CN114019495B - Method and related device for determining maximum non-fuzzy speed of millimeter wave radar - Google Patents
Method and related device for determining maximum non-fuzzy speed of millimeter wave radar Download PDFInfo
- Publication number
- CN114019495B CN114019495B CN202111256847.2A CN202111256847A CN114019495B CN 114019495 B CN114019495 B CN 114019495B CN 202111256847 A CN202111256847 A CN 202111256847A CN 114019495 B CN114019495 B CN 114019495B
- Authority
- CN
- China
- Prior art keywords
- electromagnetic wave
- phase change
- time interval
- determining
- wave signal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/583—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/415—Identification of targets based on measurements of movement associated with the target
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The embodiment of the application provides a method and a related device for determining the maximum unambiguous speed of a millimeter wave radar. In the embodiment of the application, each signal subframe emitted by the millimeter wave radar at least comprises electromagnetic wave signals with two time intervals. Fourier transforming each frame of the electromagnetic wave signal to determine a first phase change of the electromagnetic wave signal over a first time interval and a second phase change over a second time interval. And further determining a third phase change within the time difference of the two time intervals based on the phase changes corresponding to the two time intervals. Since the maximum unblurred speed of a signal at a certain wavelength is inversely proportional to the time interval, and the third phase change is both the first phase change and the second phase change, the maximum unblurred speed determined based on the third phase change is much higher than the maximum unblurred speed determined by the time interval of the same signal waveform. Thereby increasing the upper limit of the survey for maximum unambiguous speed of the millimeter wave radar.
Description
Technical Field
The invention relates to the technical field of signal processing, in particular to a method and a related device for determining the maximum unambiguous speed of a millimeter wave radar.
Background
Along with the development of technology, millimeter wave radar is increasingly widely used. It usually uses Frequency Modulated Continuous Wave (FMCW) to detect mobile devices such as velocity and position, and obstructions during movement. The detection needs to be carried out by predetermining the maximum speed which can be measured by the millimeter wave radar, namely the maximum unambiguous speed of the millimeter wave radar.
In the related art, the hardware of the millimeter wave radar adopts a multiple-input multiple-output design mode, that is, electromagnetic wave signals with the same waveform are transmitted in a time-sharing manner through a plurality of transmitting antennas, and the maximum speed which can be measured by the radar is determined based on the received data. Since the waveforms of the transmitted signals are the same in the conventional speed measurement mode, the phase changes between adjacent signals are the same. The measured maximum pasting speed is fixed asWhere Vmax is the maximum non-ambiguity speed, λ is the signal wavelength, tc is the time interval between two chirps (one Chirp per signal transmitted by the transmit antenna).
Disclosure of Invention
The embodiment of the application provides a method and a related device for determining the maximum non-fuzzy speed of a millimeter wave radar. And determining a maximum unfluring speed based on the phase change within the time difference to increase a survey upper limit of the maximum unfluring speed of the millimeter wave radar.
In a first aspect, an embodiment of the present application provides a method for determining a maximum unambiguous speed of a millimeter wave radar, where each signal subframe transmitted by the millimeter wave radar includes at least two electromagnetic wave signals at intervals, and the method includes:
Receiving at least one frame of electromagnetic wave signal transmitted by a transmitting antenna of the millimeter wave radar through a receiving antenna; wherein the frame of electromagnetic wave signal comprises a plurality of signal subframes;
fourier transforming each received frame to determine a first phase change of the electromagnetic wave signal over a first time interval and a second phase change over a second time interval; wherein, the interval between the emission time of two adjacent electromagnetic wave signals is a time interval;
Determining a third phase change within an interval time difference according to the first phase change and the second phase change, and determining a maximum non-blurring speed of the electromagnetic wave signal based on the third phase change; wherein the interval time difference is a difference between the first time interval and the second time interval.
In the embodiment of the application, each signal subframe transmitted by the millimeter wave radar at least comprises two electromagnetic wave signals with time intervals, so that the data volume of Fourier transformation can be satisfied by receiving at least one frame of electromagnetic wave signal by the receiving antenna. Fourier transforming each frame of the electromagnetic wave signal to determine a first phase change of the electromagnetic wave signal over a first time interval and a second phase change over a second time interval. And further determining a third phase change within the time difference of the two time intervals based on the phase changes corresponding to the two time intervals. Since the maximum unblurred speed of a signal at a certain wavelength is inversely proportional to the time interval, and the third phase change is both the first phase change and the second phase change, the maximum unblurred speed determined based on the third phase change is much higher than the maximum unblurred speed determined by the time interval of the same signal waveform. Thereby increasing the upper limit of the survey for maximum unambiguous speed of the millimeter wave radar.
In some possible embodiments, the transmitting of the electromagnetic wave signal in the first time interval is sequentially before the transmitting of the electromagnetic wave signal in the second time interval, and the fourier transforming is performed for each received frame to determine a first phase change of the electromagnetic wave signal in the first time interval and a second phase change in the second time interval, including:
Determining a two-dimensional Fourier matrix of each electromagnetic wave signal through Fourier transformation, and taking a point with a value larger than a preset threshold value in the two-dimensional Fourier matrix as a target point;
determining a row index and a column index of the target point, and determining received data of an electromagnetic wave signal of the target point based on the row index and the column index of each target point, wherein the received data represents the data of the electromagnetic wave signal on the millimeter wave radar receiving antenna;
The first phase change is determined from the received data of the electromagnetic wave signal in a first time interval and the second phase change is determined from the received data of the electromagnetic wave signal in a second time interval.
According to the embodiment of the application, the two-dimensional Fourier matrix of the electromagnetic wave signal is determined through Fourier change, the electromagnetic wave signals belonging to different time intervals are determined from the Fourier matrix, and further, the first phase change is determined according to the two-dimensional Fourier matrix data of the electromagnetic wave signal in the first time interval, and the second phase change is determined according to the two-dimensional Fourier matrix data of the electromagnetic wave signal in the second time interval.
In some possible embodiments, the determining the received data of the electromagnetic wave signal to which the target point belongs based on the row index and the column index of each target point includes:
determining electromagnetic wave signals corresponding to the target points according to the row index and the column index of each target point;
and determining the received data of the electromagnetic wave signals according to the numerical values of the target points belonging to the same electromagnetic wave signal in the two-dimensional Fourier matrix.
