CN114895259A - Radar-based angle detection method and device, vehicle and storage medium - Google Patents

Abstract

The application discloses an angle detection method and device based on radar, a vehicle and a storage medium, relates to the technical field of radar detection, and can detect whether an angle measurement result of an object is correct or not so as to eliminate false targets. Determining a first relation according to a first detection signal, a first fuzzy speed and a first preset turnover value, wherein the first relation is a waveform relation between the amplitude of a first angle of a target object and the size of the first angle, and the first preset turnover value is not a turnover value corresponding to a first fuzzy coefficient; determining a second relation according to the second detection signal, the second fuzzy speed and a second preset overturning value corresponding to the second fuzzy coefficient, wherein the second relation is a waveform relation between the amplitude of a second angle of the target object and the magnitude of the second angle; determining the angle corresponding to the maximum amplitude peak value in the second relation as an angle measurement result of the target object under the second detection signal; and detecting whether the angle measurement result is correct or not according to the first relation and the second relation.

Description

Radar-based angle detection method, device, vehicle and storage medium

technical field

The present application relates to the technical field of radar detection, and in particular, to a radar-based angle detection method, device, vehicle and storage medium.

Background technique

With the popularization and development of intelligent driving technology in vehicles, higher requirements are put forward for information collection of the external environment. Millimeter-wave radar on vehicles is a sensor that uses electromagnetic waves to detect the surrounding environment. It has become an important part of intelligent driving technology to perceive the external environment due to its excellent ranging, speed, angle measurement capabilities and good environmental adaptability. .

Due to the diversity and complexity of the actual detection scene, there is a certain probability in the actual environment of the millimeter-wave radar that the two targets have the same distance and the same speed, or the distance is the same, but the speed difference is an integer multiple of the maximum unambiguous speed of the radar. Target. For such scenes, the existing technology has the probability of measuring the wrong angle of the object, but cannot detect whether the angle measurement result of the object is correct, resulting in false targets appearing in the scene finally detected by the vehicle.

SUMMARY OF THE INVENTION

The present application provides a radar-based angle detection method, device, vehicle and storage medium, which can detect whether the angle measurement result of an object is correct, thereby eliminating false targets.

To achieve the above object, the application adopts the following technical solutions:

In a first aspect of the embodiments of the present application, a radar-based angle detection method is provided, and the method includes:

Obtain the first fuzzy speed of the target object under the first detection signal and the second fuzzy speed under the second detection signal by using the radar;

The first relationship is determined according to the first detection signal, the first fuzzy speed and the first preset flip value, and the first relationship is the waveform relationship between the amplitude of the first angle of the target object and the magnitude of the first angle. The first preset The inversion value is not the inversion value corresponding to the first fuzzy coefficient, and the first fuzzy coefficient is determined according to the first detection signal and the first fuzzy speed;

A second relationship is determined according to the second detection signal, the second blur speed, and the second preset flip value corresponding to the second blur coefficient, and the second relationship is the difference between the magnitude of the second angle of the target object and the magnitude of the second angle waveform relationship, the second ambiguity coefficient is determined according to the second detection signal and the second ambiguity speed;

In the second relationship, the angle corresponding to the maximum amplitude peak value is determined as the angle measurement result of the target object under the second detection signal;

Whether the angle measurement result is correct is detected according to the first relationship and the second relationship.

In one embodiment, detecting whether the angle measurement result is correct according to the first relationship and the second relationship includes:

Obtain two first amplitude peaks of the first relationship and the first angle value corresponding to each first amplitude peak, and the two first amplitude peaks are the first two after the multiple amplitude peaks of the first relationship are sorted in descending order. amplitude peak;

Obtain three second amplitude peaks of the second relationship and the second angle values corresponding to each second amplitude peak, and the three second amplitude peaks are the first and second amplitude peaks in the second relationship sorted in descending order. three amplitude peaks;

Whether the angle measurement result is correct is detected according to the two first amplitude peaks, the three second amplitude peaks, the two first angle values and the three second angle values.

In one embodiment, detecting whether the angle measurement result is correct according to the two first amplitude peaks, the three second amplitude peaks, the two first angle values, and the three second angle values includes:

If there are two target amplitude peaks in the three second amplitude peaks, the second angle values corresponding to the two target amplitude peaks respectively are the same as the two first angle values;

Moreover, the difference between each target amplitude peak and the corresponding first amplitude peak is smaller than the difference between the first amplitude peak and the remaining amplitude peaks, and the remaining amplitude peaks are the values of the three second amplitude peaks except for the two target amplitude peaks. ;

Moreover, if one of the two target amplitude peaks is the amplitude peak corresponding to the angle measurement result, it is determined that the angle measurement result is wrong.

In one embodiment, detecting whether the angle measurement result is correct according to the two first amplitude peaks, the three second amplitude peaks, the two first angle values, and the three second angle values, further comprising:

If there are no two target amplitude peaks in the three second amplitude peaks, it is determined that the angle measurement result is correct, and the angle measurement result is determined to be correct;

Or, if there are two target amplitude peaks in the three second amplitude peaks, and the difference between the target amplitude peak and the corresponding first amplitude peak is greater than the difference between the first amplitude peak and the remaining amplitude peaks, the angle measurement result is determined. correct;

Or, if there are two target amplitude peaks in the three second amplitude peaks, and the difference between each target amplitude peak and the corresponding first amplitude peak is smaller than the difference between the first amplitude peak and the remaining amplitude peaks, and any target amplitude peak is If the amplitude peak value is not the amplitude peak value corresponding to the angle measurement result, it is determined that the angle measurement result is correct.

