WO2021134716A1

WO2021134716A1 - Scanning control method, millimeter wave radar, movable platform, and storage medium

Info

Publication number: WO2021134716A1
Application number: PCT/CN2019/130972
Authority: WO
Inventors: 陈雷; 陆新飞; 李怡强
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2019-12-31
Filing date: 2019-12-31
Publication date: 2021-07-08
Also published as: CN113661413A; CN113661413B

Abstract

A scanning control method, a millimeter wave radar, a movable platform, and a storage medium, wherein the method is applied to the millimeter wave radar, the millimeter wave radar comprises a first transmit antenna (11), a second transmit antenna (12), and a radio frequency (RF) front-end circuit (13) electrically connected to the first transmit antenna (11) and the second transmit antenna (12), the method comprises: controlling the RF front-end circuit (13) to drive the first transmit antenna (11) so that the first transmit antenna (11) emits a first microwave signal; and controlling the RF front-end circuit (13) to drive the second transmit antenna (12) so that the second transmit antenna (12) transmits a second microwave signal, wherein the distance and width range detected by the first microwave are different from the distance and width range detected by the second microwave signal. Coverage of different detection distances and width ranges is achieved in a set of radar system, thereby reducing the design cost of the radar system and optimizing the performance of the radar system.

Description

Scanning control method, millimeter wave radar, movable platform and storage medium

Technical field

This application relates to the field of radar technology, and in particular to a scanning control method, millimeter wave radar, a movable platform and a storage medium.

Background technique

With the development of sensor technology, in recent years, millimeter wave radar, as one of the important sensors of driving assistance systems, has developed more and more rapidly. As one of the most commonly used waveforms, microwave signals have become more and more widely used in millimeter wave radars.

For millimeter-wave radars, such as forward millimeter-wave radars, the short-range wide range (low beam) and the long-distance narrow range (high beam) are the key areas of focus, and the forward radar scenario requires a higher speed range. As shown in Figure 1, the low beams mainly cover areas within a wide range of short distances and are used to monitor adjacent lanes and targets in adjacent lanes. The target in the lane is more likely to cause harm to the vehicle, so the high beams mainly cover a long-distance narrow area and are used to monitor the target status in the lane. The existing radar system adopts the method of independent design of the far and near beams, that is, the high beam uses a set of radar systems to cover long-distance narrow areas, and the low beam uses another independent radar system for coverage. A wide area at close range. Two sets of radar systems will inevitably increase the design cost, and the performance of the radar system is limited.

Summary of the invention

The embodiments of the application provide a scanning control method, millimeter wave radar, a movable platform, and a storage medium, which can achieve coverage of different detection distances and widths in a set of radar system, thereby reducing the design cost of the radar system and optimizing it The performance of the radar system.

In the first aspect, an embodiment of the present application provides a scan control method, including:

Controlling the radio frequency front-end circuit to drive the first transmitting antenna, so that the first transmitting antenna transmits a first microwave signal;

The radio frequency front-end circuit is controlled to drive the second transmitting antenna so that the second transmitting antenna transmits a second microwave signal, wherein the detection distance and width range of the first microwave signal are the same as those of the second microwave signal detection The distance and width range are different.

In the second aspect, an embodiment of the present application provides a scanning control device, including:

The control module is used to control the radio frequency front-end circuit to drive the first transmitting antenna, so that the first transmitting antenna transmits a first microwave signal, and control the radio frequency front-end circuit to drive the second transmitting antenna, so that The second transmitting antenna transmits a second microwave signal, wherein the detection distance and width range of the first microwave signal are different from the detection distance and width range of the second microwave signal.

In a third aspect, an embodiment of the present application provides a millimeter wave radar. The millimeter wave radar includes a first transmitting antenna, a second transmitting antenna, and a radio frequency electrically connected to the first transmitting antenna and the second transmitting antenna. Front-end circuit and processor;

The processor is configured to control the radio frequency front-end drive circuit to drive the first transmitting antenna, so that the first transmitting antenna transmits a first microwave signal, and control to drive the second transmitting antenna, so that the The second transmitting antenna transmits a second microwave signal, wherein the detection distance and width range of the first microwave signal are different from the detection distance and width range of the second microwave signal.

In a fourth aspect, an embodiment of the present application provides a movable platform, and the movable platform includes the millimeter wave radar as described in the third aspect.

In a fifth aspect, embodiments of the present application provide a computer-readable storage medium that stores a computer program, and the computer program includes program instructions that, when executed by a processor, cause all The processor executes the scan control method as described in the first aspect.

In summary, the millimeter-wave radar can control the radio frequency front-end circuit to drive the first transmitting antenna so that the first transmitting antenna transmits the first microwave signal, and control the radio frequency front-end circuit to drive the second transmitting antenna so that the The second transmitting antenna transmits a second microwave signal, wherein the detection distance and width range of the first microwave signal are different from the detection distance and width range of the second microwave signal. Compared with the prior art, by setting up multiple sets of radar systems and implementing different detection distances and widths in multiple sets of radar systems, the design cost is high, and the performance of the radar system is limited. This application can be used in one set of radar systems. To achieve the coverage of different detection distances and widths, which can reduce the design cost of the radar system and optimize the performance of the radar system.

Description of the drawings

In order to more clearly describe the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative labor, other drawings can be obtained from these drawings.

