module 2121, a second smoothing calculation sub-module 2122, and a third smoothing calculation sub-module 2123.
  • the first smoothing calculation sub-module takes values P1(x p1 , y p1 ) and P2(x p2 , y p2 ) in the starting point to the peak point band of the FMCW radar frequency time waveform, where P1 and P2 Do not coincide and not the pole value, linearly smooth the frequency time waveform between P1 and P2, so that the line segment between P1 and P2 conforms to the following formula:
  • y 2 A1 * x 2 - A2 * x + A3 to keep the frequency time waveform between the points P1 and P2 linear.
  • A1, A2, and A3 are all indefinite constants, and the specific values are determined by the VCO of the FMCW radar frequency time waveform and the actual working characteristics of the receiving circuit.
  • an optimized constant constant is also provided. :
  • the second smoothing calculation sub-module 2122 reads the starting point of the starting band as P0(x p0 , y p0 ), and smoothes the frequency time waveform between P0 and P1 to make the line segment between P0 and P1 match.
  • P0(x p0 , y p0 ) the starting point of the starting band as P0(x p0 , y p0 )
  • the second smoothing calculation sub-module 2122 reads the starting point of the starting band as P0(x p0 , y p0 ), and smoothes the frequency time waveform between P0 and P1 to make the line segment between P0 and P1 match.
  • B1, B2 and B3 are all indefinite constants. The specific values are determined by the VCO of the FMCW radar frequency time waveform and the actual working characteristics of the receiving circuit. In this embodiment, an optimized constant constant is also provided. :
  • the third smoothing calculation submodule 2123 reads the peak point of the FMCW radar frequency time waveform as P3 (x p3 , y p3 ), and smoothes the frequency time waveform between P2 and P3 to make P2 and P3
  • the line segment between them conforms to the following formula:
  • C1, C2 and C3 are indefinite constants, and the specific values are determined by the VCO of the FMCW radar frequency time waveform and the actual working characteristics of the receiving circuit.
  • an optimized constant constant is also provided. :
  • the frequency time waveform of the band in which the starting point is located is modulated according to the second modulation voltage variation formula described above, and the obtained frequency time waveform of the band in which the starting point is located is a smooth transition curve.
  • the frequency band of the starting point of the frequency time waveform is reversed according to the frequency modulation characteristic of the VCO, so that the FMCW radar frequency time waveform satisfies a constant slope, that is, the FMCW radar frequency time waveform is linear.
  • time modulated voltage waveform smoothing control the VCO frequency to create a smooth time waveform, less prone to clog the receiving circuit receiving channel saturation, enhance the radar receiver sensitivity S min, and to improve long-range radar target detection probability P d.
  • a linearized frequency-time waveform is generated, making the radar measurements more accurate.
  • FIG. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure, where the electronic device 600 includes:
  • One or more processors 601 and memory 602, one processor 601 is taken as an example in FIG.
  • the processor 601 and the memory 602 can be connected by a bus or other means, as exemplified by the bus connection in Fig. 6.
  • the memory 602 is used as a non-transitory computer readable storage medium, and can be used for storing non-transitory software programs, non-transitory computer executable programs, and modules, such as the FMCW radar frequency time waveform modulation method in the embodiment of the present application.
  • Program instructions/modules eg, acquisition module 2110 and smoothing calculation module 2120 shown in FIG. 3
  • the processor 601 performs various functional applications and data processing of the FMCW radar frequency time waveform modulation device by running non-transitory software programs, instructions, and modules stored in the memory 602, that is, implementing the FMCW radar of any of the above method embodiments. Frequency time waveform modulation method.
  • the memory 602 can include a storage program area and a storage data area, wherein the storage program area can store an operating system, an application required for at least one function; and the storage data area can store data created according to the use of the FMCW radar frequency time waveform modulation device. Wait.
  • memory 602 can include high speed random access memory, and can also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device.
  • memory 602 can optionally include memory remotely located relative to processor 601, which can be connected to electronic device 600 over a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.
  • the one or more modules are stored in the memory 602, and when executed by the one or more processors 601, perform the FMCW radar frequency time waveform modulation method in any of the above method embodiments, for example, performing the above description
  • the method steps S1110 to S1120 in FIG. 1 implement the functions of the modules 2110 and 2120 in FIG.
  • the embodiment of the present application further provides a non-transitory computer readable storage medium storing computer executable instructions executed by one or more processors, for example, Executed by a processor 601 in FIG. 6, the one or more processors may be configured to perform the FMCW radar frequency time waveform modulation method in any of the above method embodiments, for example, to perform the method step S1110 in FIG. 1 described above.
