Vehicle millimeter wave radar antenna layout method, device, electronic equipment and storage medium

Abstract

The embodiment of the present application provides a vehicle millimeter wave radar antenna layout method, device, electronic device and storage medium, the method includes: determining the initial layout parameters of the antenna layout according to the principle of nested transmission and reception; determining the fitness function of the genetic algorithm according to the initial layout parameters of the antenna layout and preset conditions; the preset conditions include that the aperture of the virtual array of the azimuth plane is greater than the preset aperture; determining the termination condition of the genetic algorithm; iterating the genetic algorithm based on the initial layout parameters and the fitness function; if the termination condition is reached during the iteration of the genetic algorithm, determining the target sparse array layout parameters of the antenna layout. Through a vehicle millimeter wave radar antenna layout method of the embodiment of the present application, the virtual aperture utilization of the antenna layout can be improved and the first side lobe of the virtual array can be reduced, thereby improving the performance of the vehicle millimeter wave radar.

Description

Technical Field

[0001] The present invention relates to the field of automobile technology, and in particular to a vehicle millimeter wave radar antenna layout method, device, electronic equipment and storage medium. Background Art

[0002] With the continuous development of autonomous driving technology, millimeter-wave radar is taking on increasingly important perception tasks. In the spatial perception needs of single-vehicle intelligence and vehicle-road collaboration in autonomous driving scenarios, perception data that is not affected by the environment is particularly important. Millimeter-wave radar is an active sensor that uses millimeter-level microwaves. Its data source does not rely on radiation sources and is not affected by rain, fog, or light. It has all-weather perception capabilities and has great advantages over optical sensors and laser sensors. It also has a wide ranging range, high speed and angle measurement accuracy, and can set waveform modes according to different scenarios. It is very flexible to use. Therefore, it plays a very important role in the field of unmanned vehicle sensors and V2X traffic sensors.

[0003] Millimeter-wave radars used in vehicles have problems such as low azimuth virtual aperture utilization, low azimuth resolution, and high first sidelobe. Since the antenna layout is usually determined only by the principle of nested transmission and reception, it is usually necessary to place the receiving antenna on one side at different heights to take into account the pitch angle test, resulting in low azimuth virtual aperture utilization; and since the simulated virtual channels are evenly distributed in azimuth, the evenly distributed first sidelobe is high.

[0004] The current antenna layout optimization method cannot specifically optimize the above-mentioned problems of vehicle millimeter-wave radar, and cannot achieve high-resolution vehicle millimeter-wave radar by optimizing the antenna layout. Summary of the invention

[0005] In view of the defects of the prior art, the embodiments of the present disclosure provide a vehicle millimeter-wave radar antenna layout method, device, electronic device and storage medium, which can dynamically balance the load of the data acquisition module and the computing platform, and maximize the processing capabilities of both sides.

[0006] An embodiment of the present application provides a vehicle millimeter-wave radar antenna layout method, the method comprising: determining initial layout parameters of the antenna layout according to the principle of nested transmission and reception; determining a fitness function of a genetic algorithm according to the initial layout parameters of the antenna layout and preset conditions; the preset conditions comprising that the aperture of a virtual array of an azimuth plane is greater than a preset aperture; determining a termination condition of the genetic algorithm; iterating the genetic algorithm based on the initial layout parameters and the fitness function; and if the termination condition is reached during the iteration of the genetic algorithm, determining target sparse array layout parameters of the antenna layout.

[0007] Specifically, the preset condition includes that the number of virtual channels in the pitch dimension is a preset number of channels.

[0008] Specifically, the preset conditions include that the global sidelobe level of the virtual array in the azimuth plane is less than a preset global sidelobe level threshold, and the first sidelobe level is less than a preset first sidelobe level threshold.

[0009] Specifically, the preset condition includes the interval of the second-order cumulative arrival direction estimation array in the azimuth plane, and the interval is equal to the preset interval.

[0010] Specifically, the preset conditions include that the antenna height relationship satisfies a preset antenna height relationship; the antenna height relationship represents a first height relationship of a transmitting antenna set corresponding to each chip in the multiple chips and a second height relationship of a receiving antenna set.

[0011] Specifically, the preset condition includes that the minimum antenna distance is greater than a preset minimum antenna distance threshold.

[0012] Specifically, the termination conditions of the genetic algorithm include that the stagnation generation reaches a preset stagnation generation threshold or the number of iterations reaches a preset iteration number threshold; wherein the stagnation generation represents the number of iterations in which the change in the fitness function value in multiple consecutive iterations is less than a preset change threshold during the iteration process.

[0013] Specifically, if the termination condition is reached during the iteration of the genetic algorithm, after the target sparse array layout parameters of the antenna layout are determined, the method further includes: determining the target uniform array layout parameters of the antenna layout based on the target sparse array layout parameters of the antenna layout.

[0014] Accordingly, an embodiment of the present application provides a vehicle millimeter-wave radar antenna layout device, the device comprising: an initial layout determination module, used to determine the initial layout parameters of the antenna layout according to the principle of nested transmission and reception; a fitness function determination module, used to determine the fitness function of the genetic algorithm according to the initial layout parameters of the antenna layout and preset conditions; the preset conditions include that the aperture of the virtual array of the azimuth plane is greater than the preset aperture; a termination condition determination module, used to determine the termination condition of the genetic algorithm; a genetic algorithm iteration module, used to iterate the genetic algorithm based on the initial layout parameters and the fitness function; a target layout determination module, used to determine the target sparse array layout parameters of the antenna layout if the termination condition is reached during the iteration of the genetic algorithm.

[0015] Specifically, the preset condition includes that the number of virtual channels in the pitch dimension is a preset number of channels.

[0016] Specifically, the preset conditions include that the global sidelobe level of the virtual array in the azimuth plane is less than a preset global sidelobe level threshold, and the first sidelobe level is less than a preset first sidelobe level threshold.

[0017] Specifically, the preset condition includes the interval of the second-order cumulative arrival direction estimation array in the azimuth plane, and the interval is equal to the preset interval.

[0018] Specifically, the preset conditions include that the antenna height relationship satisfies a preset antenna height relationship; the antenna height relationship represents a first height relationship of a transmitting antenna set corresponding to each chip in the multiple chips and a second height relationship of a receiving antenna set.

[0019] Specifically, the preset condition includes that the minimum antenna distance is greater than a preset minimum antenna distance threshold.

