# US 12,111,387 B2 · Signal processing method, radar system, and vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,111,387 B2 - Document ID: US12111387B2 - Status: Granted - Kind: B2 - Application number: 17/345,039 - Filed: 2021-06-11 - Published: 2022-02-03 - Granted: 2024-10-08 - Earliest claimed: 2018-12-12 - Assignees: Huawei Technologies Co., Ltd. - Applicants: Huawei Technologies Co., Ltd. - Inventors: Mu Zhou; Jinnan Liu; Chen Yang - Web page: https://patentgrep.com/patent/US12111387B2 ## CPC - G01S 13/42: Simultaneous measurement of distance and other co-ordinates (indirect measurement G01S13/46) - G01S 13/584: {adapted for simultaneous range and velocity measurements} - G01S 13/003: {Bistatic radar systems; Multistatic radar systems} - G01S 13/343: {using sawtooth modulation} - G01S 13/931: of land vehicles - G01S 7/356: {involving particularities of FFT processing} - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES ## Abstract Embodiments of this application disclose a signal processing method, a radar system, and a vehicle. The method is applied to a radar system including an array antenna. The method includes: sequentially transmitting signals according to a first transmission sequence through M transmit antennas, where the first transmission sequence is different from a sequence that is formed by arranging the M transmit antennas based on spatial locations; receiving, through N receive antennas, echo signals that are formed after a target reflects the transmitted signals, where M and N are positive integers, and M is greater than 2; and measuring a parameter of the target based on the echo signals. According to the embodiments of this application, correlation between space and a Doppler phase shift is reduced by changing a switching order of transmit antennas. ## Claims ### Claim 1 A signal processing method, applied to a radar system comprising an array antenna, the method comprising: sequentially transmitting signals according to a first transmission sequence through M transmit antennas, wherein the first transmission sequence is different from a sequence formed by arranging the M transmit antennas based on spatial locations thereof; receiving, through N receive antennas, echo signals formed by reflection of the transmitted signals off of a target, wherein M and N are positive integers, and M is greater than 2; and measuring a parameter of the target based on the echo signals. ### Claim 2 (depends on 1) The method according to claim 1, wherein the first transmission sequence is obtained by transforming an arrangement of at least two transmit antennas in the sequence formed by arranging the M transmit antennas based on the spatial locations. ### Claim 3 (depends on 1) The method according to claim 1, wherein any two adjacent transmit antennas in the sequence formed by arranging the M transmit antennas based on the spatial locations are not adjacent in the first transmission sequence. ### Claim 4 (depends on 1) The method according to claim 1, wherein the M transmit antennas are M physical antennas. ### Claim 5 (depends on 1) The method according to claim 1, wherein the M antennas are obtained by multiplexing at least one of P physical antennas, wherein P is a positive integer, and 3≤P≤M. ### Claim 6 (depends on 1) The method according to claim 1, wherein measuring the parameter of the target based on the echo signals comprises: calculating, based on the echo signals, a distance-Doppler graph corresponding to each virtual receive antenna of a plurality of virtual receive antennae, to obtain M*N distance-Doppler graphs, wherein each virtual receive antenna of the plurality is an array element in a virtual MIMO array comprising the M transmit antennas and the N receive antennas, and each distance-Doppler graph is divided into a plurality of distance-Doppler units arranged in an array; performing Doppler phase compensation for a first time on data of a first distance-Doppler unit in a first distance-Doppler graph of the distance-Doppler graphs corresponding to the virtual receive antennae by using a first Doppler phase compensation amount that is determined based on an order of a transmit antenna Tx in the first transmission sequence, wherein the first distance-Doppler graph corresponds to any virtual receive antenna in a virtual MIMO subarray corresponding to the transmit antenna Tx, the transmit antenna Tx is any transmit antenna in the M transmit antennas, and the first distance-Doppler unit is determined based on a first Doppler frequency and a first distance in the first distance-Doppler graph; and recovering second Doppler frequencies of first distance-Doppler units based on first Doppler frequencies and data obtained after Doppler phase compensation is performed for a first time for the first distance-Doppler units in the M*N distance-Doppler graphs. ### Claim 7 (depends on 6) The method according to claim 6, wherein recovering the second Doppler frequencies comprises: performing, by using a second Doppler phase compensation amount determined based on a first aliasing coefficient and the order of the transmit antenna Tx in the first transmission sequence, Doppler phase compensation for a second time on data obtained after Doppler phase compensation is performed for the first time for the first distance-Doppler unit in the first distance-Doppler graph, wherein the first aliasing coefficient is any aliasing coefficient in an aliasing coefficient set, and the aliasing coefficient set comprises 0 and a positive integer less than M; and recovering the second Doppler frequencies of the first distance-Doppler units based on the first Doppler frequencies and data obtained after Doppler phase compensation is performed for the second time for the first distance-Doppler units in the M*N distance-Doppler graphs. ### Claim 8 (depends on 1) The method according to claim 1, wherein a time period of a signal transmitted by a specific transmit antenna of the M transmit antennas is T, and a signal transmission period for the specific transmit antenna is M*T. ### Claim 9 A radar system, comprising: at least M transmit antennas, at least N receive antennas, a