  • the functions of the modules 2110 and 2120 in FIG. 3 are implemented.
  • the device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, ie may be located A place, or it can be distributed to multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
  • the various embodiments can be implemented by means of software plus a general hardware platform, and of course, by hardware.
  • One of ordinary skill in the art can understand that all or part of the process of implementing the above embodiments can be completed by a computer program in a computer program product, and the computer program can be stored in a non-transitory computer.
  • the computer program includes program instructions that, when executed by the electronic device, cause the electronic device to perform the processes of the method embodiments as described above.
  • the storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).
  • the above-mentioned products can perform the FMCW radar frequency time waveform modulation method provided by the embodiments of the present application, and have the corresponding functional modules for performing the FMCW radar frequency time waveform modulation method.
  • Beneficial effect For the technical details that are not described in detail in this embodiment, refer to the FMCW radar frequency time waveform modulation method provided by the embodiment of the present application.

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Abstract

一种FMCW雷达频率时间波形调制方法，包括下述步骤：获取FMCW雷达频率时间波形的起始点至峰值点（S1110）；将FMCW雷达频率时间波形中起始点至峰值点所处的波段进行平滑处理，使起始点至峰值点所处的波段内频率时间波形呈平滑曲线（S1120）。将FMCW雷达频率时间波形的起始点至峰值点所处的波段转化为平滑曲线，由于对起始点、峰值点所处的频段的频率时间波形平滑，使因FMCW雷达固有收发隔离度不足且随频率变化导致经过接收系统出现剧烈震荡的幅度极大减小，其通过接收电路不出现饱和现象。同时，频率时间波形的中点所处的波段，依据VCO的特性反求调制电压时间波形，使得FMCW雷达频率时间波形满足恒定斜率，即保证FMCW雷达频率时间波形呈现线性。

Description

一种FMCW雷达频率时间波形调制方法、装置及电子设备
相关申请的交叉参考
本申请要求于2016年12月26日提交中国专利局、申请号为201611221423.1、发明名称为“一种FMCW雷达波形调制方法及装置”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请实施例涉及雷达监测领域，尤其是一种FMCW雷达频率时间波形调制方法、装置及电子设备。
