Method, device, electronic device and storage medium for determining candidate directional patterns

Abstract

A method, device, electronic device and storage medium for determining a candidate directional pattern disclosed in an embodiment of the present application include obtaining a signal to be processed, determining a first directional pattern and a second directional pattern corresponding to the signal to be processed according to a transformation rule and first weighted information, determining a peak power corresponding to a peak point and a set of points to be processed from the first directional pattern, determining a first target point set and a target reference point set from the set of points to be processed according to the peak power, the first preset power and the second preset power, determining a set of candidate points according to the first target point set and the set of target reference points, each candidate point in the set of candidate points is a point of overlap of the first directional pattern and the second directional pattern between the first target point set and the set of target reference points, and determining a candidate directional pattern according to the set of candidate points, the first directional pattern and the second directional pattern. Constructing a new directional pattern by obtaining the position of the intersection of the two directional patterns before and after windowing using the protection channel method can reduce the side lobes without widening the main lobe.

Description

Technical Field

[0001] The present invention relates to the field of radar signal processing technology, and in particular to a method, device, electronic equipment and storage medium for determining a candidate directional pattern. Background Art

[0002] In complex road scenes, due to the different materials, volumes and shapes of vehicles, as well as the diversity of road participants, the reflection intensity of each object point is inconsistent. When multiple object points have the same distance and speed relative to the vehicle radar, that is, when multiple object points are in the same distance-Doppler gate, the side lobe of the strong reflection point in azimuth will be higher than the main lobe of the weak reflection point, that is, the side lobe of the large object point covers the main lobe of the small object point, which will lead to the missed detection of the weak object point. Summary of the invention

[0003] The embodiments of the present application provide a method, device, electronic device and storage medium for determining a candidate directional pattern, which can reduce the side lobes without widening the main lobe, detect the weak target main lobe covered by the strong target side lobe, and improve the detection accuracy of the millimeter wave radar.

[0004] The present application provides a method for determining a candidate directional pattern, including:

[0005] Get the signal to be processed;

[0006] Determine a first directional pattern corresponding to the signal to be processed according to the transformation rule and the first weighted information;

[0007] Determining a second directional pattern corresponding to the signal to be processed according to the first weighted information;

[0008] Determine the peak power corresponding to the peak point and the set of points to be processed from the first directional diagram;

[0009] Determine a first target point set from the set of points to be processed according to the peak power and the first preset power;

[0010] Determining a target reference point set from a set of points to be processed according to the peak power and a second preset power, wherein the second preset power is less than the first preset power;

[0011] Determine a candidate point set according to the first target point set and the target reference point set; each candidate point in the candidate point set is a coincidence point of the first directional image and the second directional image between the first target point set and the target reference point set;

[0012] A candidate directional map is determined according to the candidate point set, the first directional map, and the second directional map.

[0013] Further, determining a candidate directional map according to the candidate point set, the first directional map, and the second directional map includes:

[0014] A partial area of ​​the first directional pattern is taken within the angle interval corresponding to the coincident point, and a partial area of ​​the second directional pattern is taken outside the angle interval corresponding to the coincident point to obtain a candidate directional pattern.

[0015] Furthermore, after determining the candidate directional diagram, the method further includes:

[0016] Determine candidate width information corresponding to the candidate point set;

[0017] According to the candidate width information and the preset reference width information, a target directional pattern corresponding to the candidate directional pattern is determined.

[0018] Further, determining a first directional pattern corresponding to the signal to be processed according to the transformation rule and the first weighting information includes:

[0019] Perform Fourier transform processing on the signal to be processed to obtain an echo to be processed;

[0020] Digital beamforming is performed on the echo to be processed according to the first weighted information to obtain a first directional pattern corresponding to the echo to be processed.

[0021] Further, determining a second directional pattern corresponding to the signal to be processed according to the first weighted information includes:

[0022] Perform Fourier transform processing on the signal to be processed to obtain an echo to be processed;

[0023] Determining second weighted information according to the first weighted information and the preset Taylor information;

[0024] Digital beamforming is performed on the echo to be processed according to the second weighted information to obtain a second directional pattern corresponding to the echo to be processed.

[0025] Further, determining candidate width information corresponding to the candidate point set includes:

[0026] According to the first target point set, determining a first target candidate point and a second target candidate point from the candidate point set;

[0027] Determine candidate width information according to the first target candidate point and the second target candidate point.

