MIMO vehicle-mounted radar multipath target recognition method, equipment, medium and product

Abstract

The embodiments of the present application relate to the field of vehicle-mounted radar technology, and disclose a MIMO vehicle-mounted radar multipath target identification method, device, medium and product. Perform spatial convolution on the transmitting antenna and receiving antenna of the MIMO vehicle-mounted radar, which is equivalent to receiving echo data of multiple virtual channels; calculate the average phase difference of the virtual array to obtain the virtual array angle measurement result; calculate the angle average of all row subarrays and the angle average of all column subarrays according to the two-dimensional array; construct a loss function, and calculate the judgment threshold of the multipath target according to the virtual array angle measurement result, the row subarray angle average and the column subarray angle average; compare the judgment threshold with the set threshold, and when the judgment threshold exceeds the set threshold, identify the current target as a multipath target, otherwise it is identified as a real target. It can at least be used to solve the technical problem of insufficient accuracy in radar multipath target identification.

Description

Technical Field

[0001] The present application relates to the field of vehicle-mounted radar technology, and in particular to a MIMO vehicle-mounted radar multipath target recognition method, equipment, medium and product. Background Art

[0002] With the continuous development of autonomous driving technology, vehicle-mounted radar has become one of the indispensable and important sensors in autonomous driving systems. Vehicle-mounted radar can detect surrounding objects through electromagnetic waves in complex environments, thereby providing real-time obstacle detection, target tracking, distance measurement and other functions. In particular, MIMO (Multiple-Input Multiple-Output) radar technology has been widely used in autonomous driving and advanced driver assistance systems (ADAS) due to its significant advantages in spatial resolution and anti-interference capabilities.

[0003] MIMO radar can achieve higher-precision target positioning through multiple transmitting antennas and receiving antennas, and improve angular resolution through virtual aperture technology. However, in practical applications, especially in complex urban environments or highways, MIMO vehicle-mounted radars are often affected by multipath effects. This problem causes the echo signals received by the radar to include not only the direct reflection signal from the target, but also multiple reflection echoes generated by reflection or scattering.

[0004] At present, the common practice is to find the multipath reflection points and calculate the geometric relationship between the multipath points and the real target points (patent "Radar multipath target identification method, system, device and storage medium" patent number CN202311749387.6). This method is highly complex and computationally intensive, and is difficult to implement in practical applications; another method is to use a transmitting antenna to measure the transmission angle and a receiving antenna to measure the reception angle, and compare the difference between the transmission angle and the reception angle to determine whether the target is multipath (patent "A multipath target elimination method and electronic device based on MIMO array" patent number CN202410313425.1), but this method only uses physical antennas and does not fully utilize the virtual aperture of the MIMO array. The angle measurement is not accurate enough, resulting in misjudgment. Summary of the invention

[0005] One purpose of the present application is to provide a MIMO vehicle-mounted radar multipath target recognition method, device, medium and product, at least to solve the technical problem of insufficient radar multipath target recognition accuracy.

[0006] To achieve the above objectives, some embodiments of the present application provide the following aspects:

[0007] In the first aspect, some embodiments of the present application also provide a MIMO vehicle-mounted radar multipath target identification method, including performing spatial convolution on the transmitting antenna and receiving antenna of the MIMO vehicle-mounted radar, which is equivalent to receiving echo data of multiple virtual channels; calculating the average phase difference of the virtual array based on the echo data, and obtaining the virtual array angle measurement result based on the average phase difference of the virtual array; rearranging the echo data of the virtual channel into a two-dimensional array; calculating the average angle of all row sub-arrays and the average angle of all column sub-arrays based on the two-dimensional array; constructing a loss function, and calculating the judgment threshold of the multipath target based on the virtual array angle measurement result, the row sub-array angle average and the column sub-array angle average; comparing the judgment threshold with the set threshold, when the judgment threshold exceeds the set threshold, identifying the current target as a multipath target, otherwise it is identified as a real target.

[0008] In a second aspect, some embodiments of the present application further provide an electronic device, comprising: one or more processors; and a memory storing computer program instructions, wherein the computer program instructions, when executed, cause the processor to perform the steps of the method described above.

[0009] In a third aspect, some embodiments of the present application further provide a computer-readable medium having computer program instructions stored thereon, wherein the computer program instructions can be executed by a processor to implement the method as described above.