In the embodiment of the application, when the received data of the electromagnetic wave signals of the target points are determined, the electromagnetic wave signals corresponding to the target points are determined according to the rank index of each target point in the two-dimensional Fourier matrix. Thus, the target point of each electromagnetic wave signal transmitted by the transmitting antenna can be obtained, and the two-dimensional Fourier matrix data of the target point of each electromagnetic wave signal is the received data of the electromagnetic wave signal at the receiving antenna.
In some possible embodiments, the determining the first phase change from the received data of the electromagnetic wave signal in the first time interval and the determining the second phase change from the received data of the electromagnetic wave signal in the second time interval includes:
Determining a ratio of received data of the second signal to received data of the first signal in each first time interval, and determining a first phase complex number according to the ratio and the number of the first time intervals; the electromagnetic wave signals in each first time interval, the electromagnetic wave signals with the front transmitting time are the first signals, and the electromagnetic wave signals with the rear transmitting time are the second signals;
Determining a ratio of the received data of the fourth signal to the received data of the third signal in each second time interval, and determining a second phase complex number according to the ratio and the number of the second time intervals; the electromagnetic wave signals in each second time interval have the electromagnetic wave signals with the front transmitting time as the third signals and the electromagnetic wave signals with the rear transmitting time as the fourth signals;
The first phase change is determined from the real and imaginary parts of the first phase complex number and the second phase change is determined from the real and imaginary parts of the second phase complex number.
In some possible embodiments, the determining a third phase change within an interval time difference from the first phase change and the second phase change includes:
Determining a third phase complex number according to the first phase complex number and the second phase complex number, and determining a period of the third phase change according to the first time interval and the second time interval;
and taking the sum of the third phase complex number and the period as the third phase change.
When the embodiment of the application determines the third phase change, the third phase complex number is firstly determined according to the first phase complex number and the second phase complex number, and then the time period of the third phase change is determined according to the first time interval and the second time interval. The sum of the third phase complex number and the time period is the third phase change.
In some possible embodiments, the determining a third phase complex number from the first phase complex number and the second phase complex number includes:
taking the quotient of the second phase complex number and the first phase complex number as the third phase complex number.
In the embodiment of the application, the time sequence of the second time interval is further after the first time interval, so that the second phase complex number is divided by the first phase complex number to obtain a third phase complex number.
In some possible embodiments, the determining the maximum non-ambiguity speed of the electromagnetic wave signal based on the third phase change includes:
And determining the maximum unambiguous speed according to a maximum unambiguous formula based on the wavelength of the electromagnetic wave signal emitted by the millimeter wave radar and the third phase change.
In the embodiment of the application, the maximum non-blurring speed of the frame electromagnetic wave signal is determined by applying a maximum non-blurring formula according to the wavelength of the electromagnetic wave signal and the third phase change of the frame electromagnetic wave signal as formula parameters.
In a second aspect, an embodiment of the present application provides a millimeter wave radar, where each signal subframe transmitted by the millimeter wave radar includes at least two electromagnetic wave signals with time intervals, and the electromagnetic wave radar includes a memory and a processor, where:
The memory is used for storing a computer program executable by the processor;
The processor, coupled to the memory, is configured to: receiving at least one frame of electromagnetic wave signal transmitted by a transmitting antenna of the millimeter wave radar through a receiving antenna; wherein the frame of electromagnetic wave signal comprises a plurality of signal subframes;
fourier transforming each received frame to determine a first phase change of the electromagnetic wave signal over a first time interval and a second phase change over a second time interval; wherein, the interval between the emission time of two adjacent electromagnetic wave signals is a time interval;
Determining a third phase change within an interval time difference according to the first phase change and the second phase change, and determining a maximum non-blurring speed of the electromagnetic wave signal based on the third phase change; wherein the interval time difference is a difference between the first time interval and the second time interval.
In some possible embodiments, the transmitting of the electromagnetic wave signal within the first time interval is sequentially before the transmitting of the electromagnetic wave signal within the second time interval, the fourier transforming is performed for each received frame to determine a first phase change of the electromagnetic wave signal within a first time interval and a second phase change within a second time interval, the processor being configured to:
For each frame of electromagnetic wave signal, determining a two-dimensional Fourier matrix of the frame of electromagnetic wave signal through Fourier transformation, and taking a point with a value larger than a preset threshold value in the two-dimensional Fourier matrix as a target point;
determining a row index and a column index of the target point, and determining received data of an electromagnetic wave signal of the target point based on the row index and the column index of each target point, wherein the received data represents the data of the electromagnetic wave signal on the millimeter wave radar receiving antenna;
The first phase change is determined from the received data of the electromagnetic wave signal in a first time interval and the second phase change is determined from the received data of the electromagnetic wave signal in a second time interval.
In some possible embodiments, the determining the received data of the electromagnetic wave signal to which the target point belongs based on the row index and the column index of each target point is performed, and the processor is configured to:
determining electromagnetic wave signals corresponding to the target points according to the row index and the column index of each target point;
and determining the received data of the electromagnetic wave signals according to the numerical values of the target points belonging to the same electromagnetic wave signal in the two-dimensional Fourier matrix.
In some possible embodiments, the determining the first phase change from received data of the electromagnetic wave signal in a first time interval and the determining the second phase change from received data of the electromagnetic wave signal in a second time interval are performed, the processor being configured to:
Determining a ratio of received data of the second signal to received data of the first signal in each first time interval, and determining a first phase complex number according to the ratio and the number of the first time intervals; the electromagnetic wave signals in each first time interval, the electromagnetic wave signals with the front transmitting time are the first signals, and the electromagnetic wave signals with the rear transmitting time are the second signals;
Determining a ratio of the received data of the fourth signal to the received data of the third signal in each second time interval, and determining a second phase complex number according to the ratio and the number of the second time intervals; the electromagnetic wave signals in each second time interval have the electromagnetic wave signals with the front transmitting time as the third signals and the electromagnetic wave signals with the rear transmitting time as the fourth signals;
The first phase change is determined from the real and imaginary parts of the first phase complex number and the second phase change is determined from the real and imaginary parts of the second phase complex number.
In some possible embodiments, performing the determining a third phase change within an interval time difference from the first phase change and the second phase change, the processor is configured to:
Determining a third phase complex number according to the first phase complex number and the second phase complex number, and determining a period of the third phase change according to the first time interval and the second time interval;
and taking the sum of the third phase complex number and the period as the third phase change.
In some possible embodiments, performing the determining a third phase complex number from the first phase complex number and the second phase complex number, the processor is configured to:
taking the quotient of the second phase complex number and the first phase complex number as the third phase complex number.