[0028] Further, determining a target directional pattern corresponding to the candidate directional pattern according to the candidate width information and the preset reference width information includes:

[0029] If the candidate width information is smaller than the preset reference width information, each candidate point in the candidate point set is suppressed to obtain a target directional map corresponding to the candidate directional map; the target directional map includes the first target point set.

[0030] Accordingly, an embodiment of the present application further provides a device for determining a candidate directional pattern, including:

[0031] An acquisition module, used for acquiring a signal to be processed;

[0032] A first determination module, used to determine a first directional pattern corresponding to the signal to be processed according to a transformation rule and first weighting information;

[0033] A second determination module, used to determine a second directional pattern corresponding to the signal to be processed according to the first weighted information;

[0034] A third determination module, used to determine the peak power corresponding to the peak point and the set of points to be processed from the first directional diagram;

[0035] A fourth determination module, configured to determine a first target point set from the set of points to be processed according to the peak power and the first preset power;

[0036] A fifth determination module, configured to determine a target reference point set from the set of points to be processed according to the peak power and a second preset power, wherein the second preset power is less than the first preset power;

[0037] A sixth determination module is used to determine a candidate point set according to the first target point set and the target reference point set; each candidate point in the candidate point set is an overlap point between the first directional image and the second directional image between the first target point set and the target reference point set;

[0038] The seventh determination module is used to determine the candidate directional map according to the candidate point set, the first directional map and the second directional map.

[0039] Furthermore, the seventh determination module is used to take a partial area of ​​the first directional pattern within the angle interval corresponding to the coincidence point, and take a partial area of ​​the second directional pattern outside the angle interval corresponding to the coincidence point, to obtain a candidate directional pattern.

[0040] Furthermore, the above device also includes:

[0041] An eighth determination module, used to determine candidate width information corresponding to the candidate point set;

[0042] The ninth determination module is used to determine the target directional pattern corresponding to the candidate directional pattern according to the candidate width information and the preset reference width information.

[0043] Furthermore, the first determination module includes:

[0044] The first transform processing submodule is used to perform Fourier transform processing on the signal to be processed to obtain an echo to be processed;

[0045] The first forming and processing submodule is used to perform digital beamforming processing on the echo to be processed according to the first weighted information to obtain a first directional diagram corresponding to the echo to be processed.

[0046] Furthermore, the second determination module includes:

[0047] The second transform processing submodule is used to perform Fourier transform processing on the signal to be processed to obtain an echo to be processed;

[0048] A first determination submodule, used to determine second weighted information according to the first weighted information and preset Taylor information;

[0049] The second forming and processing submodule is used to perform digital beamforming processing on the echo to be processed according to the second weighted information to obtain a second directional diagram corresponding to the echo to be processed.

[0050] Furthermore, the eighth determination module includes:

[0051] A second determination submodule is used to determine a first target candidate point and a second target candidate point from the candidate point set according to the first target point set;

[0052] The third determination submodule is used to determine candidate width information according to the first target candidate point and the second target candidate point.

[0053] Furthermore, the ninth determination module is used to suppress each candidate point in the candidate point set if the candidate width information is smaller than the preset reference width information, so as to obtain a target directional map corresponding to the candidate directional map; the target directional map includes the first target point set.

[0054] Correspondingly, an embodiment of the present application also provides an electronic device, which includes 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 method for determining the candidate directional patterns.

[0055] Accordingly, an embodiment of the present application also provides a computer-readable storage medium, which 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 a processor to implement the above-mentioned method for determining the candidate directional patterns.

[0056] The embodiments of the present application have the following beneficial effects:

[0057] A method, device, electronic device and storage medium for determining a candidate directional pattern disclosed in an embodiment of the present application include obtaining a signal to be processed, determining a first directional pattern corresponding to the signal to be processed according to a transformation rule and first weighted information, and determining a second directional pattern corresponding to the signal to be processed according to the first weighted information, and then determining a peak power corresponding to a peak point and a set of points to be processed from the first directional pattern, and determining a first target point set from the set of points to be processed according to the peak power and a first preset power, and determining a target reference point set from the set of points to be processed according to the peak power and the second preset power, wherein the second preset power is less than the first preset power, and then determining a candidate point set according to the first target point set and the target reference point set, wherein each candidate point in the candidate point set is an overlapping point of the first directional pattern and the second directional pattern between the first target point set and the target reference point set, and then determining a candidate directional pattern according to the candidate point set, the first directional pattern and the second directional pattern. Based on the embodiment of the present application, the position of the intersection of the two directional patterns before and after windowing is obtained by the protection channel method to construct a new directional pattern. The side lobes can be reduced without widening the main lobe. By combining the beam width screening to determine the target directional pattern, the weak target main lobe covered by the strong target side lobe can be detected, which can improve the detection accuracy of the millimeter wave radar. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] 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.

