Granted Patent B2

US 12,436,262 · App. 18/148,625 · Granted Oct 7, 2025

Inventors: Qiang Li (Beijing, CN); Menglin Li (Beijing, CN); Tong Jiang (Beijing, CN)

Assignee: SHENZHEN YINWANG INTELLIGENT TECHNOLOGIES CO., LTD.

G01S13/584G01S13/89

Abstract

Claims (104)

1. A radar detection method, comprising:

transforming a beat frequency signal of a radar into a two-dimensional spectrogram by:

dividing the beat frequency signal in a time domain to obtain a plurality of segments of sub-signals, wherein a time domain length of each segment of sub-signal is 1/N of a frequency modulation period of the radar, and wherein N is greater than or equal to 2;

separately performing a Fourier transform on the plurality of segments of sub-signals to obtain frequency domain information of each of the plurality of segments of sub-signals; and

generating the two-dimensional spectrogram based on the frequency domain information of each segment of sub-signal;

intercepting, based on a time domain sliding step, a plurality of measurement units (MUs) whose time domain lengths are equal to the frequency modulation period of the radar from the two-dimensional spectrogram, wherein a length of the time domain sliding step is less than the frequency modulation period of the radar; and

determining a radar detection result based on each of the plurality of MUs.

2. The radar detection method of claim 1 , wherein determining the radar detection result based on each of the plurality of MUs comprises:

finding, from a spectrum library through matching, a reference spectrum with a highest similarity for each MU, wherein the spectrum library records a plurality of reference spectrums, wherein each reference spectrum corresponds to detection information, and wherein the detection information comprises at least one of distance information or speed information; and

setting the detection information corresponding to the reference spectrum with the highest similarity of each MU as the radar detection result of each MU.

3. The radar detection method of claim 2 , wherein the detection information corresponding to each reference spectrum in the spectrum library is pre-calculated and stored.

4. The radar detection method of claim 2 , wherein before finding the reference spectrum with the highest similarity for each MU, the radar detection method further comprises:

generating one reference spectrum based on one Doppler shift and one signal flight time;

using one piece of the speed information and one piece of the distance information as the detection information corresponding to the one reference spectrum; and

saving the speed information and the distance information in the spectrum library, wherein the one piece of the speed information is the one Doppler shift or a moving speed of a first reflective object corresponding to the one Doppler shift, and wherein the one piece of the distance information is the one signal flight time or a distance of a second reflective object corresponding to the one signal flight time.

5. The radar detection method of claim 1 , further comprising obtaining the time domain sliding step by performing a rounding operation on d0, wherein d0 meets the following relationship:

d

⁢

0

=

T

c

⁢

h

⁢

i

⁢

r

⁢

p

R

,

wherein T chirp is the frequency modulation period of the radar, and wherein R is an expected radar point cloud density improvement multiple.

6. The radar detection method of claim 1 , further comprising intercepting the plurality of MUs on a frequency domain signal of the two-dimensional spectrogram in a sliding window manner.

7. An apparatus, comprising:

a memory configured to store instructions; and

a processor coupled to the memory and configured to execute the instructions to cause the apparatus to:

transform a beat frequency signal of a radar into a two-dimensional spectrogram by:

dividing the beat frequency signal in a time domain to obtain a plurality of segments of sub-signals, wherein a time domain length of each segment of sub-signal is 1/N of a frequency modulation period of the radar, and wherein N is greater than or equal to 2;

separately performing a Fourier transform on the plurality of segments of sub-signals to obtain frequency domain information of each of the plurality of segments of sub-signals; and

generating the two-dimensional spectrogram based on the frequency domain information of each segment of sub-signal;

intercept, based on a time domain sliding step, a plurality of measurement units (MUs) whose time domain lengths are equal to the frequency modulation period of the radar from the two-dimensional spectrogram, wherein a length of the time domain sliding step is less than the frequency modulation period of the radar; and

determine a radar detection result based on each of the plurality of MUs.

8. The apparatus of claim 7 , wherein the processor is further configured to execute the instructions to cause the apparatus to determine the radar detection result based on each of the plurality of MUs by:

finding, from a spectrum library through matching, a reference spectrum with a highest similarity for each MU, wherein the spectrum library records a plurality of reference spectrums, wherein each reference spectrum corresponds to detection information, and wherein the detection information comprises at least one of distance information or speed information; and

setting the detection information corresponding to the reference spectrum with the highest similarity of each MU as the radar detection result of each MU.