In some possible embodiments, performing the determining the maximum non-ambiguity speed of the electromagnetic wave signal based on the third phase change, the processor is configured to:
And determining the maximum unambiguous speed according to a maximum unambiguous formula based on the wavelength of the electromagnetic wave signal emitted by the millimeter radar and the third phase change.
In a third aspect, the embodiment of the present application further provides a computer storage medium, where a computer program is stored, where the computer program is configured to cause a computer to execute a method for determining a maximum unambiguous speed of a millimeter wave radar provided by the embodiment of the present application.
Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application. The objectives and other advantages of the application will be realized and attained by the structure particularly pointed out in the written description and claims thereof as well as the appended drawings.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments of the present application will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of a conventional millimeter wave radar waveform shown in an embodiment of the present application;
FIG. 2a is a flow chart of a method for determining a maximum unambiguous speed of a millimeter wave radar in accordance with an embodiment of the present application;
Fig. 2b is a schematic diagram of electromagnetic wave signals in a signal subframe according to an embodiment of the present application;
FIG. 2c is a schematic diagram of a two-dimensional Fourier matrix shown in an embodiment of the application;
FIG. 2d is a schematic diagram of a two-dimensional Fourier matrix of each electromagnetic wave signal according to an embodiment of the present application;
fig. 3 is a schematic diagram of a signal subframe of a 3-transmit-4-receive millimeter wave radar according to an embodiment of the present application;
fig. 4 is a block diagram of millimeter wave radar 400 shown in an embodiment of the present application.
Detailed Description
The technical solutions of the embodiments of the present application will be clearly and thoroughly described below with reference to the accompanying drawings. In the description of the embodiments of the present application, unless otherwise indicated, "face" shall mean or, for example, a/B may represent a or B; the text "and/or" is merely an association relation describing the associated object, and indicates that three relations may exist, for example, a and/or B may indicate: the three cases where a exists alone, a and B exist together, and B exists alone, and furthermore, in the description of the embodiments of the present application, "plural" means two or more than two.
In the description of the embodiments of the present application, unless otherwise indicated, the term "plurality" refers to two or more, and other words and phrases are to be understood and appreciated that the preferred embodiments described herein are for the purpose of illustration and explanation of the present application only, and are not intended to limit the present application, as well as the embodiments of the present application and features of the embodiments may be combined with each other without conflict.
In order to further explain the technical solution provided by the embodiments of the present application, the following details are described with reference to the accompanying drawings and the detailed description. Although embodiments of the present application provide the method operational steps shown in the following embodiments or figures, more or fewer operational steps may be included in the method based on routine or non-inventive labor. In steps where there is logically no necessary causal relationship, the execution order of the steps is not limited to the execution order provided by the embodiments of the present application. The methods may be performed sequentially or in parallel as shown in the embodiments or the drawings when the actual processing or the control device is executing.
In the related art, the hardware of the millimeter wave radar adopts a multiple-input multiple-output design mode, that is, electromagnetic wave signals with the same waveform are transmitted in a time-sharing manner through a plurality of transmitting antennas, and the maximum speed which can be measured by the radar is determined based on the received data. As shown in fig. 1, each of the dashed lines shown in fig. 1 represents an electromagnetic wave signal transmitted by a transmitting antenna, and the abscissa represents a signal transmission time and the ordinate represents a signal transmission frequency. In the traditional speed measuring mode, the waveforms of the transmitted signals are the same, namely the phase changes among adjacent signals are the same. According to the maximum non-blurring speed calculation formula, the measured maximum blurring speed is fixed asWhere λ is the signal wavelength and Tc is the time interval between two chirps.
As mentioned above, millimeter wave radar mostly uses Frequency Modulated Continuous Wave (FMCW) to detect the movable device such as speed and position, and obstacles during movement. In order to meet the requirement of larger parameter ranges such as measurable distance, speed and the like, a millimeter wave radar needs to be reasonably designed. As can be seen from the above equation, tc is required to be reduced to increase the maximum non-blurring speed, but each Chirp needs to be sampled by the ADC, and if the number of sampling points is to be kept unchanged, the sampling frequency needs to be greatly increased due to the reduction of Tc, which also increases the processing speed requirement. Because millimeter wave radars are limited by size, power consumption and the like, a single-chip scheme is mostly adopted, and hardware resources of the millimeter wave radars cannot meet the requirements, so that how to improve the maximum non-fuzzy speed survey upper limit of the millimeter wave radars is an urgent problem to be solved.
In order to solve the above-mentioned problems, in the embodiments of the present application, each signal subframe transmitted by the millimeter wave radar includes at least two electromagnetic wave signals with time intervals, so that the data size of fourier transform can be satisfied when the receiving antenna receives at least one frame of electromagnetic wave signal. Fourier transforming each frame of the electromagnetic wave signal to determine a first phase change of the electromagnetic wave signal over a first time interval and a second phase change over a second time interval. And further determining a third phase change within the time difference of the two time intervals based on the phase changes corresponding to the two time intervals. Since the maximum unblurred speed of a signal at a certain wavelength is inversely proportional to the time interval, and the third phase change is both the first phase change and the second phase change, the maximum unblurred speed determined based on the third phase change is much higher than the maximum unblurred speed determined by the time interval of the same signal waveform. Thereby increasing the upper limit of the survey for maximum unambiguous speed of the millimeter wave radar.
In order to facilitate understanding of the technical solution provided by the embodiments of the present application, a method for determining a maximum unambiguous speed of a millimeter wave radar provided by the embodiments of the present application is described in detail below with reference to the accompanying drawings, and specifically as shown in fig. 2a, the method includes the following steps:
Step 201: receiving at least one frame of electromagnetic wave signal transmitted by a transmitting antenna of the millimeter radar through a receiving antenna; wherein the frame of electromagnetic wave signal comprises a plurality of signal subframes.
A frame of electromagnetic wave signal emitted by the millimeter wave radar is composed of a plurality of signal subframes, and each signal subframe in the embodiment of the application at least needs to contain electromagnetic wave signals with two different time intervals. The design aims at finding out the phase change of signals in two different time intervals, further determining the phase change in the time difference of the two time intervals, and solving the maximum non-blurring speed according to the phase change in the time difference. Thus, without reducing the time interval (Tc shown in fig. 1) of the electromagnetic wave signal, a calculation is made for the difference in time intervals to raise the upper limit of the survey for the maximum unambiguous speed.