Fig. 1 is a way for millimeter wave radar to transmit microwave signals provided by the prior art;

FIG. 1a is a schematic diagram of a vehicle transmitting different microwave signals through different transmitting antennas included in a millimeter wave radar according to an embodiment of the application;

FIG. 1b is a schematic structural diagram of a millimeter wave radar provided by an embodiment of this application;

FIG. 1c is a schematic structural diagram of another millimeter wave radar provided by an embodiment of this application;

FIG. 2a is a schematic flowchart of a scanning control method provided by an embodiment of this application;

2b is a schematic diagram of bandwidth and pulse repetition period provided by an embodiment of the application;

2c is a schematic diagram of alternately transmitting a chirp signal in a first scan mode and a chirp signal in a second scan mode according to an embodiment of the application;

2d is another schematic diagram of alternately transmitting a chirp signal in the first scan mode and a chirp signal in the second scan mode according to an embodiment of the application;

2e is another schematic diagram of alternately transmitting the chirp signal in the first scan mode and the chirp signal in the second scan mode according to an embodiment of the application;

FIG. 3 is a schematic structural diagram of a scanning control device provided by an embodiment of the application;

FIG. 4 is a schematic structural diagram of another millimeter wave radar provided by an embodiment of the application.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

In order to solve the problems of high design cost and limited performance of the radar system due to the provision of multiple sets of radar systems and the realization of different detection distances and width ranges in the multiple sets of radar systems in the prior art, the embodiment of the present application provides a scanning system. The control method can be based on a set of radar systems, that is, any millimeter wave radar, such as a frequency modulated continuous wave (Frequency Modulated Continuous Wave, FMCW) millimeter wave radar (may be referred to as FMCW millimeter wave radar) to achieve different detection distances and width ranges. Coverage, while reducing the design cost of the radar system, optimizes the performance of the radar system.

According to different application scenarios, the millimeter wave radar can be installed in a mobile platform such as a vehicle, a drone, or a robot. For example, referring to Figure 1a, the vehicle shown in Figure 1a is equipped with a millimeter-wave radar. The vehicle can use the millimeter-wave radar to achieve coverage of different detection distances and widths. That is, the millimeter-wave radar can achieve the coverage shown in Figure 1a. The detection distance and width range in the low beam mode and the detection distance and width range coverage in the high beam mode. Wherein, the low beam mode may refer to a short-distance narrow range mode (corresponding to the second scanning mode), and the high beam mode may refer to a long-distance wide range mode (corresponding to the first scanning mode). Among them, near and far, narrow and wide are based on the comparison of the two modes.

The scanning control method will be described below in conjunction with the millimeter wave radar shown in FIG. 1b. In FIG. 1 b, the millimeter wave radar may include a first transmitting antenna 11, a second transmitting antenna 12, and a radio frequency front-end circuit 13 electrically connected to the first transmitting antenna 11 and the second transmitting antenna 12. In this scanning control method, the millimeter wave radar can control the radio frequency front-end circuit 13 to drive the first transmitting antenna 11 so that the first transmitting antenna 11 transmits the first microwave signal, and control the radio frequency front-end circuit 13 to drive the second transmitting antenna 12 to The second transmitting antenna 12 is made to transmit a second microwave signal, wherein the detection distance and width range of the first microwave signal are different from the detection distance and width range of the second microwave signal.

Based on the millimeter wave radar shown in FIG. 1b, this application also provides the millimeter wave radar shown in FIG. 1c. In the millimeter wave radar shown in FIG. 1c, the millimeter wave radar may further include a processor 14 and a preset number of receiving antennas 15, that is, six receiving antennas 15 as shown in FIG. 1c. Wherein, the receiving antenna 15 may be used to receive the echo signal reflected by the detected object, such as the first target object or the second target object mentioned in the embodiment of the present application. The processor 14 may implement the speed measurement and/or distance measurement of the detected object, for example, may implement the speed measurement and/or distance measurement of the detected object according to the reflected echo signal.

Please refer to FIG. 2a, which is a schematic flowchart of a scanning control method provided by an embodiment of this application. The scanning control method can be applied to millimeter wave radar. The millimeter wave radar may include a first transmitting antenna, a second transmitting antenna, and a radio frequency front-end circuit electrically connected to the first transmitting antenna and the second transmitting antenna. Specifically, the method may include:

S201. Control the radio frequency front-end circuit to drive the first transmitting antenna, so that the first transmitting antenna transmits a first microwave signal.

S202. Control the radio frequency front-end circuit to drive the second transmitting antenna, so that the second transmitting antenna transmits a second microwave signal, where the detection distance and width range of the first microwave signal are the same as those of the second microwave signal. The signal detection distance and width range are different.

In step S201 and step S202, the millimeter wave radar can control the radio frequency front-end circuit to drive the first transmitting antenna and the second transmitting antenna, so that the first transmitting antenna and the second transmitting sky sword transmit the first microwave signal and the second microwave respectively. Signals, based on any millimeter wave radar to achieve different detection distances and wide coverage.

In an embodiment, the millimeter-wave radar may generate a radar scan signal, and the radar scan signal includes the first microwave signal and the second microwave signal.

In one embodiment, the millimeter wave radar can control the radio frequency front-end circuit to drive the first transmitting antenna and the second transmitting antenna to alternately transmit the first microwave signal and the second microwave signal. By adopting this method, alternate detection of different detection distances and width ranges can be realized, making the detection process more flexible, and reducing the safety risk caused to the movable platform on which the millimeter-wave radar is located by using a detection distance and width range for a long time.

In an embodiment, the first microwave signal may be a chirp signal in a first scan mode, and the second microwave signal may be a chirp signal in a second scan mode. Correspondingly, the millimeter-wave radar controls the radio frequency front-end circuit to drive the first transmitting antenna and the second transmitting antenna to alternately transmit the first microwave signal and the second microwave signal. The radio frequency front-end circuit drives the first transmitting antenna to transmit the chirp signal in the first scanning mode, and the second transmitting antenna to transmit the chirp signal in the second scanning mode.