In one embodiment, after acquiring the first fuzzy speed of the target object under the first detection signal by the radar, the method further includes:

Determine a third relationship according to the first detection signal, the first blur velocity, and the flip value corresponding to the first blur coefficient, where the third relationship is a waveform relationship between the magnitude of the third angle of the target object and the magnitude of the third angle;

The angle value of the first object among the target objects is determined according to the third relationship.

In one embodiment, after determining that the angle measurement result is wrong, the method further includes:

determining the median value of the amplitudes in the second relationship according to the respective amplitude values in the second relationship;

If the difference between the remaining energy value and the median value is greater than the preset threshold, the second angle value corresponding to the remaining amplitude peak value is determined as the angle value of the second object among the two target objects.

In one embodiment, determining the first relationship according to the first detection signal, the first blurring speed and the first preset inversion value includes:

obtaining the maximum unambiguous speed of the first detection signal;

Obtain a phase compensation vector corresponding to the first detection signal, and the value of the phase compensation vector is used to indicate the spacing ratio of the radar antenna after phase compensation;

determining a first preset flip value according to the first blur coefficient;

The first relationship is obtained according to the first preset inversion value and the phase compensation vector corresponding to the first detection signal.

In one embodiment, the first relationship is obtained according to the first preset inversion value and the phase compensation vector corresponding to the first detection signal, including:

According to the first preset inversion value and the phase compensation vector, the inversion compensation vector is obtained;

Perform the Fourier transform of the angle dimension on the flip compensation vector to obtain the first relationship.

In one embodiment, acquiring a phase compensation vector corresponding to the first detection signal includes:

Calculate the coefficient difference between the first ambiguity coefficient and the second ambiguity coefficient, and if the coefficient difference is an odd number, obtain the corresponding first phase compensation value according to the first ambiguity coefficient;

obtaining a first initial vector corresponding to the first detection signal, where the first initial vector is used to indicate the spacing ratio of each antenna;

According to the first phase compensation value and the first initial vector, a phase compensation vector corresponding to the first detection signal is obtained.

In one embodiment, before acquiring the first fuzzy speed of the target object under the first detection signal by the radar, the method further includes:

Analyzing the first detection signal to obtain the energy value corresponding to each object;

An object with an energy value greater than a preset threshold in each object is determined as a reference object, and a target object is determined from the reference object.

In a second aspect of the embodiments of the present application, a radar-based angle detection device is provided, and the device includes:

an acquisition module, configured to acquire the first fuzzy speed of the target object under the first detection signal and the second fuzzy speed under the second detection signal through the radar;

The first determination module is configured to determine a first relationship according to the first detection signal, the first fuzzy speed and the first preset flip value, where the first relationship is the difference between the magnitude of the first angle of the target object and the size of the first angle. The waveform relationship, the first preset inversion value is not the inversion value corresponding to the first fuzzy coefficient, and the first fuzzy coefficient is determined according to the first detection signal and the first fuzzy speed;

The second determination module is configured to determine a second relationship according to the second detection signal, the second blur speed, and the second preset flip value corresponding to the second blur coefficient, where the second relationship is the magnitude of the second angle of the target object and the first The waveform relationship between the magnitudes of the two angles, the second ambiguity coefficient is determined according to the second detection signal and the second ambiguity speed;

a third determination module, configured to determine the angle corresponding to the maximum amplitude peak value in the second relationship as the angle measurement result of the target object under the second detection signal;

The detection module is used for detecting whether the angle measurement result is correct according to the first relationship and the second relationship.

In a third aspect of the embodiments of the present application, a vehicle is provided, including a memory and a processor, the memory stores a computer program, and when the computer program is executed by the processor, the radar-based angle detection method of the first aspect of the embodiments of the present application is implemented.

A fourth aspect of the embodiments of the present application provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, implements the radar-based angle detection method of the first aspect of the embodiments of the present application.

The beneficial effects brought by the technical solutions provided in the embodiments of the present application include at least:

In the radar-based angle detection method provided by the embodiment of the present application, the first fuzzy speed of the target object under the first detection signal and the second fuzzy speed under the second detection signal are obtained through the radar; A blur speed and a first preset flip value determine a first relationship, the first relationship is a waveform relationship between the magnitude of the first angle of the target object and the magnitude of the first angle, and the first preset flip value is not the first blur The flip value corresponding to the coefficient; the second relationship is determined according to the second detection signal, the second blur speed, and the second preset flip value corresponding to the second blur coefficient, and the second relationship is the magnitude of the second angle of the target object and the first The waveform relationship between the magnitudes of the two angles; in the second relationship, the angle corresponding to the maximum amplitude peak value is determined as the angle measurement result of the target object under the second detection signal; according to the first relationship and the second relationship, it is detected whether the angle measurement result is correct. The radar-based angle detection method provided by the embodiment of the present application can detect the angle measurement result by using the angle amplitude relationship obtained by the first detection signal under error compensation and the angle amplitude relationship obtained by the second detection signal under correct compensation is correct, so that false targets can be ruled out.

Description of drawings

FIG. 1 is a schematic diagram of the internal structure of a vehicle-mounted terminal according to an embodiment of the present application;

FIG. 2 is a flowchart of a radar-based angle detection method provided by an embodiment of the present application;

3 is a schematic diagram of an angle measurement result under a correct ambiguity coefficient provided by an embodiment of the present application;

4 is a schematic diagram of an angle measurement result under a wrong ambiguity coefficient according to an embodiment of the present application;

FIG. 5 is a structural diagram of a radar-based angle detection apparatus provided by an embodiment of the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

Hereinafter, the terms "first" and "second" are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, a feature defined as "first" or "second" may expressly or implicitly include one or more of that feature. In the description of the embodiments of the present disclosure, unless otherwise specified, "plurality" means two or more.