[0020] Specifically, the termination conditions of the genetic algorithm include that the stagnation generation reaches a preset stagnation generation threshold or the number of iterations reaches a preset iteration number threshold; wherein the stagnation generation represents the number of iterations in which the change in the fitness function value in multiple consecutive iterations is less than a preset change threshold during the iteration process.

[0021] Specifically, if the termination condition is reached during the iteration of the genetic algorithm, after the target sparse array layout parameters of the antenna layout are determined, the target layout determination module is further used to: determine the target uniform array layout parameters of the antenna layout based on the target sparse array layout parameters of the antenna layout.

[0022] Accordingly, the present application provides an electronic device, including a processor and a memory, wherein the memory stores at least one instruction, at least one program, code set or instruction set, and the at least one instruction, at least one program, code set or instruction set is loaded and executed by the processor to implement the above-mentioned vehicle millimeter wave radar antenna layout method.

[0023] Accordingly, an embodiment of the present disclosure provides a computer-readable storage medium, in which at least one instruction, at least one program, code set or instruction set is stored, and the at least one instruction, at least one program, code set or instruction set is loaded and executed by a processor to implement the above-mentioned vehicle millimeter-wave radar antenna layout method.

[0024] The embodiments of the present application have the following beneficial effects:

[0025] (1) By iterating the genetic algorithm based on preset conditions, the target sparse array layout parameters are obtained, which can achieve a higher virtual aperture utilization rate, so that the same resolution can be achieved with a smaller RF board, or a higher resolution can be achieved with the same size RF board;

[0026] (2) Through the genetic algorithm, a target antenna distribution parameter with a lower first sidelobe level or a lower global sidelobe level can be achieved, thereby reducing the false alarm probability;

[0027] (3) A second-order cumulative direction of arrival estimation array is calculated based on the target sparse array layout parameters determined by a genetic algorithm, and the array is constrained to be a uniform array. Compared with the second-order cumulative direction of arrival estimation array obtained by calculating the initial layout parameter characteristics, a uniform array with better performance can be achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present application or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0029] Figure 1 It is a schematic diagram of an application scenario of a vehicle millimeter wave radar antenna layout method provided in an embodiment of the present application;

[0030] Figure 2 It is a flow chart of a vehicle millimeter wave radar antenna layout method provided in an embodiment of the present application;

[0031] Figure 3 It is a schematic diagram of the antenna chip connection relationship of a vehicle millimeter wave radar antenna layout method provided in an embodiment of the present application;

[0032] Figure 4 It is a schematic diagram of an initial antenna layout of a vehicle millimeter wave radar antenna layout method provided in an embodiment of the present application;

[0033] Figure 5a It is a schematic diagram of an initial virtual array layout of a vehicle millimeter wave radar antenna layout method provided in an embodiment of the present application;

[0034] Figure 5b It is a schematic diagram of an initial virtual channel of a vehicle millimeter wave radar antenna layout method provided in an embodiment of the present application;

[0035] Figure 6 It is a schematic diagram of the virtual array direction of the initial azimuth plane of a vehicle millimeter wave radar antenna layout method provided in an embodiment of the present application;

[0036] Figure 7 This is a schematic diagram of target antenna layout of a vehicle millimeter wave radar antenna layout method provided in an embodiment of the present application;

[0037] Figure 8 It is a target virtual channel schematic diagram of a vehicle millimeter wave radar antenna layout method provided in an embodiment of the present application;

[0038] Fig. 9It is a schematic diagram of a virtual array direction of a target azimuth plane of a vehicle millimeter wave radar antenna layout method provided in an embodiment of the present application;

[0039] Fig.10 It is a virtual channel schematic diagram of an azimuth plane second-order cumulative direction of arrival estimation array of a target sparse array layout parameter of a vehicle millimeter wave radar antenna layout method provided in an embodiment of the present application;

[0040] Fig.11 It is a schematic diagram of a virtual array direction of a target sparse array layout parameter of an azimuth plane second-order cumulative wave arrival direction estimation array of a vehicle millimeter wave radar antenna layout method provided by an embodiment of the present application;

[0041] Fig.12 It is a structural schematic diagram of a vehicle millimeter wave radar antenna layout device provided in an embodiment of the present application;

[0042] Fig.13 It is a hardware structure block diagram of a server of a vehicle millimeter-wave radar antenna layout method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical scheme and advantages of the present application clearer, the embodiments of the present application will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiment is only one embodiment of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0044] The "embodiment" referred to herein refers to a specific feature, structure or characteristic that may be included in at least one implementation of the present application. In the description of the embodiments of the present application, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", "top", "bottom", etc. is based on the orientation or positional relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device / system or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present application. The terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may include one or more of the features explicitly or implicitly. Moreover, the terms "first", "second", etc. are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described here can be implemented in an order other than that illustrated or described here. In addition, the terms "including" and "having" / "for" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system / apparatus, product or apparatus comprising a series of steps or units / modules is not necessarily limited to those steps or units / modules explicitly listed, but may include other steps or units / modules not explicitly listed or inherent to such process, method, product or apparatus.

[0045] See also Figure 1 , Figure 1 It is a schematic diagram of an application scenario provided by an embodiment of the present application, including a vehicle 101, wherein the vehicle 101 includes a vehicle millimeter-wave radar 1011. The number of the vehicle millimeter-wave radars 1011 can be multiple, and can be respectively located at the four corners and the front of the vehicle 101. Specifically, in the application scenario of the present application, a vehicle millimeter-wave radar antenna layout method of the present application can be applied to the vehicle 101 to adjust the antenna layout of the vehicle millimeter-wave radar 1011, so that the antenna layout is adjusted from the initial sparse array antenna layout to the target sparse array antenna layout or the target uniform array antenna layout, so that the vehicle millimeter-wave radar 1011 has better performance, including improving the utilization rate of the virtual aperture and reducing the first side lobe of the virtual array.

[0046] The following introduces an exemplary process of a vehicle millimeter-wave radar antenna layout method provided by the present application. Figure 2This is a first flow chart of a vehicle millimeter-wave radar antenna layout method provided in an embodiment of the present application. This specification provides method or process operation steps as shown in the embodiment or flow chart, but may include more or fewer operation steps based on conventional or non-creative labor. The order of steps listed in the embodiment is only one of many execution orders and does not represent the only execution order. In actual execution, the method or process sequence shown in the embodiment or the drawings may be executed or executed in parallel (for example, in a parallel processor or multi-threaded processing environment). Specifically, Figure 2 As shown, the method includes:

[0047] Step S201: determining initial layout parameters of the antenna layout according to the principle of nested transmission and reception.