[0010] In a fourth aspect, some embodiments of the present application further provide a computer program product, comprising a computer program / instruction, which implements the steps of the method described above when executed by a processor.

[0011] Compared with the related art, the solution provided in the embodiment of the present application utilizes virtual channel echo data and phase difference information to avoid the complex multipath reflection point calculation in the existing method and improve the target angle estimation accuracy. It has the advantages of small calculation amount, easy implementation, high recognition accuracy, etc., can effectively deal with the multipath effect in complex scenes, improve the performance of the vehicle radar system, and thus provide protection for the safety of the autonomous driving system. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0013] Figure 1 A flowchart of a MIMO vehicle-mounted radar multipath target recognition method provided according to an embodiment of the present application;

[0014] Figure 2 A schematic diagram of a MIMO vehicle-mounted radar reflection path provided according to an embodiment of the present application;

[0015] Figure 3 A flowchart of another MIMO vehicle-mounted radar multipath target recognition method provided according to an embodiment of the present application;

[0016] Figure 4 A MIMO vehicle-mounted radar transceiver antenna distribution diagram provided according to an embodiment of the present application;

[0017] Figure 5 A virtual array arrangement diagram provided according to an embodiment of the present application;

[0018] Figure 6 The present invention is a schematic diagram of the structure of an electronic device provided according to an embodiment of the present application. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0020] First embodiment

[0021] The first embodiment of the present application relates to a MIMO vehicle-mounted radar multipath target recognition method. Figure 1 As shown, the method may include the following steps:

[0022] S101, performing spatial convolution on the transmitting antenna and the receiving antenna of the MIMO vehicle-mounted radar, which is equivalent to receiving echo data of multiple virtual channels.

[0023] By performing spatial convolution on the transmitting antenna and receiving antenna of the MIMO radar, the echo data of multiple antennas are combined into multiple virtual channels. In this way, the virtual aperture technology can be used to effectively enhance the angular resolution and reduce the error caused by multipath reflection. Through spatial convolution, the signals of different antennas are combined, which effectively improves the system's ability to receive reflected echo signals, thereby improving the radar's detection sensitivity and anti-interference ability. By using virtual channel data, it is avoided to add more hardware to improve resolution, reduce the complexity of hardware design and implementation, and make the system more cost-effective.

[0024] S102, calculating an average phase difference of a virtual array according to the echo data, and obtaining an angle measurement result of a virtual array according to the average phase difference of the virtual array.

[0025] By calculating the average phase difference of the virtual array, the accuracy of angle estimation can be improved, especially in a multipath effect environment, the azimuth of the target can be judged more accurately. Compared with traditional methods, the virtual array can make full use of the spatial resolution of the MIMO radar and improve the recognition accuracy of the target. Through more accurate angle estimation, it can effectively reduce misjudgments and false alarms caused by inaccurate angle calculation, and improve the reliability and accuracy of the system.

[0026] S103, rearranging the echo data of the virtual channel into a two-dimensional array, and calculating the average angle values ​​of all row sub-arrays and the average angle values ​​of all column sub-arrays according to the two-dimensional array.

[0027] Rearranging echo data into a two-dimensional array makes data processing more structured and systematic, which is convenient for subsequent calculation and analysis. In this way, the angle average of each subarray can be quickly obtained, simplifying the complex calculation process. Rearranging the virtual channel data and calculating the angle average make the angle information of each subarray clearer, which helps to improve the efficiency of multi-target detection in complex environments. Especially when multiple targets appear at the same time, their positions can be distinguished more accurately.

[0028] S104, constructing a loss function, and calculating a threshold for determining a multipath target according to the virtual array angle measurement result, the row sub-array angle average value, and the column sub-array angle average value.

[0029] By constructing a loss function and combining multiple angle data (the angle measurement results of the virtual array, the average angle of the row and column subarrays), the judgment threshold of the multipath target can be calculated more accurately. This method can effectively distinguish between real targets and multipath reflection targets and reduce misjudgment. By integrating multi-dimensional information, the loss function can adapt to changes in different environments and scenarios, improving the adaptability and robustness of the system, especially in highly dynamic and complex environments.

[0030] S105, comparing the determination threshold with a set threshold, and when the determination threshold exceeds the set threshold, identifying the current target as a multipath target, otherwise identifying the current target as a real target.

[0031] By comparing the judgment threshold with the set threshold, target judgment can be completed in a shorter time. This step can quickly distinguish multipath targets from real targets, reduce the computational burden of the radar system, and improve the response speed. Setting a reasonable judgment threshold can effectively reduce the false alarm rate, especially in complex vehicle environments, and can avoid unnecessary system reactions caused by multipath effects and improve safety. By setting the threshold, it can be flexibly adjusted according to different environmental conditions and application scenarios, adapting to different multipath effects and target detection requirements, and improving the flexibility of the system.

[0032] It is not difficult to find that compared with the related art, the solution provided in the embodiment of the present application processes the virtual channel data of the MIMO vehicle-mounted radar, and uses angle difference calculation, loss function construction and judgment threshold comparison to effectively identify multipath targets and eliminate their influence. It is reflected in: improving the accuracy of angle estimation and target recognition; reducing computational complexity and improving real-time performance; improving the reliability, adaptability and robustness of the system to adapt to different complex environments; reducing the false alarm rate and improving the safety of the automatic driving system. It can be widely used in vehicle-mounted radar systems and has high practical value and innovation.

[0033] Second embodiment

[0034] The second embodiment of the present application relates to a MIMO vehicle-mounted radar multipath target recognition method. The second implementation is an improvement based on the first embodiment, and the specific improvements are:

[0035] MIMO radar transmits electromagnetic waves, and the direct reflection path and multiple reflection paths of the target are as follows: Figure 2 As shown in the figure, the transmission direction of the direct path is consistent with the reflection direction, while the transmission direction of the multipath is different from the reflection direction. According to the reflection characteristics of the multipath target, a multipath target recognition method for MIMO vehicle-mounted radar is proposed. Figure 3 As shown:

[0036] Assume that the MIMO radar has N transmitting antennas and M receiving antennas, such as Figure 4 As shown in the figure, TX represents the transmitting antenna, RX represents the receiving antenna, and the radar can be equivalent to receiving Virtual channel data, such as Figure 5 As shown in the figure Represents a virtual channel equivalent to the nth TX and the mth RX; models all virtual channel data:

[0037] ;

[0038] in, represents the virtual channel echo data obtained by modeling the virtual channel data, Through spatial convolution, the echo data of multiple antennas are effectively combined to form multiple virtual channels, making full use of the virtual aperture of the MIMO array and improving the angular resolution. The modeling of virtual channels can improve the radar's signal reception capability in complex environments, thereby enhancing the system's anti-interference ability and detection sensitivity.

[0039] According to the echo data of the virtual channel, the average phase difference of the virtual array is calculated, and the angle measurement result of the virtual array is obtained based on this phase difference. Calculating the average phase difference can effectively improve the angle estimation accuracy of the target, especially in a multipath environment, and can more accurately estimate the direction of the target. Through phase difference calculation, real targets and multipath targets can be distinguished more accurately, reducing misjudgments caused by inaccurate angle estimation.

[0040] Calculate the average phase difference of the virtual array and obtain the virtual array angle measurement result based on the phase difference , the specific steps are as follows:

[0041] ;

[0042] in represents the imaginary part of a complex number. represents taking the real part of a complex number, Indicates the inverse tangent. is the wavelength.

[0043] Will Rearrange TX and RX into a two-dimensional model with N rows and M columns:

[0044] .

[0045] The echo data of the virtual channel is rearranged into a two-dimensional array of N rows and M columns. In the two-dimensional array, the rows and columns correspond to the data of the receiving array and the transmitting array respectively. Then, the average value of the sub-array angle of each row and each column is calculated.

[0046] Calculate the average phase difference of the receiving array element. The specific steps are as follows:

[0047] (1.1) Take The first line , the first row The signal of the first row Multiply the signal conjugates of the columns:

[0048] ;

[0049] in .

[0050] (1.2) Calculation Phase:

[0051] ;

[0052] in represents the imaginary part of a complex number. represents taking the real part of a complex number, Represents the inverse tangent.

[0053] (1.3) Calculate the receiving angle:

[0054] ;

[0055] in Indicates RX and The distance between the RXs, is the wavelength, It means to find the inverse sine.

[0056] (1.4) Repeat steps 1.1-1.3 until the first row is calculated. Find the mean:

[0057]

[0058] (1.5) Yes All remaining rows Repeat steps 1.1-1.4 to get the value of each row. , and calculate the final :

[0059]

[0060] Calculate the average phase difference of the transmitting array element. The specific steps are as follows:

[0061] (2.1) Take The first column , the first column The signal of the first row is Multiply the signal conjugates of the rows:

[0062] ;

[0063] in .

[0064] (2.2) Calculation Phase:

[0065] .

[0066] in represents the imaginary part of a complex number. represents taking the real part of a complex number, Represents the inverse tangent.

[0067] (2.3) Calculate the emission angle:

[0068] ;

[0069] in Indicates The first TX and the The distance between TX is the wavelength, It means to find the inverse sine.

[0070] (2.4) Repeat steps 2.1-2.3 until the first column is calculated. Find the mean:

[0071] .

[0072] (2.5) Yes All remaining columns Repeat steps 2.1-2.4 to get the value of each column. , and calculate the final :

[0073] .

[0074] By calculating the phase difference between the receiving array element and the transmitting array element, the receiving angle and the transmitting angle of the target can be accurately estimated. Phase difference is a key characteristic in the signal propagation process, which is closely related to the spatial position of the target. Therefore, by measuring the phase difference and calculating the angle, the accuracy of target angle estimation can be effectively improved.

[0075] Specifically, the phase difference calculation between the receiving array element and the transmitting array element can accurately reflect the time difference of signal arrival between different antennas, and then deduce the precise location of the target. In an environment with significant multipath effects, this accurate angle estimation helps to distinguish real targets from false targets that are reflected or scattered, thereby greatly reducing misjudgment.

[0076] When calculating the angles of the receiving and transmitting elements, by calculating the average angle of each row and column, the angle deviation caused by the error of a single antenna array or the change of the local environment can be effectively reduced. The average angle of each row or column combined with the overall performance of the virtual channel data can eliminate the accidental error in a single measurement, making the final angle estimation more stable and accurate.

[0077] This angle average calculation method not only helps to reduce the possible deviation of a single array element (antenna), but also improves the anti-interference ability of the overall array system, especially when there is high noise or other non-ideal conditions in the received signal. By comprehensively calculating the data of different arrays, smoother target positioning can be achieved, reducing the angle fluctuation caused by equipment errors.

[0078] Construct the loss function:

[0079] ;

[0080] ;

[0081] in .

[0082] Will With setting threshold For comparison, if , then the current target is identified as a multipath target. Otherwise, the current target is identified as a real target.

[0083] By comparing the loss function with the set threshold, when the loss function value is greater than the set threshold, the current target is identified as a multipath target, that is, the target may be a false signal caused by reflection or scattering. When the loss function value is less than or equal to the set threshold, the current target is identified as a real target, that is, the target is actually detected by the radar system.

[0084] The threshold setting can be adjusted based on the following factors: Under different environmental conditions, such as strong multipath effects or clearer target signals, the threshold may need to be adjusted. Through experimental or simulation data, the threshold is adjusted to ensure the accuracy and reliability of the system in practical applications. According to the real-time requirements of the vehicle radar system, different thresholds can be selected to balance the computational efficiency and recognition accuracy.

[0085] Furthermore, when the MIMO radar has 4 transmitting antennas and 4 receiving antennas, the above method can be used to Set to 5.

[0086] The real target angle is set to 45°, the radial distance from the radar is set to 50m, the radar installation height is 0.6m, and the multipath target echo and the real target echo are simulated.

[0087] Calculate the multipath target is 45°, is -37°, is -51°, =64.4, , identifying the current target as a multipath target.

[0088] Calculate the true target is 45°, is 45°, is 45°, , , identifying the current target as the real target.

[0089] It is not difficult to find that in the embodiment of the present application, by avoiding traversing to find multipath reflection points, the amount of calculation is significantly reduced, making the method not only efficient but also easy to implement on a chip, suitable for the application of real-time vehicle-mounted radar systems. At the same time, the present invention makes full use of the virtual aperture technology of MIMO radar, can accurately identify multipath targets with multiple reflections, and improves the accuracy of target recognition through accurate angle estimation.

[0090] The step division of the above methods is only for the purpose of clear description. When implemented, they can be combined into one step or some steps can be split and decomposed into multiple steps. As long as they include the same logical relationship, they are all within the scope of protection of this patent; adding insignificant modifications to the algorithm or process or introducing insignificant designs without changing the core design of the algorithm and process are all within the scope of protection of this patent.

[0091] In addition, some embodiments of the present application also provide an electronic device. The electronic device may be a digital computer in various forms, such as a laptop computer, a desktop computer, a workbench, a personal digital assistant, a server, a blade server, a mainframe computer, etc. The electronic device may also be a mobile device in various forms, such as a personal digital processing, a cellular phone, a smart phone, a wearable device, and other similar computing devices.

[0092] The electronic device includes: one or more processors; and a memory storing computer program instructions, wherein when the computer program instructions are executed, the processor executes the steps of the method provided in any one or more of the above embodiments. Figure 6 An exemplary structural diagram of the electronic device is disclosed. Figure 6As shown, the electronic device includes: one or more processors 1101, a memory 1102, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. The various components are connected to each other using different buses and can be installed on a common motherboard or installed in other ways as needed. The processor can process instructions executed in the electronic device, including instructions stored in or on the memory to display graphical information of a GUI (Graphical User Interface) on an external input / output device (such as a display device coupled to the interface). In some other embodiments, if necessary, multiple processors and / or multiple buses can be used with multiple memories and multiple memories. Similarly, multiple electronic devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Among them, the components shown in this article, their connections and relationships, and their functions are only examples, and are not intended to limit the implementation of the present application described and / or required herein.

[0093] The electronic device may further include: an input device 1103 and an output device 1104. The processor 1101, the memory 1102, the input device 1103 and the output device 1104 may be connected via a bus or other means. Figure 6 The example of connecting through bus is taken in the following.

[0094] The input device 1103 can receive input digital or character information, and generate key signal input related to the user settings and function control of the electronic device, such as a touch screen, a keypad, a mouse, a track pad, a touch pad, an indicator rod, one or more mouse buttons, a trackball, a joystick and other input devices. The output device 1104 may include a display device, an auxiliary lighting device (e.g., an LED) and a tactile feedback device (e.g., a vibration motor), etc. The display device may include, but is not limited to, a liquid crystal display (LCD), a light emitting diode (LED) display and a plasma display. In some embodiments, the display device may be a touch screen.

[0095] In order to provide interaction with the user, the electronic device may be a computer. The computer has: a display device (e.g., a cathode ray tube (CRT) or an LCD monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball), through which the user can provide input to the computer. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and the input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0096] In the embodiments of the present application, a computer program / instruction is stored on a computer-readable medium, and when the computer program / instruction is executed by a processor, the steps of the method provided by any one or more of the above embodiments are implemented. The computer-readable medium may be included in the electronic device described in the above embodiments; or it may exist independently without being assembled into the device. The above computer-readable medium carries one or more computer-readable instructions.

[0097] The memory 1102 can be used as a non-transient computer-readable storage medium, which can be used to store non-transient software programs, non-transient computer executable programs and modules. The processor 1101 executes various functional applications and data processing of the server by running the non-transient software programs, instructions and modules stored in the memory 1102, so as to implement the program instructions / modules corresponding to the method provided by any one or more embodiments in the embodiments of the present application.

[0098] The memory 1102 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the electronic device, etc. In addition, the memory 1102 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory 1102 may optionally include a memory remotely arranged relative to the processor 1101, and these remote memories may be connected to the electronic device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0099] It should be noted that the computer-readable medium described in the present application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM (Erasable Programmable Read-Only Memory) or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM, Compact Disc Read - Only Memory), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device.

[0100] Computer readable media include permanent and non-permanent, removable and non-removable media, and can be implemented by any method or technology to store information. Information can be computer-readable instructions, data structures, modules of programs or other data. Examples of computer storage media include, but are not limited to, phase-change random-access memory (PRAM), static random-access memory (SRAM), dynamic random-access memory (DRAM), other types of random-access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission medium that can be used to store information that can be accessed by a computing device.

[0101] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0102] In the above embodiments, all or part of the embodiments may be implemented by software, hardware, firmware or any combination thereof. For example, an application-specific integrated circuit (ASIC), a general-purpose computer or any other similar hardware device may be used for implementation. In some embodiments, the software program of the present application may be executed by a processor to implement the above steps or functions. Similarly, the software program of the present application (including related data structures) may be stored in a computer-readable recording medium, such as a RAM memory, a magnetic or optical drive or a floppy disk and the like. In addition, some steps or functions of the present application may be implemented by hardware, for example, as a circuit that cooperates with a processor to perform various steps or functions.

[0103] The computer program product provided in the embodiment of the present application includes one or more computer programs / instructions, which, when executed by the processor, generate in whole or in part the process or function described in the embodiment of the present application. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, 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, a computer, a server, or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL, Digital Subscriber Line)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server, or data center. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or a data center that includes one or more available media integrated. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid state drive, SSD, solid statedisk)), etc.

[0104] The flow chart or block diagram in the accompanying drawings shows the possible architecture, function and operation of the equipment, method and computer program product according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented with a dedicated system for hardware that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0105] The scope of the present application is defined by the appended claims rather than the above description, and it is intended that all changes that fall within the meaning and scope of the equivalent elements of the claims are included in the present application. Any figure mark in the claims should not be regarded as limiting the claims involved. In addition, it is clear that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. Multiple units or devices stated in the device claim may also be implemented by one unit or device through software or hardware. The words "first", "second", etc. are only used to distinguish the description, and do not indicate any particular order, nor can they be understood as indicating or implying relative importance.

[0106] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily mention changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims, and the above embodiments should be regarded as exemplary and non-restrictive.

Claims

1. A MIMO vehicle-mounted radar multipath target recognition method, characterized in that: The method comprises: Performing spatial convolution on the transmitting antenna and receiving antenna of the MIMO vehicle-mounted radar is equivalent to receiving echo data of multiple virtual channels; Calculating an average phase difference of a virtual array according to the echo data, and obtaining an angle measurement result of a virtual array according to the average phase difference of the virtual array; The echo data of the virtual channel are rearranged into a two-dimensional array, and the average angle values ​​of all row sub-arrays and the average angle values ​​of all column sub-arrays are calculated according to the two-dimensional array; Constructing a loss function, and calculating a threshold for determining a multipath target according to the virtual array angle measurement result, the row sub-array angle average value, and the column sub-array angle average value; The determination threshold is compared with a set threshold, and when the determination threshold exceeds the set threshold, the current target is identified as a multipath target, otherwise it is identified as a real target.

2. The method according to claim 1, characterized in that The echo data of the virtual channel includes: The MIMO vehicle-mounted radar has N TX transmitting antennas and M RX receiving antennas; The MIMO vehicle-mounted radar is equivalent to receiving N×M virtual channel data; modeling of all the virtual channel data is obtained: ； in, represents the echo data of the virtual channel, .

3. The method according to claim 2, characterized in that The step of obtaining a virtual array angle measurement result according to the average phase difference of the virtual array comprises: ； in, is the angle measurement result of the virtual array; is the distance between the vth echo data and the v+1th echo data; is the wavelength; represents the imaginary part of a complex number. represents taking the real part of a complex number, Represents the inverse tangent.

4. The method according to claim 3, characterized in that The rearranging of the echo data of the virtual channel into a two-dimensional array comprises: 。 5. The method according to claim 4, characterized in that The row sub-array angle averages include: The average phase difference of the receiving array elements is calculated for each row subarray of the two-dimensional array, and the row subarray angle is calculated based on the average phase difference of the receiving array elements to obtain the average angle of all row subarrays. .

6. The method according to claim 5, characterized in that The column sub-array angle averages include: The average phase difference of the transmitting array elements in each column of the two-dimensional array is calculated, and the column sub-array angle is calculated based on the average phase difference of the transmitting array elements to obtain the average angle of all column sub-arrays. .

7. The method according to claim 6, characterized in that The construction loss function includes: ； ； in ; c is the determination threshold; is the angle measurement result of the virtual array; is the average angle of the row sub-array; is the average angle of the column subarray.

8. An electronic device, characterized in that: The electronic device comprises: one or more processors; and A memory storing computer program instructions, which, when executed, cause the processor to perform the steps of the method as claimed in any one of claims 1 to 7.

9. A computer readable medium having a computer program / instructions stored thereon, characterized in that: When the computer program / instructions are executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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