Additionally, the use of "based on" or "according to" is meant to be open and inclusive, as a process, step, calculation or other action "based on" or "depending on" one or more conditions or values may in practice be based on additional conditions or Exceeded value.

With the popularization and development of intelligent driving technology in vehicles, higher requirements are put forward for information collection of the external environment. Millimeter-wave radar on vehicles is a sensor that uses electromagnetic waves to detect the surrounding environment. It has become an important part of intelligent driving technology to perceive the external environment due to its excellent ranging, speed, angle measurement capabilities and good environmental adaptability. .

Due to the diversity and complexity of the actual detection scene, there is a certain probability in the actual environment of the millimeter-wave radar that the two targets have the same distance and the same speed, or the distance is the same, but the speed difference is an integer multiple of the maximum unambiguous speed of the radar. Target. For such scenes, the existing technology has the probability of measuring the wrong angle of the object, but cannot detect whether the angle measurement result of the object is correct, resulting in false targets appearing in the scene finally detected by the vehicle.

In order to solve the above problem, an embodiment of the present application provides a radar-based angle detection method, in which a first fuzzy speed of a target object under a first detection signal and a second fuzzy speed under a second detection signal are obtained by radar; The first relationship is determined according to the first detection signal, the first fuzzy speed and the first preset flip value, and the first relationship is the waveform relationship between the amplitude of the first angle of the target object and the magnitude of the first angle. The first preset The flip value is not the flip value corresponding to the first fuzzy coefficient; the second relationship is determined according to the second detection signal, the second fuzzy speed, and the second preset flip value corresponding to the second fuzzy coefficient, and the second relationship is the target object’s The waveform relationship between the amplitude of the second angle and the magnitude of the second angle; in the second relationship, the angle corresponding to the maximum amplitude peak is determined as the angle measurement result of the target object under the second detection signal; according to the first relationship and the first The second relationship detects whether the angle measurement result is correct. The radar-based angle detection method provided by the embodiment of the present application can detect the angle measurement result by using the angle amplitude relationship obtained by the first detection signal under error compensation and the angle amplitude relationship obtained by the second detection signal under correct compensation is correct, so that false targets can be ruled out.

The execution subject of the radar-based angle detection method provided by the embodiment of the present application may be a vehicle, and specifically the execution subject may be an on-board terminal in the vehicle, a processor in the vehicle, or a processing chip in the vehicle, which is implemented in this application. This example is not specifically limited.

FIG. 1 is a schematic diagram of an internal structure of a vehicle-mounted terminal according to an embodiment of the present application. As shown in FIG. 1 , the vehicle terminal includes a processor and a memory connected through a system bus. Among them, the processor is used to provide computing and control capabilities. The memory may include non-volatile storage media and internal memory. The nonvolatile storage medium stores an operating system and a computer program. The computer program can be executed by the processor to implement the steps of the radar-based angle detection method provided by the above embodiments. The internal memory provides a cached execution environment for the operating system and computer programs in the non-volatile storage medium.

Those skilled in the art can understand that the structure shown in FIG. 1 is only a block diagram of a partial structure related to the solution of the present application, and does not constitute a limitation on the computer equipment to which the solution of the present application is applied. Include more or fewer components than shown in the figures, or combine certain components, or have a different arrangement of components.

Based on the foregoing executive body, an embodiment of the present application provides a radar-based angle detection method. As shown in Figure 2, the method includes the following steps:

Step 201: Acquire a first fuzzy speed of a target object under a first detection signal and a second fuzzy speed under a second detection signal through a radar.

The first detection signal includes distance information, speed information and energy information of each detected object. By analyzing the first detection signal, the fuzzy speed of the target object can be obtained, and the first fuzzy speed can be obtained. Similarly, analyzing the second detection signal can obtain the second fuzzy speed of the target object. The maximum unambiguous speed of the first detection signal and the second detection signal are different.

Step 202: Determine a first relationship according to the first detection signal, the first blurring speed and the first preset inversion value.

The first relationship is the waveform relationship between the magnitude of the first angle of the target object and the magnitude of the first angle, the first preset flip value is not the flip value corresponding to the first blur coefficient, and the first blur coefficient is based on the first blur coefficient. A detection signal and a first blur velocity are determined.

Specifically, the magnitude of the first angle may be an energy value corresponding to the first angle.

Optionally, the process of determining the first preset inversion value may be: obtaining a first ambiguity coefficient according to a maximum unambiguity speed and a first ambiguity speed of the first detection signal, and determining a corresponding inversion value according to the parity of the first ambiguity coefficient. , and the opposite value of the inversion value corresponding to the first blur coefficient is determined as the first preset inversion value.

For example, if the blur coefficient is an odd number, the corresponding flip value is A, and if the blur coefficient is an even number, the corresponding flip value is B. Then, when the first blur coefficient is an odd number, the first preset flip value is B, and if the first blur coefficient is an even number, the first preset flip value is A.

Step 203: Determine the second relationship according to the second detection signal, the second blurring speed, and the second preset flip value corresponding to the second blurring coefficient.

The second relationship is a waveform relationship between the magnitude of the second angle of the target object and the magnitude of the second angle.

Optionally, the process of determining the second preset inversion value corresponding to the second ambiguity coefficient may be: obtaining the second ambiguity coefficient according to the maximum unambiguity speed and the second ambiguity speed of the second detection signal, and obtaining the second ambiguity coefficient according to the parity of the second ambiguity coefficient. The corresponding flip value is determined according to the characteristics, and a second preset flip value is obtained.