背景技术
目前，雷达系统通过直接或间接测量发射信号的回波延迟时间来获得目标的相对距离(注意：本案FMCW雷达是通过测量收发频率的拍频间接实现延迟时间测量)，通过测量回波的多普勒频率来获得目标相对于雷达的径向相对速度。测距和测速是雷达最基本的功能，其中FMCW雷达(调频连续波)因其测量精度高，辐射功率小，设备相对简单而得到广泛的应用。
现有技术中的FMCW雷达调制电压时间波形均为线性，而相对应的VCO特性决定的频率时间波形并非线性；FMCW雷达收发隔离度低。所述的调制电压、频率、接收信号为模拟量。
本申请的发明人在研究中发现，现有技术中的雷达回波幅值饱和现象的情况主要出现在频率时间波形上的起始点、峰值点经过模拟量采样之前。如果FMCW雷达调制电压时间波形为线性，经过接收模拟调理电路处理后，在起始点至峰值点、峰值点时刻信号逼近模拟系统最大值且出现剧烈的震荡。
发明内容
本申请实施例主要解决的技术问题是提供一种FMCW雷达频率时间波形调 制方法、装置及电子设备，通过将FMCW雷达频率时间波形的起始点至峰值点波段内的频率时间波形转化为平滑曲线，使因FMCW雷达固有收发隔离度不足且随频率变化导致，并经过接收系统出现剧烈震荡的幅度极大减小，确保经过接收系统后其震荡峰峰值不出现饱和。
为解决上述技术问题，本申请实施例采用的一个技术方案是：提供一种FMCW雷达频率时间波形调制方法，包括下述步骤：
获取FMCW雷达频率时间波形中起始点至峰值点所处的波段；
将所述FMCW雷达频率时间波形中起始点至峰值点所处的波段进行平滑处理，使所述起始点至峰值点所处的波段内频率时间波形呈平滑曲线。
可选地，所述获取FMCW雷达频率时间波形的起始波段，包括：
获取FMCW雷达频率时间波形起始点，同时获取调制电压的施加的起始时间。
可选地，所述将所述FMCW雷达频率时间波形中起始点至峰值点所处的波段进行平滑处理，使所述起始点至峰值点所处的波段内的频率时间波形呈平滑曲线，包括：
在所述FMCW雷达频率时间波形对应的频率调制电压波形上取第一特征点P1(x p1，y p1)和第二特征点P2(x p2，y p2)，其中，P1和P2不重合且不是极值点；
对P1和P2之间的频率时间波形进行线性平滑处理，使P1和P2之间的线段符合下述公式：
y 2＝A1*x 2-A2*x+A3
以使所述点P1与P2之间频率时间波形保持线性。
可选地，所述将所述FMCW雷达频率时间波形中起始点至峰值点所处的波段进行平滑处理，使所述起始点至峰值点所处的波段内的频率时间波形呈平滑曲线，包括：
读取所述FMCW雷达频率时间波形起始点至峰值点对应的频率调制电压波形上起点为P0(x p0，y p0)，并对P0和P1之间的频率时间波形进行平滑处理，使P0和P1之间的线段符合下述公式：
y 1＝B1*x 2-B2*x+B3
以使所述点P0与P1之间频率时间波形变化率保持恒定。
可选地，所述将所述FMCW雷达频率时间波形中起始点至峰值点所处的波段进行平滑处理，使所述起始点至峰值点所处的波段内的频率时间波形呈平滑曲线，包括：
读取所述FMCW雷达频率时间波形峰值点对应的频率调制电压波形上点为P3(x p3，y p3)，对P2和P3之间的频率时间波形进行平滑处理，使P2和P3之间的线段符合下述公式：
y 3＝C1*x 2+C2*x-C3
以使所述点P2与P3之间频率时间波形变化率保持恒定。
为解决上述技术问题，本申请实施例还提供一种FMCW雷达频率时间波形调制装置，包括：
获取模块，用于获取FMCW雷达频率时间波形中起始点至峰值点所处的波段；
平滑计算模块，用于将所述FMCW雷达频率时间波形中起始点至峰值点所处的波段进行平滑处理，使所述起始点至峰值点所处的波段内的频率时间波形呈平滑曲线。
可选地，所述获取模块包括：
第一获取子模块，用于获取FMCW雷达频率时间波形起始点至峰值点，同时获取调制电压的施加的起始时间。
可选地，所述平滑计算模块包括：
第一平滑计算子模块，用于在所述FMCW雷达频率时间波形对应的频率调制电压波形上取第一特征点P1(x p1，y p1)和第二特征点P2(x p2，y p2)，其中，P1和P2不重合且不是极值点；
对P1和P2之间的频率时间波形进行线性平滑处理，使P1和P2之间的波形符合下述公式：
y 2＝A1*x 2-A2*x+A3
以使所述点P1与P2之间频率时间波形保持线性。
可选地，所述平滑计算模块还包括：
第二平滑计算子模块，用于读取所述FMCW雷达频率时间波形起始点至峰 值点对应的频率调制电压波形上起点为P0(x p0，y p0)，并对P0和P1之间的频率时间波形进行平滑处理，使P0和P1之间的波形符合下述公式：
y 1＝B1*x 2-B2*x+B3
以使所述点P0与P1之间频率时间波形变化率保持恒定。