Step 202: fourier transforming each received frame to determine a first phase change of the electromagnetic wave signal over a first time interval and a second phase change over a second time interval; wherein, the interval between the emission time of two adjacent electromagnetic wave signals is a time interval;
Specifically, as shown in fig. 2b, fig. 2b shows signal information included in a signal subframe, which includes two waveforms a and C, where tc_a is a time interval between a C signal and a first a signal, i.e., a first time interval; tc_C is the time interval between the second A signal and the C signal; tc_d is the time difference between two time intervals; wherein, the abscissa in fig. 2b represents the emission time of the signal, that is, the emission sequence of the electromagnetic wave signal in the first time interval precedes the electromagnetic wave signal in the second time interval, and tc_d < tc_a < tc_c.
And performing Fourier transform on each received frame to determine a first phase change of an electromagnetic wave signal in a signal subframe in a first time interval, determining a two-dimensional Fourier matrix of the electromagnetic wave signal through Fourier transform, taking a point with a value larger than a preset threshold value in the two-dimensional Fourier matrix as a target point, determining a row index and a column index of the target point, and determining received data of the electromagnetic wave signal of the target point based on the row index and the column index of each target point. Further, a first phase change is determined from the received data of the electromagnetic wave signal in the first time interval and a second phase change is determined from the received data of the electromagnetic wave signal in the second time interval.
The above embodiments are all mature signal processing technologies, specifically, electromagnetic wave signals emitted by the millimeter wave radar emitting antenna are reflected back by the object and then received by the receiving antenna. The received data are mixed by a mixer to obtain intermediate frequency signals, and then ADC is adopted to sample the intermediate frequency signals to obtain the received data of electromagnetic wave signals. Since the fourier transform requires support of data amount, it is generally performed by using one frame of signal data, and when performing the fourier transform, it is necessary to perform fourier transform processing of m points (the number of sampling points is m) for each sampling point of Chirp in the received data of one frame of electromagnetic wave signal, respectively, to obtain one-dimensional fourier (1D-FFT) data.
It has been mentioned above that a frame of electromagnetic wave signal comprises a plurality of signal subframes. After the one-dimensional fourier data of the frame electromagnetic wave signal is obtained, n-point two-dimensional fourier transform is performed according to the number of signals in each signal subframe (i.e., the number of broken lines shown in fig. 1) according to a slow time axis, so as to obtain a two-dimensional fourier matrix. Where n is the number of signal subframes in a frame of electromagnetic wave signal. As shown in fig. 2c in particular, fourier transform of m sampling points is performed on each electromagnetic wave signal (i.e., ACA) of each signal subframe within one frame of electromagnetic wave signal. That is, a×n two-dimensional fourier matrix is performed on a frame of electromagnetic wave signal at each receiving antenna, and a is the number of signals in each signal subframe.
Further, after the two-dimensional fourier matrix is obtained, as shown in fig. 2d, each electromagnetic wave signal is extracted to form a two-dimensional fourier matrix of each electromagnetic wave signal. And then, performing Constant False Alarm Rate (CFAR) detection on the obtained two-dimensional Fourier matrix data to determine sampling points of which the values in the two-dimensional Fourier matrix meet a preset threshold value, and taking the sampling points as target points to obtain a target detection column. The list contains the row index and column index of each target point in the two-dimensional fourier matrix. Therefore, according to the row index and the column index of each target point, which electromagnetic wave signal the target point belongs to can be determined. And finally, taking the two-dimensional Fourier matrix data of target points belonging to the same electromagnetic wave signal as the received data of the electromagnetic wave signal. Thus, the electromagnetic wave signal reception data in the first time interval tc_a and the electromagnetic wave signal reception data in the second time interval tc_c can be obtained.
Next, a phase change is determined based on the received data. In the implementation, determining the ratio of the received data of the second signal to the received data of the first signal in each first time interval, and determining a first phase complex number according to the second duration ratio and the number of the first time intervals of the second duration; the electromagnetic wave signals in each first time interval have the electromagnetic wave signals with the front transmitting time as the first signals with the second time length, and the electromagnetic wave signals with the rear transmitting time as the second signals with the second time length. And determining a ratio of the received data of the fourth signal to the received data of the third signal within each second time interval, and determining a second phase complex number according to the ratio and the number of the second time intervals; the electromagnetic wave signals in each second time interval have the electromagnetic wave signals with the front transmitting time as the third signal and the electromagnetic wave signals with the rear transmitting time as the fourth signal. The first phase change is then determined from the real and imaginary parts of the first phase complex number and the second phase change is determined from the real and imaginary parts of the second phase complex number.
Specifically, if the millimeter wave radar has r receiving antennas, the values corresponding to the respective matrices are extracted from 3r two-dimensional fourier matrices, and the total number is 3×r, which are respectively the data of r receiving antennas corresponding to the first electromagnetic wave signal a, the data of r receiving antennas corresponding to the electromagnetic wave signal C, and the data of r receiving antennas corresponding to the second electromagnetic wave signal a in fig. 2 b. Then, the data of the electromagnetic wave signal C is divided by the data of the first electromagnetic wave signal a, and the result is a first phase complex value Temp1. The result is complex and includes the phase change of the first electromagnetic wave signal a within tc_a. Correspondingly, the result obtained by dividing the data of the third electromagnetic wave signal a by the data of the electromagnetic wave signal C is a second phase complex value Temp2, which contains the phase change of the electromagnetic wave signal C within tc_c.
Then, a first phase change is determined from the real and imaginary parts of Temp1 and a second phase change is determined from the real and imaginary parts of Temp 2. For ease of understanding, the first phase change is illustrated herein as determined from the real and imaginary parts of Temp1, as shown in equation (1) below:
wherein, A first phase change that does not contain a period; temp1 Deficiency type is the imaginary part of Temp 1; temp1 Real world is the real part of Temp 1.
Step 203: determining a third phase change within an interval time difference according to the first phase change and the second phase change, and determining a maximum non-blurring speed of the electromagnetic wave signal based on the third phase change; wherein the interval time difference is a difference between the first time interval and the second time interval.