[0059] Figure 1 is a schematic diagram of an application environment provided by an embodiment of the present application;

[0060] Figure 2 It is a flowchart of a method for determining a candidate directional pattern provided in an embodiment of the present application;

[0061] Figure 3 is a schematic diagram of a first directional diagram and a second directional diagram provided in an embodiment of the present application;

[0062] Figure 4 is a schematic diagram of a candidate directional pattern provided in an embodiment of the present application;

[0063] Figure 5 is a schematic diagram of another candidate directional pattern provided in an embodiment of the present application;

[0064] Figure 6 is a schematic diagram of a target direction diagram provided in an embodiment of the present application;

[0065] Figure 7 It is a structural schematic diagram of a device for determining a candidate directional pattern provided in an embodiment of the present application. DETAILED DESCRIPTION

[0066] 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.

[0067] 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 terms "first", "second", "third", etc. 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", "second", "third", etc. may include one or more of the features explicitly or implicitly. Moreover, the terms "first", "second", "third", 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" and any of their variations are intended to cover non-exclusive inclusions.

[0068] See also Figure 1 , which is a schematic diagram of an application environment provided by an embodiment of the present application, including a vehicle 100, on which a processor 101 and a millimeter wave radar 103 are provided, and the processor 101 is connected to the millimeter wave radar 103. The processor 101 can obtain a signal to be processed based on the millimeter wave radar 103, determine a first directional pattern corresponding to the signal to be processed according to a transformation rule and first weighting information, and determine a second directional pattern corresponding to the signal to be processed according to the first weighting information, and then determine the peak power corresponding to the peak point and the set of points to be processed from the first directional pattern, and determine a first target point set from the set of points to be processed according to the peak power and the first preset power, and determine a target reference point set from the set of points to be processed according to the peak power and the second preset power, wherein the second preset power is less than the first preset power, and then determine a candidate point set according to the first target point set and the target reference point set, each candidate point in the candidate point set is an overlap point between the first directional pattern and the second directional pattern between the first target point set and the target reference point set, and then determine the candidate directional pattern according to the candidate point set, the first directional pattern and the second directional pattern.

[0069] In an embodiment of the present application, the position of the intersection of two directional patterns before and after windowing is obtained by the protection channel method to construct a new directional pattern, which can reduce the side lobes without widening the main lobe.

[0070] The following describes a specific embodiment of a method for determining a candidate directional pattern of the present application. Figure 2 It is a flowchart of a method for determining a candidate directional diagram provided in an embodiment of the present application. This specification provides method operation steps as shown in the embodiment or flowchart, but more or fewer operation steps may be included 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 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).

[0071] Specific as Figure 2 As shown, the method may include:

[0072] S201: Obtain a signal to be processed.

[0073] In the embodiment of the present application, the processor can obtain a signal to be processed based on the vehicle-mounted millimeter wave radar, that is, obtain an echo signal. Optionally, the echo signal can be expressed as s(n s ,n c ,n tr ), where n s It can be said that the sampling point contains the distance information between the object point and the vehicle-mounted millimeter-wave radar, n c It can be said that the number of pulses contains the speed information of the object point, n tr The equivalent antenna number can be expressed as the angle between the object point and the vehicle-mounted millimeter-wave radar.

[0074] S203: Determine a first directional pattern corresponding to the signal to be processed according to the transformation rule and the first weighting information.

[0075] In an embodiment of the present application, after acquiring the signal to be processed, the processor can perform Fourier transform processing on the signal to be processed to obtain an echo to be processed, and perform digital beamforming processing on the echo to be processed based on the first weighted information to obtain a first directional diagram corresponding to the echo to be processed. Figure 3 It is a schematic diagram of a first directional diagram and a second directional diagram provided in an embodiment of the present application, wherein the solid line represents the first directional diagram F1 and the dotted line represents the second directional diagram F2.