可选地，所述平滑计算模块还包括：
第三平滑计算子模块，用于读取所述FMCW雷达频率时间波形峰值点对应的频率调制电压波形上点为P3(x p3，y p3)，对P2和P3之间的频率时间波形进行平滑处理，使P2和P3之间的线段符合下述公式：
y 3＝C1*x 2+C2*x-C3
以使所述点P2与P3之间频率时间波形变化率保持恒定。
为解决上述技术问题，本申请实施例还提供一种电子设备，包括：
至少一个处理器；以及，
与所述至少一个处理器通信连接的存储器；其中，
所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够执行如上所述的FMCW雷达频率时间波形调制方法。
为解决上述技术问题，本申请实施例还提供一种非暂态计算机可读存储介质，所述非暂态计算机可读存储介质存储有计算机可执行指令，所述计算机可执行指令用于使电子设备执行如上所述的FMCW雷达频率时间波形调制方法。
为解决上述技术问题，本申请实施例还提供了一种计算机程序产品，所述计算机程序产品包括存储在非暂态计算机可读存储介质上的计算机程序，所述计算机程序包括程序指令，当所述程序指令被电子设备执行时，使所述电子设备执行如上所述的FMCW雷达频率时间波形调制方法。
本申请实施例的有益效果是：通过将FMCW雷达频率时间波形的起始点所处的波段转化为平滑曲线，由于对起始点、峰值点所处的频段的频率时间波形平滑使因FMCW雷达固有收发隔离度不足且随频率变化导致，并经过接收系统出现剧烈震荡的幅度极大减小，其通过接收电路不出现饱和现象。同时，频率时间波形的起始点所处的波段，依据VCO的调频特性反求调制电压时间波形，使得FMCW雷达频率时间波形满足恒定斜率，即保证FMCW雷达频率时间波 形呈现线性。由于平滑后的调制电压时间波形控制VCO产生平滑的频率时间波形，不易出现接收电路饱和而阻塞接收通道现象，提高了雷达接收灵敏度S min，进而提高雷达对远距离目标检测概率P d。通过线性化处理后的调制电压控制VCO，产生了线性化的频率时间波形，使得雷达测量值更准确。
附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本申请实施例FMCW雷达频率时间波形调制方法的基本流程图；
图2为本申请实施例起始点至峰值点波段频率时间波形变化图；
图3为本申请实施例FMCW雷达频率时间波形调制装置基本结构图；
图4为本申请实施例获取模块的具体构成模块；
图5为本申请实施例平滑计算模块的具体构成模块；
图6为本申请实施例提供的电子设备的结构示意图。
具体实施方式
为了使本技术领域的人员更好地理解本申请方案，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述。
在本申请的说明书和权利要求书及上述附图中描述的一些流程中，包含了按照特定顺序出现的多个操作，但是应该清楚了解，这些操作可以不按照其在本文中出现的顺序来执行或并行执行，操作的序号如101、102等，仅仅是用于区分各个不同的操作，序号本身不代表任何的执行顺序。另外，这些流程可以包括更多或更少的操作，并且这些操作可以按顺序执行或并行执行。需要说明的是，本文中的“第一”、“第二”等描述，是用于区分不同的消息、设备、模块等，不代表先后顺序，也不限定“第一”和“第二”是不同的类型。
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域技术人员在没有做出创造性劳 动前提下所获得的所有其他实施例，都属于本申请保护的范围。
实施例
请参阅图1，图1为本实施例FMCW雷达频率时间波形调制方法的基本流程图。
如图1所示，一种FMCW雷达频率时间波形调制方法，包括下述步骤：
S1110、获取FMCW雷达频率时间波形的中的起始点至峰值点所处的波段。FMCW雷达(Frequency Modulated Continuous Wave)，即调频连续波。FMCW雷达技术是在高分辨、高精度测量定位中使用的技术。其基本原理为，发射波为高频连续波，其频率随时间按照三角波、锯齿波规律变化。雷达接收的回波的频率与发射的频率变化规律相同，只是有一个时间差和频率偏移，利用收发频率差可以间接测得这个微小的时间差和频率差，进而可计算出目标距离与速度。FMCW雷达频率时间波形能够被调制为线性是由于调制电压频率时间波形是可以控制调频频率线性变化，因此在对FMCW雷达频率时间波形进行调制时，改变其调制电压即能改变FMCW雷达频率时间波形的形状。
由于FMCW雷达频率时间波形调制是由调制电压控制的，所以在获取FMCW雷达频率时间波形的起始点波段时，只需获取FMCW雷达频率时间波形调制电压的施加的起始时间，即能够获取到施加调制电压的起始时间，也就获取到了FMCW雷达频率时间波形的起始点，需要说明的是，调制电压并非从0V开始递增，所以获取的FMCW雷达频率时间波形的起始点的电压并非电压0V。
