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EP-3842824-B1 - METHOD AND DEVICE TO PROCESS RADAR SIGNAL

EP3842824B1EP 3842824 B1EP3842824 B1EP 3842824B1EP-3842824-B1

Inventors

  • CHOI, SUNGDO
  • KIM, BYUNG KWAN

Dates

Publication Date
20260506
Application Date
20201113

Claims (7)

  1. A processor implemented radio detection and ranging "radar" signal processing method, comprising: obtaining (710) a beat frequency signal based on a radar transmission signal (870) generated based on a frequency modulation model (901) and a radar reflection signal (880) obtained from the radar transmission signal (870) being reflected from an object and received by a receiving antenna array of a radar sensor (310) having a plurality of receiving channels; and generating (720) radar data by compensating the beat frequency signal for a carrier frequency change by the frequency modulation model (901), CHARACTERIZED IN THAT the beat frequency signal is obtained at a plurality of sampling points based on the radar transmission signal (870) and the radar reflection signal (880); the generating (720) of the radar data comprises applying, to the beat frequency signal, a phase normalization model (1000) configured to normalize the carrier frequencies corresponding to the sampling points of the beat frequency signal to be a reference frequency; wherein applying the phase normalization model (1000) comprises: converting (1010) the beat frequency signal in a time domain to data in an angle domain based on a carrier frequency based on the frequency modulation model (901) by converting sampling values of the sampling points in the time domain to angle information using the carrier frequencies corresponding to the sampling points, and inversely converting (1020) the data in the angle domain into the time domain based on the reference frequency by inversely converting the angle information into the time domain using the reference frequency.
  2. The radar signal processing method of claim 1, wherein the phase normalization model (1000) comprises phase normalization matrices (951) respectively corresponding to sampling points of the beat frequency signal.
  3. The radar signal processing method of claim 1 or 2, wherein applying the phase normalization model (1000) comprises: a first matrix operation that converts the sampling values of the sampling points in the time domain to the angle information using the carrier frequencies corresponding to the sampling points; and a second matrix operation that inversely converts the angle information into the time domain using the reference frequency.
  4. The radar signal processing method of any preceding claim, further comprising: radiating the radar transmission signal (870) comprising a chirp signal of which a carrier frequency is modulated based on the frequency modulation model (901); and sensing the radar reflection signal.
  5. The radar signal processing method of any preceding claim, wherein the frequency modulation model (901) is a model having a pattern in which a carrier frequency changes linearly or a model having a pattern in which a carrier frequency changes nonlinearly.
  6. A non-transitory computer-readable storage medium storing instructions that, when executed by a processor, cause the processor to perform the radar signal processing method of any preceding claim.
  7. A radio detection and ranging "radar" signal processing device, comprising: a radar sensor configured to radiate a radar transmission signal (870) generated based on a frequency modulation model (901), and to sense a radar reflection signal (880) from the radar transmission signal (870) being reflected from an object and received by a receiving antenna array of a radar sensor (310) having a plurality of receiving channels; and a processor configured to obtain a beat frequency signal based on the radar transmission signal (870) and the radar reflection signal (880), and to generate radar data by compensating the beat frequency signal for a carrier frequency change by the frequency modulation model (901), CHARATERISED IN THAT the processor is configured to obtain the beat frequency signal at a plurality of sampling points based on the radar transmission signal (870) and the radar reflection signal (880); and to generate the radar data, the processor is configured to apply, to the beat frequency signal, a phase normalization model (1000) configured to normalize the carrier frequencies corresponding to the sampling points of the beat frequency signal to be a reference frequency, and to apply the phase normalization model (1000), the processor is configured to: convert (1010) the beat frequency signal in a time domain to data in an angle domain based on a carrier frequency based on the frequency modulation model (901) by converting sampling values of the sampling points in the time domain to angle information using the carrier frequencies corresponding to the sampling points, and inversely convert (1020) the data in the angle domain into the time domain based on the reference frequency by inversely converting the angle information into the time domain using the reference frequency.

Description

BACKGROUND 1. Field The following description relates to technology for processing a radio detection and ranging (radar) signal. 2. Description of Related Art Advanced driver assistance systems (ADAS) are used to enhance safety and convenience for drivers by implementing sensors provided inside or outside a vehicle. The ADAS may assist a driver by detecting objects and alerting the driver of hazardous road conditions. The sensors used for the ADAS may include a camera, an infrared sensor, an ultrasonic sensor, a light detection and ranging (lidar) sensor, and a radio detection and ranging (radar) sensor. Among these, the radar sensor may reliably measure an object present adjacent to a vehicle without being affected by environmental conditions including, for example, weather, compared to optical sensors. US 2015/177371 A1 discloses a radio detection and ranging signal processing method relative to which at least the characterizing features of the appended independent claims are novel. DE 10 2017 207604 A1 discloses further, more remote, technology. SUMMARY This Summary is provided to introduce a selection of concepts in a simplified form that are further described below in the Detailed Description. This Summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter. According to the invention, there is provided a radio detection and ranging (radar) signal processing method, including steps defined in the appended independent method claim. Furthermore, there is provided a non-transitory computer-readable storage medium storing instructions that, when executed by a processor, cause the processor to perform the radar signal processing method of the invention. Other features and aspects will be apparent from the following detailed description, the drawings, and the claims. BRIEF DESCRIPTION OF THE DRAWINGS The phase normalization model may include combining a result of converting the beat frequency signal in a time domain to data in another domain based on a carrier frequency based on the frequency modulation model, and a result of inversely converting the data in the other domain into the time domain based on the reference frequency. The other domain may include an angle domain. The phase normalization model may include phase normalization matrices respectively corresponding to sampling points of the beat frequency signal. The phase normalization model may include a first matrix operation that converts a value in a time domain corresponding to each of sampling points of the beat frequency signal to angle information using a carrier frequency corresponding to a corresponding sampling point of the frequency modulation model, and a second matrix operation that inversely converts the angle information into the time domain using the reference frequency. The radar signal processing method may include radiating the radar transmission signal comprising a chirp signal of which a carrier frequency may be modulated based on the frequency modulation model, and sensing the radar reflection signal. The sensing of the radar reflection signal may include sensing the radar reflection signal individually by receiving sub-antennas in a radar sensor. The obtaining of the beat frequency signal may include calculating the beat frequency signal corresponding to a frequency difference between the radar transmission signal and the radar reflection signal. The frequency modulation model may be a model having a pattern in which a carrier frequency changes linearly or a model having a pattern in which a carrier frequency changes nonlinearly. The radar signal processing method includes calculating at least one of angle-of-arrival (AoA) information or range information from the radar data. The radar signal processing method may include generating a radar image map of a surrounding based on the at least one of the AoA information or the range information. The radar signal processing method may include visualizing the radar image map through a display. The radar signal processing method may include changing at least one of a speed, an acceleration, or steering of a vehicle based on the at least one of the AoA information or the range information. According to the invention, there is provided a radio detection and ranging (radar) signal processing device, including a radar sensor configured to radiate a radar transmission signal generated based on a frequency modulation model, and to sense a radar reflection signal from the radar transmission signal being reflected from an object, and a processor configured to obtain a beat frequency signal based on the radar transmission signal and the radar reflection signal, to generate radar data by compensating the beat frequency signal for a carrier frequency change by the frequency modulation model, and to calculate at least one of angle-of-arrival (AoA) information or r