SIGNAL SENDING METHOD, SIGNAL RECEIVING METHOD, AND CORRESPONDING APPARATUS
A signal sending method, a signal receiving method, and corresponding apparatuses are provided, and are used for self-driving or assisted driving. In a signal transmission phase, a radar may transmit a signal by using a designed waveform, for example, generate a first frequency modulated continuous wave sequence, and transmit the first frequency modulated continuous wave sequence, where the first frequency modulated continuous wave sequence includes N frequency modulated continuous waves, N is an integer greater than or equal to 1, and a product of a time domain position and a corresponding frequency domain position in a first frequency modulated continuous wave in the N frequency modulated continuous waves meets a first condition.
1 . A signal sending method, comprising:
generating a first frequency modulated continuous wave sequence; and
transmitting the first frequency modulated continuous wave sequence, wherein the first frequency modulated continuous wave sequence comprises N frequency modulated continuous waves, and N is an integer greater than or equal to 1, wherein
a product of a time domain position and a corresponding frequency domain position in a first frequency modulated continuous wave in the N frequency modulated continuous waves meets a first condition.
2 . The method according to claim 1 , wherein the first condition is related to a position of the first frequency modulated continuous wave in the N frequency modulated continuous waves.
3 . The method according to claim 1 , wherein the frequency domain position comprises a start frequency and/or a center frequency, and the time domain position comprises a start time and/or a center time.
4 . The method according to claim 1 , wherein the first condition comprises:
T
n
=
α
+
n
β
f
n
,
wherein
n is a sequence number of a frequency modulated continuous wave in the N frequency modulated continuous waves, and n=0, 1, 2, . . . , N−1; T n is a time domain position of a frequency modulated continuous wave whose sequence number is n in the N frequency modulated continuous waves; f n is a frequency domain position of the frequency modulated continuous wave whose sequence number is n in the N frequency modulated continuous waves;
and α and β are preset frequency hopping parameters.
5 . The method according to claim 4 , wherein frequency domain positions of the N frequency modulated continuous waves are distributed at an equal interval in frequency domain, and an interval between frequency domain positions of two adjacent frequency modulated continuous waves in the N frequency modulated continuous waves is a fixed value x 0 .
6 . The method according to claim 5 , wherein
α
=
f
c
T
0
;
β
=
(
f
c
+
Nx
0
)
(
f
c
+
(
N
-
1
)
x
0
)
T
c
f
c
+
T
0
x
0
;
and
f
n
=
f
c
+
nx
0
,
wherein
T 0 is a time domain position of a frequency modulated continuous wave whose sequence number is 0 in the N frequency modulated continuous waves; f c is a frequency domain position of the frequency modulated continuous wave whose sequence number is 0 in the N frequency modulated continuous waves; and T c is duration of each frequency modulated continuous wave in the plurality of frequency modulated continuous waves, wherein duration of the N frequency modulated continuous waves is the same.
7 . The method according to claim 4 , wherein
α
=
f
c
T
0
;
and
β
=
MAX
(
f
n
f
n
-
1
T
c
+
f
c
T
0
(
f
n
-
f
n
-
1
)
nf
n
-
1
-
(
n
-
1
)
f
n
)
,
1
≤
n
≤
N
-
1
,
wherein
nf n-1 −(n−1)f n >0, and T 0 is a time domain position of a frequency modulated continuous wave whose sequence number is 0 in the N frequency modulated continuous waves; f c is a frequency domain position of the frequency modulated continuous wave whose sequence number is 0 in the N frequency modulated continuous waves; and T c is duration of each frequency modulated continuous wave in the N frequency modulated continuous waves, wherein duration of the N frequency modulated continuous waves is the same.
8 . A signal receiving method, comprising:
receiving a second frequency modulated continuous wave sequence, wherein the second frequency modulated continuous wave sequence is a signal formed after a first frequency modulated continuous wave sequence is transmitted by a first apparatus, propagated through space, and reflected by a target; and
determining information about the target based on the second frequency modulated continuous wave sequence and the first frequency modulated continuous wave sequence, wherein the information comprises a distance and/or a speed, wherein
the first frequency modulated continuous wave sequence comprises N frequency modulated continuous waves, N is an integer greater than or equal to 1, and a product of a time domain position and a corresponding frequency domain position in a first frequency modulated continuous wave in the N frequency modulated continuous waves meets a first condition.
9 . The method according to claim 8 , wherein the first condition is related to a position of the first frequency modulated continuous wave in the N frequency modulated continuous waves.