Obtaining a first phase change without a period by the formulaAnd second phase Change/>After that, can be according toAnd/>A third phase change within the interval time difference (tc_d shown in fig. 2 b) is determined. It should be noted that, since the phase of the radar signal varies within the range of [ -180 °,180 ° ], if the phase difference is greater than pi (e.g., 3 pi) due to excessive speed, it is erroneously recognized as pi (i.e., 3 pi-2 pi), which is obviously erroneous. So that the first phase change and the second phase change do not carry real periods, the first phase change/>For example, its true phase change/>Should be/>Therefore, when determining the third phase change, the third phase complex value is determined according to the first phase complex value and the second phase complex value, and the period of the third phase change is determined according to the first time interval tc_a and the second time interval tc_c. And finally, adding the third phase complex value and the period to obtain the true third phase change.
Specifically, the second phase complex value Temp2 is divided by the first phase complex value Temp1, and the quotient is the third phase complex value Temp3. Then determining a third phase change of the uncomputed period from the above equation (1)Since tc_d is much smaller than tc_a, the measured data error must be large. For measuring the running speed of an athlete, if the athlete wants to measure how far per second the athlete runs, the error of the data obtained by measuring only one second with a stopwatch must be much larger than the error of measuring ten seconds and then dividing by ten. So in determining the period of the third phase change, we can choose/>Calculate true/>K is defined by/>The result of (2) is approximately rounded.
In addition, since the time tc_f of one signal subframe is necessarily greater than tc_a. Taking fig. 2b as an example, tc_f is 2tc_a+tc_c. The phase change in time Tc_f of each signal subframe can be determined from the data in the two-dimensional Fourier matrixTrue phase change (carry cycle)/> From the following componentsThe result of (2) is approximately rounded.
Finally, the parameters are brought into a maximum non-fuzzy speed formula, as shown in the following formula (2):
wherein, vmax is the maximum non-fuzzy speed; lambda is the signal wavelength; Is the real phase change in time of one signal subframe; tc_f is the time of one signal subframe.
In the above step, the phase change in the time difference between two time intervals is determined by finding out the phase change of the signals in the two different time intervals, and the maximum non-blurring speed is solved according to the phase change in the time difference. Thereby the maximum non-blurring speed can be achieved without reducing the time interval of electromagnetic wave signalsFar greater than that obtained by the traditional method
In view of the fact that millimeter wave radars in practical applications are mostly 3-transmit and 4-receive, namely, 3 transmitting antennas and 4 receiving antennas are arranged. The embodiment of the application takes 3-transmission 4-reception millimeter wave radar as an example, and describes the complete flow of the technical scheme provided by the embodiment of the application.
Specifically, as shown in fig. 3, fig. 3 shows a millimeter wave radar with 3-transmit and 4-receive antennas, wherein three transmitting antennas are Tx1, tx2 and Tx3 respectively, during transmitting, tx1 continuously transmits two electromagnetic wave signals A0 and A1, then Tx2 transmits two electromagnetic wave signals B0 and B1 again, and finally Tx3 transmits two electromagnetic wave signals C0 and C1, and the six electromagnetic wave signals (i.e., 6 chirps) are one signal subframe, and each frame is composed of a plurality of signal subframes. n wherein the time interval between adjacent signals of A0, A1, B0 and B1 is Tc_a. The time interval between the signals C0 and C1 is Tc_c, and the time difference between Tc_c and Tc_a is Tc_b. As shown in fig. 3, tc_b < tc_a < tc_c.
It should be noted that the above-mentioned transmission sequence of the electromagnetic wave signal is only an example for describing the embodiment of the present application, and the transmission sequence is not limited. In the embodiment of the application, only one signal subframe is required to contain at least two electromagnetic wave signals with different time intervals.
When the method is implemented, one-dimensional Fourier transform is firstly carried out on a received frame of electromagnetic wave signal, and one-dimensional Fourier data is obtained. Then, for the data of each receiving antenna, n-point fourier transforms are performed on 6 waveforms (A0, A1, B0, B1, C0, C1 shown in fig. 3) in accordance with the slow time axis, respectively, to obtain 4 (number of receiving antennas) x6 (number of waveforms) =24 two-dimensional fourier matrices in total.
And performing CFAR detection on the obtained two-dimensional Fourier matrix to obtain a target detection list. And then 24 target points are taken out from the 24 two-dimensional Fourier matrices according to the target point rank index in the list. Dividing 24 target points into two groups of x 0-x 11 and y 0-y 11, wherein the first group of data is the two-dimensional Fourier matrix data of 1 st, 2 nd, 3 rd and 4 th receiving antennas of A0 waveform, the two-dimensional Fourier matrix data of 1 st, 2 nd, 3 rd and 4 th receiving antennas of B0 waveform, and the two-dimensional Fourier matrix data of 1 st, 2 nd, 3 rd and 4 th receiving antennas of C0 waveform; the second group of data is the two-dimensional Fourier matrix data of the 1 st, 2 nd, 3 rd and 4 th receiving antennas of the A1 waveform, the two-dimensional Fourier matrix data of the 1 st, 2 nd, 3 rd and 4 th receiving antennas of the B1 waveform and the two-dimensional Fourier matrix data of the 1 st, 2 nd, 3 rd and 4 th receiving antennas of the C1 waveform in sequence.
Then, the data of the corresponding receiving antenna of the A1 waveform is divided by the data of the corresponding antenna of the A0 waveform, and the data of the corresponding receiving antenna of the B1 waveform is divided by the data of the corresponding antenna of the B0 waveform, and the average value temp1 of 8 results is taken, wherein the value contains the phase change of the electromagnetic wave signal in the Tc_A time interval without the period, namely the first phase change complex value. Then, the data of the corresponding receiving antenna of the C1 waveform is divided by the data of the corresponding antenna of the C0 waveform, and the average value temp2 of 4 results is taken, wherein the value contains the phase change of the electromagnetic wave signal in the Tc_c time interval without the period, namely the second phase change complex value. And then determining phase change information caused by the Tc_d time interval according to the quotient of the second phase change complex value and the first phase change complex value, namely a third phase change complex value temp3.
Further, the time tc_g of one signal subframe of the 3-transmit-4-receive millimeter wave radar is determined, and as shown in fig. 3, one signal subframe includes 4tc_a and 2tc_c, that is, tc_g=4tc_a+2tc_c. The phase change of the non-carried period can be obtained from the data in the two-dimensional Fourier matrix due to the phase change in the time Tc_g of each signal subframeTrue phase change/>By/> The result of (2) is approximately rounded. And finally, bringing the obtained parameters into the formula (2), and determining the maximum unambiguous speed of the 3-transmission 4-reception millimeter wave radar through the formula (2).