S1120、将所述FMCW雷达频率时间波形起始点至峰值点波段内的频率时间波形进行平滑处理，使所述起始点至所述峰值点波段内的频率时间波形呈平滑曲线。获取到FMCW雷达频率时间波形的起始点后，改变调制电压的变化规律，使FMCW雷达频率时间波形起始点至峰值点波段的调制电压时间波形由线性变为非线性，其实现的方法为：使调制电压随特定平滑曲线进行变化，由于调制电压的变化规律符合平滑曲线，则由调制电压调制出来的频率时间波形也与调制电压保持同步变化，故由该调制电压调制出的频率时间波形也是平滑的。
通过将FMCW雷达频率时间波形的起始点至第一特征点波段、第二特征点至峰值点波段转化为平滑曲线，由于对起始点、峰值点所处的频率时间波形平滑使因FMCW雷达固有收发隔离度不足且随频率变化导致，并经过接收系统出 现剧烈震荡的幅度极大减小，其通过接收电路不出现饱和现象。同时，频率时间波形的第一特征点至第二特征点波段，依据VCO的调频特性反求调制电压时间波形，使得FMCW雷达频率时间波形满足恒定斜率，即保证FMCW雷达频率时间波形呈现线性。由于平滑后的调制电压时间波形控制VCO产生平滑的频率时间波形，不易出现接收电路饱和而阻塞接收通道，提高了雷达接收灵敏度S min，进而提高雷达对远距离目标检测概率P d。通过线性化处理后的调制电压控制VCO，产生了线性化的频率时间波形，使得雷达测量值更准确。
具体地，在所述FMCW雷达频率时间波形中起始点至峰值点波段内取值第一特征点P1(x p1，y p1)和第二特征点P2(x p2，y p2)，其中，P1和P2不重合且不是极点值，对P1和P2之间的频率时间波形进行平滑处理，使P1和P2之间的线段符合下述公式：
y 2＝A1*x 2-A2*x+A3，以使所述点P1与P2之间频率时间波形保持线性。
需要指出的A1、A2、A3均为不定常数，其具体数值由调制FMCW雷达频率时间波形的VCO(压控振荡器)及接收电路实际工作的特性决定的，本实施例中还提供一种优化的定值常数公式为：
y 2＝77*x 2-3692*x+43914。
读取所述起始波段的起点为P0(x p0，y p0)，并对对P0和P1之间的频率时间波形进行平滑处理，使P0和P1之间的线段符合下述公式：
y 1＝B1*x 2-B2*x+B3，以使所述点P0与P1之间频率时间波形变化率保持恒定。
需要指出的B1、B2、B3均为不定常数，其具体数值由调制FMCW雷达频率时间波形的VCO实际工作的特性决定的，本实施例中还提供一种优化的定值常数公式为：
y 1＝553*x 2-26533*x+318001。
读取所述FMCW雷达频率时间波形的峰值点为P3(x p3，y p3)，并对对P2和P3之间的频率时间波形进行平滑处理，使P2和P3之间的线段符合下述公式：
y 3＝C1*x 2+C2*x-C3，以使所述点P2与P3之间频率时间波形变化率保持恒定。
需要指出的C1、C2、C3均为不定常数，其具体数值由调制FMCW雷达频 率时间波形的VCO及接收电路实际工作的特性决定的，本实施例中还提供一种优化的定值常数公式为：
y 3＝-1733*x 2+84395*x-1027324。
请参阅图2，图2为本申请实施例起始点至峰值点波段频率时间波形变化图。
如图2所示，本实施例中起始点所在波段的频率时间波形根据上述第二个调制电压变化公式进行调制，得到的起始点所在波段的频率时间波形为平滑的过渡的曲线。
作为本实施例的一种选择性实施方式，使所述FMCW雷达频率时间波形从第二峰值开始呈线性变化。雷达接收回波幅值饱和的情况主要出现在频率时间波形的起始点、峰值点波段，故在本实施例中，仅对FMCW雷达频率时间波形的中的起始点波段、峰值点波段进行平滑处理，对于起始点波段、峰值点波段以外的频率时间波形调制，按照现有技术中的FMCW雷达调制方法，将后续频率时间波形调制成线性变化的波形。
作为本实施例的一种选择性实施方式，使所述FMCW雷达频率时间波形，从波形的起始点至峰值点均按上述的平滑处理方法进行处理。上述实施方式，通过将FMCW雷达频率时间波形的起始点至峰值点波段内的频率时间波形转化为平滑曲线，以及提高远距离目标检测的SNR(信噪比)，极大提高了对目标的识别分辨率及精度。此控制波形经过收发系统，再通过接收高通滤波器后获得了微分响应，得到了较高的起伏变化，引起接受通道阻塞、有效观察时间的减少等问题，影响到雷达作用距离R分辨率及精度、速度v分辨率及精度等指标。
请参阅图3，图3为本实施例FMCW雷达频率时间波形调制装置基本结构图。