[0048] Specifically, the initial layout parameters may include first coordinate information of a set of transmitting antennas of the initial sparse array, and second coordinate information of a set of receiving antennas of the initial sparse array.

[0049] In a specific implementation, the first coordinate information of the transmitting antenna set and the second coordinate information of the receiving antenna set can be determined respectively according to the principle of nested transmission and reception, and then the first coordinate information and the second coordinate information can be integrated into the initial layout parameters. The first coordinate information of the transmitting antenna set represents the relative position information between all the transmitting antennas in the transmitting antenna set, and the second coordinate information of the receiving antenna set represents the relative position information between all the receiving antennas in the receiving antenna set.

[0050] Specifically, determining the first coordinate information or the second coordinate information according to the transceiver nesting principle may include: determining a sparse uniform linear array and a dense uniform linear array, and calculating a nested antenna arrangement based on the sparse uniform linear array and the dense uniform linear array. The first array element of the nested antenna arrangement may be the first array element of the sparse uniform linear array. When the first array element of the sparse uniform linear array is A, the number of array elements is N, and the array element spacing is D, and the number of array elements of the dense uniform linear array is n, and the array element spacing is d, the nested antenna arrangement may be composed of N sub-arrangements in sequence, wherein the first array element of each sub-arrangement is an array element of the sparse uniform linear array, the number of array elements of each sub-arrangement is n, and the first array element of the mth sub-arrangement is the mth array element of the sparse uniform linear array; and the array element spacing of each sub-arrangement is d. In a specific implementation, the sparse uniform linear array may be {A, A+d, A+2d,…, A+(n-1)d,…, A+(N-1)D+(n-1)d}.

[0051] Specifically, in the process of integrating the first coordinate information and the second coordinate information into the initial layout parameters, it is necessary to determine the overall relative position relationship between the transmitting antenna set and the receiving antenna set; based on this overall relative position relationship, the first coordinate information and the second coordinate information are placed in a coordinate system to obtain the third coordinate information, which is the initial layout parameters.

[0052] The following is based on Figure 3 , Figure 4 The initial layout parameters in step S201 are described below.

[0053] Figure 3 It is a schematic diagram of the antenna-chip connection relationship of a vehicle millimeter-wave radar antenna layout method provided in an embodiment of the present application; the antenna-chip connection relationship schematic diagram can represent the layout relationship between the transceiver antenna and the chip of the millimeter-wave radar in the embodiment of the present application.

[0054] In a specific embodiment, as shown in the attached Figure 3 As shown in the figure, the millimeter wave radar uses a 4-chip cascade solution, and each chip includes 3 transmitting channels and 4 receiving channels. That is to say, the transmitting antenna set includes 12 transmitting antennas, and the receiving antenna set includes 16 receiving antennas. The transmitting antenna and the receiving antenna include: transmitting antennas 001, 002, 003 connected to chip 01, and receiving antennas 101, 102, 103, 104; transmitting antennas 004, 005, 006 connected to chip 02, and receiving antennas 105, 106, 107, 108; transmitting antennas 007, 008, 009 connected to chip 03, and receiving antennas 109, 110, 111, 112; transmitting antennas 010, 011, 012 connected to chip 04, and receiving antennas 113, 114, 115, 116. It should be noted that when the connection relationship is as described above, the positional relationship of each antenna is not limited to the attached Figure 3 The example in; the initial layout parameters, target sparse array layout parameters and target uniform array layout parameters in the embodiment of the present application all correspond to this connection relationship.

[0055] Figure 4 It is a schematic diagram of an initial antenna layout of a vehicle millimeter-wave radar antenna layout method provided in an embodiment of the present application; the initial antenna layout schematic diagram is a schematic diagram of the antenna layout corresponding to the initial layout parameters.

[0056] like Figure 4As shown in the figure, the resolution index of the millimeter wave radar using the illustrated layout is: azimuth resolution 1.1°, elevation resolution 3.5°. In a specific embodiment, the initial layout parameters can be in wavelength as the unit length, the coordinates of the transmitting antenna 001 can be 0+0*1j, the coordinates of the transmitting antenna 002 can be 2+0*1j, the coordinates of the transmitting antenna 003 can be 4+0*1j, the coordinates of the transmitting antenna 004 can be 6+0*1j, the coordinates of the transmitting antenna 005 can be 8-7.5*1j, the coordinates of the transmitting antenna 006 can be 9-5*1j, and the coordinates of the transmitting antenna 007 can be 17-2.5*1j, the coordinates of the transmitting antenna 008 may be 22+0*1j, the coordinates of the transmitting antenna 009 may be 24+0*1j, the coordinates of the transmitting antenna 010 may be 26+0*1j, the coordinates of the transmitting antenna 011 may be 28+0*1j, the coordinates of the transmitting antenna 012 may be 30+0*1j, the coordinates of the receiving antenna 101 may be 0-17.5*1j, the coordinates of the receiving antenna 102 may be 0.5-17.5*1j, and the coordinates of the receiving antenna 103 may be 0.5-17.5*1j. The coordinates of line 103 may be 1-17.5*1j, the coordinates of receiving antenna 104 may be 1.5-17.5*1j, the coordinates of receiving antenna 105 may be 8-17.5*1j, the coordinates of receiving antenna 106 may be 8.5-17.5*1j, the coordinates of receiving antenna 107 may be 9-17.5*1j, the coordinates of receiving antenna 108 may be 9.5-17.5*1j, and the coordinates of receiving antenna 109 may be 16-17.5*1j. The coordinates of the receiving antenna 110 may be 16.5-17.5*1j, the coordinates of the receiving antenna 111 may be 17-17.5*1j, the coordinates of the receiving antenna 112 may be 17.5-17.5*1j, the coordinates of the receiving antenna 113 may be 19-7.5*1j, the coordinates of the receiving antenna 114 may be 21-10*1j, the coordinates of the receiving antenna 115 may be 23-12.5*1j, and the coordinates of the receiving antenna 116 may be 25-15*1j. In another specific implementation, Figure 3 Based on the coordinate information shown in the figure, the coordinates of all receiving antennas are moved as a whole relative to the coordinates of all transmitting antennas, and the coordinates of all receiving antennas after the movement are determined as initial layout parameters.