A millimeter wave radar 130 according to this embodiment of the present application is described below with reference to fig. 4. Millimeter-wave radar 130 shown in fig. 4 is merely an example and should not be construed as limiting the functionality and scope of use of embodiments of the present application.
As shown in fig. 4, millimeter-wave radar 130 is embodied in the form of a general-purpose electronic device. Components of millimeter-wave radar 130 may include, but are not limited to: the at least one processor 131, the at least one memory 132, and a bus 133 connecting the various system components, including the memory 132 and the processor 131.
Bus 133 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a processor, and a local bus using any of a variety of bus architectures.
Memory 132 may include readable media in the form of volatile memory such as Random Access Memory (RAM) 1321 and/or cache memory 1322, and may further include Read Only Memory (ROM) 1323.
Memory 132 may also include a program/utility 1325 having a set (at least one) of program modules 1324, such program modules 1324 include, but are not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment.
Millimeter-wave radar 130 may also communicate with one or more external devices 134 (e.g., keyboard, pointing device, etc.), one or more devices that enable a user to interact with millimeter-wave radar 130, and/or any devices (e.g., routers, modems, etc.) that enable millimeter-wave radar 130 to communicate with one or more other electronic devices. Such communication may occur through an input/output (I/O) interface 135. Also, millimeter-wave radar 130 may communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network such as the internet via network adapter 136. As shown, network adapter 136 communicates with other modules for millimeter-wave radar 130 over bus 133. It should be appreciated that although not shown, other hardware and/or software modules may be used in conjunction with millimeter-wave radar 130, including, but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, data backup storage systems, and the like.
In an exemplary embodiment, a computer readable storage medium is also provided, such as a memory 132, comprising instructions executable by the processor 131 of the apparatus 400 to perform the above-described method. Alternatively, the computer readable storage medium may be ROM, random Access Memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, etc.
In an exemplary embodiment, a computer program product is also provided, comprising a computer program/instruction which, when executed by the processor 131, implements any one of the methods of determining a maximum unambiguous speed of a millimeter wave radar as provided by the present application.
In exemplary embodiments, aspects of a method of determining a maximum non-ambiguous speed of a millimeter wave radar provided by the present application may also be implemented in the form of a program product comprising program code for causing a computer device to carry out the steps of a method of determining a maximum non-ambiguous speed of a millimeter wave radar according to the various exemplary embodiments of the present application described hereinabove when the program product is run on a computer device.
The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The program product for determining the maximum unambiguous speed of a millimeter wave radar of an embodiment of the present application may employ a portable compact disc read only memory (CD-ROM) and include program code and may be run on an electronic device. However, the program product of the present application is not limited thereto, and in this document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The readable signal medium may include a data signal propagated in baseband or as part of a carrier wave with readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A readable signal medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Program code for carrying out operations of the present application may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the language or similar programming languages. The program code may execute entirely on the consumer electronic device, partly on the consumer electronic device, as a stand-alone software package, partly on the consumer electronic device, partly on the remote electronic device, or entirely on the remote electronic device or server. In the case of remote electronic devices, the remote electronic device may be connected to the consumer electronic device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external electronic device (e.g., connected through the internet using an internet service provider).
It should be noted that although several units or sub-units of the apparatus are mentioned in the above detailed description, such a division is merely exemplary and not mandatory. Indeed, the features and functions of two or more of the elements described above may be embodied in one element in accordance with embodiments of the present application. Conversely, the features and functions of one unit described above may be further divided into a plurality of units to be embodied.
Furthermore, although the operations of the methods of the present application are depicted in the drawings in a particular order, this is not required or suggested that these operations must be performed in this particular order or that all of the illustrated operations must be performed in order to achieve desirable results. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step to perform, and/or one step decomposed into multiple steps to perform.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable image scaling device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable image scaling device, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable image scaling device to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable image scaling apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the application.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present application without departing from the spirit or scope of the application. Thus, it is intended that the present application also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (10)
1. A method for determining a maximum unambiguous speed of a millimeter wave radar, wherein each signal subframe transmitted by the millimeter wave radar includes at least two electromagnetic wave signals at time intervals, the method comprising:
Receiving at least one frame of electromagnetic wave signal transmitted by a transmitting antenna of the millimeter wave radar through a receiving antenna; wherein the frame of electromagnetic wave signal comprises a plurality of signal subframes;
fourier transforming each received frame to determine a first phase change of the electromagnetic wave signal over a first time interval and a second phase change over a second time interval; wherein, the interval between the emission time of two adjacent electromagnetic wave signals is a time interval;
Determining a third phase change within an interval time difference according to the first phase change and the second phase change, and determining a maximum non-blurring speed of the electromagnetic wave signal based on the third phase change; wherein the interval time difference is a difference between the first time interval and the second time interval.
2. The method of claim 1, wherein the order of transmission of the electromagnetic wave signal during the first time interval precedes the electromagnetic wave signal during the second time interval, the fourier transforming for each received frame to determine a first phase change of the electromagnetic wave signal during a first time interval and a second phase change during a second time interval, comprising:
For each frame of electromagnetic wave signal, determining a two-dimensional Fourier matrix of the frame of electromagnetic wave signal through Fourier transformation, and taking a point with a value larger than a preset threshold value in the two-dimensional Fourier matrix as a target point;
determining a row index and a column index of the target point, and determining received data of an electromagnetic wave signal of the target point based on the row index and the column index of each target point, wherein the received data represents the data of the electromagnetic wave signal on the millimeter wave radar receiving antenna;
The first phase change is determined from the received data of the electromagnetic wave signal in a first time interval and the second phase change is determined from the received data of the electromagnetic wave signal in a second time interval.
3. The method according to claim 2, wherein the determining the received data of the electromagnetic wave signal to which the target point belongs based on the row index and the column index of each target point includes:
determining electromagnetic wave signals corresponding to the target points according to the row index and the column index of each target point;
and determining the received data of the electromagnetic wave signals according to the numerical values of the target points belonging to the same electromagnetic wave signal in the two-dimensional Fourier matrix.
