阅读说明：本技术 一种雷达系统 (Radar system ) 是由 杨晨 刘劲楠 陈佳民 刘培 于 2019-06-20 设计创作，主要内容包括：一种雷达系统,可应用于自动驾驶的车载雷达,例如车载毫米波雷达；包括至少一个雷达传感器,至少一个雷达传感器中的第一雷达传感器包括数据合并模块(402)和多个雷达单片(401),其中,每个雷达单片(401)包括第一射频前端(4011)和第一微处理器(4012)；第一微处理器(4012)用于对第一射频前端(4011)获取的回波数据进行预处理,经过数据合并模块(402)的合并和传输后,由下一级别的处理器对预处理后的回波数据进行后处理,从而生成雷达系统的点云数据。通过第一微处理器(4012)预处理回波数据；减少了后续处理器的算力负担,提升了微处理器的缓存能力和数据吞吐能力,资源分配更合理,从而提升了雷达系统对大规模天线阵列雷达传感器的适应性。(A radar system is applicable to an automotive radar for automatic driving, such as an automotive millimeter wave radar; the radar sensor comprises at least one radar sensor, wherein a first radar sensor in the at least one radar sensor comprises a data merging module (402) and a plurality of radar single chips (401), wherein each radar single chip (401) comprises a first radio frequency front end (4011) and a first microprocessor (4012); the first microprocessor (4012) is used for preprocessing echo data acquired by the first radio frequency front end (4011), and after the echo data are merged and transmitted by the data merging module (402), the preprocessed echo data are post-processed by the next-level processor, so that point cloud data of the radar system are generated. Pre-processing the echo data by a first microprocessor (4012); the computational burden of a subsequent processor is reduced, the caching capacity and the data throughput capacity of the microprocessor are improved, the resource distribution is more reasonable, and therefore the adaptability of the radar system to the large-scale antenna array radar sensor is improved.)

A radar system is characterized by comprising at least one radar sensor, wherein a first radar sensor in the at least one radar sensor comprises a data merging module and M radar singlechips, wherein each radar singlechip comprises a first radio frequency unit and a first microprocessor, and M is an integer greater than 1;

the first radio frequency unit is used for receiving echo data;

the first microprocessor is used for preprocessing the echo data to obtain first data;

the data merging module is used for merging the first data output by the M radar single chips respectively to obtain merged data of the first radar sensor;

the data merging module is further configured to transmit the merged data, the merged data is used to obtain second data of the first radar sensor after post-processing, and the second data of the at least one radar sensor is used to generate point cloud information of the radar system.

The radar system of claim 1, further comprising a central processor, wherein the data merge module is further configured to transmit the merged data, comprising:

the data merging module is used for transmitting the merged data to the central processing unit;

and the central processing unit is used for carrying out post-processing on the merged data to obtain second data of the first radar sensor.

The radar system according to claim 2, wherein a bit width of signal transmission between the data merging module and the central processing unit is greater than or equal to a bit width of merged data of the first radar sensor, and the data merging module is configured to merge the first data output from each of the M radar singlechips, and includes:

the data merging module is used for packing the first data output by the M radar single chips respectively.

The radar system according to claim 2, wherein a bit width of signal transmission between the data merging module and the central processing unit is smaller than a bit width of the merged data of the first radar sensor, and the data merging module is configured to merge the first data output from each of the M radar singlechips, and includes:

the data merging module is used for converting first data output by the M radar single chips into serial data from parallel data;

the data merging module is used for caching the serial data;

the data merging module is used for transmitting the merged data to the central processing unit, and comprises:

the data merging module is used for transmitting the serial data to the central processing unit for N times, wherein N is an integer greater than 1.

The radar system of any one of claims 2 to 4, wherein the first microprocessor is configured to pre-process the echo data to obtain first data, and comprises:

the first microprocessor is used for performing ranging processing on the echo data to obtain ranging data;

the data merging module is configured to merge first data output by each of the M radar singlechips to obtain merged data of the first radar sensor, and includes:

the data merging module is used for merging the ranging data output by the M radar single chips respectively to obtain merged data of the first radar sensor;

the central processing unit is configured to perform post-processing on the merged data to obtain second data of the first radar sensor, and includes:

the central processing unit is used for carrying out speed measurement processing and angle measurement processing on the combined data so as to obtain speed measurement data and angle measurement data of the first radar sensor.

The radar system of claim 5, wherein the first microprocessor is configured to perform ranging processing on the echo data to obtain ranging data, and comprises:

the first microprocessor is used for carrying out data zero padding on the echo data;

the first microprocessor is also used for windowing the echo data after the data zero padding;

the first microprocessor is further configured to perform fast fourier transform on the windowed echo data to obtain first spectrum data, where the first spectrum data includes at least one first spectrum, each single frequency in the first spectrum corresponds to distance data of a detection point, and the detection point is one point in the point cloud information.

The radar system of claim 6, wherein the central processor is configured to perform velocity measurement processing and angle measurement processing on the combined data to obtain velocity measurement data and angle measurement data of the first radar sensor, and the method comprises:

the central processing unit is used for acquiring the speed measurement data of each detection point according to the distance data corresponding to each single frequency in the first spectrum data.