如图3所示，一种FMCW雷达频率时间波形调制装置，包括：获取模块2110与平滑计算模块2120。其中，所述获取模块2110用于获取FMCW雷达频率时间波形的起始点、峰值点；所述平滑计算模块2120用于将所述FMCW雷达频率时间波形的起始点至峰值点波段内的频率时间波形进行平滑处理，使所述起始点至所述峰值点波段内的频率时间波形呈平滑曲线。
请参阅图4，图4为本实施例中获取模块2110的具体构成模块。
如图4所示，获取模块2110包括第一获取子模块2111，所述第一获取子模块2111用于获取FMCW雷达频率时间波形调制电压的施加起始时间。由于 FMCW雷达频率时间波形的调制是由调制电压控制的，所以在获取FMCW雷达频率时间波形时的起始波段时，获取模块2110只需通过第一获取子模块2111获取FMCW雷达频率时间波形调制电压的施加起始时间，即能获取到施加调制电压的起始时间，也就获取到了FMCW雷达频率时间波形的起始点，需要说明的是，调制电压并非从0V电压开始线性递增，所以获取的FMCW雷达频率时间波形的电压并非原点。
获取模块2110获取到FMCW雷达频率时间波形的起始点后，平滑计算模块2120改变调制电压的变化规律，使FMCW雷达频率时间波形起始点至峰值点波段内的频率时间波形由线性变为平滑-线性-平滑，其实现的方法为：平滑计算模块2120使调制电压随者特定的平滑曲线进行变化，由于调制电压的变化规律符合平滑曲线，则由调制电压调制出来的频率时间波形也与调制电压保持同步变化，故由该调制电压调制出的频率时间波形也是平滑的。
请参阅图5，图5为本实施例平滑计算模块2120的具体构成模块。
如图5所示，平滑计算模块2120包括：第一平滑计算子模块2121、第二平滑计算子模块2122和第三平滑计算子模块2123。
具体地，第一平滑计算子模块在所述FMCW雷达频率时间波形的起始点至峰值点波段内取值P1(x p1，y p1)和P2(x p2，y p2)，其中，P1和P2不重合且不是极点值，对P1和P2之间的频率时间波形进行线性平滑处理，使P1和P2之间的线段符合下述公式：
y 2＝A1*x 2-A2*x+A3，以使所述点P1与P2之间频率时间波形保持线性。
需要指出的A1、A2、A3均为不定常数，其具体数值由调制FMCW雷达频率时间波形的VCO及接收电路实际工作的特性决定的，本实施例中还提供一种优化的定值常数公式为：
y 2＝77*x 2-3692*x+43914
第二平滑计算子模块2122读取所述起始波段的起点为P0(x p0，y p0)，并对P0和P1之间的频率时间波形进行平滑处理，使P0和P1之间的线段符合下述公式：
y 1＝B1*x 2-B2*x+B3，以使所述点P0与P1之间频率时间波形变化率保持恒定。
需要指出的B1、B2、B3均为不定常数，其具体数值由调制FMCW雷达频率时间波形的VCO及接收电路实际工作的特性决定的，本实施例中还提供一种优化的定值常数公式为：
y 1＝553*x 2-26533*x+318001。
第三平滑计算子模2123块读取所述FMCW雷达频率时间波形的峰值点为P3(x p3，y p3)，并对对P2和P3之间的频率时间波形进行平滑处理，使P2和P3之间的线段符合下述公式：
y 3＝C1*x 2+C2*x-C3，以使所述点P2与P3之间频率时间波形变化率保持恒定。
需要指出的C1、C2、C3均为不定常数，其具体数值由调制FMCW雷达频率时间波形的VCO及接收电路实际工作的特性决定的，本实施例中还提供一种优化的定值常数公式为：
y 3＝-1733*x 2+84395*x-1027324。
起始点所在波段的频率时间波形根据上述第二个调制电压变化公式进行调制，得到的起始点所在波段的频率时间波形为平滑的过渡的曲线。
通过将FMCW雷达频率时间波形的起始点所处的波段转化为平滑曲线，由于对起始点、峰值点所处的频段的频率时间波形平滑使因FMCW雷达固有收发隔离度不足且随频率变化导致，并经过接收系统出现剧烈震荡的幅度极大减小，其通过接收电路不出现饱和现象。同时，频率时间波形的起始点所处的波段，依据VCO的调频特性反求调制电压时间波形，使得FMCW雷达频率时间波形满足恒定斜率，即保证FMCW雷达频率时间波形呈现线性。由于平滑后的调制电压时间波形控制VCO产生平滑的频率时间波形，不易出现接收电路饱和而阻塞接收通道，提高了雷达接收灵敏度S min，进而提高雷达对远距离目标检测概率P d。通过线性化处理后的调制电压控制VCO，产生了线性化的频率时间波形，使得雷达测量值更准确。
图6为本申请实施例提供的一种电子设备的结构示意图，该电子设备600包括：
一个或多个处理器601以及存储器602，图6中以一个处理器601为例。
处理器601和存储器602可以通过总线或者其他方式连接，图6中以通过 总线连接为例。