4. The method of claim 2, wherein determining the first phase change from received data of the electromagnetic wave signal over a first time interval and determining the second phase change from received data of the electromagnetic wave signal over a second time interval comprises:
Determining a ratio of received data of the second signal to received data of the first signal in each first time interval, and determining a first phase complex number according to the ratio and the number of the first time intervals; the electromagnetic wave signals in each first time interval, the electromagnetic wave signals with the front transmitting time are the first signals, and the electromagnetic wave signals with the rear transmitting time are the second signals;
Determining a ratio of the received data of the fourth signal to the received data of the third signal in each second time interval, and determining a second phase complex number according to the ratio and the number of the second time intervals; the electromagnetic wave signals in each second time interval have the electromagnetic wave signals with the front transmitting time as the third signals and the electromagnetic wave signals with the rear transmitting time as the fourth signals;
The first phase change is determined from the real and imaginary parts of the first phase complex number and the second phase change is determined from the real and imaginary parts of the second phase complex number.
5. The method of claim 4, wherein said determining a third phase change within an interval time difference from said first phase change and said second phase change comprises:
Determining a third phase complex number according to the first phase complex number and the second phase complex number, and determining a period of the third phase change according to the first time interval and the second time interval;
and taking the sum of the third phase complex number and the period as the third phase change.
6. The method of claim 5, wherein said determining a third phase complex number from said first phase complex number and said second phase complex number comprises:
taking the quotient of the second phase complex number and the first phase complex number as the third phase complex number.
7. The method of any of claims 1-6, wherein the determining a maximum non-ambiguity speed of the electromagnetic wave signal based on the third phase change comprises:
And determining the maximum unambiguous speed according to a maximum unambiguous formula based on the wavelength of the electromagnetic wave signal emitted by the millimeter wave radar and the third phase change.
8. The millimeter wave radar is characterized in that each signal subframe transmitted by the millimeter wave radar at least comprises electromagnetic wave signals with two time intervals, and the millimeter wave radar comprises a memory and a processor, wherein:
The memory is used for storing a computer program executable by the processor;
The processor, coupled to the memory, is configured to: receiving at least one frame of electromagnetic wave signal transmitted by a transmitting antenna of the millimeter wave radar through a receiving antenna; wherein the frame of electromagnetic wave signal comprises a plurality of signal subframes;
fourier transforming each received frame to determine a first phase change of the electromagnetic wave signal over a first time interval and a second phase change over a second time interval; wherein, the interval between the emission time of two adjacent electromagnetic wave signals is a time interval;
Determining a third phase change within an interval time difference according to the first phase change and the second phase change, and determining a maximum non-blurring speed of the electromagnetic wave signal based on the third phase change; wherein the interval time difference is a difference between the first time interval and the second time interval.
9. The millimeter wave radar of claim 8, wherein the order of transmission of the electromagnetic wave signals within the first time interval precedes the electromagnetic wave signals within the second time interval by performing the fourier transform for each frame received to determine a first phase change of the electromagnetic wave signals within a first time interval and a second phase change within a second time interval, the processor configured to:
For each frame of electromagnetic wave signal, determining a two-dimensional Fourier matrix of the frame of electromagnetic wave signal through Fourier transformation, and taking a point with a value larger than a preset threshold value in the two-dimensional Fourier matrix as a target point;
determining a row index and a column index of the target point, and determining received data of an electromagnetic wave signal of the target point based on the row index and the column index of each target point, wherein the received data represents the data of the electromagnetic wave signal on the millimeter wave radar receiving antenna;
The first phase change is determined from the received data of the electromagnetic wave signal in a first time interval and the second phase change is determined from the received data of the electromagnetic wave signal in a second time interval.
10. A computer readable storage medium having a computer program stored therein, characterized in that the computer program, when executed by a processor, implements the method of any of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111256847.2A CN114019495B (en) | 2021-10-27 | 2021-10-27 | Method and related device for determining maximum non-fuzzy speed of millimeter wave radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111256847.2A CN114019495B (en) | 2021-10-27 | 2021-10-27 | Method and related device for determining maximum non-fuzzy speed of millimeter wave radar |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114019495A CN114019495A (en) | 2022-02-08 |
| CN114019495B true CN114019495B (en) | 2024-05-31 |
Family
ID=80058087
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111256847.2A Active CN114019495B (en) | 2021-10-27 | 2021-10-27 | Method and related device for determining maximum non-fuzzy speed of millimeter wave radar |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114019495B (en) |
Citations (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101980046A (en) * | 2010-10-14 | 2011-02-23 | 西安电子科技大学 | Motion Compensation Method for FM Stepping Radar Composite Velocity Measurement |
| EP3168639A1 (en) * | 2015-11-13 | 2017-05-17 | Valeo Schalter und Sensoren GmbH | Method for validating at least one target detection of a target object, computing device, driver assistance system and motor vehicle |
| CN106842166A (en) * | 2017-03-31 | 2017-06-13 | 东南大学 | A kind of solution velocity ambiguity method suitable for LFMCW radar system |
| CN108594233A (en) * | 2018-04-24 | 2018-09-28 | 森思泰克河北科技有限公司 | A kind of velocity solution blur method based on MIMO car radars |
| CN109444838A (en) * | 2018-09-12 | 2019-03-08 | 上海无线电设备研究所 | One kind being based on the dual frequency solution velocity ambiguity method and system of pulse accumulation frame |
| CN109597060A (en) * | 2018-12-07 | 2019-04-09 | 北京敏视达雷达有限公司 | A kind of radar velocity measurement method and device |