In one embodiment, the chirp signal in the first scan mode includes a first type chirp signal and a second type chirp signal, and the chirp signal in the second scan mode includes a third type chirp signal and A fourth type of chirp signal, the bandwidth of the first type of chirp signal is the same as that of the second type of chirp signal, and the pulse repetition period of the first type of chirp signal is the same as that of the second type of chirp The pulse repetition period of the frequency modulation signal is different, the bandwidth of the third type chirp signal is the same as the bandwidth of the fourth type chirp signal, and the pulse repetition period of the third type chirp signal is the same as that of the fourth type linear frequency modulation signal. The pulse repetition period of the FM signal is different.

In an embodiment, the chirp signal may be a fast-scan FM continuous wave signal. For example, referring to Table 1, the first scan mode is the high beam mode, the second scan mode is the low beam mode, the first type of chirp signal refers to the Chirp A signal, and the second type of chirp signal is Refers to the Chirp C signal, the third type of chirp signal refers to the Chirp B signal, and the fourth type of chirp signal refers to the Chirp D signal. The bandwidth of Chirp A signal is the same as that of Chirp C signal. The pulse repetition period of the Chirp A signal is different from the pulse repetition period of the Chirp C signal. The bandwidth of Chirp B signal is the same as that of Chirp D signal. The pulse repetition period of the Chirp B signal is different from the pulse repetition period of the Chirp D signal. Among them, the meaning of bandwidth and pulse repetition period can be seen in Figure 2b.

Table 1

It can also be seen from Table 1 that the bandwidth of the first type of chirp signal and the bandwidth of the second type of chirp signal are both the first bandwidth, such as Band1. The bandwidth of the third type of chirp signal and the bandwidth of the fourth type of chirp signal are both the second bandwidth, such as Band2. In an embodiment, the first bandwidth may be smaller than the second bandwidth, that is, Band1 is smaller than Band2. The second bandwidth is larger than the first bandwidth, and is used to improve the resolution capability and ranging accuracy of short-range targets.

In addition, it can be seen from Table 1 that the pulse repetition period of the first type of chirp signal is the first duration, such as T ₁ described in Table 1. The pulse repetition period of the second type of chirp signal is the second duration, such as T ₂ described in Table 1. The pulse repetition period of the third type of chirp signal is the first duration, as T ₁ described in Table 1. The pulse repetition period of the fourth type of chirp signal is the second duration, as T ₂ described in Table 1.

In one embodiment, the millimeter-wave radar controls the radio frequency front-end circuit to drive the first transmitting antenna to transmit the chirp signal in the first scanning mode in an alternate transmission manner, and the second transmitting antenna transmits the linear frequency modulation signal in the second scanning mode. The way of frequency modulation signal can be that the millimeter wave radar controls the radio frequency front-end circuit to drive the first transmitting antenna to transmit the first type chirp signal within the first transmission time window of each transmission period; the millimeter wave radar transmits the first type chirp signal in each transmission period. The radio frequency front-end circuit is controlled to drive the second transmitting antenna to transmit the third type chirp signal in the second transmission time window of the transmission period; the millimeter wave radar controls the radio frequency front end in the third transmission time window of each transmission period The circuit drives the first transmitting antenna to transmit the second type of chirp signal; the millimeter wave radar controls the radio frequency front-end circuit to drive the second transmitting antenna to transmit the fourth type of signal within the fourth transmission time window of each transmission period Chirp signal. Referring to Figure 2c, the first type of chirp signal may refer to a Chirp A signal, the second type of chirp signal may refer to a Chirp C signal, and the third type of chirp signal may refer to a Chirp B signal. The fourth type of chirp signal may refer to a Chirp D signal. The millimeter-wave radar controls the radio frequency front-end circuit to drive the first transmitting antenna to transmit the Chirp A signal in the first transmission time window Frame1 of each transmission period; the millimeter-wave radar controls the Chirp A signal in the second transmission time window Frame2 of each transmission period Internally controlling the radio frequency front-end circuit to drive the second transmitting antenna to transmit the Chirp B signal; the millimeter wave radar controls the radio frequency front-end circuit to drive the first transmitting antenna to transmit the Chirp C signal in the third transmission time window Frame3 of each transmission period; The millimeter wave radar controls the radio frequency front-end circuit to drive the second transmitting antenna to transmit the Chirp D signal in the fourth transmission time window Frame4 of each transmission period.

In an embodiment, in addition to the alternate transmission manner as shown in FIG. 2c, other alternate transmission manners may also be used, which is not limited in the embodiment of the present application. For example, the other alternate manner may be that the millimeter wave radar controls the radio frequency front-end circuit to drive the first transmitting antenna to transmit the second type chirp signal within the first transmission time window of each transmission period; the millimeter wave radar is The radio frequency front-end circuit is controlled to drive the second transmitting antenna to transmit the fourth type of chirp signal in the second transmission time window of each transmission period. The radio frequency front-end circuit is controlled to drive the first transmitting antenna to transmit the first type of chirp signal in the third transmission time window of each transmission period; the millimeter wave radar is in the fourth transmission time window of each transmission period The radio frequency front-end circuit is controlled to drive the second transmitting antenna to transmit the third type of chirp signal.