transmitter coupled to the at least M transmit antennas, a receiver coupled to the at least N receive antennas, and at least one processing module, wherein the transmitter is configured to sequentially transmit signals according to a first transmission sequence through the M transmit antennas, wherein the first transmission sequence is different from a sequence that is formed by arranging the M transmit antennas based on spatial locations thereof; the receiver is configured to receive, through the N receive antennas, echo signals formed by reflection of the transmitted signals off of a target, wherein M and N are positive integers, and M is greater than 2; and the at least one processing module is configured to measure a parameter of the target based on the echo signals. ### Claim 10 (depends on 9) The radar system according to claim 9, wherein the first transmission sequence is obtained by transforming an arrangement of at least two transmit antennas in the sequence formed by arranging the M transmit antennas based on the spatial locations. ### Claim 11 (depends on 9) The radar system according to claim 9, wherein any two adjacent transmit antennas in the sequence formed by arranging the M transmit antennas based on the spatial locations are not adjacent in the first transmission sequence. ### Claim 12 (depends on 9) The radar system according to claim 9, wherein the M transmit antennas are M physical antennas. ### Claim 13 (depends on 9) The radar system according to claim 9, wherein the M antennas are obtained by multiplexing at least one of P physical antennas, wherein P is a positive integer, and 3≤P≤M. ### Claim 14 (depends on 9) The radar system according to claim 9, wherein the at least one processing module comprises a memory and a processor, wherein the processor is coupled to the memory, the transmitter, and the receiver, and the processor is configured to invoke instructions and data that are stored in the memory, to perform the following steps: calculating, based on the echo signals, a distance-Doppler graph corresponding to each virtual receive antenna of a plurality of virtual receive antennae, to obtain M*N distance-Doppler graphs, wherein each virtual receive antenna of the plurality is an array element in a virtual MIMO array comprising the M transmit antennas and the N receive antennas, and each distance-Doppler graph is divided into a plurality of distance-Doppler units arranged in an array; performing Doppler phase compensation for a first time on data of a first distance-Doppler unit in a first distance-Doppler graph of the distance-Doppler graphs corresponding to the virtual receive antennae by using a first Doppler phase compensation amount that is determined based on an order of a transmit antenna Tx in the first transmission sequence, wherein the first distance-Doppler graph corresponds to any virtual receive antenna in a virtual MIMO subarray corresponding to the transmit antenna Tx, the transmit antenna Tx is any transmit antenna in the M transmit antennas, and the first distance-Doppler unit is determined based on a first Doppler frequency and a first distance in the first distance-Doppler graph; and recovering second Doppler frequencies of first distance-Doppler units based on first Doppler frequencies and data obtained after Doppler phase compensation is performed for a first time for the first distance-Doppler units in the M*N distance-Doppler graphs. ### Claim 15 (depends on 14) The radar system according to claim 14, wherein the processor performs the step of recovering second Doppler frequencies by performing, by using a second Doppler phase compensation amount that is determined based on a first aliasing coefficient and the order of the transmit antenna Tx in the first transmission sequence, Doppler phase compensation for a second time on data obtained after Doppler phase compensation is performed for the first time for the first distance-Doppler unit in the first distance-Doppler graph, wherein the first aliasing coefficient is any aliasing coefficient in an aliasing coefficient set, and the aliasing coefficient set comprises 0 and a positive integer less than M; and recovering the second Doppler frequencies of the first distance-Doppler units based on the first Doppler frequencies and data obtained after Doppler phase compensation is performed for the second time for the first distance-Doppler units in the M*N distance-Doppler graphs. ### Claim 16 (depends on 9) The radar system according to claim 9, wherein a time period of a signal transmitted by a specific transmit antenna of the M transmit antennas is T, and a signal transmission period for the specific transmit antenna is M*T. ### Claim 17 A vehicle, comprising: a radar system comprising at least M transmit antennas, at least N receive antennas, a transmitter coupled to the at least M transmit antennas, a receiver coupled to the at least N receive antennas, and at least one processor, wherein the transmitter is configured to sequentially transmit signals according to a first transmission sequence through the M transmit antennas, wherein the first transmission sequence is different from a sequence that is formed by arranging the M transmit antennas based on spatial locations thereof; the receiver is configured to receive, through the N receive antennas, echo signals formed by reflection of the transmitted signals off of a target, wherein M and N are positive integers, and M is greater than 2; and the at least one processor is configured to measure a parameter of the target based on the echo signals. ### Claim 18 (depends on 17) The radar system according to claim 17, wherein any two adjacent transmit antennas in the sequence formed by arranging the M transmit antennas based on the spatial locations are not adjacent in the first transmission sequence. ### Claim 19 (depends on 17) The radar system according to claim 17, wherein the M transmit antennas are M physical antennas. ### Claim 20 (depends on 17) The radar system according to claim 17, wherein the M antennas are obtained by multiplexing at least one of P physical antennas, wherein P is a positive integer, and 3≤P≤M.