[0076] In an optional embodiment, the processor can perform Fourier transform processing on the distance-velocity dimension of the echo signal, transform the time domain signal into a frequency domain signal, and the echo to be processed may include multiple frequency domain signals, and the echo signal S(N) of the distance-Doppler gate where multiple object points are located can be extracted. i ,M i ,n tr ). Among them, N i It can be said that the sampling point contains the distance information between the object point and the vehicle-mounted millimeter-wave radar, M i It can represent the number of pulses including the speed information of the object point, n tr The equivalent antenna number can represent the angle between the object point and the vehicle-mounted millimeter wave radar. At the same time, the processor can construct a first weighted vector and calculate the distance-Doppler gate signal S (N i ,M i ,n tr ) performs digital beamforming processing to obtain a first directional pattern and the power corresponding to each object point in the first directional pattern. Specifically, a first weighted vector W1 as shown below can be constructed:

[0077]

[0078]

[0079] in, can represent the phase difference between antenna channels, d can represent the antenna spacing, M can represent the number of antenna channels, θ can represent the angle between the object point and the vehicle-mounted millimeter-wave radar, and λ can represent the wavelength.

[0080] Specifically, the power P corresponding to each object point in the first directional pattern can be determined by the following formula:

[0081] P = 10log 10 [(W1)R x (W1) H ]

[0082] R X =E[S(N i ,M i ,n tr )S H (N i ,M i ,n tr )]

[0083] Among them, R X The covariance matrix of the echo signal to be processed can be represented.

[0084] S205: Determine a second directional pattern corresponding to the signal to be processed according to the first weighted information.

[0085] In an embodiment of the present application, after performing Fourier transform processing on the processed signal to obtain the processed echo, the processor can determine the second weighting information based on the first weighting information and the preset Taylor information, and perform digital beamforming processing on the processed echo based on the second weighting information to obtain a second directional diagram corresponding to the processed echo.

[0086] In an optional implementation, the processor may perform windowing processing on the first weighted vector W1 to obtain a second weighted vector W2, and the first weighted vector W2 may be constructed as shown below:

[0087] W2=W1×W

[0088] Wherein, Taylor window W = taylorwin (n, nbar, sll), n represents the dimension of the second weighted vector, and in order to ensure that the dimension of the second weighted vector is consistent with that of the first weighted vector, n can be M. nbar represents the number of side lobes near the main lobe of the strong target, and its value can be any positive integer, and optionally, nbar = 5. sll represents the maximum side lobe level relative to the main lobe peak, and its value must be a negative value, and optionally, sll = -30dB.

[0089] S207: Determine the peak power corresponding to the peak point and the set of points to be processed from the first directional diagram.

[0090] In an optional implementation, the processor may determine the point with the maximum power from the first directional pattern F1 as the peak point, such as Figure 3 The peak points a and b in the graph can be determined to be the peak power P A =P B =P max , and determine the points corresponding to the maximum values ​​from the first directional graph F1 as the set of points to be processed, such as Figure 3 The points to be processed are a, b, c, d, e, and f.

[0091] S209: Determine a first target point set from the set of points to be processed according to the peak power and the first preset power.

[0092] In the embodiment of the present application, after determining the peak power corresponding to the peak point and the set of points to be processed, the peak power P max and the first preset power P1 to determine the first protection channel P b1 , wherein the value of the first preset power P1 can be within the interval [-5dB, -3dB]. Then, the power P corresponding to each to-be-processed point in the to-be-processed point set can be i With the first protection channel P b1 For comparison, when P i >P b1 When the power Pi The corresponding points to be processed are taken as the first target points to obtain the first target point set. That is, the positions of multiple strong target main lobes can be determined from the first directional diagram F1 by the protection channel method, such as Figure 3 a and b in the equation. Specifically, the following formula can be used to determine the first protection channel P b1 :

[0093] P b1 =P max +P1

[0094] S211: Determine a target reference point set from the set of points to be processed according to the peak power and the second preset power; the second preset power is less than the first preset power.

[0095] In the embodiment of the present application, according to the peak power P max The second protection channel P is determined by the second preset power P2 b2 , wherein the value of the second preset power P2 can be in the interval [-13dB, -10dB]. Then, the power P corresponding to each to-be-processed point in the to-be-processed point set except the first target point set can be i With the second protection channel P b2 For comparison, when P i >P b2 When the power P i The corresponding points to be processed are used as reference points to obtain a reference point set. That is, the protection channel threshold can be appropriately lowered to obtain the locations of multiple strong target side lobes, such as Figure 3 The second protection channel P can be determined by the following formula: b2 :

[0096] P b2 =P max +P2

[0097] like Figure 3 As shown, when the first directional pattern is windowed to obtain the second directional pattern, the windowing will not only suppress the side lobes, but also widen the main lobe, which will make it impossible to separate two strong targets that are close in angle, and will eventually lead to missed detection of targets.