9. The apparatus of claim 8 , wherein the detection information corresponding to each reference spectrum in the spectrum library is pre-calculated and stored.

10. The apparatus of claim 8 , wherein before finding the reference spectrum with the highest similarity for each MU, the processor is further configured to execute the instructions to cause the apparatus to:

generate one reference spectrum based on one Doppler shift and one signal flight time;

use one piece of the speed information and one piece of the distance information as the detection information corresponding to the one reference spectrum; and

save the speed information and the distance information in the spectrum library, wherein the one piece of the speed information is the one Doppler shift or a moving speed of a first reflective object corresponding to the one Doppler shift, and wherein the one piece of the distance information is the one signal flight time or a distance of a second reflective object corresponding to the one signal flight time.

11. The apparatus of claim 7 , wherein the processor is further configured to execute the instructions to cause the apparatus to obtain the time domain sliding step by performing a rounding operation on d0, and wherein d0 meets the following relationship:

d

⁢

0

=

T

c

⁢

h

⁢

i

⁢

r

⁢

p

R

,

wherein T chirp is the frequency modulation period of the radar, and wherein R is an expected radar point cloud density improvement multiple.

12. The apparatus of claim 7 , wherein the processor is further configured to execute the instructions to cause the apparatus to intercept the plurality of MUs on a frequency domain signal of the two-dimensional spectrogram in a sliding window manner.

13. A computer program product comprising computer-executable instructions that are stored on a non-transitory computer-readable storage medium and that, when executed by a processor, cause an apparatus to:

transform a beat frequency signal of a radar into a two-dimensional spectrogram by:

dividing the beat frequency signal in a time domain to obtain a plurality of segments of sub-signals, wherein a time domain length of each segment of sub-signal is 1/N of a frequency modulation period of the radar, and wherein N is greater than or equal to 2;

separately performing a Fourier transform on the plurality of segments of sub-signals to obtain frequency domain information of each of the plurality of segments of sub-signals; and

generating the two-dimensional spectrogram based on the frequency domain information of each segment of sub-signal;

intercept, based on a time domain sliding step, a plurality of measurement units (MUs) whose time domain lengths are equal to the frequency modulation period of the radar from the two-dimensional spectrogram, wherein a length of the time domain sliding step is less than the frequency modulation period of the radar; and

determine a radar detection result based on each of the plurality of MUs.

14. The computer program product of claim 13 , wherein determine the radar detection result based on each of the plurality of MUs comprises:

finding, from a spectrum library through matching, a reference spectrum with a highest similarity for each MU, wherein the spectrum library records a plurality of reference spectrums, wherein each reference spectrum corresponds to detection information, and wherein the detection information comprises at least one of distance information or speed information; and

setting the detection information corresponding to the reference spectrum with the highest similarity of each MU as the radar detection result of each MU.

15. The computer program product of claim 14 , wherein the detection information corresponding to each reference spectrum in the spectrum library is pre-calculated and stored.

16. The computer program product of claim 14 , wherein before finding the reference spectrum with the highest similarity for each MU, the computer-executable instructions further cause the apparatus to:

generate one reference spectrum based on one Doppler shift and one signal flight time;

use one piece of the speed information and one piece of the distance information as the detection information corresponding to the one reference spectrum; and

save the speed information and the distance information in the spectrum library, wherein the one piece of the speed information is the one Doppler shift or a moving speed of a first reflective object corresponding to the one Doppler shift, and wherein the one piece of the distance information is the one signal flight time or a distance of a second reflective object corresponding to the one signal flight time.

17. The computer program product of claim 13 , wherein the computer-executable instructions further cause the apparatus to obtain the time domain sliding step by performing a rounding operation on d0, and wherein d0 meets the following relationship:

d

⁢

0

=

T

c

⁢

h

⁢

i

⁢

r

⁢

p

R

,

wherein T chirp is the frequency modulation period of the radar, and wherein R is an expected radar point cloud density improvement multiple.

18. The computer program product of claim 13 , wherein the plurality of MUs are intercepted on a frequency domain signal of the two-dimensional spectrogram in a sliding window manner.

Assignments (2)

Continuity (2)

References Cited (25)