[0057] For the above Figure 4The antenna layout corresponding to the illustrated initial layout parameters has a number of virtual channels of 8 in the elevation dimension, an aperture of 47.5 in the azimuth plane, a corresponding azimuth angular resolution of 1.2°, a global sidelobe level of -13.26 dB in the azimuth plane, and a first sidelobe level of -13.26 dB in the azimuth plane. Specifically, the number of virtual channels in the elevation dimension may be the number of rows of virtual channels in the virtual array layout, and the virtual array layout may be determined based on the first position information of the transmitting antenna set and the second position information of the receiving antenna set. The aperture of the virtual array may be the horizontal axis width of the virtual array layout. The azimuth angular resolution may be calculated based on the aperture of the virtual array, wherein the larger the aperture of the virtual array, the larger the azimuth angular resolution; the formula may be: resolution = 180 / (pi*sin(1 / aperture)).

[0058] The following is based on the Figure 5a , Attachment Figure 5b The virtual array layout and virtual channels are further explained.

[0059] Figure 5a It is a schematic diagram of an initial virtual array layout of a vehicle millimeter wave radar antenna layout method provided in an embodiment of the present application; Figure 5b : is a schematic diagram of an initial virtual channel of a vehicle millimeter wave radar antenna layout method provided in an embodiment of the present application. Figure 5a and Figure 5b All correspond to the initial layout parameters.

[0060] It should be noted that in this specific implementation, Figure 5a The virtual array layout shown in the figure and Figure 5b The virtual channels shown are based on Figure 3 Specifically, the position information of the transmitting antenna set can be represented by a complex vector Place_f, the position information of the receiving antenna set can be represented by a complex vector Place_s, the number of transmitting antennas in the transmitting antenna set can be represented by Nf, the number of receiving antennas in the receiving antenna set can be represented by Ns, and the virtual array layout parameters can be calculated based on the following code:

[0061] Place_xuni=zeros(Ns,Nf);

[0062] for m1=1:Ns

[0063] Place_xuni(m1,:)=Place_s(m1)+Place_f;

[0064] end

[0065] Place_xuni_reshape=reshape(Place_xuni.',1,Ns*Nf);

[0066] According to the above calculation, the coordinates of the virtual array are as follows: Figure 5a As shown in the figure. Figure 5a The longest row in the table represents the virtual channels used for azimuth in the complete virtual channel, while Figure 5a The longest column in the table can represent the virtual channel used for the pitch angle in the complete virtual channel. Based on this, we can get the following Figure 5b The illustrated virtual channel, in a specific embodiment, is based on Figure 5a The longest column in contains eight rows, so the number of virtual channels for the pitch dimension is 8, that is, Figure 5b The number of virtual channels for the pitch dimension shown in FIG. 8 is 8.

[0067] The following is based on Figure 6 The first sidelobe level and the global sidelobe level of the azimuth plane are further elaborated.

[0068] Figure 6 It is a schematic diagram of the direction of the virtual array in the initial azimuth plane of a vehicle millimeter-wave radar antenna layout method provided in an embodiment of the present application; the schematic diagram of the direction of the virtual array in the azimuth plane corresponds to the initial layout parameters.

[0069] Figure 6 The virtual array pattern shown in the figure can be Figure 5a The array antenna pattern is calculated by using the virtual array layout for azimuth in . Specifically, the global sidelobe level can be the difference between the second largest extreme point and the maximum point, and the first sidelobe level can be the difference between the extreme point closest to the maximum point and the maximum point. Figure 6 As shown in the figure, in a specific implementation manner, the virtual array global sidelobe level in the azimuth plane and the virtual array first sidelobe level in the azimuth plane may be -13.26 dB.

[0070] Step S202: Determine the fitness function of the genetic algorithm according to the initial layout parameters of the antenna layout and preset conditions.

[0071] Specifically, the preset condition may include a first preset sub-condition, that is, the aperture of the virtual array of the azimuth plane is greater than the preset aperture. A first sub-fitness function may be determined based on the first preset sub-condition, and the product of the first sub-fitness function and the first weight may be used as part of the fitness function. In a specific embodiment, the first sub-fitness function may be ((preset aperture - aperture of virtual array)>0)*(preset aperture - aperture of virtual array), that is, the aperture of the virtual array is required to be ≥ preset aperture. By determining the fitness function based on the first preset sub-condition, it can be ensured that the aperture of the virtual array of the azimuth plane is large enough to achieve a higher resolution. When used in a vehicle scenario, since most of the targets in the actual driving process are on the same horizontal line or near the same horizontal line, the method of the present application focuses on improving the aperture of the virtual array of the azimuth plane, so that the same resolution can be achieved with a smaller RF board, or a higher resolution can be achieved with an RF board of the same size.

[0072] Specifically, the preset condition may include a second preset sub-condition, that is, the number of virtual channels of the pitch dimension is the preset number of channels. A second sub-fitness function may be determined based on the second preset sub-condition, and the product of the second sub-fitness function and the second weight is used as part of the fitness function. In a specific embodiment, the second sub-fitness function may be abs (the number of virtual channels of the pitch dimension - the preset number of channels), where abs represents the absolute value function. By determining the fitness function based on the second preset sub-condition, it can be ensured that operations in the iterative process such as mutation of the genetic algorithm do not change the number of virtual channels of the pitch dimension.

[0073] Specifically, the preset condition may include a third preset sub-condition, that is, the global sidelobe level of the virtual array in the azimuth plane is less than the preset global sidelobe level threshold, and the first sidelobe level is less than the preset first sidelobe level threshold. A third sub-fitness function may be determined based on the third preset sub-condition, and the product of the third sub-fitness function and the third weight is used as a part of the fitness function. In a specific implementation, the third sub-fitness function may include ((global sidelobe level of the virtual array-preset global sidelobe level threshold)>0)*(global sidelobe level of the virtual array-preset global sidelobe level threshold), that is, the global sidelobe level of the virtual array is required to be ≤ the preset global sidelobe level threshold; and ((first sidelobe level of the virtual array-preset first sidelobe level threshold)>0)*(first sidelobe level of the virtual array-preset first sidelobe level threshold), that is, the first sidelobe level of the virtual array is required to be ≤ the preset first sidelobe level threshold. By determining the fitness function based on the third preset sub-condition, the global sidelobe level and the first sidelobe level can be reduced, thereby reducing the false alarm probability.

[0074] Specifically, the preset condition may include a fourth preset sub-condition, that is, the interval of the second-order cumulative wave direction estimation array in the azimuth plane, and the interval is equal to the preset interval. A fourth sub-fitness function may be determined based on the fourth preset sub-condition, and the product of the fourth sub-fitness function and the fourth weight is used as a part of the fitness function. In a specific embodiment, the fourth sub-fitness function may be abs (interval of the second-order cumulative wave direction estimation array in the azimuth plane - preset interval).