[0098] To solve this problem, the processor can determine the target reference point set from the reference point set, that is, the two points closest to the strong target main lobe position among the positions of the strong target multiple side lobes are used as the points where the main side lobe group is located, such as Figure 3 c and d in.

[0099] In the embodiment of the present application, the value intervals of the first preset power and the second preset power may also be set to other intervals, which are not specifically limited in this specification.

[0100] In the embodiment of the present application, the first protection channel and the second protection channel are adaptively generated through the protection channel method, and signals lower than the first protection channel or the second protection channel can be preliminarily filtered out, thereby saving the computing resources of the processor.

[0101] S213: Determine a candidate point set according to the first target point set and the target reference point set; each candidate point in the candidate point set is an overlapping point between the first directional image and the second directional image between the first target point set and the target reference point set.

[0102] Figure 4 is a schematic diagram of a candidate directional pattern provided by an embodiment of the present application. The processor can determine the coincidence point between the first directional pattern and the second directional pattern between the target reference point and the first target point set, that is, it can determine the coincidence point between the first directional pattern F1 and the second directional pattern F2 at the location of the strong target main lobe a, b and the location of the strong target main side lobe group c, d, such as Figure 4 A and B in.

[0103] S215: Determine a candidate directional map according to the candidate point set, the first directional map, and the second directional map.

[0104] In an optional implementation, the processor may determine a candidate directional pattern according to the candidate point set, the first directional pattern, and the second directional pattern. The candidate directional pattern may include a first target point set, a second target point set, and a candidate point set, the power corresponding to each second target point in the second target point set may be less than the power corresponding to each reference point, and the power corresponding to each candidate point in the candidate point set may be less than the power corresponding to each reference point, and less than or equal to the power corresponding to each second target point.

[0105] In an optional implementation, the processor may take a partial area of ​​the first directional pattern within the angle interval corresponding to the coincidence point, and take a partial area of ​​the second directional pattern outside the angle interval corresponding to the coincidence point, to obtain a candidate directional pattern. That is, take the second directional pattern F2 outside the angle interval corresponding to the coincidence point, and take the first directional pattern F1 within the angle interval corresponding to the coincidence point, and obtain the following Figure 4 The candidate pattern shown in FIG. In this way, the strong target side lobes can be suppressed while the strong target main lobe is not widened. Specifically, the candidate pattern F can be determined by the following formula:

[0106] F=[F2(f <A),F1(A<f<B),F2(f>B)]

[0107] Figure 5 is a schematic diagram of another candidate directional diagram provided in an embodiment of the present application. In an embodiment of the present application, the processor may select a candidate directional diagram from a preset power threshold. Figure 3Determine the candidate point set from the multiple maximum values ​​included. Optionally, Figure 3 The points whose powers corresponding to multiple maxima are greater than the preset power threshold are taken as candidate points, and a set of candidate points is obtained, such as Figure 5 A and B in the candidate point set. The power corresponding to each candidate point in the candidate point set can be less than the power corresponding to each reference point, such as Figure 5 The corresponding power of candidate points A and B in can be less than Figure 3 The power corresponding to the reference points c, d, and e in .

[0108] In the embodiment of the present application, the candidate directional pattern can be determined according to the candidate point set, the first directional pattern and the second directional pattern, and the weak target main lobe covered by the strong target side lobe can be directly detected, such as Figure 5 The power corresponding to the second target point set C in the reference point may be smaller than the power corresponding to the reference point, that is, the power corresponding to the second target point set C is smaller than the power corresponding to the coincident points A and B.

[0109] In an embodiment of the present application, when the power corresponding to the candidate point set is greater than the power corresponding to the second target point set, that is, the power corresponding to the sharp side lobe at the intersection of the two directional patterns is still greater than the power corresponding to the weak target main lobe, after determining the candidate directional pattern and the candidate point set, the processor can determine the first target candidate point and the second target candidate point from the candidate point set based on the first target point set, and can determine the candidate width information based on the first target candidate point and the second target candidate point.

[0110] In an optional implementation, since the sharp side lobes corresponding to the positions of the coincident points A and B of the first directional pattern and the second directional pattern are narrower than the beam width of the main lobes corresponding to the positions a and b of the strong target, the processor can determine whether the candidate point is a target by searching and calculating the beam width corresponding to the candidate point set. Specifically, the peak power corresponding to each candidate point in the candidate point set can be determined from the candidate directional pattern, and the peak power corresponding to each candidate point can be attenuated. The value of the attenuated power can be within a preset attenuation interval. Optionally, the attenuation interval is [-3dB, -1dB]. Then, the position corresponding to the attenuated candidate point set can be determined, and the beam width corresponding to the two closest attenuated candidate points can be determined therefrom to obtain the candidate width information. For example, the position corresponding to the attenuated candidate point A is pos1, the position corresponding to the attenuated candidate point B is pos2, and the attenuated candidate point A and the attenuated candidate point B are the two closest attenuated candidate points from the attenuated candidate point set. The candidate width information can be determined using the following formula:

[0111] B sk =|pos1-pos2|

[0112] In the embodiment of the present application, a target directional pattern corresponding to a candidate directional pattern may be determined based on the candidate width information and the preset reference width information. Figure 6 It is a schematic diagram of a target direction diagram provided in an embodiment of the present application.

[0113] In an embodiment of the present application, after determining the candidate width information, the processor can compare the candidate width information with the preset reference width information to determine the size of the candidate width information and the preset reference width information. If it is determined that the candidate width information is smaller than the preset reference width information, the processor can suppress each candidate point in the candidate point set to obtain a target direction map corresponding to the candidate direction map, which includes a first target point set and a second target point set.

[0114] In an optional implementation, if the candidate width information corresponding to the candidate points A and B is less than the preset reference width information, the candidate points A and B can be determined to be false targets, that is, they are not the locations of weak targets. Then, the processor can suppress the side lobes corresponding to the candidate points A and B to obtain a target pattern. The target pattern contains a first target point set a and b corresponding to the strong target main lobe, and a second target point set C corresponding to the weak target main lobe.

[0115] If the candidate width information corresponding to the candidate points A and B is greater than or equal to the preset reference width information, the candidate points A and B can be determined to be true targets, that is, the locations where the strong target side lobes are located. Then, the processor can retain the side lobes corresponding to the candidate points A and B to obtain the target directional diagram. The target directional diagram contains the first target point set a and b corresponding to the strong target main lobe, and the second target point set A, B, and C corresponding to the weak target main lobe.

[0116] In an embodiment of the present application, when the power corresponding to the candidate point set is greater than the power corresponding to the second target point set, that is, the power corresponding to the sharp sidelobe at the intersection of the two directional patterns is still greater than the power corresponding to the weak target main lobe, the first target candidate point and the second target candidate point are determined from the candidate point set according to the first target point set in this embodiment, and the candidate width information can be determined according to the first target candidate point and the second target candidate point. The target directional pattern corresponding to the candidate directional pattern is determined according to the candidate width information and the preset reference width information. According to the principle that the new sharp sidelobe beam width is narrow, the beam width of each peak is searched and calculated, so as to achieve the effect of detecting the real target, and finally solve the problem of the strong target sidelobe covering the weak target.

[0117] By adopting the method for determining the candidate directional patterns provided in the embodiment of the present application, the position of the intersection of the two directional patterns before and after windowing is obtained through the protection channel method to construct a new directional pattern. This can reduce the side lobes without widening the main lobe, and by combining the beam width screening to determine the target directional pattern, the weak target main lobe covered by the strong target side lobe can be detected, which can improve the detection accuracy of the millimeter wave radar.

[0118] The embodiment of the present application also provides a device for determining a candidate directional pattern, Figure 7 is a schematic diagram of the structure of a device for determining a candidate directional pattern provided in an embodiment of the present application, such as Figure 7 As shown, the device may include:

[0119] An acquisition module, used for acquiring a signal to be processed;

[0120] A first determination module, used to determine a first directional pattern corresponding to the signal to be processed according to a transformation rule and first weighting information;

[0121] A second determination module, used to determine a second directional pattern corresponding to the signal to be processed according to the first weighted information;

[0122] A third determination module, used to determine the peak power corresponding to the peak point and the set of points to be processed from the first directional diagram;

[0123] A fourth determination module, configured to determine a first target point set from the set of points to be processed according to the peak power and the first preset power;

[0124] A fifth determination module, configured to determine a target reference point set from the set of points to be processed according to the peak power and a second preset power, wherein the second preset power is less than the first preset power;

[0125] A sixth determination module is used to determine a candidate point set according to the first target point set and the target reference point set; each candidate point in the candidate point set is an overlap point between the first directional image and the second directional image between the first target point set and the target reference point set;

[0126] The seventh determination module is used to determine the candidate directional map according to the candidate point set, the first directional map and the second directional map.