For example, if the blur coefficient is an odd number, the corresponding flip value is A, and if the blur coefficient is an even number, the corresponding flip value is B. Then, when the second blur coefficient is an odd number, the second preset flip value is A, and if the second blur coefficient is an even number, the second preset flip value is B.

Step 204: Determine the angle corresponding to the maximum amplitude peak value in the second relationship as the angle measurement result of the target object under the second detection signal.

Step 205: Detect whether the angle measurement result is correct according to the first relationship and the second relationship.

In the radar-based angle detection method provided by the embodiment of the present application, the first fuzzy speed of the target object under the first detection signal and the second fuzzy speed under the second detection signal are obtained through the radar; A blur speed and a first preset flip value determine a first relationship, the first relationship is a waveform relationship between the magnitude of the first angle of the target object and the magnitude of the first angle, and the first preset flip value is not the first blur The flip value corresponding to the coefficient; the second relationship is determined according to the second detection signal, the second blur speed, and the second preset flip value corresponding to the second blur speed, and the second relationship is the magnitude of the second angle of the target object and the first The waveform relationship between the magnitudes of the two angles; in the second relationship, the angle corresponding to the maximum amplitude peak value is determined as the angle measurement result of the target object under the second detection signal; according to the first relationship and the second relationship, it is detected whether the angle measurement result is correct. The radar-based angle detection method provided by the embodiment of the present application can detect the angle measurement result by using the angle amplitude relationship obtained by the first detection signal under error compensation and the angle amplitude relationship obtained by the second detection signal under correct compensation is correct, so that false targets can be ruled out.

In one embodiment, detecting whether the angle measurement result is correct according to the first relationship and the second relationship includes:

Obtain two first amplitude peaks of the first relationship and the first angle value corresponding to each first amplitude peak, and the two first amplitude peaks are the first two after the multiple amplitude peaks of the first relationship are sorted in descending order. amplitude peak;

Obtain three second amplitude peaks of the second relationship and the second angle values corresponding to each second amplitude peak, and the three second amplitude peaks are the first and second amplitude peaks in the second relationship sorted in descending order. Three amplitude peaks;

Whether the angle measurement result is correct is detected according to the two first amplitude peaks, the three second amplitude peaks, the two first angle values and the three second angle values.

Exemplarily, the first relationship includes the two largest peaks A1 and A2, and the angles corresponding to the two peaks are a1 and a2, the second relationship includes the three largest peaks B1, B2, and B3, and these three The angles corresponding to each peak are b1, b2, and b3. You can check whether the angle measurement result is correct according to A1, A2, a1, a2, B1, B2, B3, b1, b2, and b3.

Specifically, detecting whether the angle measurement result is correct according to the two first amplitude peaks, the three second amplitude peaks, the two first angle values and the three second angle values includes:

If there are two target amplitude peaks in the three second amplitude peaks, the second angle values corresponding to the two target amplitude peaks respectively are the same as the two first angle values;

Moreover, the difference between each target amplitude peak and the corresponding first amplitude peak is smaller than the difference between the first amplitude peak and the remaining amplitude peaks, and the remaining amplitude peaks are the values of the three second amplitude peaks except for the two target amplitude peaks. ;

Moreover, if one of the two target amplitude peaks is the amplitude peak corresponding to the angle measurement result, it is determined that the angle measurement result is wrong.

That is to say, if two of b1, b2 and b3 are the same as a1 and a2, it is assumed that b1 and b2 are the same as a1 and a2 respectively, and the difference between a1 and b1 and the difference between a2 and b2 are both smaller than a1 and b3. and the difference between a2 and b3, and one of b1 and b2 is the largest peak value in the second relationship, so it can be judged that the angle measurement result is wrong, and it can also be judged that b1 and b2 are false targets, which can be excluded. .

On the contrary, if there are no two target amplitude peaks in the three second amplitude peaks, it is determined that the angle measurement result is correct, and the angle measurement result is determined to be correct;

Or, if there are two target amplitude peaks in the three second amplitude peaks, and the difference between the target amplitude peak and the corresponding first amplitude peak is greater than the difference between the first amplitude peak and the remaining amplitude peaks, the angle measurement result is determined. correct;

Or, if there are two target amplitude peaks in the three second amplitude peaks, and the difference between each target amplitude peak and the corresponding first amplitude peak is smaller than the difference between the first amplitude peak and the remaining amplitude peaks, and any target amplitude peak is If the amplitude peak value is not the amplitude peak value corresponding to the angle measurement result, it is determined that the angle measurement result is correct.

That is to say, if no two of b1, b2 and b3 are the same as a1 and a2, it is determined that the angle measurement result is correct.

Or, if two of b1, b2 and b3 are the same as a1 and a2, it is assumed that b1 and b2 are the same as a1 and a2 respectively, but the difference between a1 and b1 and the difference between a2 and b2 are not less than, or there is only one If it is less than the difference between a1 and b3 and the difference between a2 and b3, it is determined that the angle measurement result is correct.

Or, if two of b1, b2 and b3 are the same as a1 and a2, it is assumed that b1 and b2 are the same as a1 and a2 respectively, and the difference between a1 and b1 and the difference between a2 and b2 are both smaller than the difference between a1 and b3. and the difference between a2 and b3, but neither b1 nor b2 is the largest peak value in the second relationship, it can also be determined that the test cross result is correct.

In one embodiment, after acquiring the first fuzzy speed of the target object under the first detection signal by the radar, the method further includes:

Determine a third relationship according to the first detection signal, the first fuzzy speed and the flip value corresponding to the first fuzzy speed, and the third relationship is a waveform relationship between the amplitude of the third angle of the target object and the magnitude of the third angle; The angle value of the first object among the target objects is determined according to the third relationship.