[0075] Specifically, the preset condition may include a fifth preset sub-condition, that is, the antenna height relationship satisfies the preset antenna height relationship; the antenna height relationship characterizes the first height relationship of the transmitting antenna set corresponding to each chip in the multiple chips or the second height relationship of the receiving antenna set. The fifth sub-fitness function can be determined based on the fifth preset sub-condition, and the product of the fifth sub-fitness function and the fifth weight is used as part of the fitness function. Specifically, the fifth sub-fitness function can be determined based on the following preset antenna height relationship. The first height relationship includes: the height of the transmitting antenna 002 is not less than the lower value of the transmitting antennas 001 and 003; the height of the transmitting antenna 005 is not less than the lower value of the transmitting antennas 004 and 006; the height of the transmitting antenna 008 is not less than the lower value of the transmitting antennas 007 and 009; the height of the transmitting antenna 011 is not less than the lower value of the transmitting antennas 010 and 012. The second height relationship includes: the height of the receiving antenna 102 is not higher than the higher value of the receiving antennas 101 and 103; the height of the receiving antenna 103 is not higher than the higher value of the receiving antennas 102 and 104; the height of the receiving antenna 106 is not higher than the higher value of the receiving antennas 105 and 107; the height of the receiving antenna 107 is not higher than the higher value of the receiving antennas 106 and 108; the height of the receiving antenna 110 is not higher than the higher value of the receiving antennas 109 and 111; the height of the receiving antenna 111 is not higher than the higher value of the receiving antennas 110 and 112; the height of the receiving antenna 114 is not higher than the higher value of the receiving antennas 113 and 115; the height of the receiving antenna 115 is not higher than the higher value of the receiving antennas 114 and 116. The definition of the antenna height relationship is not limited to the definition in this embodiment. In other embodiments, another preset antenna height relationship can be determined according to the coordinates and position of the actual hardware, for example, according to the position of the chip and the length of the connection between the chip and the antenna. By determining the fitness function based on the fifth preset sub-condition, the height position of the antenna distribution can be limited to ensure the hardware feasibility of the target sparse array layout parameters.

[0076] Specifically, the preset condition may include a sixth preset sub-condition, that is, the minimum antenna spacing is greater than the preset antenna spacing minimum threshold. The sixth sub-fitness function can be determined based on the sixth preset sub-condition, and the product of the sixth sub-fitness function and the sixth weight is used as part of the fitness function. In a specific embodiment, the sixth sub-fitness function can be ((preset antenna spacing minimum threshold-antenna spacing minimum)>0)*(preset antenna spacing minimum threshold-antenna spacing minimum), that is, the antenna spacing minimum is required to be ≥ the preset antenna spacing minimum threshold. By determining the fitness function based on the sixth preset sub-condition, the minimum value of the antenna spacing can be increased, thereby reducing interference between antennas.

[0077] Here are five specific implementation methods for determining the fitness function:

[0078] In a first specific implementation, the fitness function can be determined based on any one of the above six preset conditions, that is, the fitness function can be any one of the first sub-fitness function*first weight, the second sub-fitness function*second weight, the third sub-fitness function*third weight, the fourth sub-fitness function*fourth weight, the fifth sub-fitness function*fifth weight and the sixth sub-fitness function*sixth weight, so that the optimized layout can be obtained accurately and efficiently according to needs.

[0079] In a second specific implementation, the fitness function may be the sum of the first sub-fitness function*first weight, and any one of the second sub-fitness function*second weight, the third sub-fitness function*third weight, the fourth sub-fitness function*fourth weight, the fifth sub-fitness function*fifth weight, and the sixth sub-fitness function*sixth weight. The fitness function determined by this method can not only ensure that the virtual aperture of the azimuth plane of the radar in the vehicle scene is large, improve the utilization rate of the virtual aperture, thereby improving the lateral action efficiency of the radar, but also can optimize the number of virtual channels, uniform array layout parameters, sidelobe parameters, antenna spacing or height relationship in a targeted manner.

[0080] In a second specific implementation, the fitness function may be the first sub-fitness function*first weight+the second sub-fitness function*the second weight+the third sub-fitness function*the third weight+the fifth sub-fitness function*the fifth weight+the sixth sub-fitness function*the sixth weight. The layout parameters obtained by iterating the genetic algorithm based on the fitness function can have the characteristics of large virtual aperture, low false alarm probability and large antenna spacing while ensuring that the number of virtual channels in the elevation dimension remains unchanged and the antenna height relationship is feasible.

[0081] In a third specific implementation, the fitness function can be the sum of the second sub-fitness function*second weight, the fifth sub-fitness function*fifth weight, and the first sub-fitness function*first weight, plus any one of the first sub-fitness function*first weight, the third sub-fitness function*third weight, and the sixth sub-fitness function*sixth weight. While ensuring that the number of virtual channels in the pitch dimension remains unchanged and the antenna height relationship is feasible, the target sparse array layout parameters with the characteristics of large virtual aperture, low false alarm probability, and large antenna spacing can be obtained.

[0082] In a fourth specific implementation, the fitness function may be the sum of the products of the six sub-fitness functions and the six weights, i.e., the first sub-fitness function*first weight+the second sub-fitness function*the second weight+the third sub-fitness function*the third weight+the fourth sub-fitness function*the fourth weight+the fifth sub-fitness function*the fifth weight+the sixth sub-fitness function*the sixth weight. The layout parameters obtained by iterating the genetic algorithm based on this fitness function not only have the characteristics of large virtual aperture, low false alarm probability, and large antenna spacing, but also can ensure that the number of virtual channels in the elevation dimension remains unchanged and the antenna height relationship is feasible, and its second-order cumulative wave arrival estimation can realize a uniform array, and realize a fully optimized final layout.

[0083] Step S203: Determine the termination condition of the genetic algorithm.

[0084] Specifically, the termination condition of the genetic algorithm may include that the stagnation generation reaches a preset stagnation generation threshold or the number of iterations reaches a preset iteration number threshold; wherein the stagnation generation represents the number of iterations in which the change in the fitness function value in multiple consecutive iterations is less than a preset change threshold during the iteration process. In a specific implementation, the preset stagnation generation threshold may be 100, the preset change threshold may be 1e-6, and the preset iteration number threshold may be 200.

[0085] Step S204: iterating the genetic algorithm based on the initial layout parameters and the fitness function.

[0086] Specifically, an initial population can be created based on the initial layout parameters, and genetic iteration can be performed based on the fitness function values ​​of each chromosome of the initial population. Specifically, in the first iteration, the initial population is selected, crossed, and mutated to determine a new population, and in subsequent iterations, the population determined in the previous iteration is continuously iterated. Among them, the selection can be to select a population with more optimized fitness values ​​as the parent; the crossover can be to combine two parents to form a new offspring population; the mutation can be to impose random changes on individuals in the parent population to form a new offspring.

[0087] Step S205: If the termination condition is reached during the iteration of the genetic algorithm, target sparse array layout parameters of the antenna layout are determined.

[0088] Specifically, the target sparse array layout parameters may be determined based on the last generation population.

[0089] The following is based on Figure 7 The target sparse array layout parameters in step S205 are further described.

[0090] Figure 7 is a schematic diagram of a target antenna layout of a vehicle millimeter wave radar antenna layout method provided in an embodiment of the present application; the target antenna layout corresponds to the target sparse array layout parameters. In a specific implementation, the attached Figure 7 The target sparse array layout parameters shown are based on the attached Figure 4 The initial layout parameters shown are obtained through iteration of a genetic algorithm.

[0091] In a specific implementation, the target sparse array layout parameters may be in wavelength as the unit length, the coordinates of the transmitting antenna 001 may be 0+0*1j, the coordinates of the transmitting antenna 002 may be 2+0*1j, the coordinates of the transmitting antenna 003 may be 4+0*1j, the coordinates of the transmitting antenna 004 may be 6+0*1j, the coordinates of the transmitting antenna 005 may be 8-5*1j, the coordinates of the transmitting antenna 006 may be 9-7.5*1j, and the coordinates of the transmitting antenna 007 may be can be 17+0*1j, the coordinates of the transmitting antenna 008 can be 22+0*1j, the coordinates of the transmitting antenna 009 can be 24-2.5*1j, the coordinates of the transmitting antenna 010 can be 26+0*1j, the coordinates of the transmitting antenna 011 can be 28+0*1j, the coordinates of the transmitting antenna 012 can be 30+0*1j, the coordinates of the receiving antenna 101 can be 0-17.5*1j, the coordinates of the receiving antenna 102 can be 0.5-17.5*1j, The coordinates of the receiving antenna 103 may be 1-17.5*1j, the coordinates of the receiving antenna 104 may be 1.5-17.5*1j, the coordinates of the receiving antenna 105 may be 8-12.5*1j, the coordinates of the receiving antenna 106 may be 8.5-17.5*1j, the coordinates of the receiving antenna 107 may be 9-17.5*1j, the coordinates of the receiving antenna 108 may be 9.5-17.5*1j, and the coordinates of the receiving antenna 109 may be 16-17.5*1j. The coordinates of the receiving antenna 110 may be 16.5-17.5*1j, the coordinates of the receiving antenna 111 may be 17-17.5*1j, the coordinates of the receiving antenna 112 may be 19-15*1j, the coordinates of the receiving antenna 113 may be 21-7.5*1j, the coordinates of the receiving antenna 114 may be 23-10*1j, the coordinates of the receiving antenna 115 may be 24.5-17.5*1j, and the coordinates of the receiving antenna 116 may be 25-17.5*1j. In another specific implementation, Figure 7 Based on the coordinate information shown in the figure, the coordinates of all receiving antennas are moved as a whole relative to the coordinates of all transmitting antennas, and the coordinates of all receiving antennas after the movement are determined as the target sparse array layout parameters.

[0092] For the above Figure 7The antenna layout corresponding to the illustrated target sparse array layout parameters has a number of virtual channels of 8 in the elevation dimension, an aperture of 47.5 in the azimuth plane, a corresponding azimuth angular resolution of 1.04°, a global sidelobe level of -16.65 dB in the azimuth plane, and a first sidelobe level of -16.65 dB in the azimuth plane. Specifically, the number of virtual channels in the elevation dimension may be the number of rows of virtual channels in the virtual array layout, and the virtual array layout may be determined based on the first position information of the transmitting antenna set and the second position information of the receiving antenna set. The aperture of the virtual array may be the horizontal axis width of the virtual array layout. The azimuth angular resolution may be calculated based on the aperture of the virtual array, wherein the larger the aperture of the virtual array, the larger the azimuth angular resolution; the formula may be: resolution = 180 / (pi*sin(1 / aperture)).

[0093] Specifically, by increasing the aperture of the virtual array, the utilization rate of the virtual aperture can be increased. Figure 4 and Figure 5b , Figure 7 and Figure 8 For example, the value of the initial virtual aperture utilization is Figure 5b The width of the horizontal axis divided by Figure 3 The value of the target virtual aperture utilization rate is Figure 6 The width of the horizontal axis divided by Figure 7 The value obtained by deriving the width of the horizontal axis.

[0094] The following is based on Figure 8 Further elaboration on virtual channels. Figure 8 is a target virtual channel diagram of a vehicle millimeter wave radar antenna layout method provided in an embodiment of the present application; the target virtual channel diagram corresponds to the target sparse array layout parameters. For the method of determining the virtual channel for azimuth or elevation, please refer to the above description for Figure 5a , Figure 5b In addition to the calculation based on the target sparse array layout parameters, the specific process will not be repeated here. Figure 8 As shown in the figure, in a specific implementation manner, the number of virtual channels for the elevation dimension of the antenna layout of the target sparse array layout parameters may be 8.

[0095] The following is based on the Fig. 9 The first sidelobe level and the global sidelobe level of the azimuth plane are further elaborated. Fig. 9 : is a schematic diagram of a virtual array direction of a target azimuth plane of a vehicle millimeter wave radar antenna layout method provided in an embodiment of the present application; Fig. 9 The illustrated virtual array pattern may be obtained by performing array pattern calculation on a virtual channel for an azimuth angle corresponding to the target sparse array layout parameters.

[0096] Specifically, the global sidelobe level may be the difference between the second largest extreme point and the maximum point, and the first sidelobe level may be the difference between the extreme point closest to the maximum point and the maximum point. Fig. 9 As shown in the figure, the global sidelobe level of the virtual array in the azimuth plane and the first sidelobe level of the virtual array in the azimuth plane are both -16.65 dB.

[0097] Next, we will continue based on Fig.10 and Fig.11 Further elaboration Figure 2 Step S205 is shown.

[0098] Fig.10 It is a virtual channel schematic diagram of an azimuth plane second-order cumulative direction-of-arrival estimation array of a target sparse array layout parameter of a vehicle millimeter-wave radar antenna layout method provided in an embodiment of the present application. Fig.11 It is a schematic diagram of a virtual array direction of a target sparse array layout parameter of a vehicle millimeter wave radar antenna layout method provided in an embodiment of the present application, and a second-order cumulative wave arrival direction estimation array in the azimuth plane.

[0099] In a specific implementation, if the termination condition is reached during the iteration of the genetic algorithm, after the target sparse array layout parameters of the antenna layout are determined, the target uniform array layout parameters of the antenna layout may be determined based on the target sparse array layout parameters of the antenna layout.

[0100] Specifically, for the antenna array corresponding to the target uniform array layout parameters, the interval of the second-order cumulative direction of arrival estimation array in the azimuth plane is uniform. Fig.10 As shown in the figure, in a specific embodiment, the interval can be 0.5. Figure 7 The illustrated array of virtual channels for azimuth, Fig.10 The spacing of the array of virtual channels in the azimuth plane of the second-order cumulative wave direction estimation array shown in the figure is uniform. Fig.11 The virtual array direction diagram in the figure also corresponds to the uniform array. Fig. 9 In terms of Fig.11 The virtual array directional layout in is more uniform; that is, by differentiating the target sparse array layout parameters, the target uniform array layout parameters can be obtained to achieve more uniform radar characteristics.

[0101] Accordingly, the present application provides a vehicle millimeter-wave radar antenna layout device. Fig.12 Schematic diagram of a vehicle millimeter wave radar antenna layout device provided in an embodiment of the present application. Fig.12 As shown, the vehicle millimeter wave radar antenna layout device 1200 includes:

[0102] An initial layout determination module 1201 is used to determine initial layout parameters of the antenna layout according to the principle of nested transmission and reception;

[0103] The fitness function determination module 1202 is used to determine the fitness function of the genetic algorithm according to the initial layout parameters of the antenna layout and the preset conditions; the preset conditions include that the caliber of the virtual array in the azimuth plane is greater than the preset caliber;

[0104] The termination condition determination module 1203 is used to determine the termination condition of the genetic algorithm;

[0105] A genetic algorithm iteration module 1204 is used to iterate the genetic algorithm based on the initial layout parameters and the fitness function;

[0106] The target layout determination module 1205 is used to determine the target sparse array layout parameters of the antenna layout if the termination condition is reached during the iteration of the genetic algorithm.

[0107] Specifically, the preset condition includes that the number of virtual channels in the pitch dimension is a preset number of channels.

[0108] Specifically, the preset conditions include that the global sidelobe level of the virtual array in the azimuth plane is less than a preset global sidelobe level threshold, and the first sidelobe level is less than a preset first sidelobe level threshold.

[0109] Specifically, the preset condition includes the interval of the second-order cumulative arrival direction estimation array in the azimuth plane, and the interval is equal to the preset interval.

[0110] Specifically, the preset conditions include that the antenna height relationship satisfies a preset antenna height relationship; the antenna height relationship represents a first height relationship of a transmitting antenna set corresponding to each chip in the multiple chips and a second height relationship of a receiving antenna set.

[0111] Specifically, the preset condition includes that the minimum antenna distance is greater than a preset minimum antenna distance threshold.

[0112] Specifically, the termination conditions of the genetic algorithm include that the stagnation generation reaches a preset stagnation generation threshold or the number of iterations reaches a preset iteration number threshold; wherein the stagnation generation represents the number of iterations in which the change in the fitness function value in multiple consecutive iterations is less than a preset change threshold during the iteration process.

[0113] Specifically, if the termination condition is reached during the iteration of the genetic algorithm, after the target sparse array layout parameters of the antenna layout are determined, the target layout determination module 1205 is further used to: determine the target uniform array layout parameters of the antenna layout based on the target sparse array layout parameters of the antenna layout.

[0114] The device and method embodiments in the embodiments of the present application are based on the same application concept. Specifically, the vehicle millimeter wave radar antenna layout device 1200 can be used for the vehicle millimeter wave radar antenna layout method based on the present application, setting Figure 1 The antenna layout of the vehicle millimeter wave radar 1011 in the vehicle 101 is shown.

[0115] The method embodiments provided in the embodiments of the present application can be executed in a computer terminal, a server or a similar computing device. Taking running on a server as an example, Fig.13 : is a hardware structure block diagram of a server of a vehicle millimeter wave radar antenna layout method provided in an embodiment of the present application. Fig.13 As shown, the server 1300 may have relatively large differences due to different configurations or performances, and may include one or more central processing units (CPU) 1310 (the central processing unit 1310 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory 1330 for storing data, and one or more storage media 1320 (such as one or more mass storage devices) for storing application programs 1323 or data 1322. Among them, the memory 1330 and the storage medium 1320 can be short-term storage or permanent storage. The program stored in the storage medium 1320 may include one or more modules, each of which may include a series of instruction operations on the server. Furthermore, the central processing unit 1310 can be configured to communicate with the storage medium 1320 and execute a series of instruction operations in the storage medium 1320 on the server 1300. The server 1300 may also include one or more power supplies 1360, one or more wired or wireless network interfaces 1350, one or more input and output interfaces 1340, and / or one or more operating systems 1321, such as Windows ServerTM, MacOS XTM, UnixTM, LinuxTM, FreeBSDTM, etc.

[0116] The input / output interface 1340 may be used to receive or send data via a network. The specific example of the network may include a wireless network provided by a communication provider of the server 1300. In one example, the input / output interface 1340 includes a network adapter (Network Interface Controller, NIC), which may be connected to other network devices through a base station so as to communicate with the Internet. In one example, the input / output interface 1340 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0117] It can be understood by those skilled in the art that Fig.13 The structure shown is for illustration only and does not limit the structure of the above electronic device. Fig.13 More or fewer components as shown, or with Fig.13 Different configurations are shown.

[0118] An embodiment of the present application also provides an electronic device, including a processor and a memory, wherein the memory stores at least one instruction, at least one program, code set or instruction set, and the at least one instruction, at least one program, code set or instruction set is loaded and executed by the processor to implement the above-mentioned vehicle millimeter wave radar antenna layout method.

[0119] The present application implements a storage medium, which can be set in a server to store at least one instruction, at least one program, code set or instruction set related to the vehicle millimeter wave radar antenna layout method in the method embodiment. The at least one instruction, the at least one program, the code set or instruction set is loaded and executed by the processor to implement the above-mentioned vehicle millimeter wave radar antenna layout method.

[0120] Specifically, in this embodiment, the storage medium may be located in at least one of the multiple network servers of the computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to, various media that can store program codes, such as a USB flash drive, a read-only memory (ROM), a mobile hard disk, a magnetic disk, or an optical disk.

[0121] In the present invention, unless otherwise clearly specified and limited, the terms "connected", "connection" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be a connection between two elements or an interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0122] It should be noted that the order of the above embodiments of the present application is only for description and does not represent the advantages and disadvantages of the embodiments. The above description describes specific embodiments, and other embodiments are also within the scope of the attached claims. In some cases, the actions or steps recorded in the claims can be performed in the order of different embodiments and can achieve the expected results. In addition, the processes depicted in the drawings do not necessarily require a specific order or connection order to achieve the desired results. In some embodiments, multi-task parallel processing is also possible or may be advantageous.

[0123] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the embodiments of the device / system, since they are based on similarities to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0124] The above are preferred embodiments of the present invention. It should be noted that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A vehicle millimeter wave radar antenna layout method, characterized in that: The method comprises: Determine the initial layout parameters of the antenna layout according to the principle of nested transmission and reception; Determine a fitness function of a genetic algorithm according to the initial layout parameters and preset conditions of the antenna layout; the preset condition includes a first preset sub-condition, the first preset sub-condition is that the aperture of the virtual array of the azimuth plane is greater than the preset aperture, the fitness function includes the product of a first sub-fitness function and a first weight, the first sub-fitness function includes: ((preset aperture-aperture of virtual array)>0)* (preset aperture-aperture of virtual array); Determining a termination condition of the genetic algorithm; Iterating the genetic algorithm based on the initial layout parameters and the fitness function; If the termination condition is reached during the iteration of the genetic algorithm, target sparse array layout parameters of the antenna layout are determined.

2. The vehicle millimeter wave radar antenna layout method according to claim 1, characterized in that: The preset condition includes a second preset sub-condition, the second preset sub-condition is that the number of virtual channels in the pitch dimension is the preset number of channels, the fitness function includes the product of the second sub-fitness function and the second weight, the second sub-fitness function includes: abs (the number of virtual channels in the pitch dimension - the preset number of channels), wherein abs represents the absolute value function.

3. The vehicle millimeter wave radar antenna layout method according to claim 1, characterized in that: The preset condition includes a third preset sub-condition, the third preset sub-condition is that the global sidelobe level of the virtual array in the azimuth plane is less than a preset global sidelobe level threshold, and the first sidelobe level is less than a preset first sidelobe level threshold, the fitness function includes the product of the third sub-fitness function and a third weight, and the third sub-fitness function includes: ((global sidelobe level of the virtual array-preset global sidelobe level threshold)>0)*(global sidelobe level of the virtual array-preset global sidelobe level threshold), and ((first sidelobe level of the virtual array-preset first sidelobe level threshold)>0)*(first sidelobe level of the virtual array-preset first sidelobe level threshold).

4. The vehicle millimeter wave radar antenna layout method according to claim 1, characterized in that: The preset condition includes a fourth preset sub-condition, the fourth preset sub-condition is the interval of the second-order cumulative wave direction estimation array in the azimuth plane, and the interval is equal to the preset interval, the fitness function includes the product of the fourth sub-fitness function and the fourth weight, and the fourth sub-fitness function includes: abs(interval of the second-order cumulative wave direction estimation array in the azimuth plane-preset interval, wherein abs represents an absolute value function.

5. The vehicle millimeter wave radar antenna layout method according to claim 1, characterized in that: The preset condition includes a fifth preset sub-condition, and the fifth preset sub-condition is that the antenna height relationship satisfies the preset antenna height relationship; The antenna height relationship represents a first height relationship of a transmitting antenna set corresponding to each chip in the plurality of chips and a second height relationship of a receiving antenna set, and the fitness function includes a product of a fifth sub-fitness function and a fifth weight.

6. The vehicle millimeter wave radar antenna layout method according to any one of claims 1 to 5, characterized in that: The preset condition includes a sixth preset sub-condition, the sixth preset sub-condition is that the minimum antenna spacing is greater than a preset minimum antenna spacing threshold, the fitness function includes the product of the sixth sub-fitness function and a sixth weight, and the sixth sub-fitness function includes: ((preset minimum antenna spacing threshold-minimum antenna spacing)>0)* (preset minimum antenna spacing threshold-minimum antenna spacing).

7. The vehicle millimeter wave radar antenna layout method according to claim 1, characterized in that: The termination condition of the genetic algorithm includes that the stagnation generation reaches a preset stagnation generation threshold or the number of iterations reaches a preset iteration number threshold, The stagnation algebra represents the number of iterations in which the change in the fitness function value in multiple consecutive iterations is less than a preset change threshold value during the iteration process.

8. The vehicle millimeter wave radar antenna layout method according to claim 1, characterized in that: If the termination condition is reached during the iteration of the genetic algorithm, after determining the target sparse array layout parameters of the antenna layout, the method further includes: Based on the target sparse array layout parameters of the antenna layout, target uniform array layout parameters of the antenna layout are determined.

9. A vehicle millimeter wave radar antenna layout device, characterized in that: The device comprises: An initial layout determination module, used to determine initial layout parameters of the antenna layout according to the principle of nested transmission and reception; A fitness function determination module is used to determine the fitness function of the genetic algorithm according to the initial layout parameters of the antenna layout and a preset condition; the preset condition includes a first preset sub-condition, the first preset sub-condition is that the aperture of the virtual array of the azimuth plane is greater than the preset aperture, the fitness function includes the product of the first sub-fitness function and the first weight, the first sub-fitness function includes: ((preset aperture-aperture of the virtual array)>0)* (preset aperture-aperture of the virtual array); A termination condition determination module, used to determine the termination condition of the genetic algorithm; A genetic algorithm iteration module, used for iterating the genetic algorithm based on the initial layout parameters and the fitness function; The target layout determination module is used to determine the target sparse array layout parameters of the antenna layout if the termination condition is reached during the iteration of the genetic algorithm.

10. An electronic device, characterized in that: The electronic device includes a processor and a memory, wherein the memory stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by the processor to implement the vehicle millimeter wave radar antenna layout method according to any one of claims 1 to 8.

11. A computer-readable storage medium, characterized in that: The storage medium stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by the processor to implement the vehicle millimeter wave radar antenna layout method described in any one of claims 1-8.

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