The radar system of claim 7, wherein the central processor is configured to perform velocity measurement processing and angle measurement processing on the combined data to obtain velocity measurement data and angle measurement data of the first radar sensor, and the method comprises:

the central processing unit is configured to obtain second spectrum data, where the second spectrum data is spectrum data obtained by performing distance measurement processing and speed measurement processing on the first spectrum data, the second spectrum data includes at least one second spectrum, and the second spectrum is a spectrum obtained by performing distance measurement processing and speed measurement processing on the first spectrum;

the central processing unit is used for accumulating all second frequency spectrums in the second frequency spectrum data;

and in all the second frequency spectrums of the second frequency spectrum data, the central processing unit is used for carrying out fast Fourier transform on detection points at the same position of each second frequency spectrum so as to obtain angle measurement data of each detection point.

The radar system of claim 7, wherein the central processor is configured to perform velocity measurement processing and angle measurement processing on the combined data to obtain velocity measurement data and angle measurement data of the first radar sensor, and the method comprises:

the central processing unit is configured to obtain second spectrum data, where the second spectrum data is spectrum data obtained by performing distance measurement processing and speed measurement processing on the first spectrum data, the second spectrum data includes at least one second spectrum, and the second spectrum is a spectrum obtained by performing distance measurement processing and speed measurement processing on the first spectrum;

the central processing unit is used for accumulating all the second frequency spectrums in the second frequency spectrum data;

the central processing unit is used for performing two-dimensional constant false alarm rate on the accumulated second frequency spectrum data to obtain a first target detection point from the detection points, wherein the first target detection point is a part of the detection points;

in all the second frequency spectrums of the second frequency spectrum data, the central processing unit is configured to perform fast fourier transform on each first target detection point, so as to obtain angle measurement data of each first target detection point.

The radar system of any one of claims 2 to 4, wherein the first radio frequency unit is further configured to transmit a first chirp, the first chirp being configured to perform a sounding;

the first radio frequency unit is used for receiving echo data and comprises:

the first radio frequency unit is used for receiving a second linear frequency modulation signal, and the second linear frequency modulation signal is a linear frequency modulation signal returned after the first radio frequency unit sends the first linear frequency modulation signal.

Radar system according to claim 10,

the first microprocessor is used for preprocessing the echo data to obtain first data, and comprises:

the first microprocessor is used for preprocessing the second linear frequency modulation signal to obtain ranging data;

the data merging module is configured to merge the ranging data output by each of the M radar singlechips to obtain merged data of the first radar sensor, and includes:

the data merging module is used for merging the ranging data output by each of the M radar single chips to obtain the merged data of the first radar sensor, wherein each of the M radar single chips outputs the ranging data of one second digital linear frequency modulation signal;

the central processing unit is configured to perform post-processing on the merged data to obtain second data of the first radar sensor, and includes:

and the central processing unit is used for carrying out speed measurement processing and angle measurement processing on the second digital linear frequency modulation signal when the data volume of the second digital linear frequency modulation signal corresponding to the distance measurement data is accumulated to reach one frame.

The radar system of claim 10, wherein the first microprocessor is configured to pre-process the echo data to obtain first data, comprising:

the first microprocessor is used for down-sampling the X second digital linear frequency modulation signals received by the first radio frequency unit to obtain Y third digital linear frequency modulation signals, wherein X and Y are positive integers greater than 1, and Y is smaller than X;

the data merging module is configured to merge first data output by each of the M radar singlechips to obtain merged data of the first radar sensor, and includes:

the data merging module is used for merging third digital linear frequency modulation signals output by the M radar single chips respectively to obtain merged data of the first radar sensor;

the central processing unit is configured to perform post-processing on the merged data to obtain second data of the first radar sensor, and includes:

and the central processing unit is used for carrying out post-processing on the third digital linear frequency modulation signal in the combined data so as to obtain second data of the first radar sensor.

The radar system of any one of claims 1 to 12, wherein the first microprocessor is configured to pre-process the echo data to obtain first data, including;

the first microprocessor is used for compressing the echo data to obtain first compressed data;

the data merging module is configured to merge first data output by each of the M radar singlechips to obtain merged data of the first radar sensor, and includes:

the data merging module is used for merging the first compressed data output by the M radar single chips respectively to obtain compressed merged data of the first radar sensor;

the central processing unit is used for post-processing the merged data, and comprises:

the central processing unit is used for decompressing the compressed and combined data.

A radar system comprising at least one radar sensor, a first radar sensor of said at least one radar sensor comprising a first microprocessor and at least one first radio frequency unit;

the at least one first radio frequency unit is used for receiving at least one echo datum;

the first microprocessor is used for preprocessing the at least one echo data to obtain first data;

the first microprocessor is further used for transmitting the first data, the first data are used for obtaining second data of the first radar sensor after post-processing, and the respective second data of the at least one radar sensor are used for generating point cloud information of the radar system.