| CN110412558A (en) * | 2019-07-03 | 2019-11-05 | 南京理工大学 | Velocity ambiguity solution for vehicle-mounted FMCW radar based on TDM MIMO |
| CN110865364A (en) * | 2019-11-12 | 2020-03-06 | 森思泰克河北科技有限公司 | Target resolving method of radar and terminal equipment |
| CN111308437A (en) * | 2020-02-27 | 2020-06-19 | 南京慧尔视智能科技有限公司 | Entropy-solving and speed-ambiguity-solving method for millimeter wave MIMO traffic radar |
| CN112098968A (en) * | 2020-08-27 | 2020-12-18 | 深圳市华讯方舟微电子科技有限公司 | Target positioning method and device for radar |
| CN112346059A (en) * | 2020-12-03 | 2021-02-09 | 上海保隆汽车科技股份有限公司 | Target speed ambiguity resolution method for millimeter wave radar |
| WO2021035463A1 (en) * | 2019-08-26 | 2021-03-04 | 深圳市大疆创新科技有限公司 | Speed measurement method, multiple-input multiple-output radar and mobile platform |
| CN112505648A (en) * | 2020-11-19 | 2021-03-16 | 西安电子科技大学 | Target feature extraction method based on millimeter wave radar echo |
| CN112710998A (en) * | 2020-12-16 | 2021-04-27 | 南京慧尔视智能科技有限公司 | Speed ambiguity-resolving algorithm for microwave detection and related equipment |
| CN112764020A (en) * | 2020-02-28 | 2021-05-07 | 加特兰微电子科技(上海)有限公司 | Method, device and related equipment for resolving speed ambiguity and determining moving speed of object |
| CN112799046A (en) * | 2020-12-30 | 2021-05-14 | 中山联合汽车技术有限公司 | Phase peak-based velocity determination method, device, radar, and storage medium |
| WO2021206613A1 (en) * | 2020-04-07 | 2021-10-14 | Saab Ab | A method, computer program product, system and radar arrangement for resolving range and velocity information |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102018203333A1 (en) * | 2018-03-06 | 2019-09-12 | Autocruise S.A.S | Method for unambiguously determining the speed of an object on a RADAR measuring system |
| US11525908B2 (en) * | 2020-02-13 | 2022-12-13 | Nxp B.V. | Radar apparatuses and methods involving determination of velocity of an object |
-
2021
- 2021-10-27 CN CN202111256847.2A patent/CN114019495B/en active Active
Patent Citations (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101980046A (en) * | 2010-10-14 | 2011-02-23 | 西安电子科技大学 | Motion Compensation Method for FM Stepping Radar Composite Velocity Measurement |
| EP3168639A1 (en) * | 2015-11-13 | 2017-05-17 | Valeo Schalter und Sensoren GmbH | Method for validating at least one target detection of a target object, computing device, driver assistance system and motor vehicle |
| CN106842166A (en) * | 2017-03-31 | 2017-06-13 | 东南大学 | A kind of solution velocity ambiguity method suitable for LFMCW radar system |
| CN108594233A (en) * | 2018-04-24 | 2018-09-28 | 森思泰克河北科技有限公司 | A kind of velocity solution blur method based on MIMO car radars |
| CN109444838A (en) * | 2018-09-12 | 2019-03-08 | 上海无线电设备研究所 | One kind being based on the dual frequency solution velocity ambiguity method and system of pulse accumulation frame |
| CN109597060A (en) * | 2018-12-07 | 2019-04-09 | 北京敏视达雷达有限公司 | A kind of radar velocity measurement method and device |
| CN110412558A (en) * | 2019-07-03 | 2019-11-05 | 南京理工大学 | Velocity ambiguity solution for vehicle-mounted FMCW radar based on TDM MIMO |
| WO2021035463A1 (en) * | 2019-08-26 | 2021-03-04 | 深圳市大疆创新科技有限公司 | Speed measurement method, multiple-input multiple-output radar and mobile platform |
| CN110865364A (en) * | 2019-11-12 | 2020-03-06 | 森思泰克河北科技有限公司 | Target resolving method of radar and terminal equipment |
| CN111308437A (en) * | 2020-02-27 | 2020-06-19 | 南京慧尔视智能科技有限公司 | Entropy-solving and speed-ambiguity-solving method for millimeter wave MIMO traffic radar |
| CN112764020A (en) * | 2020-02-28 | 2021-05-07 | 加特兰微电子科技(上海)有限公司 | Method, device and related equipment for resolving speed ambiguity and determining moving speed of object |
| WO2021206613A1 (en) * | 2020-04-07 | 2021-10-14 | Saab Ab | A method, computer program product, system and radar arrangement for resolving range and velocity information |
| CN112098968A (en) * | 2020-08-27 | 2020-12-18 | 深圳市华讯方舟微电子科技有限公司 | Target positioning method and device for radar |
| CN112505648A (en) * | 2020-11-19 | 2021-03-16 | 西安电子科技大学 | Target feature extraction method based on millimeter wave radar echo |
| CN112346059A (en) * | 2020-12-03 | 2021-02-09 | 上海保隆汽车科技股份有限公司 | Target speed ambiguity resolution method for millimeter wave radar |
| CN112710998A (en) * | 2020-12-16 | 2021-04-27 | 南京慧尔视智能科技有限公司 | Speed ambiguity-resolving algorithm for microwave detection and related equipment |
| CN112799046A (en) * | 2020-12-30 | 2021-05-14 | 中山联合汽车技术有限公司 | Phase peak-based velocity determination method, device, radar, and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114019495A (en) | 2022-02-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106842166A (en) | A kind of solution velocity ambiguity method suitable for LFMCW radar system | |
| CN108806280B (en) | Parking space state detection method and device | |
| CN112346059A (en) | Target speed ambiguity resolution method for millimeter wave radar | |
| CN113795770B (en) | Signal processing method, device and system | |
| CN114137528B (en) | Vehicle millimeter wave radar signal processing method, device, electronic device and storage medium | |
| WO2021063269A1 (en) | Signal transmission method, signal processing method, and radar device | |
| CN113093168A (en) | Distance and speed measuring method and device, radar and readable storage medium | |
| CN114488154A (en) | Signal processing method and device for MIMO radar, radar and storage medium | |
| CN116500620A (en) | Data processing method, device, storage medium and unmanned vehicle of millimeter wave radar | |
| CN114019495B (en) | Method and related device for determining maximum non-fuzzy speed of millimeter wave radar | |
| CN106324589B (en) | A kind of measurement method of parameters and electronic equipment of mobile target | |
| US12345801B2 (en) | Velocity measurement signal transmission method and receiving method | |
| CN115561728A (en) | Single-frame speed deblurring method and device of FMCW radar | |
| CN114488115A (en) | Target detection method and device, computer equipment and readable storage medium | |
| CN110261862A (en) | A kind of three-dimensional laser radar distance measuring method, device and terminal device | |
| CN109946691A (en) | The realization method and system of radar simulator simulated target object, radar simulator | |
| EP3919936A1 (en) | Radar measurement method and device | |
| Fisne et al. | Energy‐efficient computing for machine learning based target detection | |
| CN113050041B (en) | Method for judging state of frequency band and related equipment | |
| CN116359903A (en) | Target detection method and device and related equipment | |
| CN114966559B (en) | A communication method and device based on millimeter wave radar, and electronic equipment | |
| CN114488126B (en) | Marine ionosphere detection high-frequency ground wave over-the-horizon radar resource management method and device | |
| CN112698293B (en) | Radar signal processing method and device and aircraft | |
| CN114706067B (en) | Target detection method, device, equipment and computer readable storage medium | |
| Zhao et al. | Design of PMCW millimeter-wave radar algorithms on an embedded DSP |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |