Vehicle recognition method and system based on millimeter wave radar

Abstract

Embodiments of the present application provide a millimeter wave radar-based vehicle identification method and system, wherein the method comprises: determining target information according to a target echo signal; determining target discrimination information according to the target information; and generating a target vehicle identification result according to the target discrimination information; wherein the target information comprises target distance information and / or target amplitude and phase information; and the target discrimination information comprises a target pitch angle and / or a target signature quantity. The present application can improve the output accuracy of the vehicle identification result in a scenario where the number of transceiving antennas is limited or the size is limited.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of radar, and particularly relate to a vehicle identification method and system based on millimeter wave radar. BACKGROUND

[0002] At present, millimeter wave radar has been widely applied in the field of traffic monitoring and management to identify vehicles due to its high detection accuracy and applicability to long-distance detection scenarios. However, in the related art, the output accuracy of vehicle identification results is low due to the number or size limitation of the transceiving antenna.

[0003] Therefore, there is an urgent need for a new technical solution to solve the above technical problems. SUMMARY

[0004] According to embodiments of the present application, a vehicle identification method and system based on millimeter wave radar are provided, which can improve the applicability to scenarios with limited number or size of transceiving antennas, and improve the output accuracy of vehicle identification results in scenarios with limited number or size of transceiving antennas.

[0005] In a first aspect of the present application, a vehicle identification method based on millimeter wave radar is provided, comprising:

[0006] determining target information according to the target echo signal;

[0007] determining target discrimination information according to the target information;

[0008] generating a target vehicle identification result according to the target discrimination information;

[0009] The target information includes target distance information and / or target amplitude and phase information.

[0010] The target discrimination information includes target pitch angle and / or target signature quantity.

[0011] In some possible implementations, the determination of the target discrimination information according to the target information includes:

[0012] determining a first pitch angle according to a first pitch virtual array;

[0013] determining a second pitch angle according to a second pitch virtual array;

[0014] determining a third pitch angle according to the first pitch angle and the second pitch angle;

[0015] determining the target pitch angle according to the target distance information and the third pitch angle.

[0016] In some possible implementation manners, the determining the third elevation angle according to the first elevation angle and the second elevation angle comprises:

[0017] determining a first one-side ambiguity number corresponding to the first elevation angle according to the first elevation angle;

[0018] wherein the first one-side ambiguity number is determined according to the following formula:

[0019] wherein, is used to represent the first one-side ambiguity number; is used to represent a number of target transmitting antennas; represents a ceiling function;

[0020] determining the third elevation angle according to the first one-side ambiguity number and corresponding target signature information.

[0021] In some possible implementation manners, the determining the third elevation angle according to the first one-side ambiguity number and corresponding target signature information comprises:

[0022] traversing a target value range corresponding to the first one-side ambiguity number, and determining a first ambiguity angle corresponding to the target value range according to the following formula:

[0023] wherein, is used to represent the first ambiguity angle; is used to represent the first elevation angle; is used to represent a target value corresponding to the first one-side ambiguity number; is used to represent a target wavelength; is used to represent a first target distance;

[0024] stopping the traversing operation when the target difference value is less than or equal to a preset threshold;

[0025] updating the target signature from an initial value to the target value;

[0026] determining the third elevation angle according to the first ambiguity angle;

[0027] continuing the traversing operation when the target difference value is greater than the first preset threshold;

[0028] wherein the target difference value is equal to an absolute value of a difference between the first ambiguity angle and the second elevation angle.

[0029] In some possible implementation manners, the determining the target elevation angle according to the target distance information and the third elevation angle comprises:

[0030] determining a second one-side ambiguity number corresponding to the third elevation angle according to the third elevation angle;

[0031] wherein the second single-side ambiguity number is determined according to the following formula:

[0032] wherein, is used to represent the second single-side ambiguity number; is used to represent the second target range; is used to represent the target wavelength;

[0033] determine the target elevation angle according to the second single-side ambiguity number and the corresponding target signature information.

[0034] In some possible implementations, the above determining the target elevation angle according to the second single-side ambiguity number and the corresponding target signature information comprises:

[0035] traversing the target value range corresponding to the second single-side ambiguity number, and determining the corresponding second ambiguity angle based on the following formula:

[0036] wherein, is used to represent the second ambiguity angle; is used to represent the third elevation angle; is used to represent the target value corresponding to the second single-side ambiguity number; is used to represent the target wavelength; is used to represent the second target range;

[0037] stopping the traversal operation when the second ambiguity angle is greater than the second preset threshold and less than or equal to the third preset threshold;

[0038] updating the target signature from the initial value to the target value;

[0039] determining the target elevation angle according to the second ambiguity angle;

[0040] continuing the traversal operation when the second ambiguity angle is less than or equal to the second preset threshold or greater than the third preset threshold.

[0041] In some possible implementations, the above method further comprises:

[0042] determining the second preset threshold according to the following formula:

[0043] determining the third preset threshold according to the following formula:

[0044] wherein, is used to represent the second preset threshold; is used to represent the third preset threshold; is used to represent the vertical distance between the target radar and the target ground. a radial distance of the target radar and the target vehicle; an inclination angle of the target radar relative to a target horizontal plane; a target height of the target vehicle.

[0045] In some possible implementations, the generating, according to the target discrimination information, of the target vehicle identification result includes:

[0046] determining, according to the target elevation angle, three-dimensional position information corresponding to the target vehicle;

[0047] determining, according to the three-dimensional position information, height information corresponding to the target vehicle.

[0048] In some possible implementations, the generating, according to the target discrimination information, of the target vehicle identification result further includes:

[0049] in a case where the value of the target signature quantity corresponds to the initial value, determining that the target vehicle is a false target.

[0050] A second aspect of the present application provides a vehicle identification system based on a millimeter wave radar, which is applicable to the method described above and includes:

[0051] a first determining module configured to determine target information according to a target echo signal;

[0052] a second determining module configured to determine target discrimination information according to the target information;

[0053] a generating module configured to generate a target vehicle identification result according to the target discrimination information;

[0054] wherein the target information includes target distance information and / or target amplitude and phase information;

[0055] the target discrimination information includes a target elevation angle and / or a target signature quantity.

[0056] The vehicle identification method and system based on a millimeter wave radar provided by the embodiments of the present application, wherein the method includes: determining target information according to a target echo signal; determining target discrimination information according to the target information; and generating a target vehicle identification result according to the target discrimination information; wherein the target information includes target distance information and / or target amplitude and phase information; and the target discrimination information includes a target elevation angle and / or a target signature quantity. The present application can improve the applicability to a scenario where the number of transceiving antennas is limited or the size is limited, so as to improve the output precision of the vehicle identification result in the scenario where the number of transceiving antennas is limited or the size is limited.

[0057] It is to be understood that the description in the summary is not intended to identify key or essential features of embodiments of the application, nor is it intended to limit the scope of the application. Other aspects of the application will be evident from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0058] The above and other features, aspects, and advantages of embodiments of the present application will become more apparent from the following description of the embodiments of the present application when viewed together with the accompanying drawings. In the drawings:

[0059] Figure 1 A flowchart of a vehicle identification method based on a millimeter wave radar provided by an embodiment of the present application;

[0060] Figure 2 An antenna array diagram provided by an embodiment of the present application;

[0061] Figure 3 A virtual antenna array diagram provided by an embodiment of the present application;

[0062] Figure 4 A structural diagram of a vehicle identification system based on a millimeter wave radar provided by an embodiment of the present application;

[0063] Figure 5 A structural diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0064] In order to make the objects, technical solutions and advantages of the embodiments of the present disclosure clearer, the technical solutions in the embodiments of the present disclosure will be described clearly and completely below with reference to the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only some, but not all of the embodiments of the present disclosure. Based on the embodiments in the present disclosure, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present disclosure.

[0065] In addition, the term "and / or" herein is only a description of the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B can represent the three cases of A alone, A and B together, and B alone. In addition, the character " / " herein generally represents an "or" relationship between the front and rear associated objects.

[0066] In a first aspect of the embodiments of the present application, a vehicle identification method based on a millimeter wave radar is provided, Figure 1 A flowchart of a vehicle identification method 100 based on a millimeter wave radar provided by an embodiment of the present application is shown as follows, Figure 1 The method 100 includes:

[0067] Step S1; determining target information according to a target echo signal, wherein the target information includes target distance information and / or target amplitude and phase information;

[0068] Exemplarily, the target echo signal can be obtained based on a target millimeter wave radar antenna array. The target millimeter wave radar antenna array can include a target millimeter wave radar azimuth dimension antenna array including corresponding transmitting antenna arrays and receiving antenna arrays, and / or a target millimeter wave radar elevation dimension antenna array including corresponding transmitting antenna arrays and receiving antenna arrays.

[0069] Specifically, Figure 2 An antenna array schematic diagram provided by an embodiment of the present application is shown in FIG. 1. As shown in FIG. 1, the target millimeter wave radar antenna array can include: Figure 2 N transmitting antennas, M receiving antennas. The transmitting antennas and the receiving antennas are distributed in different horizontal positions at the same vertical position. N The transmitting antennas are distributed in different horizontal positions at the same vertical position. The horizontal distance between the transmitting antennas is d. TX 2 ~TX N The horizontal distance between the transmitting antennas and the receiving antennas is d. TX 1 The horizontal distance between the transmitting antennas and the receiving antennas is d. x 2 ，…，x N The receiving antennas are distributed in different vertical positions at the same horizontal position. The first distance between the receiving antennas in the vertical direction is h. M RX 1 ,..., RX k , RX k+N ,..., RX M The receiving antennas are distributed in different vertical positions at the same horizontal position. The first distance between the receiving antennas in the vertical direction is h. d re The array length of the receiving antennas is L. D re It should be noted that, in the horizontal direction, the relative horizontal positions of the receiving antennas and the transmitting antennas are consistent. N RX k RX k+1 RX k+N-1 The relative horizontal positions of the receiving antennas and the transmitting antennas are consistent. TX 2 ~TX N The relative horizontal positions of the receiving antennas and the transmitting antennas are consistent. d ta The array length of the receiving antennas is L.​​​​​D ta Along the vertical direction, N+1 One receiving antenna RX k , RX k+1 ,..., RX k+N-1 ， RX k+N The second spacing between d re0 equal.

[0070] It should be noted that the length of the above array is D re It can be determined using the following formula:

[0071] (1)

[0072] in, D re Used to indicate array length; M Used to indicate the number of receiving antennas; N Used to indicate the number of transmitting antennas; d re Used to represent M The first vertical spacing between the receiving antennas is between each other.

[0073] It should be noted that the aforementioned second spacing d re0 It can be determined using the following formula:

[0074] (2)

[0075] Among them, the above d re0 Used to indicate the second spacing; d re Used to represent M The first vertical spacing between the receiving antennas; N Used to indicate the number of transmitting antennas.

[0076] For example, the aforementioned transmitting antenna can be controlled. TX 1 ~TX N Perform signal transmission operation and control the aforementioned receiving antenna. RX 1 ~RX MThe system receives the target echo signal emitted by the target vehicle. Target processing operations are performed on the target echo signal to determine the target distance information and / or target amplitude and phase information. These target processing operations may include: mixing operations, two-dimensional fast fourier transform (2D-FFT) operations, noncoherent accumulation operations, and / or constant false alarm rate (CFAR) operations. The target distance information may include: radial distance information of the target vehicle. R。 The aforementioned target amplitude and phase information may include: amplitude and phase information of all virtual channels corresponding to the target vehicle.

[0077] Step S2: Determine target discrimination information based on target information, wherein the target discrimination information includes: target pitch angle, and / or target marker quantity.

[0078] For example, the target pitch angle and / or the target marker quantity can be determined based on the target distance information and / or the target amplitude information.

[0079] In some feasible implementations, step S2 above; determining target discrimination information based on target information, includes:

[0080] Step S21: Determine the first pitch angle based on the first pitch virtual array.

[0081] For example, Figure 3 A method provided for embodiments of this application and Figure 2 The diagram shown corresponds to the virtual antenna array diagram.

[0082] It should be noted that the aforementioned first elevation virtual array can be composed of a transmitting antenna. TX 1 ~TX N Any one of the transmitting antennas and M-N+1 One receiving antenna RX 1 , … , RX k , RX k+N , … , RX M The resulting spacing is d re , aperture is M -N and d re The product of a uniform array. Specifically, the transmit antennas TX n and the receive antennas RX m The virtual antenna formed is denoted as T n R m The first elevation virtual array is denoted as T n R 1 , … , T n R k , T n R k+N , … , T n R M wherein, n may be any integer greater than or equal to 1 and less than or equal to N .

[0083] Specifically, the first elevation angle corresponding to the target vehicle can be estimated and determined according to the first elevation virtual array described above.

[0084] Specifically, the amplitude and phase information of each virtual channel of the first elevation virtual array of the target vehicle can be extracted to estimate and determine the first elevation angle based on a target method. The target method can include a Fast Fourier Transform (FFT) algorithm, a Digital Beamforming (DBF) method, etc.

[0085] It should be noted that the target virtual antenna T n R m The amplitude and phase information corresponding to the virtual channel corresponds to the echo signal received by the receive antenna TX n after being transmitted by the transmit antenna RX m and reflected by the target vehicle.

[0086] Step S22: determining a second elevation angle according to a second elevation virtual array.

[0087] It should be noted that the second elevation virtual array described above can be a uniform array formed by N+1One virtual antenna T N R k , T N-1 R k+1 , … , T 1 R k+N-1 , T N R k+N The resulting spacing is d re0 , aperture is d re A virtual array.

[0088] Specifically, the second pitch angle corresponding to the target vehicle can be estimated and determined based on the aforementioned second pitch virtual array. .

[0089] Specifically, the amplitude and phase information of each virtual channel of the second pitch virtual array of the target vehicle can be extracted to estimate and determine the aforementioned second pitch angle based on the target method. The aforementioned target methods may include: Fast Fourier Transform (FFT) algorithm, Digital Beamforming (DBF) method, etc.

[0090] Step S23: Determine the third pitch angle based on the first pitch angle and the second pitch angle.

[0091] For example, it can be based on the first pitch angle described above. Second pitch angle Determine the third pitch angle mentioned above. .

[0092] Therefore, the above method can accurately determine the first pitch angle based on the first pitch virtual array; accurately determine the second pitch angle based on the second pitch virtual array; accurately determine the third pitch angle based on the first pitch angle and the second and second pitch angles; and accurately determine the target pitch angle based on the target distance information and the third pitch angle. This avoids the difficulty in simultaneously achieving azimuth and pitch angle measurement performance due to the limitation of the number of transceiver antennas, and the negative impact on azimuth angle measurement performance due to the allocation of more pitch angle measurement arrays. It also avoids the limitation of pitch angle measurement range due to the large spacing of the pitch dimension caused by the size limitation of the transceiver antennas. Thus, it can accurately determine the target discrimination information based on the target information, thereby improving the output accuracy of the target vehicle recognition result.

[0093] In some possible implementation manners, the step S23 comprises:

[0094] The step S231 comprises: determining a first one-side ambiguity number according to the first elevation angle.

[0095] The first one-side ambiguity number is determined according to the following formula: (3)

[0096] Wherein, is used to represent the first one-side ambiguity number; is used to represent the number of target transmitting antennas; represents the upward rounding.

[0097] Exemplarily, the first elevation angle corresponding to the one-side maximum ambiguity number can be determined according to the above formula.

[0098] The step S232 comprises: determining the third elevation angle according to the first one-side ambiguity number and corresponding target signature information.

[0099] Exemplarily, the third elevation angle corresponding to the one-side maximum ambiguity number and corresponding target signature information can be determined according to the first elevation angle

[0100] Therefore, the above method can accurately determine the first one-side ambiguity number corresponding to the first elevation angle, and accurately determine the third elevation angle according to the first one-side ambiguity number and corresponding target signature information, thereby improving the determination accuracy of the target elevation angle, so as to further avoid the situation that the azimuth and elevation angle measurement performance is difficult to be considered due to the limitation of the number of transmitting and receiving antennas, and the azimuth angle measurement performance is affected due to the allocation of more elevation angle measurement arrays; avoid the situation that the elevation angle measurement range is limited due to the limitation of the size of the transmitting and receiving antennas, and the distance in the elevation direction is large, thereby accurately determining the target identification information according to the target information, and improving the output accuracy of the target vehicle identification result.

[0101] In some possible implementation manners, the step S232 comprises:

[0102] The step S2321 comprises: traversing a target value range corresponding to the first one-side ambiguity number, and determining a first ambiguity angle corresponding to the first one-side ambiguity number according to the following formula: (4)

[0103] Wherein, is used to represent the first ambiguity angle; is used to represent the first elevation angle; is used to represent the target value corresponding to the first one-side ambiguity number. Used to indicate the target wavelength; Used to indicate the first target spacing.

[0104] For example, the target flag information can be initialized so that the target flag... .

[0105] For example, the target numerical range corresponding to the first unilateral fuzzy number mentioned above may include: ~ .

[0106] Specifically, it is possible to ~ Traverse the target values ​​corresponding to the first one-sided fuzzy number within the range. In order to determine the corresponding first fuzzy angle mentioned above. .

[0107] Step S2322: If the target difference value is determined to be less than or equal to a preset threshold, stop the traversal operation.

[0108] It should be noted that the above target difference values It is equal to the absolute value of the difference between the first ambiguity angle and the second pitch angle, that is, the aforementioned target difference value. It can be determined based on the following formula: (5)

[0109] Among them, the above Used to represent target difference values; Used to indicate the first fuzzy angle; Used to indicate the second pitch angle.

[0110] For example, in determining the target difference value That is, the first fuzzy angle mentioned above. With the second pitch angle The absolute value of the difference is less than or equal to a preset threshold. In the event of this, the above traversal operation will be stopped.

[0111] Step S2323: Update the target flag value from the initial value to the target value.

[0112] For example, in determining the target difference value That is, the first fuzzy angle mentioned above. With the second pitch angle The absolute value of the difference is less than or equal to a preset threshold. In this case, the above target marker quantity can be... Updated from 0 to 1.

[0113] Step S2324; determining a third pitch angle according to the first blur angle.

[0114] Exemplarily, the third pitch angle may be determined according to the first blur angle .

[0115] Step S2325; continuing the iteration operation in a case where the target difference value is greater than a first preset threshold.

[0116] Exemplarily, in a case where the target difference value , i.e., the absolute value of the difference between the first blur angle and the second pitch angle is greater than the preset threshold , the iteration operation is continued.

[0117] It should be noted that in a case where the target difference value , i.e., the absolute value of the difference between the first blur angle and the second pitch angle is greater than the preset threshold , the target flag quantity is not updated, and the target flag quantity is still the initial value 0.

[0118] Step S24; determining a target pitch angle according to the target distance information and the third pitch angle.

[0119] Exemplarily, the target pitch angle may be determined according to the target distance information and the third pitch angle .

[0120] Specifically, the target pitch angle R may be determined according to the radial distance information of the target vehicle and the third pitch angle .

[0121] ​​Therefore, the above method can accurately determine the corresponding first ambiguous angle according to the above formula (4)~formula (5) to improve the determination accuracy of the third pitch angle; thereby further improve the determination accuracy of the target pitch angle, to further avoid the limitation of the number of transceiver antennas, the azimuth and pitch angle measurement performance is difficult to take into account, and the distribution of more pitch angle measurement array will affect the azimuth angle measurement performance; avoid the limitation of the size of the transceiver antenna, the pitch distance is larger, and the pitch angle measurement range is limited, so as to accurately determine the target discrimination information according to the target information, and improve the output accuracy of the target vehicle identification result. In some possible implementation manners, the step S24; according to the target distance information and the third pitch angle, the target pitch angle is determined, including:

[0122] Step S241; according to the third pitch angle, the corresponding second single side ambiguous number is determined;

[0123] Wherein, the second single side ambiguous number is determined according to the following formula: (6)

[0124] Wherein, is used to represent the second single side ambiguous number; is used to represent the second target distance; is used to represent the target wavelength.

[0125] Exemplarily, the third pitch angle corresponding to the single side maximum ambiguous number can be determined according to the above formula.

[0126] Step S242; according to the second single side ambiguous number and the corresponding target mark quantity information, the target pitch angle is determined.

[0127] Exemplarily, the target pitch angle can be determined according to the third pitch angle corresponding to the single side maximum ambiguous number and the corresponding target mark quantity information.

[0128] Therefore, the above method can accurately determine the corresponding second single side ambiguous number according to the third pitch angle according to the above formula (6); further accurately determine the target pitch angle according to the second single side ambiguous number and the corresponding target mark quantity information to further avoid the limitation of the number of transceiver antennas, the azimuth and pitch angle measurement performance is difficult to take into account, and the distribution of more pitch angle measurement array will affect the azimuth angle measurement performance; avoid the limitation of the size of the transceiver antenna, the pitch distance is larger, and the pitch angle measurement range is limited, so as to accurately determine the target discrimination information according to the target information, and improve the output accuracy of the target vehicle identification result.

[0129] In some possible implementation manners, the step S242; according to the second single side ambiguous number and the corresponding target mark quantity information, the target pitch angle is determined, including:

[0130] Step S2421; traversing the target value range corresponding to the second single-side ambiguity number, determining the corresponding second ambiguity angle based on the following formula: (7)

[0131] wherein, is used to represent the second ambiguity angle; is used to represent the third pitch angle; is used to represent the target value corresponding to the second single-side ambiguity number; is used to represent the target wavelength; is used to represent the second target distance.

[0132] Exemplarily, the target sign quantity information can be initialized to make the target sign quantity .

[0133] Exemplarily, the target value range corresponding to the second single-side ambiguity number can include: .

[0134] Specifically, the target value corresponding to the second single-side ambiguity number may be traversed in the range of to determine the corresponding second ambiguity angle .

[0135] Step S2422; in the case where the second ambiguity angle is greater than the second preset threshold and less than or equal to the third preset threshold, stopping the traversal operation.

[0136] It should be noted that the second preset threshold can be determined according to the following formula: (8)

[0137] The third preset threshold can be determined according to the following formula: (9)

[0138] wherein, is used to represent the second preset threshold; is used to represent the third preset threshold; is used to represent the vertical distance between the target radar and the target ground; is used to represent the radial distance of the target radar and the target vehicle; is used to represent the inclination angle of the target radar relative to the target horizontal plane; is used to represent the target height of the target vehicle.

[0139] It should be noted that the second preset threshold can correspond to the minimum possible pitch angle of the target vehicle; the third preset threshold can correspond to the maximum possible pitch angle of the target vehicle; and the target height of the target vehicle may correspond to the maximum possible height of the target vehicle, wherein the target height of the target vehicle may be a predetermined range of possible heights of the actual vehicle.

[0140] Exemplarily, in a case where the second blur angle is greater than the second preset threshold and less than or equal to the third preset threshold , the iteration operation is stopped.

[0141] Step S2423; updating the target flag quantity from an initial value to a target value.

[0142] Exemplarily, in a case where the second blur angle is greater than the second preset threshold and less than or equal to the third preset threshold , the target flag quantity may be updated from 0 to 1.

[0143] Step S2424; determining a target pitch angle according to the second blur angle.

[0144] Exemplarily, the target pitch angle may be determined according to the second blur angle . Wherein the target pitch angle is equal to the second blur angle .

[0145] Step S2425; in a case where the second blur angle is less than or equal to the second preset threshold, or greater than the third preset threshold, the iteration operation is continued.

[0146] Exemplarily, in a case where the second blur angle is less than or equal to the second preset threshold or greater than the third preset threshold , the iteration operation is continued.

[0147] It should be noted that in a case where the second blur angle is less than or equal to the second preset threshold or greater than the third preset threshold , the target flag quantity is not updated, and the target flag quantity is still the initial value 0.

[0148] Therefore, the above method can accurately determine the second blur angle, the second preset threshold and the third preset threshold according to the above formulas (7)~(9); thereby, according to the comparison results of the above second blur angle and the second preset threshold and the third preset threshold, the traversal operation is accurately performed and the target pitch angle is accurately determined according to the second blur angle, so as to further avoid the limitation of the number of transceiving antennas, the difficulty of considering the azimuth dimension and the pitch dimension in angle measurement performance, and the influence of the azimuth angle measurement performance caused by the allocation of more pitch dimension angle measurement arrays; avoid the limitation of the size of the transceiving antenna, the large pitch distance of the pitch dimension, and the limitation of the pitch angle measurement range, so as to accurately determine the target discrimination information according to the target information, so as to improve the output accuracy of the target vehicle recognition result.

[0149] Step S3: generating a target vehicle recognition result according to the target discrimination information;

[0150] Exemplarily, the target vehicle recognition result can be generated according to the target pitch angle and / or the target signature quantity, wherein the target vehicle recognition result can include three-dimensional position information corresponding to the target vehicle, height information corresponding to the target vehicle, and / or true or false information of the target vehicle, etc.

[0151] In some possible implementations, the step S3 of generating a target vehicle recognition result according to the target discrimination information includes:

[0152] Step S31: determining three-dimensional position information corresponding to the target vehicle according to the target pitch angle.

[0153] Exemplarily, the corresponding angle measurement range and / or resolution can be set according to the target pitch angle to determine the three-dimensional position information corresponding to the target vehicle.

[0154] Step S32: determining height information corresponding to the target vehicle according to the three-dimensional position information.

[0155] Exemplarily, the three-dimensional position information can be expressed in the form of three-dimensional space coordinates, for example: (x, y, z). Specifically, the height information corresponding to the target vehicle can be determined according to the value z corresponding to the Z-axis coordinate in the three-dimensional position information. The height information corresponding to the target vehicle can correspond to a specific height value.

[0156] Therefore, the above method can accurately determine the three-dimensional position information corresponding to the target vehicle according to the target pitch angle, and accurately determine the height information corresponding to the target vehicle according to the three-dimensional position information, so as to improve the determination accuracy of the height information corresponding to the target vehicle in the scene where the number of transceiving antennas is limited or the size is limited.

[0157] In some possible implementation manners, the step S3 of generating the target vehicle identification result according to the target discrimination information further includes:

[0158] The step S33 of determining that the target vehicle is a false target when the value of the target signature quantity corresponds to the initial value.

[0159] For example, when the value of the target signature quantity corresponds to 0, it is determined that the target vehicle is a false target due to false alarm, multipath, and / or clutter interference.

[0160] Specifically, when the value of the target signature quantity , and / or the value of the target signature quantity corresponds to 0, it is determined that the target vehicle is a false target due to false alarm, multipath, and / or clutter interference.

[0161] Therefore, the method can accurately determine the authenticity or falsity of the target vehicle according to the target signature quantity information, thereby improving the identification accuracy of the authenticity or falsity of the target vehicle in the scenario where the number of transceiving antennas is limited or the size is limited.

[0162] Based on this, the vehicle identification method based on the millimeter wave radar provided in the embodiments of the present application includes: determining target information according to a target echo signal; determining target discrimination information according to the target information; and generating a target vehicle identification result according to the target discrimination information; wherein the target information includes target distance information and / or target amplitude and phase information; and the target discrimination information includes a target elevation angle and / or a target signature quantity. The present application can improve the applicability to the scenario where the number of transceiving antennas is limited or the size is limited, improve the determination accuracy of the target elevation angle and / or the target signature quantity to improve the output accuracy of the vehicle identification result in the scenario where the number of transceiving antennas is limited or the size is limited, and thereby improve the applicability of the method to complex and variable traffic scenarios.

[0163] It should be noted that, for the foregoing method embodiments, in order to simply describe, they are all described as a series of action combinations, but those skilled in the art should know that the present application is not limited to the action sequence described, because according to the present application, certain steps can be performed in other sequences or at the same time. Secondly, those skilled in the art should know that the embodiments described in the specification all belong to optional embodiments, and the actions and modules involved are not necessarily necessary for the present application.

[0164] The above is the introduction of the method embodiment, and the scheme described in the present application will be further described through the device embodiment.

[0165] In a second aspect, the present application provides a vehicle identification system based on a millimeter wave radar, which is suitable for the method described above. Figure 4 FIG. 2 shows a structural schematic diagram of a vehicle identification system 200 based on a millimeter wave radar according to an embodiment of the present application. Figure 4 The vehicle identification system 200 based on a millimeter wave radar includes a first determination module 210, a second determination module 220, and a generation module 230.

[0166] The first determination module 210 is configured to determine target information according to a target echo signal.

[0167] The second determination module 220 is configured to determine target discrimination information according to the target information.

[0168] The generation module 230 is configured to generate a target vehicle identification result according to the target discrimination information.

[0169] The target information includes target distance information and / or target amplitude and phase information.

[0170] The target discrimination information includes a target pitch angle and / or a target signature quantity.

[0171] Figure 5 FIG. 3 shows a structural schematic diagram of an electronic device 300 according to an embodiment of the present application. Figure 5 As shown in FIG. 3, the electronic device 300 includes a central processing unit (CPU) 301, which can perform various appropriate actions and processes according to programs stored in a read-only memory (ROM) 302 or programs loaded from a storage portion 308 into a random access memory (RAM) 303. In the RAM 303, various programs and data required for operation of the terminal device or the server are also stored. The CPU 301, the ROM 302, and the RAM 303 are connected to each other through a bus 304. An input / output (I / O) interface 305 is also connected to the bus 304.

[0172] The following components are connected to the I / O interface 305: an input portion 306 including a keyboard, a mouse, and the like; an output portion 307 including a cathode ray tube (CRT), a liquid crystal display (LCD), and the like, and a speaker, and the like; a storage portion 308 including a hard disk, and the like; and a communication portion 309 including a network interface card such as a LAN card, a modem, and the like. The communication portion 309 performs communication processing via a network such as the Internet. A drive 310 is also connected to the I / O interface 305 as necessary. A removable medium 311 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, and the like is attached to the drive 310 as necessary, so that a computer program read therefrom is installed in the storage portion 308 as necessary.

[0173] In particular, the above method flow steps can be implemented as a computer software program in accordance with embodiments of the present application. For example, embodiments of the present application include a computer program product which includes a computer program tangibly embodied on a machine readable medium, the computer program containing program code for executing the methods illustrated in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via the communication section 309, and / or installed from the removable media 311. When the computer program is executed by the central processing unit (CPU) 301, the above-described functions defined in the system of the present application are executed.

[0174] Note that the computer readable medium described in the present application can be a computer readable signal medium or a computer readable storage medium or any combination thereof. The computer readable storage medium may, for example, be, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or any suitable combination thereof. More specific examples of the computer readable storage medium can include, but are not limited to, an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present application, the computer readable storage medium can be any tangible medium that contains or stores a program that can be used by or in connection with an instruction execution system, apparatus or device. In the present application, the computer readable signal medium can include a data signal propagated in a baseband or as a carrier wave in a propagated data signal, in which the computer readable program code is carried. Such a propagated data signal can take many forms, including but not limited to, an electromagnetic signal, an optical signal or any suitable combination thereof. The computer readable signal medium can also be any computer readable medium that can send, propagate or transfer the program for use by or in connection with an instruction execution system, apparatus or device. The program code contained on the computer readable medium can be transmitted using any suitable medium, including but not limited to, wireless, wire line, optical fiber cable, RF, etc., or any suitable combination thereof.

[0175] The computer program product of the present application can be a computer program embodied on a non-transitory computer readable medium. Such non-transitory computer readable medium can include, but is not limited to, hard disks, floppy disks, CD-ROMs, DVDs, flash memories, computer memory, or any other suitable medium. The computer program product can be a computer program tangibly embodied on a computer readable medium. The computer program product can be a computer program tangibly embodied on a computer readable medium.

[0176] The units or modules described in the embodiments of the present application can be implemented by software or hardware. The units or modules described can also be implemented in a processor. In some cases, the names of the units or modules do not constitute a limitation on the units or modules themselves.

[0177] The above description is merely illustrative of the principles of the application. Depending upon the implementation, the described embodiments can be implemented in combination with other applications. Other arrangements and methods can be implemented by persons skilled in the art without departing from the scope of the present application. For example, the above-described features can be replaced by technically equivalent features without departing from the scope of the present application.

Claims

1. A millimeter-wave radar-based vehicle recognition method, characterized by, The method comprises: determining target information according to a target echo signal; determining target discrimination information according to the target information; generating a target vehicle recognition result according to the target discrimination information; wherein the target information comprises target distance information and / or target amplitude and phase information; the target discrimination information comprises a target pitch angle and / or a target signature quantity; determining the target discrimination information according to the target information comprises: determining a first pitch angle according to a first pitch virtual array; determining a second pitch angle according to a second pitch virtual array; determining a third pitch angle according to the first pitch angle and the second pitch angle; determining the target pitch angle according to the target distance information and the third pitch angle; determining the third pitch angle according to the first pitch angle and the second pitch angle comprises: determining a corresponding first one-side ambiguity number according to the first pitch angle; wherein the first one-side ambiguity number is determined according to the following formula: wherein, for representing the first single-sided ambiguity number; for representing the number of target transmit antennas; represents a ceiling. determining the third pitch angle according to the first one-side ambiguity number and corresponding target signature quantity information. 2.The millimeter wave radar-based vehicle recognition method according to claim 1, characterized in that, determining the third pitch angle according to the first one-side ambiguity number and corresponding target signature quantity information comprises: traversing a target value range corresponding to the first one-side ambiguity number to determine a corresponding first ambiguity angle based on the following formula: wherein, for representing the first blur angle; for representing the first pitch angle; for representing a target value corresponding to the first single-side blur number; for representing a target wavelength; for representing a first target pitch; stopping the traversal operation if a target difference value is determined to be less than or equal to a preset threshold value; updating the target signature quantity from an initial value to a target value; determining a third pitch angle according to the first ambiguity angle; continuing the traversal operation if the target difference value is determined to be greater than a first preset threshold value; wherein the target difference value is equal to an absolute value of a difference between the first ambiguity angle and the second pitch angle. 3.The millimeter wave radar-based vehicle recognition method according to claim 2, characterized in that, determining the target pitch angle according to the target distance information and the third pitch angle comprises: determining a corresponding second one-side ambiguity number according to the third pitch angle; wherein the second one-side ambiguity number is determined according to the following formula: wherein, for representing the second single-side ambiguity number; for representing a second target distance; for representing the target wavelength; determining the target pitch angle according to the second one-side ambiguity number and corresponding target signature quantity information. 4.The millimeter wave radar-based vehicle recognition method according to claim 3, characterized in that, determining the target pitch angle according to the second one-side ambiguity number and corresponding target signature quantity information comprises: traversing a target value range corresponding to the second one-side ambiguity number to determine a corresponding second ambiguity angle based on the following formula: wherein, for representing the second blur angle; for representing the third tilt angle; for representing the target value corresponding to the second single-side blur number; for representing the target wavelength; for representing the second target interval; stopping the traversal operation if the second ambiguity angle is determined to be greater than a second preset threshold value and less than or equal to a third preset threshold value; updating the target signature quantity from an initial value to a target value; determining the target pitch angle according to the second ambiguity angle; continuing the traversal operation if the second ambiguity angle is determined to be less than or equal to the second preset threshold value or greater than the third preset threshold value. 5.The millimeter wave radar-based vehicle recognition method according to claim 4, characterized in that, The method further comprises: determining the second preset threshold value according to the following formula: determining the third preset threshold value according to the following formula: wherein, for representing the second preset threshold value; for representing the third preset threshold value; for representing a vertical distance between the target radar and the target ground; for representing a radial distance of the target radar and the target vehicle; for representing an inclination angle of the target radar relative to a target horizontal plane; for representing a target height of the target vehicle.

6. The millimeter-wave radar-based vehicle recognition method according to any one of claims 1 to 5, characterized in that, generating the target vehicle recognition result according to the target discrimination information comprises: determining three-dimensional position information corresponding to a target vehicle according to the target pitch angle; According to the three-dimensional position information, height information corresponding to the target vehicle is determined. 7.The millimeter wave radar-based vehicle recognition method according to claim 6, characterized in that, The target vehicle identification result is generated according to the target discrimination information, and the method further includes: In a case where the value of the target signature quantity corresponds to the initial value, the target vehicle is determined as a false target.

8. A millimeter-wave radar-based vehicle identification system adapted for use in the method of claim 1, characterized by The method includes: A first determination module is configured to determine target information according to a target echo signal. A second determination module is configured to determine target discrimination information according to the target information. A generation module is configured to generate a target vehicle identification result according to the target discrimination information. The target information includes target distance information and / or target amplitude and phase information. The target discrimination information includes a target pitch angle and / or a target signature quantity. The target discrimination information is determined according to the target information, and the method includes: A first pitch angle is determined according to a first pitch virtual array. A second pitch angle is determined according to a second pitch virtual array. A third pitch angle is determined according to the first pitch angle and the second pitch angle. The target pitch angle is determined according to the target distance information and the third pitch angle. The third pitch angle is determined according to the first pitch angle and the second pitch angle, and the method includes: A first one-side ambiguity number corresponding to the first pitch angle is determined. The first one-side ambiguity number is determined according to the following formula: wherein, for representing a first single-sided ambiguity number; for representing a number of target transmit antennas; represents a ceiling; The third pitch angle is determined according to the first one-side ambiguity number and corresponding target signature quantity information.

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