US 12,287,426 B2
Echo signal processing method and apparatus, system, and storage medium
Honglei Li, Beijing (CN); Tong Jiang, Beijing (CN); Qiang Li, Beijing (CN); and Hongying Wu, Beijing (CN)
Assigned to Shenzhen Yinwang Intelligent Technologies Co., Ltd., Shenzhen (CN)
Filed by Shenzhen Yinwang Intelligent Technologies Co., Ltd., Shenzhen (CN)
Filed on Nov. 23, 2021, as Appl. No. 17/456,223.
Application 17/456,223 is a continuation of application No. PCT/CN2019/088436, filed on May 24, 2019.
Prior Publication US 2022/0082659 A1, Mar. 17, 2022
Int. Cl. G01S 7/41 (2006.01); G01S 13/58 (2006.01)
CPC G01S 7/415 (2013.01) [G01S 13/584 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method, comprising:
determining, in a current data frame, a first pixel in a receiving field of view of a radar and N sampling point sets in an echo signal corresponding to the first pixel, wherein each sampling point set comprises a plurality of data points sampled from the echo signal at regular time intervals, wherein N is an integer greater than or equal to 1, and the first pixel is any pixel in the receiving field of view, wherein each sampling point represents a discrete measurement of the echo signal amplitude at a specific time, and wherein each sampling point set comprises a predetermined number of consecutive data points sampled from the echo signal;
identifying one or more amplitude threshold points in each sampling point set, wherein each amplitude threshold point represents a change in the echo signal amplitude greater than a threshold and corresponds to a potential reflection from the target object;
estimating an estimated distance between the radar and a target object based on each first sampling point set of the N sampling point sets and the identified amplitude threshold points, to determine a plurality of estimated distances, and determining, based on each estimated distance of the plurality of estimated distances, M cumulative receiving fields of view corresponding to M data frames, wherein each cumulative receiving field view of view represents an expanded area of the receiving field of view that accounts for potential movement of the target object between the current data frame and a respective previous data frame, wherein each of the M cumulative receiving fields of view represents an accumulated area of potential target object locations for a respective data frame and comprises the first pixel and at least one neighboring pixel of the first pixel, wherein the M data frames are received by the radar before the radar receives the current data frame, and M is an integer greater than or equal to 1;
determining, based on each first sampling point set and its identified amplitude threshold points, a second sampling point set in echo signals corresponding to Q neighboring pixels in the M cumulative receiving fields of view, to determine a plurality of second sampling point sets, and superposing each first sampling point set and the second sampling point set corresponding to the each first sampling set, to obtain an echo signal that corresponds to the first pixel and that is obtained after superposition processing, wherein Q is an integer greater than or equal to 1; and
calculating an actual distance between the radar and the target object based on the echo signal that corresponds to the first pixel and that is obtained after superposition processing.