10 . The method according to claim 8 , wherein the frequency domain position comprises a start frequency and/or a center frequency, and the time domain position comprises a start time and/or a center time.
11 . The method according to claim 8 , wherein the first condition comprises:
T
n
=
α
+
n
β
f
n
,
wherein
n is a sequence number of a frequency modulated continuous wave in the N frequency modulated continuous waves, and n=0, 1, 2, . . . , N−1; T n is a time domain position of a frequency modulated continuous wave whose sequence number is n in the N frequency modulated continuous waves; f n is a frequency domain position of the frequency modulated continuous wave whose sequence number is n in the N frequency modulated continuous waves;
and α and β are preset frequency hopping parameters.
12 . The method according to claim 11 , wherein frequency domain positions of the N frequency modulated continuous waves are distributed at an equal interval in frequency domain, and an interval between frequency domain positions of two adjacent frequency modulated continuous waves in the N frequency modulated continuous waves is a fixed value x 0 .
13 . The method according to claim 12 , wherein
α
=
f
c
T
0
;
β
=
(
f
c
+
Nx
0
)
(
f
c
+
(
N
-
1
)
x
0
)
T
c
f
c
+
T
0
x
0
;
and
f
n
=
f
c
+
nx
0
,
wherein
T 0 is a time domain position of a frequency modulated continuous wave whose sequence number is 0 in the N frequency modulated continuous waves; f c is a frequency domain position of the frequency modulated continuous wave whose sequence number is 0 in the N frequency modulated continuous waves; and T c is duration of each frequency modulated continuous wave in the plurality of frequency modulated continuous waves, wherein duration of the N frequency modulated continuous waves is the same.
14 . The method according to claim 11 , wherein
α
=
f
c
T
0
;
and
β
=
MAX
(
f
n
f
n
-
1
T
c
+
f
c
T
0
(
f
n
-
f
n
-
1
)
nf
n
-
1
-
(
n
-
1
)
f
n
)
,
1
≤
n
≤
N
-
1
,
wherein
nf n-1 −(n−1)f n >0, and T 0 is a time domain position of a frequency modulated continuous wave whose sequence number is 0 in the N frequency modulated continuous waves; f c is a frequency domain position of the frequency modulated continuous wave whose sequence number is 0 in the N frequency modulated continuous waves; and T c is duration of each frequency modulated continuous wave in the N frequency modulated continuous waves, wherein duration of the N frequency modulated continuous waves is the same.
15 . The method according to claim 8 , wherein the determining a speed of the target based on the second frequency modulated continuous wave sequence and the first frequency modulated continuous wave sequence comprises:
determining an intermediate frequency signal sequence based on the second frequency modulated continuous wave sequence and the first frequency modulated continuous wave sequence; and
processing the intermediate frequency signal sequence through fast Fourier transform FFT.
16 . The method according to claim 15 , wherein before the processing the intermediate frequency signal sequence through FFT, the method further comprises:
performing phase compensation on the second frequency modulated continuous wave sequence or the intermediate frequency signal sequence based on the interval between the frequency domain positions of the N frequency modulated continuous waves.
17 . An apparatus, comprising:
at least one processor; and
one or more memories coupled to the at least one processor and storing programming instructions for execution by the at least one processor to:
generate a first frequency modulated continuous wave sequence; and
transmit the first frequency modulated continuous wave sequence, wherein the first frequency modulated continuous wave sequence comprises N frequency modulated continuous waves, and N is an integer greater than or equal to 1, wherein
a product of a time domain position and a corresponding frequency domain position in a first frequency modulated continuous wave in the N frequency modulated continuous waves meets a first condition.
18 . The apparatus according to claim 17 , wherein the first condition is related to a position of the first frequency modulated continuous wave in the N frequency modulated continuous waves.
19 . The apparatus according to claim 17 , wherein the frequency domain position comprises a start frequency and/or a center frequency, and the time domain position comprises a start time and/or a center time.
20 . The apparatus according to claim 17 , wherein the first condition comprises:
T
n
=
α
+
n
β
f
n
,
wherein
n is a sequence number of a frequency modulated continuous wave in the N frequency modulated continuous waves, and n=0, 1, 2, . . . , N−1; T n is a time domain position of a frequency modulated continuous wave whose sequence number is n in the N frequency modulated continuous waves; f n is a frequency domain position of the frequency modulated continuous wave whose sequence number is n in the N frequency modulated continuous waves; and α and β are preset frequency hopping parameters.