In one embodiment, after determining that the angle measurement result is wrong, the method further includes:

determining the median value of the amplitudes in the second relationship according to the respective amplitude values in the second relationship;

If the difference between the remaining energy value and the median value is greater than the preset threshold, the second angle value corresponding to the remaining amplitude peak value is determined as the angle value of the second object among the two target objects.

It should be noted that, after eliminating the two false peaks in the second relationship, the residual amplitude peak value is determined to be compared with the median value of the amplitude in the second relationship, if the difference between the residual amplitude peak and median value is greater than If the preset threshold is set, the angle value corresponding to the remaining amplitude peak value is determined as the angle value of the second object in the target object.

In one embodiment, determining the first relationship according to the first detection signal, the first blurring speed and the first preset inversion value includes:

Obtain the maximum unambiguous speed of the first detection signal; obtain a phase compensation vector corresponding to the first detection signal, and the value of the phase compensation vector is used to indicate the spacing ratio of the radar antenna after phase compensation; obtaining a first ambiguity coefficient; determining a first preset inversion value according to the first ambiguity coefficient; and obtaining a first relationship according to the first preset inversion value and a phase compensation vector corresponding to the first detection signal.

Specifically, the first relationship is obtained according to the first preset inversion value and the phase compensation vector corresponding to the first detection signal, including:

According to the first preset inversion value and the phase compensation vector, the inversion compensation vector is obtained; the inversion compensation vector is subjected to Fourier transform processing in the angle dimension to obtain the first relationship.

Optionally, acquiring a phase compensation vector corresponding to the first detection signal includes: obtaining a second ambiguity coefficient according to a maximum unambiguity speed and a second ambiguity speed corresponding to the second detection signal; calculating the first ambiguity coefficient and the second ambiguity coefficient If the coefficient difference is an odd number, the corresponding first phase compensation value is obtained according to the first unambiguous speed value; the first initial vector corresponding to the first detection signal is obtained, and the first initial vector is used to indicate The spacing ratio of each antenna; according to the first phase compensation value and the first initial vector, the phase compensation vector corresponding to the first detection signal is obtained.

As an example, take a target with only a 50-degree distance velocity unit as an example. The vector of formula 1 is the antenna channel after multiple-in-multiple-out (MIMO).

ant_pos=(0,3,6,11,1,4,7,12) Formula 1

Among them, ant_pos is the preset antenna array arrangement.

The vector of Equation 2 is the channel vector initialized by Equation 1.

Channel_Vec=zeros(1,13) Equation 2

Wherein, Channel_Vec refers to the antenna vector after MIMO initialized according to the array aperture of formula 1.

Equation 3 is the radar antenna channel vector corresponding to the target whose angle is theta.

Channel_Vec(ant_pos[i],theta)=(exp(-1j*(ant_pos[i]*sind(theta)*pi))) Formula 3

Among them, Channel_Vec refers to the antenna vector ant_pos after the target MIMO with the angle theta refers to formula 1, theta refers to the target angle, pi is 3.1415926, sind is expressed as the angle to take sin (sin is a trigonometric function), exp is expressed as Exponential function, -1j for complex numbers.

The result of the Fourier transform of Equation 3 is shown in Equation 4, and the angle corresponding to k with the largest amplitude in Equation 4 is the calculated target angle.

Among them, FFT_Result represents the Fourier transform result, Channel_Vec represents Equation 3.

k represents a value in the number of Fourier transform points, assuming 64 points fft, k is an integer between 0 and 63, N is the total number of Fourier transform points, which is a constant, and n is between 0 and N-1 An integer representing the nth sampling point, theta is the target angle, and pi is 3.1415926.

According to the change speed of the angle dimension phase, the position of k with the largest amplitude in Equation 4 is obtained as in Equation 5.

sind(theta)*pi=-2*pi*k/64 Equation 5

The 8-channel vector formula under the error ambiguity coefficient is as formula 6.

Channel_Vec_wrong(ant_pos[i],theta)=(exp(-1j*(ant_pos[i]*sind(theta)*pi))); i<=4

Channel_Vec_wrong(ant_pos[i],theta)=-(exp(-1j*(ant_pos[i]*sind(theta)*pi))); i>4, formula 6

Among them, i represents the serial number of the antenna array, which is related to formula 1 and is an integer between 1 and 8.

The result of the Fourier transform of formula 6 is as formula 7, and the position corresponding to k with the largest amplitude of formula 7 is as formula 8.

Among them, a is the deviation coefficient brought by the antenna array, that is, Equation 1.

The angle measurement results of the simulation target under the correct ambiguity coefficient are shown in Figure 3, and the angle measurement results under the wrong ambiguity coefficient are shown in Figure 4. Among them, the abscissa azimIdx in Figure 3 and Figure 4 is the index value corresponding to the angle of the angle measurement, and the ordinate The fft is the amplitude result after Fourier transform.

In one embodiment, before acquiring the first fuzzy speed of the target object under the first detection signal by the radar, the method further includes:

Analyzing the first detection signal to obtain the energy value corresponding to each object;

An object with an energy value greater than a preset threshold in each object is determined as a reference object, and a target object is determined from the reference object.

It should be noted that after receiving the first detection signal, the first detection signal can be analyzed to obtain the energy value of each detected object, and the energy value greater than the preset threshold is determined as an object, and the energy value is less than The determination of the preset threshold may be determined as noise, wherein the energy value of the target object is greater than the preset threshold.