The radar system of claim 14, further comprising a central processor, the first microprocessor further configured to transmit the first data, comprising:

the first microprocessor is used for transmitting the first data to the central processing unit;

the central processing unit is used for carrying out post-processing on the first data to obtain second data of the first radar sensor.

The radar system of claim 15, wherein the first microprocessor is configured to pre-process the echo data to obtain first data, comprising:

the first microprocessor is used for performing ranging processing on the echo data to obtain ranging data;

the central processing unit is configured to perform post-processing on the first data to obtain second data of the first radar sensor, and includes:

the central processing unit is used for carrying out speed measurement processing and angle measurement processing on the first data so as to obtain speed measurement data and angle measurement data of the first radar sensor.

The radar system of claim 16, wherein the first microprocessor is configured to perform ranging processing on the echo data to obtain ranging data, and comprises:

the first microprocessor is used for carrying out data zero padding on the echo data;

the first microprocessor is also used for windowing the echo data after the data zero padding;

the first microprocessor is further configured to perform fast fourier transform on the windowed echo data to obtain first spectrum data, where the first spectrum data includes at least one first spectrum, each single frequency in the first spectrum corresponds to distance data of a detection point, and the detection point is one point in the point cloud information.

The radar system of claim 17, wherein the cpu is configured to perform velocity measurement processing and angle measurement processing on the first data to obtain velocity measurement data and angle measurement data of the first radar sensor, and the method comprises:

the central processing unit is used for acquiring the speed measurement data of each detection point according to the distance data corresponding to each single frequency in the first spectrum data.

The radar system of claim 18, wherein the cpu is configured to perform velocity measurement processing and angle measurement processing on the first data to obtain velocity measurement data and angle measurement data of the first radar sensor, and the method comprises:

the central processing unit is configured to obtain second spectrum data, where the second spectrum data is spectrum data obtained by performing distance measurement processing and speed measurement processing on the first spectrum data, the second spectrum data includes at least one second spectrum, and the second spectrum is a spectrum obtained by performing distance measurement processing and speed measurement processing on the first spectrum;

the central processing unit is used for accumulating all second frequency spectrums in the second frequency spectrum data;

and in all the second frequency spectrums of the second frequency spectrum data, the central processing unit is used for carrying out fast Fourier transform on detection points at the same position of each second frequency spectrum so as to obtain angle measurement data of each detection point.

The radar system of claim 18, wherein the cpu is configured to perform velocity measurement processing and angle measurement processing on the first data to obtain velocity measurement data and angle measurement data of the first radar sensor, and the method comprises:

the central processing unit is configured to obtain second spectrum data, where the second spectrum data is spectrum data obtained by performing distance measurement processing and speed measurement processing on the first spectrum data, the second spectrum data includes at least one second spectrum, and the second spectrum is a spectrum obtained by performing distance measurement processing and speed measurement processing on the first spectrum;

the central processing unit is used for accumulating all the second frequency spectrums in the second frequency spectrum data;

the central processing unit is used for performing two-dimensional constant false alarm rate on the accumulated second frequency spectrum data to obtain a first target detection point from the detection points, wherein the first target detection point is a part of the detection points;

in all the second frequency spectrums of the second frequency spectrum data, the central processing unit is configured to perform fast fourier transform on each first target detection point, so as to obtain angle measurement data of each first target detection point.

The radar system of claim 15, wherein the first radio frequency unit is further configured to transmit a first chirp, the first chirp being used for sounding;

the first radio frequency unit is used for receiving echo data and comprises:

the first radio frequency unit is used for receiving a second linear frequency modulation signal, and the second linear frequency modulation signal is a linear frequency modulation signal returned after the first radio frequency unit sends the first linear frequency modulation signal.

Radar system according to claim 21,

the first microprocessor is used for preprocessing the echo data to obtain first data, and comprises:

the first microprocessor is used for preprocessing the second linear frequency modulation signal to obtain ranging data;

the central processing unit is configured to perform post-processing on the first data to obtain second data of the first radar sensor, and includes:

and the central processing unit is used for carrying out speed measurement processing and angle measurement processing on the second digital linear frequency modulation signal when the data volume of the second digital linear frequency modulation signal corresponding to the distance measurement data is accumulated to reach one frame.

The radar system of claim 21, wherein the first microprocessor is configured to pre-process the echo data to obtain first data, comprising:

the first microprocessor is used for down-sampling the X second digital linear frequency modulation signals received by the first radio frequency unit to obtain Y third digital linear frequency modulation signals, wherein X and Y are positive integers greater than 1, and Y is smaller than X;

the central processing unit is configured to perform post-processing on the first data to obtain second data of the first radar sensor, and includes:

the central processing unit is used for performing distance measurement processing, speed measurement processing and angle measurement processing on the third digital linear frequency modulation signal in the first data to obtain distance measurement data, speed measurement data and angle measurement data.

The radar system of any one of claims 15 to 23, wherein the first microprocessor is configured to pre-process the echo data to obtain first data, including;

the first microprocessor is used for compressing the echo data to obtain first compressed data;

the central processing unit is used for post-processing the merged data, and comprises:

the central processing unit is used for decompressing the compressed and combined data.