WO2022174630A1

WO2022174630A1 - Signal processing method and apparatus, and storage medium and vehicle

Info

Publication number: WO2022174630A1
Application number: PCT/CN2021/130999
Authority: WO
Inventors: 常广弘; 秦博雅
Original assignee: 华为技术有限公司
Priority date: 2021-02-22
Filing date: 2021-11-16
Publication date: 2022-08-25
Also published as: CN114966650A

Abstract

Disclosed are a signal processing method and apparatus, and a storage medium and a vehicle. The method comprises: processing a first received signal to determine first time-domain data; performing filtering processing on the first time-domain data by using a mismatch filter, so as to obtain first distance spectrum data (S12); obtaining first distance detection data according to the first distance spectrum data (S13); and according to the first distance detection data and first detection data which is obtained from the first received signal, determining second detection data. By means of the signal processing method, the accuracy of detecting a first received signal can be improved, thereby improving the advanced driver assistance system (ADAS) capability of a terminal in automated driving or assisted driving. The method is used for target sensing and tracking in assisted driving and automated driving, and is applied to the Internet of Vehicles, including vehicle-to-everything (V2X), long term evolution-vehicle (LTE-V), and vehicle-to-vehicle (V2V).

Description

Signal processing method, device, storage medium and vehicle

This application claims the priority of the Chinese patent application with the application number 202110199530.3 and the application title "Signal Processing Method, Device, Storage Medium and Vehicle" filed with the China Patent Office on February 22, 2021, the entire contents of which are incorporated by reference in in this application.

technical field

The present application relates to the field of sensor technology, and in particular, to a signal processing method, device, storage medium and vehicle.

Background technique

With the development of society, intelligent terminals such as intelligent transportation equipment, smart home equipment, and robots are gradually entering people's daily life. Sensors play a very important role in smart terminals. Various sensors installed on the smart terminal, such as millimeter-wave radar, lidar, camera, ultrasonic radar, etc., perceive the surrounding environment during the movement of the smart terminal, collect data, and identify and track moving objects. As well as the identification of static scenes such as lane lines and signs, and combined with navigator and map data for path planning. Sensors can detect possible dangers in advance and assist or even take necessary evasion measures autonomously, effectively increasing the safety and comfort of smart terminals.

Taking intelligent terminals as intelligent transportation equipment as an example, millimeter-wave radars have taken the lead in becoming the main sensor of unmanned systems and assisted driving systems due to their low cost and relatively mature technology. At present, Advanced Driver Assistance Systems (ADAS) has developed more than ten functions, including Adaptive Cruise Control (ACC), Automatic Emergency Braking (AEB), Lane Change Assist ( Lance Change Assist, LCA) and Blind Spot Monitoring (BSD) are all inseparable from millimeter-wave radar. Millimeter waves generally refer to electromagnetic waves with wavelengths between 1-10mm, and the corresponding frequency range is 30-300GHz. In this frequency band, mmWave-related characteristics are very suitable for automotive applications. For example, the large bandwidth, abundant frequency domain resources, and low antenna sidelobes are conducive to the realization of imaging or quasi-imaging; the short wavelength reduces the volume of the radar equipment and the antenna aperture, and the weight; The beam is much narrower than the microwave beam, and the radar resolution is high; the penetration is strong, compared with lidar and optical systems, it has the ability to penetrate smoke, dust and fog, and can work around the clock.

During the use of the millimeter-wave radar, the distance between the target and the millimeter-wave radar can be judged by sending out the transmit signal and analyzing the received echo signal reflected by the target. Among them, due to the influence of the environment where the radar is located, in the process of analyzing the echo signal, the effective signal in the echo signal may be interfered by other large-scale signals, making it difficult for the millimeter-wave radar to measure the accurate distance. Under this premise, how to improve the detection accuracy is a technical problem that needs to be solved urgently.

SUMMARY OF THE INVENTION

In view of this, a signal processing method, device, storage medium, and vehicle are proposed. According to the signal processing method of the embodiments of the present application, the interference of large-amplitude signals can be reduced, and the detection accuracy of echo signals can be improved.

In a first aspect, an embodiment of the present application provides a signal processing method, the method comprising:

Acquire a first received signal, process the first received signal to obtain distance and velocity two-dimensional spectral data; determine first time domain data according to the distance and velocity two-dimensional spectral data; use a mismatch filter to The first time domain data is filtered to obtain first range spectrum data, wherein the parameters of the mismatch filter are based on the time domain data of the second received signal or the distance and velocity of the maximum amplitude in the first received signal Two-dimensional spectrum data is determined; first distance detection data is obtained according to the first distance spectrum data; second detection data is determined according to the first distance detection data and the first detection data obtained from the first received signal.

According to the signal processing method of the embodiment of the present application, the parameters of the mismatch filter can be determined according to the time domain data of the second received signal or the distance and velocity two-dimensional spectrum data of the maximum amplitude in the first received signal, and Using the mismatch filter to filter the first time domain data, the first range spectrum data can be obtained. The second detection data can be obtained according to the first distance detection data obtained from the first distance spectrum data and the first detection data obtained from the first received signal. Since the first received signal and the second received signal are obtained after the environment of signal generation, transmission and reception, the first received signal and the second received signal can be eliminated by performing signal processing based on the mismatch filter determined by the first received signal and the second received signal. The influence of the non-ideal characteristics of the physical factors in the signal generation, transmission and reception environment in the received signal improves the side lobe suppression effect. Moreover, the second detection data is determined by the first detection data and the first distance detection data of the first received signal, so the second detection data includes the information of the first detection data and the first distance detection data, and has high accuracy . When applied to detection devices such as radar, more accurate environmental information can be obtained, and the detection accuracy of the detection device can be improved; when the detection device is applied to automobiles, the information processing capability of the automobile system can be improved.

According to the first aspect, in a first possible implementation manner of the signal processing method, the second received signal is a transmission leakage signal.

In this way, the mismatch filter parameters can be determined before the first received signal is received, and when the first received signal is received, the mismatch filter can be used to complete the detection, so that the detection efficiency is high. , to obtain detection data with high accuracy.

According to a first possible implementation manner of the first aspect, in a second possible implementation manner of the signal processing method, the method includes: determining the first received signal according to time domain data of the second received signal 2. The maximum amplitude of the range-dimensional side lobes in the received signal; according to the maximum amplitude of the range-dimensional side lobes in the second received signal, the desired filtering data of the second received signal is determined, wherein the range dimension of the desired filtering data is The amplitude of the side lobes is lower than the maximum amplitude of the range-dimensional side lobes in the second received signal; the mismatch filter is determined according to the time domain data of the second received signal and the expected filtering data of the second received signal parameters of the device.

In this way, it is possible to obtain the mismatch filter parameters that make both the SNR loss and the sidelobe amplitude after the filtering process ideal. Using the mismatch filter parameters determined by the above method is a parameter that can make the time-domain data of the transmission leakage signal close to the expected filtering data. Using the mismatch filter parameters to filter the data can make the transmission leakage signal to the expected value. The processing trend of the filtered data is applied to the data processing process, so that the processing effect of the mismatch filter is guaranteed.

According to the first aspect, in a third possible implementation manner of the signal processing method, the method includes: acquiring the first received signal according to distance and velocity two-dimensional spectral data of the largest amplitude in the first received signal The range spectrum data of the largest amplitude in the received signal; the parameters of the mismatch filter are determined according to the range spectrum data of the largest amplitude in the first received signal.

In this way, the mismatch filter parameters can be parameters determined for the range spectrum data of the maximum amplitude of the first received signal, and the first time domain data is determined according to the data information of the first received signal. When the mismatch filter parameters are used to filter the first time domain data, the first range spectrum data with higher accuracy can be obtained.

According to a third possible implementation manner of the first aspect, in a fourth possible implementation manner of the signal processing method, the mismatch is determined according to the range spectrum data of the largest amplitude in the first received signal Parameters of the filter, including:

Determine the maximum amplitude of the range-dimensional side lobes in the first received signal according to the range spectrum data of the maximum amplitude in the first received signal; determine the maximum amplitude of the range-dimensional side lobes in the first received signal Expected filtering data of the maximum amplitude signal in the first received signal, wherein the amplitude of the range-dimensional side lobes of the desired filtering data is lower than the maximum amplitude of the range-dimensional side lobes in the first received signal; The range spectrum data of the maximum amplitude in a received signal and the expected filter data of the maximum amplitude signal in the first received signal determine the parameters of the mismatch filter.

By selecting the range spectrum data with the largest amplitude in the first received signal, the determined mismatch filter parameters can be made more accurate.

According to the first aspect, in a fifth possible implementation manner of the signal processing method, determining the first time domain data according to the distance and velocity two-dimensional spectral data, including:

According to the transmitted signal, construct an inversion matrix; according to the distance and velocity two-dimensional spectrum data, determine the second distance spectrum data; according to the second distance spectrum data and the inversion matrix, determine the first time domain data .

In this way, the data information in the first time domain data is all data information from the first received signal, and the distance information of the target of the first received signal can be obtained after filtering the first time domain data. Moreover, the data rate of the first time-domain data obtained by inversion is relatively small, which can reduce the cost of the mismatch filtering process.

According to a fifth possible implementation manner of the first aspect, in a sixth possible implementation manner of the signal processing method, determining the second distance spectrum data according to the distance and velocity two-dimensional spectrum data, including:

Determine the range-dimensional side lobe amplitude of the signal in the first received signal according to the distance and velocity two-dimensional spectral data; determine the signal whose range-dimensional side lobe amplitude is greater than or equal to an amplitude threshold as the target signal; according to the distance In the velocity two-dimensional spectral data and the range spectral data of the Doppler unit where the target signal is located, the second range spectral data is determined.

In this way, the mismatch filtering process can be performed on the range spectrum data of the Doppler unit with a higher range side lobe amplitude, and the data cost of the mismatch filter process can be reduced.

According to the first aspect, in a seventh possible implementation manner of the signal processing method, the method includes: determining a maximum amplitude in the first received signal according to distance and velocity two-dimensional spectral data of the first received signal The Doppler unit where the signal is located; from the distance and velocity two-dimensional spectrum data of the first received signal, extract the distance and velocity two-dimensional spectrum of the Doppler unit where the maximum amplitude signal in the first received signal is located data, as the distance and velocity two-dimensional spectrum data of the largest amplitude in the first received signal.

In this way, the data information used in determining the mismatch filter parameters can correspond to the maximum amplitude signal in the first received signal, and the accuracy of the mismatch filter parameters can be improved.

According to the first aspect, and any one possible implementation manner of the above first aspect, in an eighth possible implementation manner of the signal processing method, the first detection data includes distance detection and/or speed detection data , determining the second detection data according to the first distance detection data and the first detection data obtained from the first received signal, including:

Use the first distance detection data to replace the distance detection data in the first detection data to obtain second detection data, or perform an OR operation on the first distance detection data and the first detection data to obtain the first detection data. Two detection data.

In this way, the flexibility of acquiring the second detection data can be improved. In addition, using the alternative method to obtain the second detection data can improve the accuracy of the second detection data, and using the OR operation method to obtain the second detection data can avoid missed detection.

In a second aspect, embodiments of the present application provide a signal processing apparatus, the apparatus comprising:

a first acquisition module, configured to acquire a first received signal, and process the first received signal to obtain distance and velocity two-dimensional spectral data;

a first determination module, configured to determine first time domain data according to the distance and velocity two-dimensional spectral data;

A processing module, configured to perform filtering processing on the first time domain data by using a mismatch filter to obtain first range spectrum data, wherein the parameters of the mismatch filter are based on the time domain data of the second received signal or the Determine the distance and velocity two-dimensional spectrum data of the largest amplitude in the first received signal;

a second obtaining module, configured to obtain first distance detection data according to the first distance spectrum data;

A second determination module, configured to determine second detection data according to the first distance detection data and the first detection data obtained from the first received signal.

According to the signal processing apparatus of the embodiment of the present application, the second detection data with higher accuracy can be obtained. Therefore, more accurate environmental information can be obtained, and the detection accuracy can be improved.

According to the second aspect, in a first possible implementation manner of the signal processing apparatus, the second received signal is a transmission leakage signal.

According to a first possible implementation manner of the second aspect, in a second possible implementation manner of the signal processing apparatus, the apparatus includes:

a third determining module, configured to determine the maximum amplitude of the range-dimensional side lobes in the second received signal according to the time domain data of the second received signal;

The fourth determination module is configured to determine the expected filtering data of the second received signal according to the maximum amplitude of the range-dimensional side lobes in the second received signal, wherein the amplitude of the range-dimensional side lobes of the desired filtering data is low the maximum amplitude of the range-dimensional side lobes in the second received signal;

A fifth determination module, configured to determine the parameters of the mismatch filter according to the time domain data of the second received signal and the expected filtering data of the second received signal.

According to the second aspect, in a third possible implementation manner of the signal processing apparatus, the apparatus further includes:

a third acquisition module, configured to acquire the range spectrum data of the maximum amplitude in the first received signal according to the two-dimensional spectrum data of the distance and velocity of the maximum amplitude in the first received signal;

The sixth determination module is configured to determine the parameter of the mismatch filter according to the range spectrum data of the largest amplitude in the first received signal.

According to a third possible implementation manner of the second aspect, in a fourth possible implementation manner of the signal processing apparatus, the sixth determining module includes:

a first determination submodule, configured to determine the maximum amplitude of the range-dimensional side lobes in the first received signal according to the range spectrum data of the maximum amplitude in the first received signal;

The second determination sub-module is configured to determine the expected filtering data of the maximum amplitude signal in the first received signal according to the maximum amplitude of the range-dimensional side lobes in the first received signal, wherein the distance of the expected filtering data The amplitude of the dimensional side lobes is lower than the maximum amplitude of the distance dimensional side lobes in the first received signal;

The third determination submodule is configured to determine the parameters of the mismatch filter according to the range spectrum data of the maximum amplitude in the first received signal and the expected filtering data of the maximum amplitude signal in the first received signal.

According to the second aspect, in a fifth possible implementation manner of the signal processing apparatus, the first determining module includes:

the fourth determination sub-module, used for constructing an inversion matrix according to the transmitted signal;

a fifth determination submodule, used for determining the second distance spectrum data according to the distance and speed two-dimensional spectrum data;

The sixth determination submodule is configured to determine the first time domain data according to the second range spectrum data and the inversion matrix.

According to a fifth possible implementation manner of the second aspect, in a sixth possible implementation manner of the signal processing apparatus, determining the second distance spectrum data according to the distance and velocity two-dimensional spectrum data, including:

According to the distance and velocity two-dimensional spectral data, determine the range-dimensional side lobe amplitude of the signal in the first received signal;

Determine the signal whose range dimension side lobe amplitude is greater than or equal to the amplitude threshold as the target signal;

The second range spectrum data is determined according to the range spectrum data of the Doppler unit where the target signal is located in the range and velocity two-dimensional spectrum data.

According to the second aspect, in a seventh possible implementation manner of the signal processing apparatus, the apparatus further includes:

a seventh determination module, configured to determine the Doppler unit where the maximum amplitude signal in the first received signal is located according to the distance and velocity two-dimensional spectral data of the first received signal;

The eighth determination module is configured to extract, from the distance and velocity two-dimensional spectral data of the first received signal, the distance and velocity two-dimensional spectral data of the Doppler unit where the maximum amplitude signal in the first received signal is located , as the distance and velocity two-dimensional spectral data of the largest amplitude in the first received signal.

According to the second aspect, and any one possible implementation manner of the above second aspect, in an eighth possible implementation manner of the signal processing apparatus, the first detection data includes distance detection and/or speed detection data ,

The second determining module includes:

A seventh determination submodule, configured to replace the distance detection data in the first detection data with the first distance detection data to obtain second detection data, or,

The eighth determination submodule is configured to perform OR operation on the first distance detection data and the first detection data to obtain second detection data.

In a third aspect, embodiments of the present application provide a signal processing apparatus, including: a processor; a memory for storing instructions executable by the processor; wherein the processor is configured to execute the first aspect or the first aspect One or more signal processing methods in multiple possible implementations of an aspect.

According to the signal processing apparatus of the embodiment of the present application, the second detection data with higher accuracy can be obtained, and the distance and speed of the target determined based on the second detection data are also more accurate. When the signal processing device is applied to an automobile, it can be used for target detection and tracking in assisted driving and automatic driving, and can improve the information processing capability of the automobile system.

In a fourth aspect, embodiments of the present application provide a non-volatile computer-readable storage medium on which computer program instructions are stored, and when the computer program instructions are executed by a processor, the above-mentioned first aspect or the first aspect is implemented One or several signal processing methods in a variety of possible implementations.

In a fifth aspect, an embodiment of the present application provides a vehicle, where the vehicle is configured as a signal processing apparatus that may include any one of the multiple possible implementation manners of the second aspect or the third aspect.

These and other aspects of the present application will be more clearly understood in the following description of the embodiment(s).

Description of drawings

The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate exemplary embodiments, features and aspects of the application and together with the description, serve to explain the principles of the application.

FIG. 1 shows a schematic diagram of an exemplary structure of a vehicle-mounted millimeter-wave radar device.

FIG. 2 shows an exemplary schematic diagram of the normalized results of the distance spectrum data of two typical baseband signals under ideal conditions.

FIG. 3 shows an exemplary schematic diagram of normalized results of distance spectrum data of two typical baseband signals under non-ideal conditions.

FIG. 4 shows a schematic diagram of modeling or semi-physical simulation of the non-idealities of the transmitter device.

FIG. 5 shows an exemplary schematic diagram of a signal processing method according to an embodiment of the present application.

FIG. 6 shows an exemplary schematic diagram of the arrangement of the correlator according to an embodiment of the present application.

Fig. 7a shows an exemplary schematic diagram of distance and velocity two-dimensional spectral data of a first received signal according to an embodiment of the present application.

FIG. 7b shows a schematic diagram of an exemplary acquisition manner of mismatch filter parameters according to an embodiment of the present application.

FIG. 7c shows a schematic diagram of another exemplary acquisition manner of mismatch filter parameters according to an embodiment of the present application.

FIG. 8 shows a schematic diagram of the generation principle of the emission leakage signal.

FIG. 9 shows a schematic diagram of an exemplary implementation of determining the parameters of the mismatch filter according to the time domain data of the second received signal according to an embodiment of the present application.

FIG. 10 shows a schematic diagram of an exemplary implementation of determining the parameters of the mismatch filter according to the time domain data of the second received signal according to an embodiment of the present application.

FIG. 11a shows a schematic diagram of another exemplary implementation of determining the parameters of the mismatch filter according to the time domain data of the second received signal according to an embodiment of the present application.

FIG. 11b shows a schematic diagram of another exemplary implementation of determining the parameters of the mismatch filter according to the time domain data of the second received signal according to an embodiment of the present application.

FIG. 12 shows a schematic diagram of an exemplary acquisition manner of the distance and velocity two-dimensional spectrum data of the maximum amplitude in the first received signal according to an embodiment of the present application.

FIG. 13 shows a schematic diagram of an exemplary implementation of determining the parameters of the mismatch filter based on the distance and velocity two-dimensional spectral data of the maximum amplitude in the first received signal according to an embodiment of the present application.

FIG. 14 shows a schematic diagram of an exemplary implementation of determining the parameters of the mismatch filter according to the range spectrum data of the maximum amplitude of the first received signal according to an embodiment of the present application.

FIG. 15 shows a schematic diagram of another exemplary implementation manner of determining the parameters of the mismatch filter according to the range spectrum data of the maximum amplitude of the first received signal according to an embodiment of the present application.

FIG. 16a shows an exemplary application scenario according to an embodiment of the present application.

FIG. 16b shows another exemplary application scenario according to an embodiment of the present application.

FIG. 17 shows a schematic block diagram of a signal processing apparatus according to an embodiment of the present application.

FIG. 18 shows an exemplary application scenario of a signal processing apparatus according to an embodiment of the present application.

Detailed ways

Various exemplary embodiments, features and aspects of the present application will be described in detail below with reference to the accompanying drawings. The same reference numbers in the figures denote elements that have the same or similar functions. While various aspects of the embodiments are shown in the drawings, the drawings are not necessarily drawn to scale unless otherwise indicated.

The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration." Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.

In addition, in order to better illustrate the present application, numerous specific details are given in the following detailed description. It should be understood by those skilled in the art that the present application may be practiced without certain specific details. In some instances, methods, means, components and circuits well known to those skilled in the art have not been described in detail so as not to obscure the subject matter of the present application.

Below, the terms that may appear in this article are explained.

Radar: Also known as radar device, also known as detector or detection device. Its working principle is to detect the corresponding target object by transmitting a signal (or called a detection signal) and receiving a reflected signal (or called an echo signal) reflected by the target object.

Baseband signal: The original electrical signal generated by the radar without modulation (spectrum shifting and transformation), the baseband signal can be used as a modulation signal. The baseband signal is the signal that needs to be transmitted.

Phase Modulation Continuous Wave (PMCW, Phase Modulation Continuous Wave): A time-varying electromagnetic wave obtained by mixing a baseband signal and a carrier.

Binary Phase Shift Keying (BPSK, Binary Phase Shift Keying): In phase modulation, the baseband signal is represented by a binary value, the baseband signal and the carrier are modulated to obtain a phase modulated continuous wave that can be transmitted, and the carrier phase represents the binary value of the baseband signal 1 or 0. Among them, when the value is "1", the phase-modulated continuous wave and the unmodulated carrier are in phase; when the value is "0", the phase-modulated continuous wave and the unmodulated carrier are out of phase; when "1" and "0" are the modulated carrier The phase difference is 180°. Wherein, the binary value 1 or 0 can also be expressed as the coded value "+" or "-" of the baseband signal. Among them, when the value is "+", the phase-modulated continuous wave and the unmodulated carrier are in phase; when the value is "-", the phase-modulated continuous wave and the unmodulated carrier are in opposite phase; when "+" and "-" are modulated, the modulated carrier The phase difference is 180°.

Echo delay: The time from when the radar sends out the transmit signal to when the echo signal of the transmit signal reflected by the target in the environment is received. Based on the echo delay, the distance between the target and the radar, the speed of the target, the angle, etc. can be calculated. parameter.

Periodic autocorrelation: that is, matched filtering. In phase modulation, matched filtering is performed on the echo signal to obtain the frequency domain signal in the echo signal. In the frequency domain signal, the amplitude information of the echo signal can be determined. Determine the main lobe and side lobes in the echo signal, wherein the frequency domain signal corresponding to the amplitude of the main lobe can be used to calculate the distance between the target and the radar.

Coherent accumulation: The received signal of the radar includes multiple pulses. The energy of a single pulse is limited. By coherent accumulation of multiple pulses, the phase relationship between the received pulses can be used to superimpose the amplitude of the signal to improve the signal-to-noise ratio. The results of the coherent accumulation are detected and judged.

Range unit: the same range unit in the same range ring in the radar irradiation area, and the width of the range unit represents the range resolution.

Doppler unit: Also called Doppler frequency unit, data located in the same Doppler unit have the same Doppler frequency.

Distance-dimensional main lobe: also known as distance main lobe, refers to the main lobe in the distance spectrum. In the two-dimensional spectrum of distance and velocity (RV-map, Range velocity map), the main lobe of distance dimension is also included.

Distance dimension side lobes: also called distance side lobes, refer to the side lobes in the distance spectrum. In the two-dimensional spectrum of distance and velocity, distance-dimensional sidelobes are also included.

The following describes the process of generating, transmitting, receiving and processing radar signals with reference to FIG. 1 . FIG. 1 provides a schematic diagram of an exemplary structure of a vehicle-mounted millimeter-wave radar device, which generally includes an oscillator, a modulator, a transmitting antenna, a receiving antenna, a demodulator, an analog-to-digital converter, a correlator, an accumulator, a processor, a control device, etc. The controller in FIG. 1 may not be arranged in the vehicle-mounted millimeter-wave radar device, but at the receiving end of the signal output by the vehicle-mounted millimeter-wave radar device, for example, it may be located in the car, or a processing device for controlling the driving of the car, etc. .

The baseband signal can be a digital signal, which can be directly transmitted in a short distance. If long-distance transmission is required, the baseband signal can be digitally modulated (usually using continuous wave as the carrier), and then the modulated signal can be digitally modulated. (phase modulated continuous wave) is sent to the channel for transmission. This digital modulation is called continuous wave digital modulation.

The baseband signal may be preset, the baseband signal may be generated by a pseudo-random sequence code generator (not shown in the figure) and output to the modulator, and the sequence length of the baseband signal may be Lc. The carrier used for digital modulation may be a continuous wave signal with a stable frequency of simple harmonics, which is generated by an oscillator. The above-mentioned carrier wave is output to the modulator, and is mixed with the baseband signal to complete modulation (binary phase shift keying) to obtain the transmitted signal. The transmitting signal is transmitted through the transmitting antenna, and the echo signal reflected by the target object in front of the vehicle is received through the receiving antenna.

The echo signal is demodulated in the demodulator and sampled and quantized in the analog-to-digital converter to obtain the time domain data of the echo signal. The time domain data includes the information of the target object, and the information of the target object can be the target object and the target object. The relative parameters between the vehicles where the vehicle-mounted radar is located, such as at least one item of information from the relative distance, speed, and angle between the target object and the vehicle. The correlator can filter the time domain data to obtain the distance spectrum data, and process the accumulator to obtain the distance spectrum data with a larger amplitude. The processor may process the range spectrum data (eg, may perform fast Fourier transform on the signal, or perform spectral analysis) to obtain information of the target object, and finally output to the controller for vehicle control.

Among them, the range spectrum data of the echo signal reflected by each target has a range dimension main lobe and multiple range dimension side lobes. When other conditions are the same, the baseband signals are different, and the obtained range spectrum data are also different. For example, When the baseband signal is the longest linear feedback shift register sequence (referred to as m sequence) and the length of the sequence is Lc, the range-dimension main lobe amplitude of the echo signal can be obtained as Lc, and the range-dimension sidelobe amplitudes are -1. The baseband signal can also be a zero-correlation sequence, such as APAS (Almost Perfect Autocorrelation Sequences) and the length of the sequence is Lc, the distance dimension sidelobe of the echo signal can be obtained as 0, but at Lc/2 There is a distance grid lobe at . The range dimension grating lobe has the same amplitude as the range dimension main lobe, but the distance information of the two is different. For the same target, the detection device may measure two distances, so the distance to the target cannot be accurately determined. FIG. 2 shows an exemplary schematic diagram of the normalized results of the distance spectrum data of two typical baseband signals under ideal conditions.

However, in practical radar systems, due to the presence of non-idealities (such as nonlinearity and noise) and filtering effects, the range spectrum data of the obtained echo signals will suffer performance losses, including the reduction of the range-dimensional main lobe amplitude and the range An increase in the amplitude of the side lobes. FIG. 3 shows an exemplary schematic diagram of normalized results of distance spectrum data of two typical baseband signals under non-ideal conditions.

Based on this, if the range-dimension main lobe and range-dimension side lobes corresponding to a target are regarded as a set of range-dimension main lobes and range-dimension side lobes, when the radar receives echo signals reflected by multiple targets, the range spectrum data There may be multiple sets of range-dimension main lobes and range-dimension side lobes, and the range-dimension main lobe and range-dimension side lobe amplitudes of the echo signal are related to the distance to the target, the physical parameters of the target such as reflectivity, etc., and exist in the environment. Under the premise of a target a that is close enough to the radar and has a sufficiently large reflectivity, and a target b that is far away from the radar and has a low reflectivity, in the range spectrum data, the distance dimension sidelobe generated by the echo signal of target a is equal to The amplitude may be greater than the amplitude of the range-dimensional main lobe generated by the echo signal of target b. If the two have the same echo delay, the range-dimensional main lobe generated by the echo signal of target b will be covered, and the radar will not be able to identify the range-dimensional main lobe generated by the echo signal of target b, and thus cannot obtain the target. b distance information, resulting in missed detection of the target.

In addition to the echo signal, the signal received by the radar receiver may also be a signal that has not been reflected by the target. The transmitting antenna transmits the signal directly to the receiving antenna of the radar 1 . After being processed by the demodulator and correlator of the radar 1, the range-dimensional main lobe and the range-dimensional side lobes can also be reflected in the range spectrum data. Therefore, under certain conditions, for example, when the signal is sufficiently large in power and short in transmission distance, the range-dimensional side lobes in the range spectrum data may also cover the range-dimension main lobe of target a or target b, that is, also May cause the target to be missed.

The prior art proposes to compensate the baseband signal of the radar transmitter by means of physical simulation, so that the transmitted signal generated based on the compensated baseband signal can not be affected by the non-ideal characteristics of the physical device of the transmitter. FIG. 4 shows a schematic diagram of modeling or semi-physical simulation of the non-idealities of the transmitter device. As shown in Figure 4, the encoder inputs the baseband signal to the modulator for digital modulation, and outputs the corresponding continuous waveform, which is input into the physical simulation model. Among them, the physical simulation model can evaluate the performance of the transmission path (transmitter) in combination with the physical influencing factors of the transmitter (mixers, filters, amplifiers, antennas/other signal transceiver devices), so that the encoder can re-encode according to the performance of the transmission path A compensated baseband signal is obtained. Then, the phase-modulated continuous wave is obtained according to the compensated baseband signal and sent out, and the echo signal is subjected to mismatch filtering processing to obtain the distance spectrum data.

However, in the prior art, physical factors at the radar receiving end, such as the influence of non-ideal characteristics of low noise amplifiers, mixers, filters, etc., have not been considered, and the effect of filter design is only improved in a limited range.

In view of this, the present application provides a signal processing method. The signal processing method in the embodiment of the present application proposes two methods for determining mismatch filter parameters. According to the mismatch filter parameters determined in the embodiment of the present application, filtering can be realized. The processed range dimension has low side lobes and will not affect the detection of other targets. The method can be applied to detection devices such as radar, so as to improve the detection accuracy of the detection device.

FIG. 5 shows an exemplary schematic diagram of a signal processing method according to an embodiment of the present application. As shown in Figure 5, the method includes:

S10, acquiring a first received signal, and processing the first received signal to obtain distance and velocity two-dimensional spectrum data;

S11, according to the distance and speed two-dimensional spectrum data, determine the first time domain data;

S12: Perform filtering processing on the first time domain data by using a mismatch filter to obtain first range spectrum data, wherein the parameters of the mismatch filter are based on the time domain data of the second received signal or the first range spectrum data. The range and velocity two-dimensional spectral data of the maximum amplitude in the received signal are determined;

S13, obtain first distance detection data according to the first distance spectrum data;

S14: Determine second detection data according to the first distance detection data and the first detection data obtained from the first received signal.

The signal processing method of the embodiment of the present application can improve the ADAS capability of the terminal in automatic driving or assisted driving, and can be applied to the Internet of Vehicles, such as vehicle external connection V2X, vehicle-to-vehicle communication long-term evolution technology LTE-V, vehicle-vehicle V2V, etc.

Wherein, the first received signal includes the signal received during the use of the radar, which may include the echo signal mentioned above and the signal that has not been reflected by the target.

In step S10, the first received signal is processed to obtain two-dimensional spectrum data of distance and velocity, which can be referred to the description of FIG. 1 . For example, the first received signal may be received by a receive antenna and input to a demodulator, an analog-to-digital converter, a correlator, an accumulator, and a processor in sequence. The demodulator is also used for receiving the carrier wave generated by the oscillator of the radar receiving end, and demodulating the first received signal according to the first received signal and the carrier wave. The demodulated signal is output to the analog-to-digital converter to complete sampling and quantization. For example, the phase of the transmitted signal is {0, 0, 0, π}. Ideally, if the amplitude of the first received signal is a, the and the sampled time domain data can be {a, a, a, -a}. The above-mentioned time-domain data may, for example, enter a 1-bit correlator for filtering, and the 1-bit correlator may be used to sum the products of the correlator parameters and the time-domain data to obtain the distance spectrum information of the echo signal. For example, if the parameters of the correlator are {1, 1, 1, -1}, the time delay of the correlator and the time domain data of the echo signal are matched, and a*1+a*1+a is obtained by processing *1+(-a)*(-1)=4a, that is, the range of the range spectrum data of the first received signal is the amplitude of the main lobe, and the distance to the target can be determined according to the distance information corresponding to the main lobe. If the parameters of the correlator are {1, 1, -1, 1}, the time delay of the correlator and the time-domain data of the echo signal do not match, and the processing results in a*1+a*1+a*(- 1)+(-a)*1=0, that is, the range-dimensional side lobe amplitude of the range spectrum data of the first received signal. Multiple correlators can be set, see FIG. 6 , the parameters of each correlator correspond to a possible situation of the time delay of the time domain data of the first received signal, for example, the phase of the transmitted signal is {0, 0, 0, π} , the first correlator {1, 1, 1, -1}, the second correlator {1, 1, -1, 1}, the third correlator {1, -1, 1, 1}, the third correlator {1, -1, 1, 1}, Four correlators {-1, 1, 1, 1}. In this case, the parameters of one correlator must match the time delay of the time domain data of the first received signal, and based on this, the range spectrum data of the first received signal can be obtained. An implementation method of using a correlator to perform matched filtering processing on time-domain data is shown in formula (1):

Among them, τ represents the delay time, s(t) represents the result of the first received signal processed by the analog-to-digital converter, h(t)=s*(t) is called matched filtering, and s ₀ (t) represents the autocorrelation The result, that is, the processing result of the matched filter processing (distance spectrum data). Matched filtering is a filtering method with relatively optimal signal-to-noise ratio.

The above distance spectrum data s ₀ (t) can be composed of multiple pulses, the data rate is relatively large, and the energy of a single pulse is low, so the distance spectrum data s ₀ (t) can be input to the accumulator for multiple coherent accumulation. , and through amplitude superposition, range spectrum data s ₀ '(t) with reduced data rate and higher signal-to-noise ratio is obtained. The distance spectral data s ₀ '(t) may be input to a processor, which processes the distance spectral data s ₀ '(t) (eg, a fast Fourier transform may be performed on the distance spectral data s ₀ '(t) , or perform spectrum analysis) to obtain the two-dimensional spectrum data of the speed and distance of the target object, and determine the time delay of the first received signal, and then determine the distance, speed, angle and other information of the target. Fig. 7a shows an exemplary schematic diagram of distance and velocity two-dimensional spectral data of a first received signal according to an embodiment of the present application. Among them, the range-dimensional main lobe has a significantly higher amplitude, the range-dimensional side lobe has a medium amplitude, and the system noise floor has the lowest amplitude. It can be seen that the magnitude of the distance dimension side lobes is relatively large.

In step S11, first time domain data for performing mismatch filtering processing may be obtained according to the distance and velocity two-dimensional spectral data obtained in step S10. For example, the speed and distance two-dimensional spectrum data of the first received signal is frequency domain data, and the first time domain data is time domain data. Therefore, the distance and speed two-dimensional spectrum data of the first received signal can be extracted, One or more sets of data of the range-dimensional main lobe and the range-dimensional side lobes where the range-dimensional side lobes with relatively large amplitude are located are inverted based on the extracted data to obtain the first time-domain data.

In step S12, mismatch filtering processing may be performed on the first time domain data to obtain first distance spectrum data (frequency domain data) including distance information. Among them, as shown in Figure 7b and Figure 7c, the mismatch filter parameter h can be determined in two ways. First, referring to FIG. 7b, in addition to the first received signal, the radar can also receive a second received signal with a transmission path different from that of the first received signal, and the time domain data of the second received signal can be transmitted through, for example, a receiving antenna, a demodulator, and The analog-to-digital converter is processed. The mismatch filter parameters can be determined by the time domain data of the second received signal; secondly, referring to Figure 7c, the time domain data can be obtained by inverting the two-dimensional spectrum data of the distance and velocity of the maximum amplitude of the first received signal. The parameters of the matching filter can be determined by the time domain data obtained by inversion.

After determining the mismatch filter parameter h, the matrix H of the mismatch filter parameter h can be constructed, as shown in formula (2), where Lc represents the length of the transmitted signal (the sequence length of the baseband signal), and h ⁽ⁿ⁾ represents the To cyclically shift the column vector h, the number of bits to shift is n, and the direction of the shift is upward.

H=[h h ⁽¹⁾ …h ⁽ L ^c-1) ] (2)

Define the first time domain data as y, and perform mismatch filtering processing on the first time domain data y as shown in formula (3):

x′=H ^T y (3)

Wherein, x' is the first distance spectrum data obtained by the mismatch filtering process.

In step S13, after obtaining the first distance spectrum data, the first distance detection data may be output through threshold detection. Wherein, the first distance detection data indicates the distance of the target.

In a possible implementation manner, the first detection data can also be obtained according to the first received signal, wherein the first detection data indicates the distance of the target, and optionally, the first detection data also indicates the speed of the target. The first detection data can be determined by the speed and distance two-dimensional spectrum data of the first received signal, for example, first perform fast Fourier transform on the distance spectrum data of the first received signal to obtain the distance and speed two-dimensional spectrum data of the first received signal. , and then perform false alarm detection or other threshold detection on the speed and distance two-dimensional spectral data. In step S14, the distance information of the target can be confirmed by integrating the first distance detection data and the first detection data to obtain distance information with better accuracy.

In a possible implementation manner, the second received signal is a transmitted leakage signal. The generation principle of the emission leakage signal is described below.

The radar transmitting antenna sends out the transmitting signal to detect the target. Ideally, the received signal only includes the echo signal reflected by the target in the environment. However, due to the fact that the isolation between the receiving antenna and the transmitting antenna is not infinite (the signal transmission between the receiving antenna and the transmitting antenna cannot be completely isolated), the relative field strength (normalized modulus value) of the radiation field of the receiving antenna is in a certain direction Due to the influence of higher factors, part of the transmitted signal is not reflected by the target in the environment, but is directly sent to the receiving antenna, and then received by the receiving antenna, as shown in Figure 8. This part of the signal is the emission leakage signal.

Usually, the radar sets the transmitting antenna and the receiving antenna relatively close (typically several centimeters), therefore, the power of the transmitted leaked signal is very close to the power of the transmitted signal, and the transmitted leaked signal has a very high signal-to-noise ratio; When the receiving antenna receives the transmitted leakage signal and the echo signal reflected by the target at the same time, the transmitted leakage signal is usually one of the signals with the largest amplitude among all the signals received by the receiving antenna, so it is easy to identify. For the transmission leakage signal, the process from sending the transmission signal to receiving the transmission leakage signal is realized in the radar, without passing through the external space and without the reflection of the target, and its amplitude, phase and time delay characteristics are relatively stable. Moreover, except that the transmitted leakage signal and the echo signal reflected by the target do not experience the external space and contact the target, the hardware devices in the radar system that they contact are the same. Therefore, the transmitted leakage signal is a hardware device that can be used to estimate the radar system. The non-ideal characteristics of the received signal in the environment in which the signal is generated, transmitted, and received.

In a possible implementation manner, when the mismatch filter parameters are determined based on the time domain data of the second received signal, the determination of the mismatch filter parameters may be completed before the first received signal is received. For example, when the method in this embodiment of the present application is applied to a detection device such as a radar, the acquisition of the second received signal may be performed in an environment without reflection conditions such as a dark room. In this case, after the detection device sends out the transmission signal, it can only receive the transmission leakage signal, so that the second received signal is the transmission leakage signal. After the mismatch filter parameters are determined according to the second received signal, and the first received signal is acquired in the environment where the target is located, the signal processing method of the embodiment of the present application may be executed.

FIG. 9 and FIG. 10 are schematic diagrams illustrating an exemplary implementation of determining the parameters of the mismatch filter according to the time domain data of the second received signal according to an embodiment of the present application.

As shown in FIG. 9 , in a possible implementation manner, the parameters of the mismatch filter can be determined by an optimization method. The parameters of the mismatch filter are determined according to the time domain data of the second received signal, including:

S20, according to the time domain data of the second received signal, determine the maximum amplitude of the range-dimensional side lobes in the second received signal;

S21. Determine expected filtering data of the second received signal according to the maximum amplitude of the range-dimensional side lobes in the second received signal, wherein the amplitude of the range-dimensional side lobes of the expected filtering data is lower than that of the second received signal. The maximum amplitude of the range-dimensional side lobes in the received signal;

S22: Determine the parameters of the mismatch filter according to the time domain data of the second received signal and the expected filtering data of the second received signal.

For example, the second received signal is the transmission leakage signal. As shown in FIG. 10 , the time domain data of the second received signal can be obtained, for example, by quantizing the received transmission leakage signal. In step S20, according to the time domain data of the transmitted leakage signal, the range spectrum data can be obtained through correlator processing, and the maximum amplitude m of the range dimension sidelobe of the transmitted leaked signal can be determined according to the distance spectrum data.

In step S21, based on the range-dimensional maximum amplitude m of the transmitted leakage signal, it can be determined that the side lobes of the desired filtered data should be smaller than m. Wherein, the desired filtering data indicates a preset mismatch filtering result, and the desired filtering data may include a range-dimensional main lobe and a range-dimensional side lobe, wherein the range-dimension main lobe may be preset to be the same as the length of the transmitted signal (the sequence length of the baseband signal) ) Lc has the same size, the distance dimension side lobes can be preset to 0, and the expected filtering data is defined as e, and an example of the expected filtering data e is shown in formula (4):

e=[Lc 0…0] (4)

The range dimension sidelobes in the desired filtered data of the transmit leakage signal can also be determined to other values, for example, the range dimension main lobe magnitude of the desired filtered data can be Lc and the range dimension side lobe magnitude is m1 (eg m>m1). Those skilled in the art should understand that as long as the range-dimensional side lobe amplitude of the desired filtered data is smaller than the range-dimension side lobe magnitude of the transmitted leaked signal, in practical applications, the range-dimensional side lobe magnitude of the desired filtered data can be set according to requirements. Adjustments are made, which is not limited in this application.

In step S22, a matrix may be constructed according to the length of the transmitted signal (the sequence length of the baseband signal) and the time domain data of the second received signal. For example, when the length of the transmitted signal is Lc, the time-domain data of the transmitted leakage signal can be defined as a, and A is defined as the Toeplitz matrix constructed from the time-domain data of the transmitted leakage signal. An example of the matrix A is shown in formula (5). Show.

Among them, a ^(-n) represents the cyclic shift of the column vector a, the number of bits of the shift is n (1≤n≤Lc and is an integer), and the direction of the shift is upward.

Those skilled in the art should understand that the matrix A can also be constructed in other ways, as long as the mismatch filter parameter h can be obtained through the matrix A and the expected filtering data, which is not limited in this application.

Defining the signal-to-noise ratio loss after mismatch filtering as SNR _loss , the filter parameters can be calculated as formula (6):

Among them, ∈ is the error allowable boundary of the range dimension sidelobe amplitude of the desired filtered data, ∈<m. By formula (6), the mismatch filter parameter h can be solved which satisfies the SNR _loss to minimize the SNR loss. In formula (6), the signal-to-noise ratio loss SNR _loss and the mismatch filter parameter h have a correlation. In practical applications, it is not necessary that the distance dimension side lobes must reach zero. Therefore, the filtered zero can be relaxed by the optimization method. Side lobe requirements, such as making the range-dimensional side lobes lower than the noise floor of the detection device (which can be preset, for example, determined according to the transmission power of the detection device), etc., can be obtained so that the signal-to-noise ratio loss and the side lobe amplitude after filtering are equal. The ideal mismatch filter parameters.

In this way, mismatch filter parameters with better filtered SNR can be obtained.

FIGS. 11 a and 11 b are schematic diagrams illustrating another exemplary implementation of determining the parameters of the mismatch filter according to the time domain data of the second received signal according to an embodiment of the present application.

In a possible implementation manner, the parameters of the mismatch filter can also be determined by means of matrix operations. As shown in Figure 11a, the parameters of the mismatch filter are determined according to the time domain data of the second received signal, including:

S90, according to the transmission signal, determine the expected filtering data of the second received signal, wherein the range dimension side lobe amplitude of the expected filtering data is zero;

S91. Determine the parameters of the mismatch filter according to the transmitted signal, the time domain data of the second received signal, and the expected filter data.

Wherein, in step S90, as shown in FIG. 11b, the desired filtering data can be directly determined according to the length of the transmitted signal. For example, in the desired filtering data determined in this embodiment of the present application, the main lobe amplitude is Lc, and the side lobe amplitude is 0. Compared to the optimized method, the step of determining the maximum magnitude of the range-dimensional side lobes in the second received signal can be saved.

In a possible implementation manner, in step S91, the matrix A may be constructed according to the length of the transmitted signal (the sequence length of the baseband signal) and the time domain data of the second received signal. For the specific implementation manner, please refer to the description of step S22.

The mismatch filter is used to filter the time-domain data of the transmitted leakage signal, as shown in formula (7):

A ^T h = e (7)

Assuming that the matrix A is full rank, the acquisition of the corresponding mismatch filter parameter h is shown in formula (8):

h=(A ^T ) ^-1 e (8)

In this way, the parameters of the mismatch filter can be obtained. Using the mismatch filter parameters determined by the above method is a parameter that can make the time-domain data of the transmission leakage signal close to the expected filtering data. Using the mismatch filter parameters to filter the data can make the transmission leakage signal to the expected value. The processing trend of the filtered data is applied to the data processing process, so that the processing effect of the mismatch filter is guaranteed. In addition, the method for determining the parameters of the mismatch filter is relatively simple and direct, which is easy to implement in practical application, and can improve the signal processing efficiency.

In a possible implementation manner, the mismatch filter parameters in this embodiment of the present application may also be obtained by calculating the information of the first received signal, and the mismatch filter parameters may also be determined after the first received signal is received.

For example, when the first received signal is a signal received by the detection device, the first received signal also includes the transmitted leakage signal. Referring to the above description, due to the short transmission distance, the transmit leakage signal power is also close to the transmit signal power. If the target in the external space is far away from the radar, the echo signal reflected by the target may have a large power loss. At this time, the distance and velocity two-dimensional spectrum data with the largest amplitude in the first received signal is the data information of the transmitted leakage signal. If the target in the external space is also close to the radar, the echo signal reflected by the target may have more power than the transmitted leakage signal. At this time, the two-dimensional spectrum data of the distance and velocity with the largest amplitude in the first received signal is the data information of the echo signal. Those skilled in the art should understand that according to the data information with higher power, the accuracy of the mismatch filter parameters obtained by calculation is also higher. Therefore, the two-dimensional spectrum data of the distance and velocity of the maximum amplitude in the first received signal can be used to complete the calculation. Determination of mismatch filter parameters.

Wherein, before using the range and velocity two-dimensional spectrum data of the largest amplitude in the first received signal to determine the parameters of the mismatch filter, first obtain the range and velocity two-dimensional spectrum data of the largest amplitude in the first received signal. FIG. 12 shows a schematic diagram of an exemplary acquisition manner of the distance and velocity two-dimensional spectrum data of the maximum amplitude in the first received signal according to an embodiment of the present application. As shown in FIG. 12 , in a possible implementation manner, acquiring the distance and velocity two-dimensional spectrum data of the maximum amplitude in the first received signal, including:

S30, according to the distance and velocity two-dimensional spectrum data of the first received signal, determine the Doppler unit where the maximum amplitude signal in the first received signal is located;

S31. From the distance and velocity two-dimensional spectral data of the first received signal, extract the distance and velocity two-dimensional spectral data of the Doppler unit where the largest amplitude signal in the first received signal is located, as the first received signal. A range and velocity two-dimensional spectral data of the maximum amplitude in the received signal.

For example, the distance and velocity two-dimensional spectral data of the first received signal are data information obtained after sampling and quantization, matched filtering, coherent accumulation, and velocity-dimensional fast Fourier transform of the first received signal. Taking the two-dimensional spectral data of distance and velocity in Fig. 7a as an example, the maximum amplitude signal is about 35 velocity units. Moreover, in the related art, the velocity and the Doppler frequency have a correlation, and the Doppler frequency of the signal emitted by the detection device is proportional to the velocity. Therefore, in step S30, the Doppler unit (for example, Doppler unit Q) corresponding to the 35 velocity units in this application scenario can be determined first, and then the Doppler unit where the maximum amplitude signal in the first received signal is located can be determined is the Doppler unit Q.

In this case, in step S31, the data information of the determined Doppler unit can be extracted, and the speed of the extracted data information is the same. The extracted data information can be used as the two-dimensional spectrum data of the distance and velocity of the maximum amplitude in the first received signal, which can be used to determine the parameters of the mismatch filter.

The following describes how to obtain the mismatch filter parameters from the distance and velocity two-dimensional spectral data of the maximum amplitude of the first received signal.

FIG. 13 shows a schematic diagram of an exemplary implementation of determining the parameters of the mismatch filter based on the distance and velocity two-dimensional spectral data of the maximum amplitude in the first received signal according to an embodiment of the present application. As shown in FIG. 13 , in a possible implementation manner, the parameters of the mismatch filter are determined according to the distance and velocity two-dimensional spectral data of the maximum amplitude in the first received signal, including:

S40, according to the distance and velocity two-dimensional spectrum data of the maximum amplitude in the first received signal, obtain the distance spectrum data of the maximum amplitude in the first received signal;

S41. Determine the parameters of the mismatch filter according to the range spectrum data of the largest amplitude in the first received signal.

For example, in a possible implementation manner, in the two-dimensional spectral data of velocity and distance of the first received signal, the distance spectral data corresponding to each Doppler unit is obtained by matched filtering of the first received signal, that is, , the velocity and distance two-dimensional spectrum data of the maximum amplitude of the first received signal may be obtained by matched filtering of the maximum amplitude signal in the first received signal. In addition, the velocity information in the data information from the same source (for example, both from the maximum amplitude signal) is also the same. Therefore, the range and velocity two-dimensional spectral data of the maximum amplitude signal should be in the same Doppler unit. The time domain data of the maximum amplitude signal of the first received signal can be determined from the distance and velocity two-dimensional spectrum data of the maximum amplitude in the first received signal. However, in the two-dimensional spectrum data of the distance and velocity of the maximum amplitude in the first received signal, the velocity spectrum data is not related to the determination of the parameters of the mismatch filter. Therefore, the distance and velocity of the maximum amplitude in the first received signal can be extracted. The distance spectrum data in the dimension spectrum data is calculated.

In a possible implementation manner, the range and velocity two-dimensional spectrum data of the maximum amplitude in the first received signal includes a plurality of distance units, and the amplitudes of the data information of each distance unit are the same or different. The data information of each distance unit can be shifted so that the data information with the largest amplitude is located in the 0 distance unit. The shifted data information of the plurality of distance units may be used as the distance spectrum data of the maximum amplitude in the first received signal.

FIG. 14 shows a schematic diagram of an exemplary implementation of determining the parameters of the mismatch filter according to the range spectrum data of the maximum amplitude of the first received signal according to an embodiment of the present application. As shown in FIG. 14 , in a possible implementation manner, the parameters of the mismatch filter can be determined by an optimization method. Determining the parameters of the mismatch filter according to the range spectrum data of the largest amplitude in the first received signal, further comprising:

S410, according to the range spectrum data of the maximum amplitude in the first received signal, determine the maximum amplitude of the range-dimensional side lobes in the first received signal;

S411, according to the maximum amplitude of the range-dimensional side lobes in the first received signal, determine the expected filtering data of the maximum-amplitude signal in the first received signal, wherein the amplitude of the range-dimensional side lobes of the expected filtering data is low the maximum amplitude of the range-dimensional side lobes in the first received signal;

S412: Determine the parameters of the mismatch filter according to the range spectrum data of the maximum amplitude in the first received signal and the expected filtering data of the maximum amplitude signal in the first received signal.

For example, in step S410, the range spectrum data of the maximum amplitude in the first received signal may be processed, and the processing method may, for example, determine the range dimension side lobes in the first received signal by using the range spectrum data, and obtain based on this The maximum amplitude m1 of the range-dimensional side lobes in the first received signal. For example, it is generally considered that in the distance unit far away from the radar, there will be no range-dimensional main lobe. If the range spectrum data of the largest amplitude in the first received signal is located in the Doppler unit J, the seventh, eighth, and ninth The distance units are three distance units that are adjacent to the radar and are far away from the radar, then you can determine the maximum distance dimension side lobe by comparing the data information amplitudes of the seventh, eighth, and ninth distance units in the Doppler unit J. Amplitude m1. For example, if the amplitude of the seventh distance element is the largest, the amplitude of the seventh distance element is the maximum amplitude m1 of the side lobes of the distance dimension.

In step S411, based on the maximum amplitude m1 of the range-dimensional side lobes in the first received signal, it can be determined that the side lobes of the desired filtered data should be smaller than m1. For example, in the expected filtering data determined in the embodiment of the present application, the main lobe amplitude is L _c and the side lobe amplitude is 0; or the main lobe amplitude is L _c and the side lobe amplitude is m2 (m2<m1).

It can be seen from the above description that the mismatch filter parameters are determined by the time domain data and the expected filtering data of the time domain data. Therefore, when determining the mismatch filter according to the relevant information of the first received signal, the first received signal can also be obtained first. Time domain data of the signal.

Since the time-domain data obtained by quantizing the first received signal has a relatively high data rate, if the time-domain data of the first received signal is directly used to obtain mismatch filter parameters, the data processing cost will be significantly increased. Based on this, the embodiments of the present application propose to obtain the time domain data of the maximum amplitude signal of the first received signal through inversion, and determine the mismatch filter parameters according to the time domain data obtained by the inversion.

For example, in step S412, the time domain data of the maximum amplitude signal in the first received signal can be obtained first according to the distance spectrum data of the maximum amplitude in the transmitted signal and the first received signal.

In a possible implementation, c can be defined as a column vector formed by the transmitted signal, and the vector c ^(u) can be defined as the periodic shift of the vector c, and the number of bits of the shift is u (1≤u≤Lc-1 and is an integer), where the shift here defines a downshift as positive and an upshift as negative. Then the inversion matrix C is shown in formula (9):

C=[c c ⁽¹⁾ …c ^(Lc-1) ] (9)

Wherein, the inversion matrix C is constructed corresponding to the application scenario of the maximum amplitude signal in the first received signal in the 0 distance unit. In the inversion matrix constructed in this way, the data in the first row corresponds to the first distance unit ( 0 distance unit), k can be defined as the range spectrum data of the largest amplitude in the first received signal, and y is defined as the time domain data obtained by inversion, then the acquisition of the time domain data is shown in formula (10):

y = C ^- 1 ^k (10)

It can be seen from the above that in the range spectrum data k of the largest amplitude in the first received signal, the data information of the largest amplitude is also located in the 0 distance unit, so that the distance between the inverse matrix of the inversion matrix and the largest amplitude in the first received signal is By multiplying the spectral data k, the time domain data of the maximum amplitude signal in the first received signal can be obtained.

In a possible implementation manner, the matrix C may also be constructed in other manners. For example, the range dimension data of the range and velocity two-dimensional spectrum data of the maximum amplitude of the first received signal are directly used as the maximum amplitude of the first received signal. The range spectrum data of the amplitude, at this time, the data information with the largest amplitude may be located in any distance unit (for example, the second distance unit), and the inversion matrix C can be constructed, so that the data in the first row of the inversion matrix C corresponds to the second distance unit . The present application does not limit the specific construction method of the inversion matrix.

In a possible implementation manner, a matrix can be constructed according to the time domain data, and the mismatch filter parameters can be combined with the matrix, the expected filtering data, and the error tolerance boundary of the side lobe amplitude of the expected filtering data (distance dimension side in the first received signal). The maximum amplitude of the lobe) and the loss of the signal-to-noise ratio are optimized, and the specific implementation can refer to the description of step S22 above.

In this way, mismatch filter parameters can be determined. The data rate of the time-domain data obtained by the inversion is small, which can reduce the data processing cost of the filtering process. Moreover, by selecting the range spectrum data with the largest amplitude in the first received signal, the determined mismatch filter parameters can be made more accurate.

FIG. 15 shows a schematic diagram of another exemplary implementation manner of determining the parameters of the mismatch filter according to the range spectrum data of the maximum amplitude of the first received signal according to an embodiment of the present application. As shown in FIG. 15 , in another possible implementation manner, the parameters of the mismatch filter may be determined by a matrix operation method. Determining the parameters of the mismatch filter according to the range spectrum data of the largest amplitude in the first received signal, further comprising:

S81, obtain the time domain data of the maximum amplitude signal in the first received signal according to the distance spectrum data of the maximum amplitude in the transmitted signal and the first received signal;

S82, according to the transmission signal, determine the expected filtering data of the time domain data of the maximum amplitude signal in the first received signal, wherein the range dimension side lobe amplitude of the expected filtering data is zero;

S83: Determine the parameters of the mismatch filter according to the transmitted signal, the time domain data of the maximum amplitude signal in the first received signal, and the expected filtering data.

In a possible implementation manner, in step S81, reference may be made to the description of step S412 for the method for acquiring the time domain data of the maximum amplitude signal in the first received signal. In step S82, according to the length of the transmitted signal (the sequence length of the baseband signal) Lc, the expected filtering data of the time domain data of the maximum amplitude signal in the first received signal can be constructed. For example, in the expected filtering data determined in the embodiment of the present application, the main lobe amplitude is Lc, and the side lobe amplitude is 0.

In step S83, the mismatch filter parameters may be determined according to the time domain data obtained by inversion and the expected filtering data. For example, a matrix can be constructed according to the length of the transmitted signal and the time-domain data obtained by inversion. The parameters of the mismatch filter can also be determined by means of matrix operations. For its specific implementation, reference may be made to FIG. 15 and the description of step S91 above, which is not repeated here for brevity.

In this way, when using the data information of the first received signal to determine the mismatch filter parameters, it is unnecessary to determine the maximum amplitude of the range-dimensional side lobes in the first received signal, which can improve the efficiency of determining the mismatch filter parameters.

Based on this, the detection device can determine the mismatch filter parameters after receiving the first first received signal. In practical applications, the determined mismatch filter parameters can be directly used to perform signal processing on other first received signals received by the detection device during subsequent operation, or it can be set after a period of time after determining the mismatch filter parameters once, Re-determine the mismatch filter parameters, so that when the re-determined mismatch filter performs data processing, it can eliminate the new changes (such as aging, etc.) of the non-ideal characteristics of the physical device of the detection device after the previous determination of the mismatch filter parameters. Impact on the first received signal. In order to improve the accuracy of the second detection data obtained by signal processing. If it is desired to further improve the accuracy of the second detection data, it is also possible to set the detection device to re-determine the mismatch filter parameters each time the first received signal is received. This application does not limit this.

In this way, when the mismatch filter is used for signal processing, the non-ideal characteristics of the received signal caused by the radar transmitter and the receiver can be eliminated, and the accuracy of the obtained mismatch filter parameters can be improved. Also, there are multiple options for determining mismatch filter parameters, which can improve the flexibility of signal processing.

In a possible implementation manner, in step S12, the filtering object of the mismatch filter is time domain data, and the data rate of the quantized time domain data of the first received signal is relatively large, therefore, in step S11 , in order to reduce the data cost of the filtering process, part of the data information in the distance and velocity two-dimensional spectrum data of the first received signal may also be inverted to obtain the first time domain data with a lower data rate. In a possible implementation manner, step S11 may include:

According to the transmitted signal, construct the inversion matrix;

According to the distance and speed two-dimensional spectrum data, determine the second distance spectrum data;

The first time domain data is determined according to the second range spectrum data and the inversion matrix.

The specific implementation of constructing the inversion matrix according to the transmitted signal may refer to the description of S412 above. The second range spectrum data, that is, the data to be inverted, can be determined by the distance and velocity two-dimensional spectrum data of the first received signal. In this way, the data information in the first time domain data is the data from the first received signal information, the distance information of the target of the first received signal can be obtained after filtering the first time domain data. Moreover, the data rate of the first time-domain data obtained by inversion is relatively small, which can reduce the cost of the mismatch filtering process.

In a possible implementation manner, determining the second distance spectrum data according to the distance and velocity two-dimensional spectrum data may include:

For example, the first received signal may include multiple signals, such as multiple echo signals obtained by transmitting leakage signals and multiple targets reflecting the transmitted signals. The side lobe amplitudes of the above-mentioned multiple signals can be determined by using the distance and velocity two-dimensional spectral data of the first received signal. An amplitude threshold can be preset, and the data information of the signal whose sidelobe amplitude exceeds the amplitude threshold can be determined as the target signal, and the range spectrum data of the target signal can be subjected to mismatch filtering to suppress excessively high sidelobes.

Wherein, the data information of the signal whose side lobe amplitude exceeds the amplitude threshold can be determined by extracting the data information of the Doppler unit where the signal whose side lobe amplitude exceeds the amplitude threshold is located. Therefore, as long as the data information of the same Doppler unit is extracted from the data information whose sidelobe amplitude exceeds the amplitude threshold, the data information of the target signal, that is, the second range spectrum data can be obtained.

In a possible implementation manner, the first detection data includes distance detection and/or velocity detection data, and the first time domain data is determined according to the second range spectrum data and the inversion matrix, which may be The method includes: replacing the distance detection data in the first detection data with the first distance detection data to obtain second detection data, or performing an OR operation on the first distance detection data and the first detection data, Obtain second detection data.

For example, the first detection data can be obtained by performing threshold detection on the distance and velocity two-dimensional spectrum data of the first received signal, or false alarm detection, etc., wherein, only distance detection can be performed, and the distance detection of the first received signal can be obtained. Data, distance and speed detection can also be performed to obtain distance detection data and speed detection data.

The first distance detection data may be fused with the first detection data to obtain second detection data with higher accuracy. For example, when the first detection data includes distance detection data, the distance detection data in the first detection data may be replaced by the first distance detection data to obtain the second detection data; The detection data is ORed to obtain the second detection data.

In this way, the flexibility of acquiring the second detection data can be improved. Moreover, using the substitution method can improve the data accuracy, and using the OR operation method can improve the data accuracy and avoid missed detection.

16a and 16b respectively illustrate exemplary application scenarios according to the embodiments of the present application. In the application scenario shown in Fig. 16a, the mismatch filter parameters are obtained in the dark room scene, and the dark room scene cannot realize the reflection of the signal. At this time, the receiving antenna of the radar only receives the second received signal. The radar can demodulate, sample and quantize the second received signal to obtain time domain data of the second received signal. According to the time domain data of the second received signal, the mismatch filter parameters can be obtained by calculation. After the mismatch filter parameters are determined, the radar can implement the signal processing method of the embodiment of the present application in a non-anechoic room scene. Wherein, in a non-dark room scenario, at least one target may be included within the detection distance of the detection device. In this case, the receiving antenna of the radar may receive the first received signal, and the first received signal may include the echo signal reflected by the target and The transmit antenna transmits the transmit leakage signal directly to the receive antenna. The radar may first obtain first detection data including distance information and/or speed information based on the processing result of the matched filtering. According to the distance and velocity two-dimensional spectrum data processed in the matched filtering process, the radar can also extract the distance spectrum data to be processed, and invert the extracted distance spectrum data according to the mismatch filter parameters determined in the darkroom. The first time-domain data is processed, and a first distance detection data including distance information is obtained based on the processing result (first distance spectrum data) of the mismatch filtering. In this case, the radar can obtain the second detection data with higher accuracy according to the first detection data and the first distance detection data.

In the application scenario shown in Fig. 16b, the mismatch filter parameters are obtained in a non-dark room scenario, wherein, in the non-dark room scenario, at least one target may be included within the detection distance of the detection device, in this case, the radar receiving The antenna may receive the first received signal, and the first received signal may include the echo signal reflected by the target and the transmit leakage signal directly transmitted by the transmit antenna to the receive antenna. The radar can perform demodulation, sampling and quantization, matched filtering, coherent accumulation, and velocity-dimensional fast Fourier transform processing on the first received signal to obtain the distance and velocity two-dimensional spectral data of the first received signal. The distance and velocity two-dimensional spectrum data of the first received signal has three uses. First, the radar can first obtain first detection data including distance information and/or speed information based on the distance and velocity two-dimensional spectrum data. Second, according to the distance and velocity two-dimensional spectrum data of the first received signal, the maximum amplitude distance spectrum data of the first received signal can be obtained, and the time domain data obtained by inversion according to the extracted maximum amplitude distance spectrum data, The mismatch filter parameters can be calculated. Third, the radar can also extract the range spectrum data to be processed from the range and velocity two-dimensional spectrum data, and perform the first time domain data inversion from the extracted range spectrum data according to the determined mismatch filter parameters. processing, and then obtain a first distance detection data including distance information based on the processing result (first distance spectrum data) of the mismatch filtering. In this case, the radar can obtain the second detection data with higher accuracy according to the first detection data and the first distance detection data.

The signal processing methods provided by the embodiments of the present application are described in detail above, and the signal processing apparatuses provided by the embodiments of the present application will be described below.

As shown in FIG. 17 , the signal processing apparatus 1400 in this embodiment of the present application includes:

a first acquisition module 1410, configured to acquire a first received signal, and process the first received signal to obtain distance and velocity two-dimensional spectrum data;

a first determining module 1420, configured to determine first time domain data according to the distance and velocity two-dimensional spectral data;

The processing module 1430 is configured to perform filtering processing on the first time domain data using a mismatch filter to obtain first range spectrum data, wherein the parameters of the mismatch filter are based on the time domain data of the second received signal or Determine the distance and velocity two-dimensional spectrum data of the maximum amplitude in the first received signal;

a second obtaining module 1440, configured to obtain first distance detection data according to the first distance spectrum data;

The second determination module 1450 is configured to determine second detection data according to the first distance detection data and the first detection data obtained from the first received signal.

The signal processing apparatus 1400 in this embodiment of the present application may be a detection apparatus, or may be one or more chips in the detection apparatus. The signal processing apparatus 1400 may be used to perform part or all of the functions of the detection apparatus in the embodiments of the present application. Optionally, the signal processing apparatus 1400 may further include a storage module.

The storage module may be used to store instructions for implementing the signal processing method of the embodiment of the present application.

In a possible implementation manner, the second received signal is a transmitted leakage signal.

In a possible implementation manner, the signal processing apparatus includes:

In a possible implementation, the apparatus further includes:

In a possible implementation, the sixth determining module includes:

In a possible implementation, the first determining module includes:

In a possible implementation manner, according to the distance and velocity two-dimensional spectrum data, the second distance spectrum data is determined, including:

In a possible implementation, the apparatus further includes:

In a possible implementation manner, the first detection data includes distance detection and/or speed detection data, and the second determination module includes:

In a possible implementation manner, an embodiment of the present application further provides a signal processing apparatus, including a processor and a memory for storing instructions executable by the processor; wherein the processor can be used to implement the above-described signal processing method.

According to the signal processing apparatus of the embodiment of the present application, the second detection data with higher accuracy can be obtained, and the distance and speed of the target determined based on the second detection data are also more accurate. When the signal processing device is applied to an automobile, the information processing capability of the automobile system can be improved.

As shown in FIG. 18, signal processing devices such as radars can be installed in motor vehicles, drones, rail cars, bicycles, signal lights, speed measuring devices or network equipment (such as base stations, terminal equipment in various systems) and the like. This application applies not only to the radar system between vehicles, but also to the radar system between vehicles and other devices such as drones, or the radar system between other devices. For example, radar can be installed on smart terminals such as smart transportation equipment, smart home equipment, and robots. This application does not limit the type of terminal equipment on which the radar is installed, the installation location of the radar and the function of the radar.

Wherein, the signal processing device may include a processor, a memory, a transmitting antenna, a receiving antenna, and a Monolithic Microwave Integrated Circuit (MMIC), which may include a modulator, an oscillator (oscillator), an analog-digital integrated circuit Converters (ADC, Analog-to-Digital Converter), demodulators, correlators, accumulators, encoders, etc. The transmitting antenna is connected to the modulator, the receiving antenna, demodulator, analog-to-digital converter, correlator, and accumulator are connected in sequence, and the oscillator is connected to the modulator and demodulator respectively, and outputs a carrier wave for modulation and demodulation. The modulator can also be connected to an encoder to receive a baseband signal for modulation.

The modulator can be used to modulate and power amplify the carrier and baseband signals to obtain the transmit signal, and send the transmit signal to the transmit antenna.

The transmitting antenna (such as a millimeter-wave antenna) is used to send a transmitting signal to the environment, so as to realize the detection of a target in the environment, and the target in the environment may be a target vehicle, other vehicles or other moving objects.

A receiving antenna (such as a millimeter-wave antenna) is used to receive echo signals reflected by objects in the environment. Due to the isolation between the transmitting antenna and the receiving antenna, the receiving antenna also receives the transmit leakage signal directly transmitted from the transmitting antenna to the receiving antenna. The receive antenna transmits the received signal to the demodulator. In this application, what the receiving antenna receives may be the first received signal or the second received signal, wherein the first received signal may include an echo signal reflected by the target and a transmission leakage signal. The second receiving signal may include transmitting a leakage signal.

The demodulator is used for mixing (down-converting) and low-noise amplifying the transmitted signal with the carrier wave sent in advance by the oscillator. The analog-to-digital converter is used to perform analog-to-digital conversion on the signal processed by the demodulator to obtain the time domain data of the signal. In this application, the time domain data of the first received signal or the time domain data of the second received signal can be obtained.

The correlator is used to perform matched filtering processing on the time domain data of the signal to obtain the distance information of the target. In the present application, the range spectrum data of the first received signal can be obtained. The accumulator is used to coherently accumulate the distance information of the target to improve the range of the distance information.

The processor is used to process the distance information of the target to obtain the speed information of the target. Based on the distance information and speed information of the target, the processor can detect and determine the distance and speed of the target to complete the target positioning.

The processor can be a general-purpose processor, such as a general-purpose central processing unit (CPU, Central Processing Unit), a network processor (NP, Network Processor), a microprocessor, etc., or an application-specific integrated circuit (ASIC, Application-Specific Integrated). CircBIt), or one or more integrated circuits used to control the execution of the programs of the present application. It can also be a digital signal processor (DSP, Digital Signal Processor), a Field-Programmable Gate Array (FPGA, Field-Programmable Gate Array) or other programmable logic devices, discrete gate or transistor logic devices, and discrete hardware components. A processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and the like. Processors typically perform logical and arithmetic operations based on program instructions stored in memory. The processor may implement all or part of the functions of the first obtaining module 1410 , the first determining module 1420 , the processing module 1430 , the second obtaining module 1440 , and the second determining module 1450 in this embodiment of the present application.

The memory may be a storage unit that may be located inside the processor, such as registers, caches, and the like. The memory can also be a storage unit located outside the processor, such as read-only memory (ROM, Read-Only Memory) or other types of static storage devices that can store static information and instructions, random access memory (RAM, Random Access Memory) Wait. The memory may implement the function of the storage module 1460 in this embodiment of the present application.

Optionally, the monolithic microwave integrated circuit may further include power amplifiers, low noise amplifiers, variable gain amplifiers and other devices. Those skilled in the art should understand that all signal processing apparatuses that can implement the present application fall within the protection scope of the present application.

The embodiments of the present application provide a vehicle, and the vehicle includes the signal processing apparatus of the embodiments of the present application.

The embodiments of the present application provide a program or a computer program product including program instructions, and when the program instructions are executed by a processor, the program instructions will cause the processor to implement the method flow in any of the above method embodiments.

Wherein, the above program instructions may be stored in whole or in part on a storage medium packaged with the processor, or may be stored in part or in part in a memory that is not packaged with the processor.

Embodiments of the present application provide a non-volatile computer-readable storage medium on which computer program instructions are stored, and when the computer program instructions are executed by a processor, implement the above method.

A computer-readable storage medium may be a tangible device that can hold and store instructions for use by the instruction execution device. The computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of computer-readable storage media include: portable computer disks, hard disks, random access memory (RAM), read only memory (ROM), erasable programmable read-only memory (Electrically Programmable Read-Only-Memory, EPROM or flash memory), static random access memory (Static Random-Access Memory, SRAM), portable compact disk read-only memory (Compact Disc Read-Only Memory, CD - ROM), Digital Video Disc (DVD), memory sticks, floppy disks, mechanically encoded devices, such as punch cards or raised structures in grooves on which instructions are stored, and any suitable combination of the foregoing .

Computer readable program instructions or code described herein may be downloaded to various computing/processing devices from a computer readable storage medium, or to an external computer or external storage device over a network such as the Internet, a local area network, a wide area network and/or a wireless network. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and/or edge servers. A network mismatch card or network interface in each computing/processing device receives computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in the respective computing/processing device .

The computer program instructions used to perform the operations of the present application may be assembly instructions, Instruction Set Architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data, or in one or more source or object code written in any combination of programming languages, including object-oriented programming languages such as Smalltalk, C++, etc., and conventional procedural programming languages such as the "C" language or similar programming languages. The computer readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer, or entirely on the remote computer or server implement. In the case of a remote computer, the remote computer can be connected to the user's computer through any kind of network—including a Local Area Network (LAN) or a Wide Area Network (WAN)—or, can be connected to an external computer (e.g. use an internet service provider to connect via the internet). In some embodiments, electronic circuits, such as programmable logic circuits, Field-Programmable Gate Arrays (FPGA), or Programmable Logic Arrays (Programmable Logic Arrays), are personalized by utilizing state information of computer-readable program instructions. Logic Array, PLA), the electronic circuit can execute computer readable program instructions to implement various aspects of the present application.

Aspects of the present application are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the present application. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer readable program instructions.

The flowchart and block diagrams in the Figures illustrate the architecture, functionality, and operation of possible implementations of apparatuses, systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more functions for implementing the specified logical function(s) executable instructions. In some alternative implementations, the functions noted in the blocks may occur out of the order noted in the figures. For example, two blocks in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved.

It is also noted that each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented in hardware (eg, circuits or ASICs (Application) that perform the corresponding functions or actions. Specific Integrated Circuit, application-specific integrated circuit)), or can be implemented by a combination of hardware and software, such as firmware.

While the invention has been described herein in connection with various embodiments, those skilled in the art will understand and understand from a review of the drawings, the disclosure, and the appended claims in practicing the claimed invention. Other variations of the disclosed embodiments are implemented. In the claims, the word "comprising" does not exclude other components or steps, and "a" or "an" does not exclude a plurality. A single processor or other unit may fulfill the functions of several items recited in the claims. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that these measures cannot be combined to advantage.

Various embodiments of the present application have been described above, and the foregoing descriptions are exemplary, not exhaustive, and not limiting of the disclosed embodiments. Numerous modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein was chosen to best explain the principles of the various embodiments, the practical application or improvement over the technology in the marketplace, or to enable others of ordinary skill in the art to understand the various embodiments disclosed herein.

Claims

A signal processing method, characterized in that the method comprises:

obtaining a first received signal, and processing the first received signal to obtain distance and velocity two-dimensional spectral data;

determining the first time domain data according to the distance and velocity two-dimensional spectral data;

Using a mismatch filter to filter the first time domain data to obtain first range spectrum data, wherein the parameters of the mismatch filter are based on the time domain data of the second received signal or the first received signal The maximum amplitude in the distance and velocity 2D spectral data is determined;

obtaining first distance detection data according to the first distance spectrum data;

The second detection data is determined according to the first distance detection data and the first detection data obtained from the first received signal.
The signal processing method according to claim 1, wherein the second received signal is a transmission leakage signal.
The signal processing method according to claim 2, wherein the method further comprises:

determining, according to the time domain data of the second received signal, the maximum amplitude of the range-dimensional side lobes in the second received signal;

Desired filtered data of the second received signal is determined according to the maximum magnitude of the range dimension side lobes in the second received signal, wherein the magnitude of the range dimension side lobes of the desired filtered data is lower than that of the second received signal The maximum amplitude of the mid-range dimensional side lobes;

The parameters of the mismatch filter are determined based on the time domain data of the second received signal and the desired filtered data of the second received signal.
The signal processing method according to claim 1, wherein the method further comprises:

obtaining the range spectrum data of the maximum amplitude in the first received signal according to the two-dimensional spectrum data of the distance and velocity of the maximum amplitude in the first received signal;

The parameters of the mismatch filter are determined based on the range spectrum data of the largest amplitude in the first received signal.
The signal processing method according to claim 4, wherein determining the parameters of the mismatch filter according to the range spectrum data of the maximum amplitude in the first received signal, comprising:

determining the maximum amplitude of the range dimension side lobes in the first received signal according to the range spectrum data of the maximum amplitude in the first received signal;

Desired filtering data of the maximum amplitude signal in the first received signal is determined according to the maximum amplitude of the range dimension side lobes in the first received signal, wherein the amplitude of the range dimension side lobes of the desired filtered data is lower than that of the desired filter data. the maximum amplitude of the range-dimensional side lobes in the first received signal;

The parameters of the mismatch filter are determined based on the range spectrum data of the largest amplitude in the first received signal and the expected filtering data of the largest amplitude signal in the first received signal.
The signal processing method according to claim 1, wherein determining the first time domain data according to the distance and velocity two-dimensional spectral data, comprising:

According to the transmitted signal, construct the inversion matrix;

According to the distance and speed two-dimensional spectrum data, determine the second distance spectrum data;

The first time domain data is determined according to the second range spectrum data and the inversion matrix.
The signal processing method according to claim 6, wherein determining the second distance spectrum data according to the distance and velocity two-dimensional spectrum data, comprising:

According to the distance and velocity two-dimensional spectral data, determine the range-dimensional side lobe amplitude of the signal in the first received signal;

Determine the signal whose range dimension side lobe amplitude is greater than or equal to the amplitude threshold as the target signal;

The second range spectrum data is determined according to the range spectrum data of the Doppler unit where the target signal is located in the range and velocity two-dimensional spectrum data.
The signal processing method according to claim 1, wherein the method further comprises:

determining the Doppler unit where the largest amplitude signal in the first received signal is located according to the distance and velocity two-dimensional spectral data of the first received signal;

From the distance and velocity two-dimensional spectral data of the first received signal, extract the distance and velocity two-dimensional spectral data of the Doppler unit where the largest amplitude signal in the first received signal is located, as the first received signal Distance and velocity 2D spectral data for the largest amplitude in the signal.
The signal processing method according to claims 1-8, wherein the first detection data includes distance detection and/or speed detection data,

Determining second detection data according to the first distance detection data and the first detection data obtained from the first received signal includes:

Replace the distance detection data in the first detection data with the first distance detection data to obtain second detection data, or,

Perform OR operation on the first distance detection data and the first detection data to obtain second detection data.
A signal processing device, characterized in that the device comprises:

a first acquisition module, configured to acquire a first received signal, and process the first received signal to obtain distance and velocity two-dimensional spectral data;

a first determination module, configured to determine first time domain data according to the distance and velocity two-dimensional spectral data;

A processing module, configured to perform filtering processing on the first time domain data by using a mismatch filter to obtain first range spectrum data, wherein the parameters of the mismatch filter are based on the time domain data of the second received signal or the Determine the distance and velocity two-dimensional spectrum data of the largest amplitude in the first received signal;

a second obtaining module, configured to obtain first distance detection data according to the first distance spectrum data;

A second determination module, configured to determine second detection data according to the first distance detection data and the first detection data obtained from the first received signal.
The signal processing apparatus according to claim 10, wherein the second received signal is a transmission leakage signal.
The signal processing apparatus according to claim 11, wherein the apparatus further comprises:

a third determining module, configured to determine the maximum amplitude of the range-dimensional side lobes in the second received signal according to the time domain data of the second received signal;

The fourth determination module is configured to determine the expected filtering data of the second received signal according to the maximum amplitude of the range-dimensional side lobes in the second received signal, wherein the amplitude of the range-dimensional side lobes of the desired filtering data is low the maximum amplitude of the range-dimensional side lobes in the second received signal;

A fifth determination module, configured to determine the parameters of the mismatch filter according to the time domain data of the second received signal and the expected filtering data of the second received signal.
The signal processing apparatus according to claim 10, wherein the apparatus further comprises:

a third acquisition module, configured to acquire the range spectrum data of the maximum amplitude in the first received signal according to the two-dimensional spectrum data of the distance and velocity of the maximum amplitude in the first received signal;

The sixth determination module is configured to determine the parameter of the mismatch filter according to the range spectrum data of the largest amplitude in the first received signal.
The signal processing apparatus according to claim 10, wherein the apparatus comprises:

a seventh determination module, configured to determine the Doppler unit where the maximum amplitude signal in the first received signal is located according to the distance and velocity two-dimensional spectral data of the first received signal;

The eighth determination module is configured to extract, from the distance and velocity two-dimensional spectral data of the first received signal, the distance and velocity two-dimensional spectral data of the Doppler unit where the maximum amplitude signal in the first received signal is located , as the distance and velocity two-dimensional spectral data of the largest amplitude in the first received signal.
A signal processing device, comprising:

processor;

memory for storing processor-executable instructions;

Wherein, the processor is configured to implement the method of any one of claims 1-9 when executing the instructions.
A non-volatile computer-readable storage medium on which computer program instructions are stored, characterized in that, when the computer program instructions are executed by a processor, the method described in any one of claims 1-9 is implemented.
A vehicle, characterized in that the vehicle comprises the device of any one of claims 10-15.