In the radar-based angle detection method provided by the embodiment of the present application, the first fuzzy speed of the target object under the first detection signal and the second fuzzy speed under the second detection signal are obtained through the radar; A blur speed and a first preset flip value determine a first relationship, the first relationship is a waveform relationship between the magnitude of the first angle of the target object and the magnitude of the first angle, and the first preset flip value is not the first blur The flip value corresponding to the coefficient; the second relationship is determined according to the second detection signal, the second blur speed, and the second preset flip value corresponding to the second blur coefficient, and the second relationship is the magnitude of the second angle of the target object and the first The waveform relationship between the magnitudes of the two angles; in the second relationship, the angle corresponding to the maximum amplitude peak value is determined as the angle measurement result of the target object under the second detection signal; according to the first relationship and the second relationship, it is detected whether the angle measurement result is correct. The radar-based angle detection method provided by the embodiment of the present application can detect the angle measurement result by using the angle amplitude relationship obtained by the first detection signal under error compensation and the angle amplitude relationship obtained by the second detection signal under correct compensation is correct, so that false targets can be ruled out.

As shown in FIG. 5 , an embodiment of the present application provides a radar-based angle detection device, which includes:

an acquisition module 11, configured to acquire the first fuzzy speed of the target object under the first detection signal and the second fuzzy speed under the second detection signal through the radar;

The first determination module 12 is configured to determine a first relationship according to the first detection signal, the first fuzzy speed and the first preset flip value, where the first relationship is between the magnitude of the first angle of the target object and the magnitude of the first angle The waveform relationship of the first preset inversion value is not the inversion value corresponding to the first fuzzy coefficient, and the first fuzzy coefficient is determined according to the first detection signal and the first fuzzy speed;

The second determination module 13 is configured to determine a second relationship according to the second detection signal, the second blur velocity, and the second preset flip value corresponding to the second blur coefficient, where the second relationship is the magnitude of the second angle of the target object and the The waveform relationship between the magnitudes of the second angles, the second ambiguity coefficient is determined according to the second detection signal and the second ambiguity speed;

The detection module 14 is configured to detect whether the angle measurement result is correct according to the first relationship and the second relationship.

In one embodiment, the detection module 14 is specifically used for:

Obtain two first amplitude peaks of the first relationship and the first angle value corresponding to each first amplitude peak, and the two first amplitude peaks are the first two after the multiple amplitude peaks of the first relationship are sorted in descending order. amplitude peak;

Obtain three second amplitude peaks of the second relationship and the second angle values corresponding to each second amplitude peak, and the three second amplitude peaks are the first and second amplitude peaks in the second relationship sorted in descending order. three amplitude peaks;

Whether the angle measurement result is correct is detected according to the two first amplitude peaks, the three second amplitude peaks, the two first angle values and the three second angle values.

In one embodiment, the detection module 14 is specifically used for:

If there are two target amplitude peaks in the three second amplitude peaks, the second angle values corresponding to the two target amplitude peaks respectively are the same as the two first angle values;

Moreover, the difference between each target amplitude peak and the corresponding first amplitude peak is smaller than the difference between the first amplitude peak and the remaining amplitude peaks, and the remaining amplitude peaks are the values of the three second amplitude peaks except for the two target amplitude peaks. ;

Moreover, if one of the two target amplitude peaks is the amplitude peak corresponding to the angle measurement result, it is determined that the angle measurement result is wrong.

In one embodiment, the detection module 14 is further configured to: if there are no two target amplitude peaks in the three second amplitude peaks, determine that the angle measurement result is correct, then determine that the angle measurement result is correct;

Or, if there are two target amplitude peaks in the three second amplitude peaks, and the difference between the target amplitude peak and the corresponding first amplitude peak is greater than the difference between the first amplitude peak and the remaining amplitude peaks, the angle measurement result is determined. correct.

Or, if there are two target amplitude peaks in the three second amplitude peaks, and the difference between each target amplitude peak and the corresponding first amplitude peak is smaller than the difference between the first amplitude peak and the remaining amplitude peaks, and any target amplitude peak is If the amplitude peak value is not the amplitude peak value corresponding to the angle measurement result, it is determined that the angle measurement result is correct.

In one embodiment, the apparatus further includes: a fourth determination module 15;

The fourth determination module 15 is configured to determine a third relationship according to the first detection signal, the first fuzzy speed and the flip value corresponding to the first coefficient, and the third relationship is the difference between the amplitude of the third angle of the target object and the third angle. The waveform relationship between the sizes;

The angle value of the first object among the target objects is determined according to the third relationship.

In one embodiment, the fourth determining module 15 is further configured to:

determining the median value of the amplitudes in the second relationship according to the respective amplitude values in the second relationship;

If the difference between the remaining energy value and the median value is greater than the preset threshold, the second angle value corresponding to the remaining amplitude peak value is determined as the angle value of the second object among the two target objects.

In one embodiment, the first determining module 12 is specifically configured to:

obtaining the maximum unambiguous speed of the first detection signal;

Obtain a phase compensation vector corresponding to the first detection signal, and the value of the phase compensation vector is used to indicate the spacing ratio of the radar antenna after phase compensation;

determining a first preset flip value according to the first blur coefficient;

The first relationship is obtained according to the first preset inversion value and the phase compensation vector corresponding to the first detection signal.

In one embodiment, the first determining module 12 is specifically configured to:

According to the first preset inversion value and the phase compensation vector, the inversion compensation vector is obtained;

Perform the Fourier transform of the angle dimension on the flip compensation vector to obtain the first relationship.