[0127] In the embodiment of the present application, the seventh determination module is used to take a partial area of ​​the first directional pattern within the angle interval corresponding to the coincidence point, and take a partial area of ​​the second directional pattern outside the angle interval corresponding to the coincidence point, to obtain a candidate directional pattern.

[0128] In the embodiment of the present application, the above device further includes:

[0129] An eighth determination module, used to determine candidate width information corresponding to the candidate point set;

[0130] The ninth determination module is used to determine the target directional pattern corresponding to the candidate directional pattern according to the candidate width information and the preset reference width information.

[0131] In the embodiment of the present application, the first determination module includes:

[0132] The first transform processing submodule is used to perform Fourier transform processing on the signal to be processed to obtain an echo to be processed;

[0133] The first forming and processing submodule is used to perform digital beamforming processing on the echo to be processed according to the first weighted information to obtain a first directional diagram corresponding to the echo to be processed.

[0134] In the embodiment of the present application, the second determination module includes:

[0135] The second transform processing submodule is used to perform Fourier transform processing on the signal to be processed to obtain an echo to be processed;

[0136] A first determination submodule, used to determine second weighted information according to the first weighted information and preset Taylor information;

[0137] The second forming and processing submodule is used to perform digital beamforming processing on the echo to be processed according to the second weighted information to obtain a second directional diagram corresponding to the echo to be processed.

[0138] In the embodiment of the present application, the eighth determination module includes:

[0139] A second determination submodule is used to determine a first target candidate point and a second target candidate point from the candidate point set according to the first target point set;

[0140] The third determination submodule is used to determine candidate width information according to the first target candidate point and the second target candidate point.

[0141] In an embodiment of the present application, the ninth determination module is used to suppress each candidate point in the candidate point set if the candidate width information is less than the preset reference width information, so as to obtain a target direction map corresponding to the candidate direction map; the target direction map includes the first target point set.

[0142] The device and method embodiments in the embodiments of the present application are based on the same application concept.

[0143] By using the device for determining the candidate directional pattern provided in the embodiment of the present application, the position of the intersection of the two directional patterns before and after windowing is obtained through the protection channel method to construct a new directional pattern. This can reduce the side lobes without widening the main lobe, and by combining the beam width screening to determine the target directional pattern, the weak target main lobe covered by the strong target side lobe can be detected, which can improve the detection accuracy of the millimeter wave radar.

[0144] An embodiment of the present application also provides an electronic device, which can be set in a server to store at least one instruction, at least one program, code set or instruction set related to a method for determining a candidate directional pattern in an implementation method embodiment. The at least one instruction, the at least one program, the code set or instruction set is loaded and executed by the memory to implement the above-mentioned method for determining a candidate directional pattern.

[0145] An embodiment of the present application also provides a storage medium, which can be set in a server to store at least one instruction, at least one program, a code set or an instruction set related to a method for determining a candidate directional pattern in a method embodiment. 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 above-mentioned method for determining the candidate directional pattern.

[0146] Optionally, 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.

[0147] It can be seen from the embodiments of the method, device, electronic device or storage medium for determining the candidate directional pattern provided by the present application that the method in the present application includes obtaining a signal to be processed, determining a first directional pattern corresponding to the signal to be processed according to a transformation rule and first weighted information, and determining a second directional pattern corresponding to the signal to be processed according to the first weighted information, and then determining a candidate directional pattern and a candidate point set according to the first directional pattern and the second directional pattern, and determining the candidate width information corresponding to the candidate point set, and then determining the target directional pattern corresponding to the candidate directional pattern according to the candidate width information and the preset reference width information. Based on the embodiment of the present application, the position of the intersection of the two directional patterns before and after windowing is obtained by the protection channel method to construct a new directional pattern, which can reduce the side lobes without widening the main lobe, and by combining the beam width screening to determine the target directional pattern, the weak target main lobe covered by the strong target side lobe can be detected, which can improve the detection accuracy of the millimeter wave radar.