Or, the other alternate transmission mode can also be that the millimeter-wave radar controls the radio frequency front-end circuit to transmit the first transmitting antenna to transmit the first type of chirp signal in the first transmission time window of each transmission period; in each transmission period The radio frequency front-end circuit is controlled to drive the first transmitting antenna to transmit the second type of chirp signal in the second transmission time window of each transmission period; the radio frequency front-end circuit is controlled to drive the second transmitting antenna to transmit the The third type of chirp signal; the radio frequency front-end circuit is controlled to drive the second transmitting antenna to transmit the fourth type of chirp signal in the fourth transmission time window of each transmission period. Or, the millimeter-wave radar controls the radio frequency front-end circuit to transmit the second transmitting antenna to transmit the third type of chirp signal in the first transmission time window of each transmission period; control in the second transmission time window of each transmission period The radio frequency front-end circuit drives the second transmitting antenna to transmit the fourth type of chirp signal; controls the radio frequency front-end circuit to drive the first transmitting antenna to transmit the first type of chirp signal in the third transmission time window of each transmission period; The radio frequency front-end circuit is controlled to drive the second transmitting antenna to transmit the second type chirp signal in the fourth transmission time window of each transmission period. Compared with the last two alternate firing methods, the first two alternate firing methods have better speed extension effects. For example, the alternate emission method of Chirp A, B, C, and D shown in Fig. 2d is compared with the alternate emission method of Chirp A, C, B, and D shown in Fig. 2e. The alternate transmission method shown in Fig. 2d The transmission method is mainly to increase the radar frame rate. The chirp signal in the first scan mode and the chirp signal in the second scan mode shown in Figure 2d are transmitted alternately, so that the previous frame target information can be reused when the speed is expanded, thereby ensuring the radar frame rate and the same mode The two types of chirp signals below are only one frame signal apart, and there will be no problem of poor speed expansion effect caused by large changes in target distance and speed due to a long interval. Obviously, when the alternate transmission method shown in FIG. 2e is used to transmit, the frame rate of this method is non-uniform, and the time interval is too large due to the two frames of signals when the speed is expanded, and the accuracy of the speed expansion cannot be guaranteed.

In one embodiment, two waveforms with pulse repetition periods are used for the chirp signal in the first scan mode, in order to expand the speed measurement range. Specifically, the millimeter wave radar may control the radio frequency front-end circuit to drive the first transmitting antenna to transmit the first type of chirp signal within the first transmission time window, and then obtain the measured first measurement velocity of the first target object, And after controlling the radio frequency front-end circuit to drive the first transmitting antenna to transmit the second type of chirp signal within the third transmission time window, the measured second measurement speed of the first target object is acquired, so as to use the second measurement speed of the first target object. A measurement speed, the second measurement speed, the pulse repetition period of the first type chirp signal, and the pulse repetition period of the second type chirp signal determine the true speed of the first target object. Wherein, the first target object may refer to any object within the detection range of the first type chirp signal, or may also refer to a designated object within the detection range of the first type chirp signal, the implementation of this application The example does not restrict it. Specifically, the millimeter-wave radar may control the radio frequency front-end circuit to drive the first transmitting antenna to transmit the first type of chirp signal within the first transmission time window, and then the first target object may be based on the first type of chirp signal Reflect the echo signal to the millimeter wave radar. The millimeter wave radar can receive the echo signal reflected by the first target object, and calculate the first measurement speed of the first target object based on the echo signal. Correspondingly, the millimeter wave radar can also use this method to calculate the second measurement speed of the first target object, which is not described in detail in the embodiment of the present application.

In one embodiment, two waveforms of pulse repetition period are used for the chirp signal in the second scan mode, in order to expand the speed measurement range. The millimeter-wave radar can also control the radio frequency front-end circuit to drive the second transmitting antenna to transmit the third type of chirp signal within the second transmission time window, and then obtain the measured third measurement velocity of the second target object, and After controlling the radio frequency front-end circuit to drive the second transmitting antenna to transmit the fourth type of chirp signal within the fourth transmission time window, the measured fourth measurement speed of the second target object is acquired, thereby using the third The measurement speed, the fourth measurement speed, the pulse repetition period of the third type chirp signal, and the pulse repetition period of the fourth type chirp signal determine the true speed of the second target object. Wherein, the second target object may refer to any object within the detection range of the third type chirp signal, or may also refer to a designated object within the detection range of the third type chirp signal. The implementation of this application The example does not restrict it. Specifically, the millimeter-wave radar can control the radio frequency front-end circuit to drive the first transmitting antenna to transmit the third type of chirp signal within the first transmission time window, and then the second target object can be based on the third type of chirp signal Reflect the echo signal to the millimeter wave radar. The millimeter wave radar can receive the echo signal reflected by the second target object, and calculate the third measurement speed of the second target object based on the echo signal. Correspondingly, the millimeter wave radar can also use this method to calculate the fourth measurement speed of the second target object, which is not described in detail in the embodiment of the present application.

In one embodiment, the aforementioned millimeter wave radar uses the first measurement speed, the second measurement speed, the pulse repetition period of the first type chirp signal, and the pulse repetition of the second type chirp signal. The period determines the true speed of the first target object, and uses the third measurement speed, the fourth measurement speed, the pulse repetition period of the third type of chirp signal, and the pulse repetition period of the fourth type of chirp signal To determine the true speed of the second target object, refer to the following process for details:

For a chirp signal whose pulse repetition period is the first duration, such as T ₁ _{, the relationship between the measured speed v 1} and the real speed v satisfies:

Among them, m ₁ is an integer.

For a pulse repetition period of the second duration, such as a chirp signal with _{T 2} _{, the relationship between the measured speed v 2} and the real speed v satisfies:

Wherein, m ₂ is an integer.

By matching v ₁ and v ₂ and selecting appropriate m ₁ and m _{2 to} satisfy the following formula, the true speed can be calculated:

It can be seen that in the embodiment shown in FIG. 2a, the millimeter wave radar can control the radio frequency front-end circuit to drive the first transmitting antenna, so that the first transmitting antenna transmits the first microwave signal, and control the radio frequency front-end circuit to drive the second transmitting antenna. In this way, the second transmitting antenna transmits the second microwave signal, so as to realize the coverage of different detection distances and widths based on the millimeter wave radar, which reduces the design cost of the radar system and optimizes the performance of the radar system.

Please refer to FIG. 3, which is a schematic structural diagram of a scanning control device provided by an embodiment of this application. The scanning control device can be applied to a millimeter wave radar. The millimeter wave radar includes a first transmitting antenna, a second transmitting antenna, and a radio frequency front-end circuit electrically connected to the first transmitting antenna and the second transmitting antenna. Specifically, the scanning control device may include:

The control module 301 is used for controlling the radio frequency front-end circuit to drive the first transmitting antenna so that the first transmitting antenna transmits a first microwave signal, and controlling the radio frequency front-end circuit to drive the second transmitting antenna to The second transmitting antenna is made to emit a second microwave signal, wherein the detection distance and width range of the first microwave signal are different from the detection distance and width range of the second microwave signal.

In an optional implementation manner, the scanning control device may further include a processing module 302.

In an optional implementation manner, the processing module 302 is configured to generate a radar scan signal, and the radar scan signal includes the first microwave signal and the second microwave signal.

In an optional implementation manner, the control module 301 is further configured to control the radio frequency front-end circuit to drive the first transmitting antenna and the second transmitting antenna to alternately transmit the first microwave signal and the second microwave signal. Microwave signal.

In an optional embodiment, the first microwave signal is a chirp signal in a first scan mode, the second microwave signal is a chirp signal in the second scan mode, and the control module 301 controls the The radio frequency front-end circuit drives the first transmitting antenna and the second transmitting antenna to alternately transmit the first microwave signal and the second microwave signal, specifically, controlling the radio frequency front-end circuit to drive the first microwave signal in an alternate transmission manner. A transmitting antenna transmits the chirp signal in the first scanning mode, and the second transmitting antenna transmits the chirp signal in the second scanning mode.

In an optional implementation manner, the chirp signal in the first scan mode includes a first type chirp signal and a second type chirp signal, and the chirp signal in the second scan mode includes a third type. Type chirp signal and a fourth type chirp signal, the bandwidth of the first type chirp signal is the same as the bandwidth of the second type chirp signal, and the pulse of the first type chirp signal The repetition period is different from the pulse repetition period of the second type chirp signal, the bandwidth of the third type chirp signal is the same as the bandwidth of the fourth type chirp signal, and the third type chirp signal The pulse repetition period of the frequency modulation signal is different from the pulse repetition period of the fourth type of chirp signal.

In an optional implementation manner, the bandwidth of the first type of chirp signal and the bandwidth of the second type of chirp signal are both the first bandwidth, and the bandwidth of the third type of chirp signal The bandwidths of the chirp signals of the fourth type and the fourth type are both the second bandwidth, wherein the first bandwidth is smaller than the second bandwidth.

In an optional embodiment, the pulse repetition period of the first type chirp signal is a first duration, the pulse repetition period of the second type chirp signal is a second duration, and the third The pulse repetition period of the type chirp signal is the first duration, and the pulse repetition period of the fourth type chirp signal is the second duration.

In an optional embodiment, each emission period of the radar scan signal includes four emission time windows, and the four emission time windows include a first emission time window and a second emission time window sorted by time from early to late. Transmitting time window, third transmitting time window and fourth transmitting time window, the control module 301 controls the radio frequency front-end circuit to drive the first transmitting antenna to transmit the chirp signal in the first scanning mode in an alternate transmission manner, and The second transmitting antenna transmits the chirp signal in the second scanning mode, specifically, the radio frequency front-end circuit is controlled to drive the first transmitting antenna to transmit the first transmitting time window within the first transmitting time window of each transmitting period. The first type of chirp signal; the radio frequency front-end circuit is controlled to drive the second transmitting antenna to transmit the third type of chirp signal within the second transmission time window of each transmission period; The radio frequency front-end circuit is controlled to drive the first transmitting antenna to transmit the second type of chirp signal in the third transmission time window of each transmission period; the control station is controlled in the fourth transmission time window of each transmission period The radio frequency front-end circuit drives the second transmitting antenna to transmit the fourth type of chirp signal.

In an optional implementation manner, the processing module 302 is further configured to control the radio frequency front-end circuit to drive the first transmitting antenna to transmit the first type of chirp signal within the first transmission time window. , Obtain the measured first measurement velocity of the first target object; after controlling the radio frequency front-end circuit to drive the first transmitting antenna to transmit the second type chirp signal within the third transmission time window, obtain The measured second measurement speed of the first target object; using the first measurement speed, the second measurement speed, the pulse repetition period of the first type chirp signal, and the second type The pulse repetition period of the chirp signal determines the true speed of the first target object.

In an optional implementation manner, the processing module 302 is further configured to control the radio frequency front-end circuit to drive the second transmitting antenna to transmit the third type chirp signal within the second transmission time window. , Obtain the measured third measurement velocity of the second target object; after controlling the radio frequency front-end circuit to drive the second transmitting antenna to transmit the fourth type of chirp signal within the fourth transmission time window, obtain The measured fourth measurement speed of the second target object; using the third measurement speed, the fourth measurement speed, the pulse repetition period of the third type chirp signal, and the fourth type The pulse repetition period of the chirp signal determines the true speed of the second target object.

In an optional implementation manner, the millimeter wave radar includes a frequency modulated continuous wave FMCW millimeter wave radar.

It can be seen that in the embodiment shown in FIG. 3, the scanning control device can control the radio frequency front-end circuit to drive the first transmitting antenna, so that the first transmitting antenna transmits the first microwave signal, and control the radio frequency front-end circuit to drive the second transmitting antenna. , So that the second transmitting antenna transmits the second microwave signal, so as to realize the coverage of different detection distances and widths based on the scanning control device, thereby reducing the design cost of the radar system and optimizing the performance of the radar system.

Please refer to FIG. 4, which is a schematic structural diagram of a millimeter wave radar provided by an embodiment of this application. The millimeter wave radar shown in FIG. 4 may include a first transmitting antenna 11, a second transmitting antenna 12, a radio frequency front-end circuit 13 electrically connected to the first transmitting antenna 11 and the second transmitting antenna 12, and a processor 14.

The processor 14 is configured to control the radio frequency front-end drive circuit to drive the first transmitting antenna 11, so that the first transmitting antenna 11 transmits the first microwave signal, and control to drive the second transmitting antenna 12, so that the second transmitting antenna 12 transmits The second microwave signal, wherein the detection distance and width range of the first microwave signal are different from the detection distance and width range of the second microwave signal.

In one embodiment, the millimeter wave radar further includes a signal generator (not shown in the figure). In an embodiment, the signal generator may also be a device capable of generating radar scanning signals, such as a signal processor or a radio frequency front-end circuit. The signal generator is used to generate a radar scan signal, and the radar scan signal includes the first microwave signal and the second microwave signal.

The processor 14 is further configured to control the radio frequency front-end circuit 13 to drive the first transmitting antenna 11 and the second transmitting antenna 12 to alternately transmit the first microwave signal and the second microwave signal.

In one embodiment, the first microwave signal is a chirp signal in the first scan mode, the second microwave signal is a chirp signal in the second scan mode, and the processor 14 is used to control the radio frequency front-end circuit 13 Driving the first transmitting antenna 11 and the second transmitting antenna 12 to alternately transmit the first microwave signal and the second microwave signal is specifically used for:

The radio frequency front-end circuit 13 is controlled to drive the first transmitting antenna 11 to transmit the chirp signal in the first scanning mode in an alternate transmission manner, and the second transmitting antenna 12 to transmit the chirp signal in the second scanning mode.

In one embodiment, the chirp signal in the first scan mode includes a first type chirp signal and a second type chirp signal, and the chirp signal in the second scan mode includes a third type chirp signal. Signal and a fourth type of chirp signal, the bandwidth of the first type of chirp signal is the same as the bandwidth of the second type of chirp signal, and the pulse repetition period of the first type of chirp signal is the same as that of the second type. The pulse repetition period of the second type chirp signal is different, the bandwidth of the third type chirp signal is the same as the bandwidth of the fourth type chirp signal, and the pulse of the third type chirp signal The repetition period is different from the pulse repetition period of the fourth type of chirp signal.

In one embodiment, the bandwidth of the first type of chirp signal and the bandwidth of the second type of chirp signal are both the first bandwidth, and the bandwidth of the third type of chirp signal is the same as the bandwidth of the second type. The bandwidths of the four types of chirp signals are all the second bandwidth, wherein the first bandwidth is smaller than the second bandwidth.

In one embodiment, the pulse repetition period of the first type chirp signal is a first duration, the pulse repetition period of the second type chirp signal is a second duration, and the third type chirp The pulse repetition period of the signal is the first duration, and the pulse repetition period of the fourth type chirp signal is the second duration.

In an embodiment, each emission period of the radar scan signal includes four emission time windows, and the four emission time windows include a first emission time window, a second emission time window, In the third transmission time window and the fourth transmission time window, the processor 14 is used for controlling the radio frequency front-end circuit 13 to drive the first transmitting antenna 11 to transmit the chirp signal in the first scanning mode in an alternate transmission manner, and the second transmitting antenna 12 Transmit the chirp signal in the second scan mode, specifically used for:

Controlling the radio frequency front-end circuit 13 to drive the first transmitting antenna 11 to transmit the first type of chirp signal within the first transmission time window of each transmission period;

Controlling the radio frequency front-end circuit 13 to drive the second transmitting antenna 12 to transmit the third-type chirp signal in the second transmission time window of each transmission period;

Controlling the radio frequency front-end circuit 13 to drive the first transmitting antenna 11 to transmit the second type chirp signal in the third transmission time window of each transmission period;

In the fourth transmission time window of each transmission period, the radio frequency front-end circuit 13 is controlled to drive the second transmission antenna 12 to transmit the fourth type of chirp signal.

In an embodiment, the processor 14 is further used for:

After controlling the radio frequency front-end circuit 13 to drive the first transmitting antenna 11 to transmit the first type of chirp signal within the first transmission time window, obtain the measured first measurement speed of the first target object;

After controlling the radio frequency front-end circuit 13 to drive the first transmitting antenna 11 to transmit the second type of chirp signal within the third transmission time window, obtain the measured second measurement speed of the first target object;

Using the first measurement speed, the second measurement speed, the pulse repetition period of the first type of chirp signal, and the pulse repetition period of the second type of chirp signal to determine the value of the first target object Real speed.

In an embodiment, the processor 14 is further used for:

After controlling the radio frequency front-end circuit 13 to drive the second transmitting antenna 12 to transmit the third type of chirp signal within the second transmission time window, obtain the measured third measurement velocity of the second target object;

After controlling the radio frequency front-end circuit 13 to drive the second transmitting antenna 12 to transmit the fourth type of chirp signal within the fourth transmission time window, obtain the measured fourth measurement speed of the second target object;

Using the third measurement speed, the fourth measurement speed, the pulse repetition period of the third type of chirp signal, and the pulse repetition period of the fourth type of chirp signal to determine the second target object Real speed.

In one embodiment, the millimeter wave radar includes a frequency modulated continuous wave FMCW millimeter wave radar.

It should be noted that for the foregoing various method embodiments, for the sake of simple description, they are all expressed as a series of action combinations, but those skilled in the art should know that this application is not subject to the described sequence of actions. Limitation, because according to this application, certain steps can be performed in other order or at the same time. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by this application.

Those of ordinary skill in the art can understand that all or part of the steps in the various methods of the above-mentioned embodiments can be completed by a program instructing relevant hardware. The program can be stored in a computer-readable storage medium, and the storage medium can include : Flash disk, read-only memory (Read-Only Memory, ROM), random access device (Random Access Memory, RAM), magnetic disk or optical disk, etc.

The scanning control method, millimeter wave radar, movable platform, and storage medium provided by the embodiments of this application are described in detail above. Specific examples are used in this article to illustrate the principle and implementation of this application. The above embodiments The descriptions are only used to help understand the methods and core ideas of this application; at the same time, for those of ordinary skill in the art, according to the ideas of this application, there will be changes in the specific implementation and scope of application. In summary As mentioned, the content of this specification should not be construed as a limitation to this application.

Claims

A scanning control method, characterized in that it is applied to a millimeter-wave radar. The millimeter-wave radar includes a first transmitting antenna, a second transmitting antenna, and a device electrically connected to the first transmitting antenna and the second transmitting antenna Radio frequency front-end circuit, the method includes:

Controlling the radio frequency front-end circuit to drive the first transmitting antenna, so that the first transmitting antenna transmits a first microwave signal;

The radio frequency front-end circuit is controlled to drive the second transmitting antenna so that the second transmitting antenna transmits a second microwave signal, wherein the detection distance and width range of the first microwave signal are the same as those of the second microwave signal detection The distance and width range are different.
The method according to claim 1, wherein the method further comprises:

Generating a radar scan signal, the radar scan signal including the first microwave signal and the second microwave signal;

Controlling the radio frequency front-end circuit to drive the first transmitting antenna and the second transmitting antenna to alternately transmit the first microwave signal and the second microwave signal.
The method according to claim 2, wherein the first microwave signal is a chirp signal in a first scan mode, the second microwave signal is a chirp signal in the second scan mode, and the control The radio frequency front-end circuit driving the first transmitting antenna and the second transmitting antenna to alternately transmit the first microwave signal and the second microwave signal includes:

The radio frequency front-end circuit is controlled to drive the first transmitting antenna to transmit the chirp signal in the first scanning mode, and the second transmitting antenna to transmit the chirp signal in the second scanning mode in an alternate transmission manner.
The method according to claim 3, wherein the chirp signal in the first scan mode comprises a first type chirp signal and a second type chirp signal, and the chirp signal in the second scan mode It includes a third type of chirp signal and a fourth type of chirp signal, the bandwidth of the first type of chirp signal is the same as the bandwidth of the second type of chirp signal, and the first type of chirp signal The pulse repetition period of the signal is different from the pulse repetition period of the second type chirp signal, the bandwidth of the third type chirp signal is the same as the bandwidth of the fourth type chirp signal, and the third type The pulse repetition period of the type chirp signal is different from the pulse repetition period of the fourth type chirp signal.
The method according to claim 4, wherein the bandwidth of the first type of chirp signal and the bandwidth of the second type of chirp signal are both the first bandwidth, and the third type of chirp The bandwidth of the signal and the bandwidth of the fourth-type chirp signal are both the second bandwidth, wherein the first bandwidth is smaller than the second bandwidth.
The method according to claim 4 or 5, wherein the pulse repetition period of the first type chirp signal is a first duration, and the pulse repetition period of the second type chirp signal is a second duration The pulse repetition period of the third type chirp signal is the first duration, and the pulse repetition period of the fourth type chirp signal is the second duration.
The method according to any one of claims 4 to 6, wherein each emission period of the radar scan signal includes four emission time windows, and the four emission time windows include time sorting from early to late The first transmission time window, the second transmission time window, the third transmission time window, and the fourth transmission time window of the transmission time window, the radio frequency front-end circuit is controlled to drive the first transmission antenna to transmit the first The chirp signal in the scanning mode and the chirp signal in the second scanning mode transmitted by the second transmitting antenna include:

Controlling the radio frequency front-end circuit to drive the first transmitting antenna to transmit the first type of chirp signal within the first transmission time window of each transmission period;

Controlling the radio frequency front-end circuit to drive the second transmitting antenna to transmit the third-type chirp signal within the second transmission time window of each transmission period;

Controlling the radio frequency front-end circuit to drive the first transmitting antenna to transmit the second-type chirp signal in the third transmission time window of each transmission period;

The radio frequency front-end circuit is controlled to drive the second transmitting antenna to transmit the fourth type of chirp signal in the fourth transmission time window of each transmission period.
The method according to claim 7, wherein the method further comprises:

After controlling the radio frequency front-end circuit to drive the first transmitting antenna to transmit the first type of chirp signal within the first transmission time window, obtain the measured first measurement speed of the first target object;

After controlling the radio frequency front-end circuit to drive the first transmitting antenna to transmit the second type of chirp signal within the third transmission time window, obtain the measured second measurement speed of the first target object;

Using the first measurement speed, the second measurement speed, the pulse repetition period of the first type of chirp signal, and the pulse repetition period of the second type of chirp signal to determine the value of the first target object Real speed.
The method according to claim 7, wherein the method further comprises:

After controlling the radio frequency front-end circuit to drive the second transmitting antenna to transmit the third type of chirp signal within the second transmission time window, obtain the measured third measurement velocity of the second target object;

After controlling the radio frequency front-end circuit to drive the second transmitting antenna to transmit the fourth type of chirp signal within the fourth transmission time window, obtain the measured fourth measurement speed of the second target object;

The third measurement speed, the fourth measurement speed, the pulse repetition period of the third type of chirp signal, and the pulse repetition period of the fourth type of chirp signal are used to determine the value of the second target object. Real speed.
The method according to claim 1, wherein the millimeter wave radar comprises a frequency modulated continuous wave FMCW millimeter wave radar.
A millimeter wave radar, characterized in that the millimeter wave radar includes a first transmitting antenna, a second transmitting antenna, a radio frequency front-end circuit electrically connected to the first transmitting antenna and the second transmitting antenna, and a processor ；

The processor is configured to control the radio frequency front-end drive circuit to drive the first transmitting antenna, so that the first transmitting antenna transmits a first microwave signal, and control to drive the second transmitting antenna, so that the The second transmitting antenna transmits a second microwave signal, wherein the detection distance and width range of the first microwave signal are different from the detection distance and width range of the second microwave signal.
The millimeter wave radar according to claim 11, wherein the millimeter wave radar further comprises a signal generator;

The signal generator is configured to generate a radar scan signal, the radar scan signal including the first microwave signal and the second microwave signal;

The processor is further configured to control the radio frequency front-end circuit to drive the first transmitting antenna and the second transmitting antenna to alternately transmit the first microwave signal and the second microwave signal.
The millimeter wave radar according to claim 12, wherein the first microwave signal is a chirp signal in a first scan mode, and the second microwave signal is a chirp signal in the second scan mode, so The processor is configured to control the radio frequency front-end circuit to drive the first transmitting antenna and the second transmitting antenna to alternately transmit the first microwave signal and the second microwave signal, and is specifically used for:

The radio frequency front-end circuit is controlled to drive the first transmitting antenna to transmit the chirp signal in the first scanning mode, and the second transmitting antenna to transmit the chirp signal in the second scanning mode in an alternate transmission manner.
The millimeter wave radar according to claim 13, wherein the chirp signal of the first scan mode comprises a first type chirp signal and a second type chirp signal, and the linear frequency modulation signal of the second scan mode The frequency modulation signal includes a third type of chirp signal and a fourth type of chirp signal. The bandwidth of the first type of chirp signal is the same as the bandwidth of the second type of chirp signal. The pulse repetition period of the chirp signal is different from the pulse repetition period of the second type chirp signal, the bandwidth of the third type chirp signal is the same as the bandwidth of the fourth type chirp signal, and The pulse repetition period of the third type chirp signal is different from the pulse repetition period of the fourth type chirp signal.
The millimeter wave radar according to claim 14, wherein the bandwidth of the first type of chirp signal and the bandwidth of the second type of chirp signal are both the first bandwidth, and the bandwidth of the third type The bandwidth of the chirp signal and the bandwidth of the fourth type of chirp signal are both the second bandwidth, wherein the first bandwidth is smaller than the second bandwidth.
The millimeter wave radar according to claim 14 or 15, wherein the pulse repetition period of the first type chirp signal is a first duration, and the pulse repetition period of the second type chirp signal is a first duration. Two durations, the pulse repetition period of the third type chirp signal is the first duration, and the pulse repetition period of the fourth type chirp signal is the second duration.
The millimeter wave radar according to any one of claims 14 to 16, wherein each transmission period of the radar scan signal includes four transmission time windows, and the four transmission time windows include time from early to The first transmission time window, the second transmission time window, the third transmission time window, and the fourth transmission time window that are sorted late, the processor is used to control the radio frequency front-end circuit to drive the first transmission antenna in an alternate transmission manner Transmitting the chirp signal in the first scan mode, and the second transmitting antenna transmits the chirp signal in the second scan mode, specifically for:

Controlling the radio frequency front-end circuit to drive the first transmitting antenna to transmit the first type of chirp signal within the first transmission time window of each transmission period;

Controlling the radio frequency front-end circuit to drive the second transmitting antenna to transmit the third-type chirp signal within the second transmission time window of each transmission period;

Controlling the radio frequency front-end circuit to drive the first transmitting antenna to transmit the second-type chirp signal in the third transmission time window of each transmission period;

The radio frequency front-end circuit is controlled to drive the second transmitting antenna to transmit the fourth type of chirp signal in the fourth transmission time window of each transmission period.
The millimeter wave radar according to claim 17, wherein the processor is further configured to:

After controlling the radio frequency front-end circuit to drive the first transmitting antenna to transmit the first type of chirp signal within the first transmission time window, obtain the measured first measurement velocity of the first target object;

After controlling the radio frequency front-end circuit to drive the first transmitting antenna to transmit the second type of chirp signal within the third transmission time window, obtain the measured second measurement speed of the first target object;

Using the first measurement speed, the second measurement speed, the pulse repetition period of the first type of chirp signal, and the pulse repetition period of the second type of chirp signal to determine the value of the first target object Real speed.
The millimeter wave radar according to claim 17, wherein the processor is further configured to:

After controlling the radio frequency front-end circuit to drive the second transmitting antenna to transmit the third type of chirp signal within the second transmission time window, obtain the measured third measurement velocity of the second target object;

After controlling the radio frequency front-end circuit to drive the second transmitting antenna to transmit the fourth type of chirp signal within the fourth transmission time window, obtain the measured fourth measurement speed of the second target object;

Using the third measurement speed, the fourth measurement speed, the pulse repetition period of the third type of chirp signal, and the pulse repetition period of the fourth type of chirp signal to determine the second target object Real speed.
The millimeter wave radar according to claim 11, wherein the millimeter wave radar comprises a frequency modulated continuous wave FMCW system millimeter wave radar.
A movable platform, wherein the movable platform comprises the millimeter wave radar according to any one of claims 11-20.
A computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and the computer program includes program instructions that when executed by a processor cause the processor to execute The scanning control method described in any one of 1-10 is required.