In one embodiment, the first determining module 12 is specifically configured to:

Calculate the coefficient difference between the first ambiguity coefficient and the second ambiguity coefficient, and if the coefficient difference is an odd number, obtain the corresponding first phase compensation value according to the first unambiguous speed value;

obtaining a first initial vector corresponding to the first detection signal, where the first initial vector is used to indicate the spacing ratio of each antenna;

According to the first phase compensation value and the first initial vector, a phase compensation vector corresponding to the first detection signal is obtained.

In one embodiment, the apparatus further includes a parsing module for:

The first detection signal is analyzed to obtain energy values corresponding to each object, and an object whose energy value is greater than a preset threshold in each object is determined as a reference object, and a target object is determined from the reference objects.

The radar-based angle detection device provided by the embodiment of the present application obtains the first fuzzy speed of the target object under the first detection signal and the second fuzzy speed under the second detection signal through the radar; A blur speed and a first preset flip value determine a first relationship, the first relationship is a waveform relationship between the magnitude of the first angle of the target object and the magnitude of the first angle, and the first preset flip value is not the first blur The flip value corresponding to the coefficient; the second relationship is determined according to the second detection signal, the second blur speed, and the second preset flip value corresponding to the second blur coefficient, and the second relationship is the magnitude of the second angle of the target object and the first The waveform relationship between the magnitudes of the two angles; in the second relationship, the angle corresponding to the maximum amplitude peak value is determined as the angle measurement result of the target object under the second detection signal; according to the first relationship and the second relationship, it is detected whether the angle measurement result is correct. The radar-based angle detection device provided by the embodiment of the present application can detect the angle measurement result by using the angle amplitude relationship obtained by the first detection signal under error compensation and the angle amplitude relationship obtained by the second detection signal under correct compensation is correct, so that false targets can be ruled out.

The radar-based angle detection device provided in this embodiment can execute the above method embodiments, and the implementation principle and technical effect thereof are similar, and details are not repeated here.

For the specific limitation of the radar-based angle detection device, reference may be made to the above limitation on the radar-based angle detection method, which will not be repeated here. Each module in the above-mentioned radar-based angle detection device can be implemented in whole or in part by software, hardware and combinations thereof. The above modules may be embedded in or independent of the processor in the server in the form of hardware, or may be stored in the memory in the server in the form of software, so that the processor can call and execute operations corresponding to the above modules.

In another embodiment of the present application, a computer device is also provided, including a memory and a processor, the memory stores a computer program, and when the computer program is executed by the processor, the radar-based angle detection steps according to the embodiments of the present application are implemented.

In another embodiment of the present application, a computer-readable storage medium is also provided, on which a computer program is stored, and when the computer program is executed by a processor, implements the steps of the radar-based angle detection method according to the embodiment of the present application.

In another embodiment of the present application, a computer program product is also provided. The computer program product includes computer instructions. When the computer instructions are executed on the radar-based angle detection device, the radar-based angle detection device is made to execute the above method embodiment. The various steps performed by the radar-based angle detection method in the method flow shown.

In the above-mentioned embodiments, it may be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using a software program, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer-executed instructions are loaded and executed on the computer, the flow or function according to the embodiments of the present application is generated in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable device. Computer instructions may be stored in or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from a website site, computer, server, or data center over a wire (e.g. coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (eg infrared, wireless, microwave, etc.) means to another website site, computer, server or data center. Computer-readable storage media can be any available media that can be accessed by a computer or data storage devices including one or more servers, data centers, etc., that can be integrated with the media. Useful media may be magnetic media (eg, floppy disks, hard disks, magnetic tapes), optical media (eg, DVDs), or semiconductor media (eg, solid state disks (SSDs)), and the like.

The technical features of the above embodiments can be combined arbitrarily. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features It is considered to be the range described in this specification.

The above examples only represent several embodiments of the present application, and the descriptions thereof are relatively specific and detailed, but should not be construed as a limitation on the scope of the invention patent. It should be pointed out that for those skilled in the art, without departing from the concept of the present application, several modifications and improvements can be made, which all belong to the protection scope of the present application. Therefore, the scope of protection of the patent of the present application shall be subject to the appended claims.

Claims (13)

1. A radar-based angle detection method, wherein the method comprises: Obtain the first fuzzy speed of the target object under the first detection signal and the second fuzzy speed under the second detection signal by using the radar; A first relationship is determined according to the first detection signal, the first blur speed and the first preset flip value, where the first relationship is the magnitude of the first angle of the target object and the magnitude of the first angle The waveform relationship between the first preset inversion value is not the inversion value corresponding to the first fuzzy coefficient, and the first fuzzy coefficient is determined according to the first detection signal and the first fuzzy speed; A second relationship is determined according to the second detection signal, the second blur speed, and the second preset flip value corresponding to the second blur coefficient, where the second relationship is the magnitude of the second angle of the target object and the a waveform relationship between the magnitudes of the second angles, the second ambiguity coefficient is determined according to the second detection signal and the second ambiguity speed; In the second relationship, the angle corresponding to the maximum amplitude peak value is determined as the angle measurement result of the target object under the second detection signal; Whether the angle measurement result is correct is detected according to the first relationship and the second relationship. 2. The method according to claim 1, wherein the detecting whether the angle measurement result is correct according to the first relationship and the second relationship comprises: Acquire two first amplitude peaks of the first relationship and a first angle value corresponding to each of the first amplitude peaks, where the two first amplitude peaks are multiple amplitude peaks of the first relationship according to The first two amplitude peaks after sorting from large to small; Obtain three second amplitude peaks of the second relationship, and second angle values corresponding to each of the second amplitude peaks, and the three second amplitude peaks are the multiple amplitude peaks in the second relationship according to The first three amplitude peaks sorted from largest to smallest; Whether the angle measurement result is correct is detected according to the two first amplitude peaks, the three second amplitude peaks, the two first angle values and the three second angle values. 3 . The method according to claim 2 , wherein the method is based on two of the first amplitude peaks, three of the second amplitude peaks, two of the first angle values and three of the third Two angle values detect whether the angle measurement result is correct, including: If there are two target amplitude peaks in the three second amplitude peaks, the second angle values corresponding to the two target amplitude peaks respectively are the same as the corresponding two first angle values; Moreover, the difference between each of the target amplitude peaks and the corresponding first amplitude peaks is smaller than the difference between the first amplitude peaks and the remaining amplitude peaks, and the remaining amplitude peaks are divided by the three second amplitude peaks. two values outside of said target amplitude peaks; Moreover, if one of the two target amplitude peaks is the amplitude peak corresponding to the angle measurement result, it is determined that the angle measurement result is wrong. 4 . The method according to claim 3 , wherein the method is based on two of the first amplitude peaks, three of the second amplitude peaks, two of the first angle values and three of the third The two-angle value detects whether the angle measurement result is correct, and further includes: If there are no two target amplitude peaks in the three second amplitude peaks, it is determined that the angle measurement result is correct; Or, if there are two target amplitude peaks in the three second amplitude peaks, and the difference between the target amplitude peak and the corresponding first amplitude peak is greater than the difference between the first amplitude peak and the remaining amplitude peaks difference, it is determined that the angle measurement result is correct; Or, if there are two target amplitude peaks in the three second amplitude peaks, and the difference between each target amplitude peak and the corresponding first amplitude peak is smaller than the first amplitude peak and the remaining If any of the target amplitude peaks is not the amplitude peak corresponding to the angle measurement result, it is determined that the angle measurement result is correct. 5 . The method according to claim 1 , wherein after acquiring the first fuzzy speed of the target object under the first detection signal by using the radar, the method further comprises: 6 . A third relationship is determined according to the first detection signal, the first ambiguity speed, and the inversion value corresponding to the first ambiguity coefficient, and the third relationship is the relationship between the magnitude of the third angle of the target object and the The waveform relationship between the magnitudes of the third angle; An angle value of a first object among the target objects is determined according to the third relationship. 6. The method according to claim 3, characterized in that after determining that the angle measurement result is wrong, the method further comprises: determining the median value of the amplitudes in the second relationship according to the respective amplitude values in the second relationship; If the difference between the remaining amplitude peak value and the median value is greater than a preset threshold, the second angle value corresponding to the remaining amplitude peak value is determined as the angle value of the second object among the two target objects. 7 . The method according to claim 1 , wherein the determining the first relationship according to the first detection signal, the first blurring speed and the first preset inversion value comprises: 8 . obtaining the maximum unambiguous speed of the first detection signal; acquiring a phase compensation vector corresponding to the first detection signal, where the value of the phase compensation vector is used to indicate the spacing ratio of the radar antenna after phase compensation; determining the first preset flip value according to the first blur coefficient; The first relationship is obtained according to the first preset inversion value and the phase compensation vector corresponding to the first detection signal. 8 . The method according to claim 7 , wherein the obtaining the first relationship according to the first preset inversion value and a phase compensation vector corresponding to the first detection signal comprises: 8 . obtaining an inversion compensation vector according to the first preset inversion value and the phase compensation vector; Fourier transform processing of the angle dimension is performed on the flip compensation vector to obtain the first relationship. 9. The method according to claim 7, wherein the acquiring a phase compensation vector corresponding to the first detection signal comprises: Calculate the coefficient difference between the first blur coefficient and the second blur coefficient, and if the coefficient difference is an odd number, obtain a corresponding first phase compensation value according to the first blur coefficient; acquiring a first initial vector corresponding to the first detection signal, where the first initial vector is used to indicate the spacing ratio of each of the antennas; According to the first phase compensation value and the first initial vector, a phase compensation vector corresponding to the first detection signal is obtained. 10 . The method according to claim 1 , wherein, before acquiring the first fuzzy speed of the target object under the first detection signal through the radar, the method further comprises: 10 . Analyzing the first detection signal to obtain the energy value corresponding to each object; An object whose energy value is greater than a preset threshold in each object is determined as a reference object, and the target object is determined from the reference object. 11. A radar-based angle detection device, wherein the device comprises: an acquisition module, configured to acquire the first fuzzy speed of the target object under the first detection signal and the second fuzzy speed under the second detection signal through the radar; A first determination module, configured to determine a first relationship according to the first detection signal, the first fuzzy speed and the first preset flip value, where the first relationship is the magnitude of the first angle of the target object and the The waveform relationship between the magnitudes of the first angles, the first preset flip value is not the flip value corresponding to the first ambiguity coefficient, and the first ambiguity coefficient is based on the first detection signal and the first 1. The fuzzy speed is determined; A second determination module, configured to determine a second relationship according to the second detection signal, the second blur speed, and a second preset flip value corresponding to the second blur coefficient, where the second relationship is the target object The waveform relationship between the magnitude of the second angle and the magnitude of the second angle, the second ambiguity coefficient is determined according to the second detection signal and the second ambiguity speed; a third determination module, configured to determine the angle corresponding to the maximum amplitude peak in the second relationship as the angle measurement result of the target object under the second detection signal; A detection module, configured to detect whether the angle measurement result is correct according to the first relationship and the second relationship. 12. A vehicle, characterized in that it comprises a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the radar-based radar of any one of claims 1 to 10 is implemented. Angle detection method. 13. A computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the radar-based radar according to any one of claims 1 to 10 is implemented. angle detection method.

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