存储器602作为一种非暂态计算机可读存储介质，可用于存储非暂态软件程序、非暂态性计算机可执行程序以及模块，如本申请实施例中的FMCW雷达频率时间波形调制方法对应的程序指令/模块(例如，附图3所示的获取模块2110以及平滑计算模块2120)。处理器601通过运行存储在存储器602中的非暂态软件程序、指令以及模块，从而执行FMCW雷达频率时间波形调制装置的各种功能应用以及数据处理，即实现上述任一方法实施例的FMCW雷达频率时间波形调制方法。
存储器602可以包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需要的应用程序；存储数据区可存储根据FMCW雷达频率时间波形调制装置的使用所创建的数据等。此外，存储器602可以包括高速随机存取存储器，还可以包括非暂态存储器，例如至少一个磁盘存储器件、闪存器件、或其他非暂态固态存储器件。在一些实施例中，存储器602可选包括相对于处理器601远程设置的存储器，这些远程存储器可以通过网络连接至电子设备600。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。
所述一个或者多个模块存储在所述存储器602中，当被所述一个或者多个处理器601执行时，执行上述任意方法实施例中的FMCW雷达频率时间波形调制方法，例如，执行以上描述的图1中的方法步骤S1110至S1120，实现图3中的模块2110和2120的功能。
本申请实施例还提供了一种非暂态计算机可读存储介质，所述非暂态计算机可读存储介质存储有计算机可执行指令，该计算机可执行指令被一个或多个处理器执行，例如，被图6中的一个处理器601执行，可使得上述一个或多个处理器执行上述任意方法实施例中的FMCW雷达频率时间波形调制方法，例如，执行以上描述的图1中的方法步骤S1110至S1120，实现图3中的模块2110和2120的功能。
以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的 单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。
通过以上的实施方式的描述，本领域普通技术人员可以清楚地了解到各实施方式可借助软件加通用硬件平台的方式来实现，当然也可以通过硬件。本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程是可以通过计算机程序产品中的计算机程序来指令相关的硬件来完成，所述的计算机程序可存储于一非暂态计算机可读取存储介质中，该计算机程序包括程序指令，当所述程序指令被电子设备执行时，可使所述电子设备执行如上述各方法实施例的流程。其中，所述的存储介质可为磁碟、光盘、只读存储记忆体(Read-Only Memory,ROM)或随机存储记忆体(Random Access Memory,RAM)等。
上述产品(电子设备、非暂态计算机可读存储介质以及计算机程序产品)可执行本申请实施例所提供的FMCW雷达频率时间波形调制方法，具备执行FMCW雷达频率时间波形调制方法相应的功能模块和有益效果。未在本实施例中详尽描述的技术细节，可参见本申请实施例所提供的FMCW雷达频率时间波形调制方法。
需要说明的是，本申请的说明书及其附图中给出了本申请的较佳的实施例，但是，本申请可以通过许多不同的形式来实现，并不限于本说明书所描述的实施例，这些实施例不作为对本申请内容的额外限制，提供这些实施例的目的是使对本申请的公开内容的理解更加透彻全面。并且，上述各技术特征继续相互组合，形成未在上面列举的各种实施例，均视为本申请说明书记载的范围；进一步地，对本领域普通技术人员来说，可以根据上述说明加以改进或变换，而所有这些改进和变换都应属于本申请所附权利要求的保护范围。

Claims (13)

  1. 一种FMCW雷达频率时间波形调制方法，其特征在于，包括下述步骤：
    获取FMCW雷达频率时间波形中起始点至峰值点所处的波段；
    将所述FMCW雷达频率时间波形中起始点至峰值点所处的波段进行平滑处理，使所述起始点至峰值点所处的波段内的频率时间波形呈平滑曲线。
  2. 根据权利要求1所述的FMCW雷达频率时间波形调制方法，其特征在于，所述获取FMCW雷达频率时间波形中起始点至峰值点所处的波段，包括：
    获取FMCW雷达频率时间波形起始点，同时获取调制电压的施加的起始时间。
  3. 根据权利要求1所述的FMCW雷达频率时间波形调制方法，其特征在于，所述将所述FMCW雷达频率时间波形中起始点至峰值点所处的波段进行平滑处理，使所述起始点至峰值点所处的波段内的频率时间波形呈平滑曲线，包括：