[0148] 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.

[0149] 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.

[0150] 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 device embodiment, since it is based on a method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0151] The above is a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the principle 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 method for determining a candidate directional pattern, characterized in that: include: Get the signal to be processed; Performing Fourier processing on the signal to be processed to obtain an echo to be processed; Determining a first directional pattern corresponding to the echo to be processed according to the first weighted information; Determine a second directional pattern corresponding to the echo to be processed according to the second weighted information; the second weighted information is determined according to the first weighted information and preset Taylor information; Determine the peak power corresponding to the peak point and a set of points to be processed from the first directional map; the set of points to be processed includes a plurality of maximum value points in the first directional map; Determine a first protection channel according to the peak power and the first preset power, and determine a first target point set from the set of points to be processed based on the first protection channel; Determine a second protection channel according to the peak power and the second preset power, and determine a target reference point set from the set of points to be processed based on the second protection channel; the second preset power is less than the first preset power; Determine a candidate point set according to the first target point set and the target reference point set; each candidate point in the candidate point set is an overlap point of the first directional image and the second directional image between the first target point set and the target reference point set; A candidate directional map is determined according to the candidate point set, the first directional map, and the second directional map.

2. The method according to claim 1, characterized in that The step of determining a candidate directional map according to the candidate point set, the first directional map, and the second directional map includes: A partial area of ​​the first directional pattern is taken within the angle interval corresponding to the coincidence point, and a partial area of ​​the second directional pattern is taken outside the angle interval corresponding to the coincidence point, to obtain the candidate directional pattern.

3. The method according to claim 1 or 2, characterized in that: After determining the candidate directional diagram, the method further includes: Determine candidate width information corresponding to the candidate point set; A target directional pattern corresponding to the candidate directional pattern is determined according to the candidate width information and the preset reference width information.

4. The method according to claim 1, characterized in that: The step of determining, according to the first weighted information, a first directional pattern corresponding to the echo to be processed includes: Digital beamforming is performed on the echo to be processed according to the first weighted information to obtain the first directional pattern corresponding to the echo to be processed.

5. The method according to any one of claims 1 or 2, characterized in that: The determining, according to the second weighted information, a second directional pattern corresponding to the echo to be processed includes: Determining the second weighted information according to the first weighted information and preset Taylor information; Digital beamforming is performed on the echo to be processed according to the second weighted information to obtain the second directional pattern corresponding to the echo to be processed.

6. The method according to claim 3, characterized in that: The determining the candidate width information corresponding to the candidate point set includes: Determining a first target candidate point and a second target candidate point from the candidate point set according to the first target point set; The candidate width information is determined according to the first target candidate point and the second target candidate point.

7. The method according to claim 6, characterized in that The determining, according to the candidate width information and the preset reference width information, a target directional pattern corresponding to the candidate directional pattern comprises: If the candidate width information is smaller than the preset reference width information, each candidate point in the candidate point set is suppressed to obtain the target direction map corresponding to the candidate direction map; the target direction map includes the first target point set.

8. A device for determining a candidate directional pattern, characterized in that: include: An acquisition module, used for acquiring a signal to be processed; Performing Fourier processing on the signal to be processed to obtain an echo to be processed; A first determining module, used to determine a first directional pattern corresponding to the echo to be processed according to first weighted information; A second determination module, used to determine a second directional pattern corresponding to the echo to be processed according to second weighted information; the second weighted information is determined according to the first weighted information and preset Taylor information; A third determination module is used to determine the peak power corresponding to the peak point and a set of points to be processed from the first directional map; the set of points to be processed includes a plurality of maximum value points in the first directional map; a fourth determination module, configured to determine a first protection channel according to the peak power and the first preset power, and determine a first target point set from the set of points to be processed based on the first protection channel; A fifth determination module is configured to determine a second protection channel according to the peak power and a second preset power, and determine a target reference point set from the set of points to be processed based on the second protection channel; the second preset power is less than the first preset power; a sixth determination module, configured to determine a candidate point set according to the first target point set and the target reference point set; each candidate point in the candidate point set is a coincidence point of the first directional image and the second directional image between the first target point set and the target reference point set; A seventh determination module is used to determine a candidate directional map according to the candidate point set, the first directional map and the second directional map.

9. 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 method for determining the candidate directional pattern described in any one of claims 1-7.

10. 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 method for determining the candidate directional pattern as described in any one of claims 1-7.

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