    在所述FMCW雷达频率时间波形对应的频率调制电压波形上取第一特征点P1(x p1，y p1)和第二特征点P2(x p2，y p2)，其中，P1和P2不重合且不是极值点；
    对P1和P2之间的频率时间波形进行线性平滑处理，使P1和P2之间的线段符合下述公式：
    y 2＝A1*x 2-A2*x+A3
    以使所述点P1与P2之间频率时间波形保持线性。
  4. 根据权利要求3所述的FMCW雷达频率时间波形调制方法，其特征在于，所述将所述FMCW雷达频率时间波形中起始点至峰值点所处的波形进行平滑处理，使所述起始点至峰值点所处的波段内的频率时间波形呈平滑曲线，包括：
    读取所述FMCW雷达频率时间波形起始点至峰值点对应的频率调制电压波形上起点为P0(x p0，y p0)，并对P0和P1之间的频率时间波形进行平滑处理，使P0和P1之间的线段符合下述公式：
    y 1＝B1*x 2-B2*x+B3
    以使所述点P0与P1之间频率时间波形变化率保持恒定。
  5. 根据权利要求3所述的FMCW雷达频率时间波形调制方法，其特征在于，所述将所述FMCW雷达频率时间波形中起始点至峰值点所处的波段进行平滑处 理，使所述起始点至峰值点所处的波段内的频率时间波形呈平滑曲线，包括：
    读取所述FMCW雷达频率时间波形峰值点对应的频率调制电压波形上点为P3(x p3，y p3)，对P2和P3之间的频率时间波形进行平滑处理，使P2和P3之间的线段符合下述公式：
    y 3＝C1*x 2+C2*x-C3
    以使所述点P2与P3之间频率时间波形变化率保持恒定。
  6. 一种FMCW雷达频率时间波形调制装置，其特征在于，包括：
    获取模块，用于获取FMCW雷达频率时间波形中起始点至峰值点所处的波段；
    平滑计算模块，用于将所述FMCW雷达频率时间波形中起始点至峰值点所处的波段进行平滑处理，使所述起始点至峰值点所处的波段内的频率时间波形呈平滑曲线。
  7. 根据权利要求6所述的FMCW雷达频率时间波形调制装置，其特征在于，所述获取模块包括：
    第一获取子模块，用于获取FMCW雷达频率时间波形起始点至峰值点，同时获取调制电压的施加的起始时间。
  8. 根据权利要求6所述的FMCW雷达频率时间波形调制装置，其特征在于，所述平滑计算模块包括：
    第一平滑计算子模块，用于在所述FMCW雷达频率时间波形对应的频率调制电压波形上取第一特征点P1(x p1，y p1)和第二特征点P2(x p2，y p2)，其中，P1和P2不重合且不是极值点；
    对P1和P2之间的频率时间波形进行线性平滑处理，使P1和P2之间的线段符合下述公式：
    y 2＝A1*x 2-A2*x+A3
    以使所述点P1与P2之间频率时间波形保持线性。
  9. 根据权利要求8所述的FMCW雷达频率时间波形调制装置，其特征在于，所述平滑计算模块还包括：
    第二平滑计算子模块，用于读取所述FMCW雷达频率时间波形起始点至峰值点对应的频率调制电压波形上起点为P0(x p0，y p0)，并对P0和P1之间的频 率时间波形进行平滑处理，使P0和P1之间的线段符合下述公式：
    y 1＝B1*x 2-B2*x+B3
    以使所述点P0与P1之间频率时间波形变化率保持恒定。
  10. 根据权利要求8所述的FMCW雷达频率时间波形调制装置，其特征在于，所述平滑计算模块还包括：
    第三平滑计算子模块，用于读取所述FMCW雷达频率时间波形峰值点对应的频率调制电压波形上点为P3(x p3，y p3)，对P2和P3之间的频率时间波形进行平滑处理，使P2和P3之间的线段符合下述公式：
    y 3＝C1*x 2+C2*x-C3
    以使所述点P2与P3之间频率时间波形变化率保持恒定。
  11. 一种电子设备，其特征在于，包括：
    至少一个处理器；以及，
    与所述至少一个处理器通信连接的存储器；其中，
    所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够执行如权利要求1-5任一项所述的方法。
  12. 一种非暂态计算机可读存储介质，其特征在于，所述非暂态计算机可读存储介质存储有计算机可执行指令，所述计算机可执行指令用于使电子设备执行如权利要求1-5任一项所述的方法。
  13. 一种计算机程序产品，其特征在于，所述计算机程序产品包括存储在非暂态计算机可读存储介质上的计算机程序，所述计算机程序包括程序指令，当所述程序指令被电子设备执行时，使所述电子设备执行如权利要求1-5任一项所述的方法。
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